CN110439232A - Wall surface troweling machine and trowelling machine working method - Google Patents
Wall surface troweling machine and trowelling machine working method Download PDFInfo
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- CN110439232A CN110439232A CN201910813178.0A CN201910813178A CN110439232A CN 110439232 A CN110439232 A CN 110439232A CN 201910813178 A CN201910813178 A CN 201910813178A CN 110439232 A CN110439232 A CN 110439232A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005284 excitation Effects 0.000 claims 1
- 239000004570 mortar (masonry) Substances 0.000 description 16
- 230000006870 function Effects 0.000 description 9
- 210000000707 wrist Anatomy 0.000 description 5
- 238000009499 grossing Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000011505 plaster Substances 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000009298 Trigla lyra Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
Abstract
This application involves a kind of wall surface troweling machine and trowelling machine working method, wall surface troweling machine includes spatula, mechanical arm, controller, PSD detector, laser range finder and two dimension angular sensor；The input terminal of controller determines the posture information of mechanical arm with PSD detector, laser range finder and dimension sensor respectively；The output end of controller is connect with mechanical arm, controls manipulator motion according to mechanical arm posture information；Mechanical arm and spatula are mechanically connected, for driving spatula campaign in manipulator motion, so that spatula carries out floating operation.The application can be automatically positioned according to posture information, be not required to be positioned manually or adjust trowel position spatula operation can be realized, and promoted the automatization level of wall surface troweling machine, improved the working efficiency for operation of plastering a wall.
Description
Technical field
This application involves Architectural Equipment technical field, especially a kind of wall surface troweling machine and trowelling machine working method.
Background technique
Indoors in external decoration, the outer layer applying mortar to wall is needed, the flatness of these mortars directly affects wall
The flatness in face.Therefore, it after mortar is spread in painting, needs to carry out floating operation.Traditional mortar, which smoothes out, uses manual work, i.e.,
By manually being struck off the tools such as user's rod and aluminium-alloy pipe after wall on mortar using plaster trowel and plank, not only work
Low efficiency, also, smooth out operation and usually completed jointly by multidigit decoration worker, according to itself working experience when each worker's operation
It carries out, in the case where multiple person cooperational common operational, the flatness and smearing quality of metope are difficult to ensure unanimously.
In the related technology, manual work is replaced using the mortar trowelling machine of mechanization, but existing mortar trowelling machine can only
Accomplish it is mechanical smooth out work, carry out mobile redefine after just starting to be plastered a wall or smeared a panel region and smear position
When, it needs manually to carry out positioning and adjusts trowel position, mortar trowelling machine cannot achieve automatic positioning, therefore, automatization level
Lower, working efficiency waits further increasing.
Summary of the invention
To overcome at least to a certain extent in the related technology, manual work is replaced using the mortar trowelling machine of mechanization,
But existing mortar trowelling machine can only accomplish mechanical floating work, carry out after just starting to be plastered a wall or smeared a panel region
When movement redefines smearing position, needs manually to carry out positioning and adjust trowel position, mortar trowelling machine cannot achieve automatically
Positioning, leads to the problem that automatization level is lower, and the application provides a kind of wall surface troweling machine and trowelling machine working method.
In a first aspect, the application provides a kind of wall surface troweling machine, comprising:
Spatula, mechanical arm, controller, PSD detector, laser range finder and two dimension angular sensor；
The input terminal of the controller is respectively with the PSD detector, laser range finder and the dimension sensor with true
The posture information of the fixed mechanical arm；
The output end of the controller is connect with the mechanical arm, is transported according to mechanical arm described in the mechanical arm Pose Control
It is dynamic；
The mechanical arm and the spatula are mechanically connected, for driving the spatula campaign in manipulator motion,
So that the spatula carries out floating operation.
Further, the wall surface troweling machine further include:
Laser generator, the laser generator are used for issuing horizontal and/or vertical beam of light, the PSD detector
In detecting described horizontal and/or vertical beam of light, the PSD detector is arranged on the mechanical arm, according to it is described horizontal and/
Or vertical beam of light determines the location information of the mechanical arm.
Further, the wall surface troweling machine further include:
Target, the laser range finder is by projecting an a branch of or sequence detection laser beam to the target, described in reception
The reflection laser beam of target, the laser range finder are arranged on the mechanical arm, are swashed by the exploring laser light beam and reflection
Light beam determines the location information of the mechanical arm.
