CN111456380A - Plastering equipment, plastering robot and error compensation method - Google Patents
Plastering equipment, plastering robot and error compensation method Download PDFInfo
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- CN111456380A CN111456380A CN202010166024.XA CN202010166024A CN111456380A CN 111456380 A CN111456380 A CN 111456380A CN 202010166024 A CN202010166024 A CN 202010166024A CN 111456380 A CN111456380 A CN 111456380A
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- 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
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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Abstract
The application relates to plastering equipment, a plastering robot and an error compensation method, and belongs to the technical field of building construction. The plastering device comprises a chassis, a first lifting component, an error compensation mechanism, a plastering execution mechanism, a first detection unit, a second detection unit, a third detection unit and a controller, wherein the first detection unit is used for detecting the inclination angle of the first lifting component; the second detection unit is used for detecting the distance between the reference point and the front wall surface, and the reference point and the first lifting assembly are relatively fixed in position; the third detection unit is used for detecting the height of the error compensation mechanism; the controller is used for calculating a front-back error compensation amount according to the inclination angle signal detected by the first detection unit, the spacing signal detected by the second detection unit and the height signal detected by the third detection unit, and the error compensation mechanism is used for driving the plastering execution mechanism to move back and forth according to the front-back error compensation amount. This plastering apparatus can guarantee through error compensation mechanism that the thickness of plastering is unanimous at every turn, guarantees the wall precision of plastering.
Description
Technical Field
The application relates to the technical field of building construction, in particular to plastering equipment, a plastering robot and an error compensation method.
Background
The semi-automatic plastering machine robot in the current market is usually a single-stage lifting mechanism, the precision in the vertical direction of the semi-automatic plastering machine robot is basically guaranteed by the perpendicularity between a guide rail and the ground, therefore, when the plastering robot moves one station, the perpendicularity adjustment of the lifting guide rail of the plastering robot needs manual intervention, and the precision is not high.
Because the positioning error of the AGV chassis is generally 4mm-20mm at present, the full-automatic plastering robot is difficult to ensure the consistency of multiple plastering thicknesses only by the chassis positioning.
Disclosure of Invention
An object of this application is to provide a plastering unit, under the condition that does not need the straightness that hangs down of the first lifting unit of accurate adjustment and ground, error compensation mechanism can guarantee to plaster the thickness unanimous at every turn, guarantees to plaster the wall precision.
Another object of the present application is to provide a plastering robot.
It is another object of the present application to provide an error compensation method.
According to the plastering equipment of the embodiment of the first aspect of the application, the plastering equipment comprises a chassis, a first lifting assembly, an error compensation mechanism, a plastering execution mechanism, a first detection unit, a second detection unit, a third detection unit and a controller, wherein the first lifting assembly is vertically arranged on the chassis; the error compensation mechanism is arranged on the first lifting component; the first lifting assembly is used for driving the error compensation mechanism to move up and down; the plastering actuating mechanism is connected with the actuating end of the error compensation mechanism; the first detection unit is used for detecting the inclination angle of the first lifting assembly; the second detection unit is used for detecting the distance between the reference point and the front wall surface, and the reference point and the first lifting assembly are relatively fixed in position; the third detection unit is used for detecting the height of the error compensation mechanism; the controller is used for calculating a front-back error compensation amount according to the inclination angle signal detected by the first detection unit, the spacing signal detected by the second detection unit and the height signal detected by the third detection unit, and the error compensation mechanism can drive the plastering execution mechanism to move back and forth according to the front-back error compensation amount.
According to the plastering device provided by the embodiment of the application, the inclination angle of the first lifting component is measured through the first detection unit, the distance between the reference point and the front wall surface is measured through the second detection unit, the height of the error compensation mechanism is measured through the third detection unit, the controller calculates the front and back error compensation amount according to the signals, the error compensation mechanism can drive the plastering execution mechanism to move back and forth according to the front and back error compensation amount, the horizontal distance caused by the inclination angle between the first lifting component and the vertical surface is compensated in the plastering process, the consistency of the plastering thickness at each time is ensured under the condition that the verticality of the first lifting component and the ground is not required to be accurately adjusted, and the three vertical planes of the plastering wall surface are ensured.