Further, the mechanical arm includes pedestal, and the two dimension angular sensor is arranged in the pedestal horizontal position
On, the posture amount of deflection of the mechanical arm is read, and the posture amount of deflection is sent to the controller.
Further, the wall surface troweling machine further includes feeding structure, and the feeding mechanism is electrically connected with the controller；
It is mechanically connected with the spatula.
Further, the feeding mechanism includes: motor, piston cylinder, feed pipe, inlet port and outlet port；
The motor is connect with the controller；
The feed inlet and the discharge port are separately positioned on the both ends of the feed pipe；
The motor move for controlling the piston cylinder inner piston rod so that material be sucked into from the feed inlet it is described
Feed pipe；
The discharge port and the spatula are mechanically connected.
Further, the discharge port and the spatula mechanical connection include: that feed opening is set in the spatula, it is described go out
Material mouth is embedded to be arranged in the charging hole site.
Further, the feeding mechanism further include: two solenoid valves, the solenoid valve are separately positioned on the feed inlet
With the discharge port position；The solenoid valve is connect with the controller.
Further, the wall surface troweling machine further includes moveable carriage, the mechanical arm be mounted on it is described move it is small
Che Shang.
Second aspect, the application provide a kind of wall surface troweling machine working method, comprising:
Obtain the three-dimensional map in space to be smoothed out；
The posture information of mechanical arm is obtained in the three-dimensional map；
The manipulator motion is controlled according to the posture information, to drive the spatula to carry out floating operation.
The technical solution that embodiments herein provides can include the following benefits:
The input terminal of controller is respectively with PSD detector, laser range finder and dimension sensor to determine in the application
The pose of mechanical arm is stated, controller can be automatically positioned according to posture information, be not required to be positioned manually or adjust trowel position i.e.
Spatula operation can be achieved, promote the automatization level of wall surface troweling machine, improve the working efficiency for operation of plastering a wall.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is a kind of module map for wall surface troweling machine that the application one embodiment provides.
Fig. 2 is a kind of structure chart for wall surface troweling machine that the application one embodiment provides.
Fig. 3 is a kind of structure chart for wall surface troweling machine that another embodiment of the application provides.
Fig. 4 is a kind of flow chart for wall surface troweling machine working method that the application one embodiment provides.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 is a kind of module map for wall surface troweling machine that the application one embodiment provides.
As shown in Figure 1, wall surface troweling machine provided in this embodiment, comprising:
Spatula 1, mechanical arm 2, controller 3, PSD detector 4, laser range finder 5 and two dimension angular sensor 6；
The input terminal of controller 3 is respectively with PSD detector 4, laser range finder 5 and dimension sensor 6 to determine mechanical arm 2
Posture information；
The output end of controller 3 is connect with mechanical arm 2, is controlled mechanical arm 2 according to 2 posture information of mechanical arm and is moved；
Mechanical arm 2 and spatula 1 are mechanically connected, for driving spatula 1 to be moved when mechanical arm 2 moves, so that spatula 1
Carry out floating operation.
Traditional mortar, which smoothes out, uses manual work, i.e., by will manually be struck off after wall on mortar using spatula, manually
Smoothing out operation, not only working efficiency is low, also, the flatness of metope and smearing quality are difficult to ensure unanimously.Although mechanization
Mortar trowelling machine realizes that automatic plastering operates using mechanical arm, however, when just starting to be plastered a wall or having smeared a panel region
After carry out it is mobile redefine when smearing position, due to not knowing that the specific location and posture of mechanical arm, mechanical arm cannot link up
Sex work causes working efficiency low, and automatization level is inadequate, needs manually to re-start positioning mechanical arm position and adjusts machinery
Arm posture could start to carry out floating operation.
PSD detector 4 is a kind of luminous energy/position transducer part, and since position quantity is analog output, system response is fast,
High resolution, it is at low cost, therefore there is widely applied value.Echo signal can be modulated simultaneously, thus can be significant
The anti-interference ability of raising system can be used to realize the position detecting system of high speed, high-precision, strong antijamming capability.
Laser range finder 5 is the instrument that the range measurement to target is realized using some parameter of modulation laser.For example,
Pulse type laser rangefinder, pulse type laser rangefinder are to project pulse a branch of or that a sequence is of short duration to target at work to swash
Light beam, the laser beam of target reflection is received by photoelectric cell, and timer measures laser beam from the received time is emitted to, calculates
From observer's range-to-go.Light-weight, small in size, the easy to operate speed of pulse type laser rangefinder is fast and accurate.