In addition, the plastering apparatus according to the embodiment of the application has the following additional technical features:
according to some embodiments of the application, the error compensation mechanism is capable of driving the plastering actuator to move in the front-back direction and the left-right direction.
In the above embodiment, the error compensation mechanism can realize the movement in the front-back direction and the left-right direction to compensate the error in the front-back direction and the left-right direction, thereby ensuring the plastering precision.
In some embodiments of the application, the plastering apparatus further comprises a fourth detection unit, the fourth detection unit is used for detecting the distance between the fourth detection unit and the side wall surface, the controller is used for calculating a left-right error compensation amount according to a distance signal detected by the fourth detection unit, and the error compensation mechanism can drive the plastering execution mechanism to move left and right according to the left-right error compensation amount.
In the above embodiment, the fourth detection unit detects the distance from the side wall surface, and calculates the left and right error compensation amounts, and the error compensation mechanism can drive the plastering execution mechanism to move left and right according to the left and right error compensation amounts, so as to adjust the overlapping width between two plasterings and ensure that no smearing leakage and less smearing are caused between the two plasterings.
In some embodiments of the present application, the error compensation mechanism includes a mounting substrate, a front-back moving platform, a front-back driving assembly, a left-right moving platform, and a left-right driving assembly, the front-back moving platform is in sliding fit with the mounting substrate, the front-back driving assembly is used for driving the front-back moving platform to move back and forth relative to the mounting substrate, the left-right moving platform is in sliding fit with the front-back moving platform, the left-right driving assembly is used for driving the left-right moving platform to move left and right.
In the above embodiment, the front and rear driving components drive the front and rear moving platform to move back and forth, and the left and right driving components drive the left and right moving platform to move left and right, so that the plastering execution mechanism moves in the front and rear direction and the left and right direction.
In some embodiments of the present application, the first lifting assembly includes a first lifting rail and a first lifting driving mechanism, the first lifting rail is vertically disposed on the chassis, the first detecting unit is configured to detect an inclination angle of the first lifting rail, the first lifting driving mechanism is configured to drive the error compensation mechanism to move along the first lifting rail, a rack is disposed on the first lifting rail, the rack extends along a length direction of the first lifting rail, the first lifting driving mechanism includes a first lifting motor and a gear, the first lifting motor is fixed on the mounting substrate, the gear is connected to an output shaft of the first lifting motor, and the gear is engaged with the rack.
In the above embodiment, the gear is driven to rotate by the first lifting motor, so that the gear drives the mounting substrate to move along the first lifting guide rail.
According to some embodiments of the application, the plastering apparatus further comprises a second lifting assembly connected to the actuating end of the error compensation mechanism, the plastering actuating mechanism is arranged on the second lifting assembly, and the second lifting assembly is used for driving the plastering actuating mechanism to move up and down.
In the above embodiment, the plastering execution mechanism is driven to move up and down through the second lifting component, so that the secondary lifting of the plastering execution mechanism is realized, the plastering execution mechanism can be ensured to ascend to the top of a wall and descend to the ground, and the plastering range of the plastering execution mechanism is increased.
In some embodiments of the present application, the second lifting assembly includes a second lifting rail and a second lifting driving mechanism, the second lifting rail is connected to the actuating end of the error compensation mechanism, the second lifting driving mechanism is used for driving the plastering actuating mechanism to move along the second lifting rail, the second lifting driving mechanism includes a second lifting motor and a screw nut mechanism, the second lifting motor is fixed on the second lifting rail, and the second lifting motor is connected with the plastering actuating mechanism through the screw nut mechanism.
In the above embodiment, the plastering lifting mechanism is lifted along the second lifting guide rail by the cooperation of the second lifting motor and the feed screw nut mechanism.
According to some embodiments of the application, the first lifting assembly comprises a first lifting driving mechanism and two first lifting guide rails, the two first lifting guide rails are vertically arranged on the chassis, the two first lifting guide rails are distributed at intervals left and right, the first lifting driving mechanism is used for driving the error compensation mechanism to move along the two first lifting guide rails, the number of the second detection units is two, and the two second detection units are respectively arranged on the two first lifting guide rails.