Mechanical arm 2 can be determined in the location information in space to be smoothed out by PSD detector 4, laser range finder 5.
Two dimension angular sensor 6 is a kind of detection instrument of point-device measurement low-angle, be can measure with it tested flat
Gradient of the face relative to horizontal position.Therefore, it is possible to use two dimension angular sensor 6 measures the posture of mechanical arm 2.
In the present embodiment, the input terminal of controller is respectively with PSD detector, laser range finder and dimension sensor with determination
The pose of the mechanical arm, controller can be automatically positioned according to posture information, be not required to be positioned manually or adjust trowel position
Spatula operation can be realized, promote the automatization level of wall surface troweling machine, improve the working efficiency for operation of plastering a wall.
Fig. 2 is a kind of structure chart for wall surface troweling machine that the application one embodiment provides.
As shown in Fig. 2, a kind of wall surface troweling machine provided in this embodiment, comprising:
As optional a kind of implementation of the invention, the wall surface troweling machine further include:
Laser generator 7, laser generator 7 is for issuing horizontal and/or vertical beam of light, and PSD detector 4 is for detecting
Horizontal and/or vertical beam of light, PSD detector 4 are arranged on mechanical arm 2, are determined according to horizontal and/or vertical beam of light mechanical
The location information of arm 2.
Mechanical arm 2 includes arm structure, wrist structure, and arm structure is connect with wrist structure, and wrist structure and spatula 1 connect
It connects, the wrist locations of structures of mechanical arm 2 is arranged in PSD detector 4, in order to obtain the physical location of spatula 1.
Mechanical arm 2 is six degree of freedom mechanical arm, is moved by X, and Y movement, Z is mobile, X rotation, Y rotation, and Z rotates six certainly
It is made of degree.Mechanical arm 2 can be determined in the position of X-direction by laser generator 7 and PSD detector 4.
As optional a kind of implementation of the invention, the wall surface troweling machine further include:
Target 8, laser range finder 5 receive the anti-of target 8 by projecting an a branch of or sequence detection laser beam to target 8
Laser beam is penetrated, laser range finder 5 is arranged on mechanical arm 2, and the position of mechanical arm 2 is determined by exploring laser light beam and reflection laser beam
Confidence breath.
By target 8 and the available mechanical arm 2 of laser range finder 5 in the position of Y direction, laser range finder 5 is arranged
In the wrist locations of structures of mechanical arm 2, in order to obtain the physical location of spatula 1.
As optional a kind of implementation of the invention, mechanical arm 2 includes pedestal, and two dimension angular sensor 6 is arranged in base
On seat horizontal position, the posture amount of deflection of mechanical arm 2 is read, and posture amount of deflection is sent to controller 3.
It should be noted that two dimension angular sensor 6 can be set on the base, it is overlapped with the X of mechanical arm 2, Y-axis or flat
Row moves so that controller 3 be made to control mechanical arm 2 along Z axis in order to obtain the posture amount of deflection of mechanical arm 2.
In the present embodiment, controller controls mechanical arm and drives PSD detector and find with laser range finder horizontal and vertical
Laser beam and target determine that the location information of mechanical arm, controller determine mechanical arm by two dimension angular sensor number with this
Posture improves the accuracy of mechanical arm positioning, controls manipulator motion convenient for controller, improves the automatic machine water of wall surface troweling machine
It is flat.
Fig. 3 is a kind of structure chart for wall surface troweling machine that another embodiment of the application provides.
As shown in figure 3, a kind of wall surface troweling machine provided in this embodiment, further includes:
Feeding structure 9, feeding mechanism 9 are electrically connected with controller 3；It is mechanically connected with spatula 1.
As optional a kind of implementation of the invention, feeding mechanism 9 includes: motor, piston cylinder, feed pipe, feed inlet
And discharge port；
Motor is connect with controller；
Feed inlet and discharge port are separately positioned on the both ends of feed pipe；
Motor is for controlling the movement of piston cylinder inner piston rod so that material is sucked into feed pipe from feed inlet, it is possible to understand that
It is that material can be mortar and be also possible to greasy powder；
Discharge port and spatula 1 are mechanically connected.
As optional a kind of implementation of the invention, discharge port and spatula mechanical connection include: to be arranged to feed in spatula
Hole, the embedded setting of discharge port is in charging hole site.
As optional a kind of implementation of the invention, feeding mechanism 9 further include: two solenoid valves, solenoid valve are set respectively
It sets in feed inlet and discharge port position；Solenoid valve is connect with controller 3.