In the above embodiment, the two second detection units facilitate accurate detection of the position of the chassis to adjust the attitude of the chassis.
The plastering robot according to the second aspect of the present application comprises the plastering apparatus according to the first aspect of the present application.
According to the plastering robot of the embodiment of the application, automatic plastering can be realized, and the consistency of plastering thickness at every time is ensured.
According to the error compensation method of the embodiment of the second aspect of the application, the method is applied to plastering equipment, the plastering equipment comprises a chassis, a first lifting assembly, an error compensation mechanism and a plastering execution mechanism, the first lifting assembly is vertically arranged on the chassis, the error compensation mechanism is arranged on the first lifting assembly, the first lifting assembly is used for driving the error compensation mechanism to move up and down, the plastering execution mechanism is connected to an execution end of the error compensation mechanism, and the method comprises the following steps:
acquiring an inclination angle of a first lifting assembly;
acquiring the distance between a reference point and a front wall surface, wherein the reference point and the first lifting assembly are relatively fixed;
acquiring the height of an error compensation mechanism;
calculating front and rear error compensation according to the inclination angle of the first lifting assembly, the distance between the reference point and the front wall surface and the height of the error compensation mechanism;
and the control error compensation mechanism drives the plastering execution mechanism to move back and forth according to the front and back error compensation quantity.
According to the error compensation method, the horizontal distance caused by the inclination angle between the first lifting assembly and the vertical plane can be compensated in the plastering process, the plastering thickness is guaranteed to be consistent every time under the condition that the verticality between the first lifting assembly and the ground is not required to be accurately adjusted, and the plastering wall surface is guaranteed to be three vertical planes.
According to some embodiments of the present application, calculating a front-rear error compensation amount according to an inclination angle of the first lifting assembly, a distance between the reference point and the front wall surface, and a height of the error compensation mechanism includes:
and calculating a front-back error compensation amount according to a formula delta d-ds-d- (h-hs) tan α, wherein delta d is the front-back error compensation amount, α is the inclination angle of the first lifting assembly, hs is the height of the reference point, ds is the distance between the reference point and the front wall surface, l is the distance between the foremost end of the plastering execution mechanism and the reference point, h is the height of the error compensation mechanism, and d is the preset plastering thickness.
In the embodiment, the front-back error compensation amount is calculated by a formula, so that the error compensation mechanism can drive the plastering actuating mechanism to move back and forth, and the consistency of the plastering thickness every time is ensured.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is an isometric view of a plastering apparatus provided in an embodiment of the present application;
fig. 2 is a front view of a plastering apparatus provided in an embodiment of the present application;
fig. 3 is a top view of a plastering apparatus provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a plastering execution mechanism of a plastering apparatus provided by an embodiment of the present application;
fig. 5 is an actual test chart of the plastering apparatus provided by the embodiment of the application.
Icon: 100-plastering equipment; 10-a chassis; 11-jacking supporting legs; 21-a first lifting rail; 211-a rack; 22-a first lift drive mechanism; 221-a first lift motor; 222-a synchronizing shaft; 223-gear; 30-an error compensation mechanism; 31-a mounting substrate; 32-moving the platform back and forth; 33-front and rear driving motor; 34-left and right moving platform; 35-left and right driving motors; 40-a plastering executing mechanism; 41-plastering plates; 42-ash blocking plate; 43-plastering plate inclination angle driving mechanism; 44-a support plate; 51-a tilt sensor; 52-fore and aft ranging sensor; 53-left and right ranging sensors; 61-a second lifting rail; 611-mounting the plate; 612-track; 63-a second lifting driving mechanism; 631-a second lift motor; 632-belt drive; 633-lifting screw rod; p1-first datum level; p2-second datum level; p3-third datum level; p4-fourth datum plane.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
A plastering apparatus 100 according to an embodiment of the first aspect of the present application is described below with reference to the drawings.
As shown in fig. 1 and 2, the plastering apparatus 100 according to the embodiment of the present application comprises: the plastering device comprises a chassis 10, a first lifting assembly, an error compensation mechanism 30, a plastering execution mechanism 40, a first detection unit, a second detection unit, a third detection unit and a controller.
Specifically, the chassis 10 plays a role of positioning and supporting, and the whole equipment is moved by moving the chassis 10; the first lifting assembly comprises a first lifting guide rail 21 and a first lifting driving mechanism 22, the first lifting guide rail 21 is arranged on the chassis 10, the error compensation mechanism 30 is arranged on the first lifting guide rail 21, and the first lifting driving mechanism 22 is used for driving the error compensation mechanism 30 to move up and down along the first lifting guide rail 21; the plastering actuating mechanism 40 is connected to an actuating end of the error compensation mechanism 30 and can move up and down along the first lifting guide rail 21 along with the error compensation mechanism 30 to realize up-and-down plastering; the first detection unit is used for detecting the inclination angle of the first lifting guide rail 21 (namely the inclination angle of the first lifting assembly), the second detection unit is used for detecting the distance between a reference point and a front wall surface, the position of the reference point and the first lifting guide rail 21 is relatively fixed, and the reference point can be understood as the installation position of the second detection unit; the third detection unit is used for detecting the height of the error compensation mechanism 30, namely a height detection unit; the controller is used for calculating a front-back error compensation amount according to the inclination angle signal detected by the first detection unit, the spacing signal detected by the second detection unit and the height signal detected by the third detection unit, and the error compensation mechanism 30 is used for driving the plastering execution mechanism 40 to move back and forth by the front-back error compensation amount.
According to the plastering device 100 of the embodiment of the application, the inclination angle of the first lifting guide rail 21 is measured through the first detection unit, the distance between the reference point and the front wall surface is measured through the second detection unit, the height of the error compensation mechanism 30 is measured through the third detection unit, the controller calculates the front and back error compensation amount according to the signals, the error compensation mechanism 30 can drive the plastering execution mechanism 40 to move back and forth through the front and back error compensation amount, the horizontal distance caused by the inclination angle between the first lifting guide rail 21 and the plumb surface is compensated in the plastering process, the plastering thickness is ensured to be consistent every time under the condition that the perpendicularity between the first lifting guide rail 21 and the ground is not required to be accurately adjusted, and the plastering wall surface is ensured to be three-vertical.
The structural features and the manner of connection of the components of the plastering apparatus 100 according to the embodiment of the present application are described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the chassis 10 is an AGV chassis 10, which can realize automatic navigation and facilitate movement of the plastering apparatus 100.
The AGV chassis 10 is provided with jacking legs 11, and the jacking legs 11 can stretch out and jack up the AGV chassis 10. In order to ensure the horizontal stability of the AGV chassis 10, four jacking supporting legs 11 are uniformly distributed on four sides of the AGV chassis 10. Through four jacking landing legs 11, can adjust AGV chassis 10's levelness, simultaneously, four jacking landing legs 11 stretch out simultaneously, can also be with AGV chassis 10 jack-up. As the optional mode of this application, jacking landing leg 11 is the electric jar, realizes vertical flexible. In other embodiments of the present application, the jacking leg 11 may also be of other telescopic structures.
As shown in fig. 1, two first lifting guide rails 21 are provided, and the two first lifting guide rails 21 are distributed at intervals left and right; first lifting guide 21 is vertical to be set up on AGV chassis 10, and first lifting guide 21's lower extreme links to each other with AGV chassis 10, is equipped with the rack 211 that extends along its length direction on first lifting guide 21.
The first detecting unit is an inclination angle sensor 51, and the inclination angle sensor 51 is installed on the first lifting guide rail 21 and is used for detecting an included angle (i.e. an inclination angle of the first lifting guide rail 21) between a plane where the two first lifting guide rails 21 are located and a vertical plane opposite to a front wall surface (a wall surface to be plastered).
The second detecting unit is a front and rear distance measuring sensor 52 (a laser distance measuring sensor, an ultrasonic distance measuring sensor or an infrared distance measuring sensor can be adopted), the number of the front and rear distance measuring sensors 52 is two, the two front and rear distance measuring sensors 52 are respectively installed on the two first lifting guide rails 21, and whether the AGV chassis 10 drifts or not is determined by comparing distance signals measured by the two distance measuring sensors.