Feeding mechanism 9 is using piston type suction, extruding feeding style.Solenoid valve is for control piper closure.Motor is step
Into motor or servo motor, motor pushing piston rod and piston head move back and forth in piston cylinder.Controller 2 when needing suction
It controls discharge port solenoid valve to close, feed inlet solenoid valve is opened, and piston head is mobile to one end in piston cylinder, can be produced in piston cylinder
Raw negative pressure and will be in material sucker cylinder.Controller 2 controls feed inlet solenoid valve and closes when feeding, and discharge port solenoid valve is beaten
It opens, piston head squeezes away material in piston cylinder to the mobile generation extruding force of the other end in piston cylinder, is connected by discharge port
The hole being connected among spatula.Controller 2 controls the drive spatula of mechanical arm 2 and is marking the position for needing to smear while discharging
Carry out smearing operation.
Traditional mortar trowelling machine does not have automatic feeding function, needs after every time smoothing out the material in spatula by artificial
Feeding operation is carried out, is not only wasted time, is also resulted in and is smoothed out operation and cannot link up operation, it can be real by increase feeding mechanism 9
Existing automatic feeding function, does not need manual intervention, persistently carries out convenient for smoothing out operation, further increases the automatic of wall surface troweling machine
Change horizontal and working efficiency.
As optional a kind of implementation of the invention, the wall surface troweling machine further includes moveable carriage, and mechanical arm 2 is pacified
On moveable carriage.The pedestal of mechanical arm 2 is mounted on moveable carriage.
The wall surface troweling machine further includes driving mechanism, and driving mechanism is connect with controller 3 and moveable carriage respectively, real
It is mobile to which robotically controlled arm being 2 is mobile that existing controller 3 controls moveable carriage.
In the present embodiment, automatic feeding function may be implemented by the way that feeding mechanism is arranged, manual intervention is not needed, convenient for smearing
Flat operation persistently carries out, and further increases the gentle working efficiency of Automated water of wall surface troweling machine.
Fig. 4 is a kind of flow chart for wall surface troweling machine working method that another embodiment of the application provides.
As shown in figure 4, a kind of wall surface troweling machine working method provided in this embodiment, comprising:
S41: the three-dimensional map in space to be smoothed out is obtained；
S42: the posture information of mechanical arm is obtained in three-dimensional map；
S43: the manipulator motion is controlled according to posture information, to drive the spatula to carry out floating operation.
Controller coordinate moving trolley, mechanical arm, PSD detector, two dimension angular sensor, feeding mechanism are so that spatula exists
Complete plastered work in assigned work face.It is depicted as three-dimensional map and marks out to need to plaster firstly the need of the building of plaster leveling
Levelling each face (such as column of metope, door and window side port, roof face, circle or square)；Two are being set up in space wait smooth out
Tie up laser emitter and target, by two-dimensional laser transmitter and target in three-dimensional map location information typing controller；Control
Device controls mechanical arm and PSD detector and laser range finder is driven to find horizontal and vertical laser beam and target, determines position with this
Information.Controller reads two-dimension tilt angle sensor number and determines the posture of mechanical arm X, Y-axis in three-dimensional map.Controller controls machine
The rotation of tool arm controls PSD detector moving range to drive PSD detector mobile to ensure that PSD detector shift position is begun
Vertical laser beam data (finding the horizontal data of mechanical arm X or Y-axis in three-dimensional map), mechanical arm Z axis can be received eventually
The rotation angle up to levelling mechanical arm origin to vertical beam of light distance most in short-term is rotated since 0 degree, then is mechanical arm Z axis
Relative dimensional map pose posture amount of deflection.
Two-dimensional laser transmitter launches vertical, two beam lasing area of level respectively, and horizontal laser light face is set in dimensionally
A preset height of Z axis in figure, to obtain the elevation information of mechanical arm；Vertical laser face is set in X-axis in three-dimensional map
Or default first displaced position in Y-axis, so that the first displaced position of mechanical arm is obtained, by one in X-axis or Y-axis
A fixed target is placed in default second displacement position, to obtain the second displacement position of mechanical arm, passes through elevation information, the
Single place shift, which is set, can derive position of the mechanical arm in three-dimensional map with second displacement position.Controller reading is installed on machinery
The reading of arm pedestal and the two-dimension tilt angle sensor being overlapped with mechanical arm origin, X, Y-axis can derive mechanical arm by reading
X, posture amount of deflection of the Y-axis relative to three-dimensional map.