As shown in fig. 2 and 3, the error compensation mechanism 30 includes a mounting substrate 31, a front-back moving platform 32, a front-back driving assembly, a left-right moving platform 34, a left-right driving assembly, and a left-right adjusting mechanism formed by the left-right moving platform 34 and the left-right driving assembly. The mounting substrate 31 is slidably engaged with the first elevation rail 21, and the mounting substrate 31 is slidable with respect to the first elevation rail 21. To facilitate viewing of the composition of the error compensation mechanism 30, the drawings of the present application omit the assembly of the mounting base plate 31 in sliding engagement with the first riser rail 21.
The front-back moving platform 32 is in sliding fit with the mounting substrate 31, a front-back guide rail (not shown) extending in the front-back direction is arranged on the upper surface of the mounting substrate 31, and a front-back sliding block (not shown) matched with the front-back guide rail is arranged on the lower surface of the front-back moving platform 32; the front and rear driving assembly comprises a front and rear driving motor 33, a front and rear screw rod (not shown in the figure), and a front and rear nut (not shown in the figure) matched with the front and rear screw rod, the front and rear driving motor 33 is installed on the installation substrate 31, the front and rear screw rod is arranged along the front and rear direction, the output end of the front and rear driving motor 33 is in transmission connection with the front and rear screw rod, and the front and rear moving platform 32 is connected with the front and rear nut; the front and rear driving motor 33 is operated to drive the front and rear screws to rotate, so that the front and rear nuts drive the front and rear moving platform 32 to move along the front and rear screws relative to the mounting substrate 31. In other embodiments of the present application, the front and rear driving assembly may also be other linear driving assemblies, such as an air cylinder, a hydraulic cylinder, an electric cylinder, a motor and rack and pinion assembly, and the like.
The left-right moving platform 34 is in sliding fit with the front-back moving platform 32, the left-right moving platform 34 is positioned above the front-back moving platform 32, left and right guide rails (not shown) extending left and right are arranged on the upper surface of the front-back moving platform 32, and left and right slide blocks (not shown) matched with the left and right guide rails are arranged on the lower surface of the left-right moving platform 34; the left and right driving assembly comprises a left and right driving motor 35, a left and right screw rod (not shown in the figure), and a left and right nut (not shown in the figure) matched with the left and right screw rod, the left and right driving motor 35 is arranged on the front and back moving platform 32, the left and right screw rod is arranged along the left and right direction, the output end of the left and right driving motor 35 is in transmission connection with the left and right screw rod, and the left and right moving platform 34 is connected with the left and; the left and right driving motors 35 operate to drive the left and right screws to rotate, so that the left and right nuts drive the left and right moving platforms 34 to move along the left and right screws relative to the front and rear moving platforms 32.
It should be noted that in other embodiments of the present application, the front and rear driving assemblies and the left and right driving assemblies may also be other linear driving assemblies, such as an air cylinder, a hydraulic cylinder, an electric cylinder, a motor and a rack and pinion assembly, and the like.
The left and right adjusting mechanism can drive the plastering executing mechanism 40 to move left and right to adjust the overlapping width between two plasterings and ensure that the condition of missing plastering and less plastering do not exist between two plasterings. When the reentrant corner plasters, because equipment can not press close to the side wall body completely, consequently, control the adjustment mechanism and can make plastering actuating mechanism 40 cover the corner region to plastering coverage has been increased.
As shown in fig. 1 and 2, the first elevation driving mechanism 22 includes a first elevation motor 221, a synchronizing shaft 222, and two gears 223, the first elevation motor 221 is fixed on the lower surface of the mounting substrate 31, an output shaft of the first elevation motor 221 is in transmission connection with the synchronizing shaft 222, the two gears 223 are mounted at two ends of the synchronizing shaft 222, the two gears 223 are in one-to-one correspondence with the two first elevation guide rails 21, and each gear 223 is engaged with the rack 211 on the corresponding first elevation guide rail 21. The first lifting motor 221 is operated to drive the synchronizing shaft 222 to rotate so as to drive the two gears 223 to rotate synchronously, so that the mounting substrate 31 and the components thereon move up and down along the first lifting rail 21 (the rack 211).
The third detecting unit is a height distance measuring sensor (not shown) mounted on the mounting substrate 31 for detecting the height of the gear axis, that is, the height of the error compensating mechanism 30. In other embodiments of the present application, a height ranging sensor may also be provided on the AGV chassis 10 and towards the error compensation mechanism 30.
As shown in fig. 1, the plastering apparatus 100 further comprises a second lifting assembly, the second lifting assembly comprises a second lifting guide rail 61 and a second lifting driving mechanism 63, two second lifting guide rails 61 are provided, the second lifting guide rail 61 comprises a mounting plate 611 and two rails 612, the mounting plate 611 is mounted at the end part of the left-right moving platform 34 close to the plastering wall surface (front wall surface), the second rails 612 are vertically arranged, and the two second rails 612 are arranged on the mounting plate 611 at intervals from left to right; the second lifting driving mechanism 63 includes a second lifting motor 631, a belt transmission mechanism 632, a lifting screw 633 and a lifting nut (not shown in the figure), the second lifting motor 631 is mounted on the mounting plate 611, an output shaft of the second lifting motor 631 is in transmission connection with the lifting screw 633 through the belt transmission mechanism 632, the lifting screw 633 is vertically arranged, the lifting nut is sleeved on the lifting screw 633, and the plastering executing mechanism 40 is connected with the lifting nut; the plastering executing mechanism 40 is in sliding fit with the two second tracks 612 through two second lifting sliders (not shown in the figure); the second lifting motor 631 is capable of driving the belt transmission mechanism 632 to rotate, so as to drive the lifting screw 633 to rotate, thereby moving the plastering executing mechanism 40 up and down along the second lifting mechanism.
It is understood that the first elevation guide rail 21 and the first elevation driving mechanism 22 together constitute a main elevation mechanism; the second elevation guide 61 and the second elevation driving mechanism 63 together constitute a two-stage elevation mechanism.
It should be noted that an upper limit switch (not shown in the figure) is arranged at the upper end of the second lifting guide rail 61, a lower limit switch (not shown in the figure) is arranged at the lower end of the second lifting guide rail 61, when the plastering execution mechanism 40 moves to the upper edge of the second lifting guide rail 61 along the second lifting guide rail 61, the plastering execution mechanism 40 triggers the upper limit switch, and the second lifting motor 631 stops driving; when the plastering execution mechanism 40 moves along the second lifting guide rail 61 to the lower edge of the second lifting guide rail 61, the plastering execution mechanism 40 triggers the lower limit switch, and the second lifting motor 631 stops driving.
As shown in fig. 1, 3 and 4, the plastering actuator 40 includes a plastering plate 41, two plastering plates 42, and a plastering plate inclination angle driving mechanism 43; the plastering plate 41 and the mounting plate 611 are connected through a connecting rod assembly (not shown), and two ends of the connecting rod assembly are respectively hinged with the plastering plate 41 and the mounting plate 611; the two ash baffles 42 are positioned at the left side and the right side of the plastering plate 41, the two ash baffles 42 are connected through a support plate 44, and the two second lifting slide blocks are arranged on the support plate 44; the plastering plate inclination angle driving mechanism 43 is an electric cylinder, a cylinder body of the electric cylinder is hinged with the support plate 44, an expansion rod of the electric cylinder is hinged with the plastering plate 41, and the electric cylinder is used for driving the plastering plate 41 to rotate relative to the support plate 44 so as to change the inclination angle of the plastering plate 41.