In the present embodiment, by obtaining the three-dimensional map in space to be smoothed out, the pose of mechanical arm is obtained in three-dimensional map
Information controls the manipulator motion according to posture information, to drive the spatula to carry out smoothing out operation, it can be achieved that spatula is made
Industry promotes the automatization level of wall surface troweling machine, improves the working efficiency for operation of plastering a wall.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
It should be noted that the present invention is not limited to above-mentioned preferred forms, those skilled in the art are of the invention
Other various forms of products can be all obtained under enlightenment, however, make any variation in its shape or structure, it is all have with
The identical or similar technical solution of the application, is within the scope of the present invention.
Claims (10)
1. a kind of wall surface troweling machine characterized by comprising
Spatula, mechanical arm, controller, PSD detector, laser range finder and two dimension angular sensor；
The input terminal of the controller is respectively with the PSD detector, laser range finder and the dimension sensor to determine
State the posture information of mechanical arm；
The output end of the controller is connect with the mechanical arm, is controlled the mechanical arm according to the mechanical arm posture information and is transported
It is dynamic；
The mechanical arm and the spatula are mechanically connected, for driving the spatula campaign in manipulator motion, so that
The spatula carries out floating operation.
2. wall surface troweling machine according to claim 1, which is characterized in that further include:
Laser generator, the laser generator is for issuing horizontal and/or vertical beam of light, and the PSD detector is for visiting
The horizontal and/or vertical beam of light is surveyed, the PSD detector is arranged on the mechanical arm, according to described horizontal and/or vertical
Collimated excitation beam determines the location information of the mechanical arm.
3. wall surface troweling machine according to claim 1, which is characterized in that further include:
Target, the laser range finder receive the target by projecting an a branch of or sequence detection laser beam to the target
Reflection laser beam, the laser range finder is arranged on the mechanical arm, passes through the exploring laser light beam and reflection laser beam
Determine the location information of the mechanical arm.
4. wall surface troweling machine according to claim 1, which is characterized in that the mechanical arm includes pedestal, the two-dimensional angular
It spends sensor to be arranged on the pedestal horizontal position, reads the posture amount of deflection of the mechanical arm, and the posture is deflected
Amount is sent to the controller.
5. wall surface troweling machine according to claim 1, which is characterized in that further include feeding structure, the feeding mechanism with
The controller electrical connection；It is mechanically connected with the spatula.
6. wall surface troweling machine according to claim 5, which is characterized in that the feeding mechanism include: motor, piston cylinder,
Feed pipe, inlet port and outlet port；
The motor is connect with the controller；
The feed inlet and the discharge port are separately positioned on the both ends of the feed pipe；
The motor is for controlling the piston cylinder inner piston rod movement so that material is sucked into the feeding from the feed inlet
Pipe；
The discharge port and the spatula are mechanically connected.
7. wall surface troweling machine according to claim 6, which is characterized in that the discharge port and spatula mechanical connection wrap
It includes: feed opening is set in the spatula, the discharge port is embedded to be arranged in the charging hole site.
8. wall surface troweling machine according to claim 6, which is characterized in that the feeding mechanism further include: two solenoid valves,
The solenoid valve is separately positioned on the feed inlet and the discharge port position；The solenoid valve is connect with the controller.
9. wall surface troweling machine according to claim 1, which is characterized in that it further include moveable carriage, the mechanical arm peace
On the moveable carriage.
10. a kind of wall surface troweling machine working method characterized by comprising
Obtain the three-dimensional map in space to be smoothed out；
The posture information of mechanical arm is obtained in the three-dimensional map；
The manipulator motion is controlled according to the posture information, to drive the spatula to carry out floating operation.
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| CN201910813178.0A CN110439232A (en) | 2019-08-30 | 2019-08-30 | Wall surface troweling machine and trowelling machine working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022156417A1 (en) * | 2021-01-22 | 2022-07-28 | 广东博智林机器人有限公司 | Operating method and apparatus of floor device, floor device, and medium |
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| CN207436457U (en) * | 2017-08-03 | 2018-06-01 | 青藏铁路房产建筑安装工程公司 | A kind of construction apparatus of plastering |
| CN207294146U (en) * | 2017-09-30 | 2018-05-01 | 河北京鼎生物医药科技有限公司 | Self-suction type liquid-filling machine |
| CN108297101A (en) * | 2018-03-20 | 2018-07-20 | 四川大学 | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method |
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