The controller is used for calculating a front-back error compensation quantity (according to a formula of delta d ═ ds-d- (h-hs) tan α, calculating a front-back error compensation quantity, wherein delta d is the front-back error compensation quantity, α is the inclination angle of the first lifting guide rail 21, hs is the height of the front-back distance measuring sensor 52, ds is the distance between the front-back distance measuring sensor 52 and the front wall surface, l is the distance between the foremost end of the plastering execution mechanism 40 and the front-back distance measuring sensor 52, h is the height of the error compensation mechanism 30, d is a preset plastering thickness), then controlling the left-right movement controller according to the front-back error compensation quantity, controlling the left-right movement controller according to the left-right movement error compensation quantity, controlling the left-right movement controller, the left-right movement controller controls the left-right movement compensation quantity of the plastering execution mechanism 35 according to the left-right movement compensation quantity, controlling the left-right movement compensation motor 33, controlling the left-right movement compensation quantity, controlling the left-right movement compensation mechanism 35 according to the left-right movement error compensation quantity, controlling the left-right movement compensation quantity, controlling the plastering execution mechanism 35, and the left-right movement controller according to the left-right movement compensation quantity controlling the left movement compensation quantity controlling the plastering execution mechanism 35, and the left-right movement compensation quantity.
The plastering robot according to the embodiment of the second aspect of the present application comprises the plastering apparatus 100 according to the embodiment of the first aspect of the present application.
According to the plastering robot of the application, adopt foretell plastering unit 100, can realize accurate plastering, guarantee to plaster the thickness unanimous at every turn.
The error compensation method according to the embodiment of the second aspect of the present application is applied to the plastering apparatus 100, and includes the following specific steps:
step 1: when the initial positioning of the AGV chassis 10 is completed, the error compensation mechanism 30 descends to the AGV chassis 10, and then the plastering execution mechanism 40 descends to the ground on the second lifting guide rail 61;
step 2: in the plastering preparation stage, the distance from the front wall surface to the front wall surface is measured by two front and rear distance measuring sensors 52 on the two first lifting guide rails 21, the yaw angle of the AGV is calculated, the attitude of the AGV chassis 10 is adjusted by a steering wheel of the AGV chassis 10, the yaw angle is zero, and at the moment, the distances from the two first lifting guide rails 21 to the wall surface are equal; at this time, after the levelness of the AGV chassis 10 is preliminarily adjusted, the four jacking supporting legs 11 arranged on the AGV chassis 10 rise simultaneously, so that the upper end of the first lifting guide rail 21 jacks the roof;
and step 3: the distance between the boundary of the previous plastering and the boundary of the plastering plate 41 closest to the previous plastering is calculated by a left and right distance measuring sensor 53 arranged on the AGV chassis 10, the left and right driving component drives the left and right moving platform 34 to move left and right, and the left and right moving platform 34 drives the plastering plate 41 to move left and right, so that the plastering plate 41 and the boundary of the previous plastering have a certain overlapping amount;
step 4, the controller calculates a forward and backward movement compensation amount (forward and backward error compensation amount), as the four jacking supporting legs 11 in step 2 only perform preliminary horizontal adjustment, as shown in fig. 5, an included angle α still exists between a plane (a first reference plane P1) where the two first lifting guide rails 21 are located and a plumb surface (a third reference plane P3) opposite to a front wall surface (a second reference plane P2), and is measured by the tilt angle sensor 51, in step 2, the deviation angle of the AGV chassis 10 is adjusted, so that the vertical deviation angle value of the forward and backward distance measuring sensor 52 installed parallel to the plane where the first lifting guide rails 21 are located is α, the installation height of the two forward and backward distance measuring sensors 52 is hs, the measured distance value between the plane where the first lifting guide rails 21 are located and the front wall surface is ds (1 + ds2)/2, assuming that the plastering thickness is d, the distance between the foremost end (a fourth reference plane P23) of the plastering plate 41 and the front wall surface is equal to ds 3, the distance between the forward and the front wall surface is 1+ 2, and the distance value of the forward and the plastering plate 41 is equal to the initial plastering plate 41-d, and the plastering plate 41 is equal to the forward and the plastering plate 41-backward movement compensation amount is equal to the initial plastering distance value of the forward and backward movement compensation amount of the calculated by the forward and backward movement compensation amount (h-forward and backward movement compensation amount h), and the forward and backward movement compensation amount of the forward and backward movement error of the forward and backward movement compensation amount of the forward and backward movement;
and 5: the error compensation mechanism 30 has descended onto the AGV chassis 10, and the compensation distance Δ d is moved forward and backward by the forward and backward moving platform 32 of the error compensation mechanism 30, then the second lifting driving mechanism 63 is started, the plastering execution mechanism 40 starts plastering upward, when the plastering execution mechanism 40 rises to the upper edge of the second lifting guide rail 61 and triggers the upper limit switch to stop rising, and simultaneously the first lifting motor 221 is started to drive the error compensation mechanism 30 to continue rising together with the second lifting mechanism (the second lifting guide rail 61 and the second lifting guide rail 61 driving mechanism) and the plastering execution mechanism 40.
And 6, compensating the front and rear error values by adopting an interpolation mode to avoid frequently starting the front and rear driving motors 33, setting the interpolation error, calculating the lifting height delta h of the first lifting motor 221 as/tan α reversely, and adjusting the front and rear error once, wherein the compensation amount is as follows.
And 7: when the plastering execution mechanism 40 ascends to the roof, the plastering plate 41 turns forwards at a certain angle and starts to turn back and strike off downwards. And compensating the difference until the error compensation mechanism 30 descends to the AGV chassis 10 every time the height is lowered by deltah, stopping all compensation, and starting the action of the second lifting motor 631 to enable the plastering execution mechanism 40 to be scraped to the bottom downwards.
And 8: the AGV chassis 10 moves to the next station and steps 1-7 are repeated.
The plastering apparatus 100 according to the embodiment of the application has the advantages that:
the plastering equipment 100 adopts a two-stage lifting mechanism capable of compensating errors all around, the upper end of the first lifting guide rail 21 can be fixed against the roof, the error compensating mechanism 30 with larger weight is placed on the first lifting guide rail 21, and the second-stage lifting mechanism and the plastering executing mechanism 40 with lighter weight are installed on the left-right moving platform 34, so that the integral rigidity of the equipment is greatly improved. The two-stage lifting mechanism enables the plastering plate 41 to descend to the ground and ascend to the top of the wall, so that plastering from the ground to the top of the wall is realized. The error compensation mechanism 30 can ensure that the thickness of plastering at every time is consistent, and meanwhile, the horizontal distance caused by the inclination angle between the first lifting guide rail 21 and the vertical plane is compensated in the plastering process, so that the three vertical planes of the plastering wall surface are ensured without accurately adjusting the verticality between the first lifting guide rail 21 and the ground. Control adjustment mechanism can make plastering unit 100 pass through AGV chassis 10 location back, adjust the overlapping width between plastering twice, guarantee not to have between twice plastering to leak the condition of smearing less. When the reentrant corner plasters, because equipment can not press close to the side wall body completely, consequently, control the adjustment mechanism and can make plastering actuating mechanism 40 cover the corner region to plastering coverage has been increased.
It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A plastering apparatus, comprising:
a chassis;
the first lifting assembly is vertically arranged on the chassis;
the error compensation mechanism is arranged on the first lifting assembly, and the first lifting assembly is used for driving the error compensation mechanism to move up and down;
the plastering actuating mechanism is connected to the actuating end of the error compensation mechanism;
the first detection unit is used for detecting the inclination angle of the first lifting assembly;
the second detection unit is used for detecting the distance between a reference point and a front wall surface, and the reference point and the first lifting assembly are relatively fixed in position;
a third detection unit for detecting a height of the error compensation mechanism;
the controller is used for calculating a front-back error compensation amount according to the inclination angle signal detected by the first detection unit, the spacing signal detected by the second detection unit and the height signal detected by the third detection unit, and the error compensation mechanism can drive the plastering execution mechanism to move back and forth according to the front-back error compensation amount.
2. The plastering apparatus of claim 1, wherein the error compensating mechanism can drive the plastering implement to move in the forward and backward direction and the left and right direction.
3. The plastering apparatus as claimed in claim 2, wherein the plastering apparatus further comprises a fourth detecting unit for detecting the distance between the fourth detecting unit and the side wall surface, the controller is used for calculating a left-right error compensation amount according to the distance signal detected by the fourth detecting unit, and the error compensation mechanism can drive the plastering execution mechanism to move left and right according to the left-right error compensation amount.
4. The plastering apparatus of claim 2, wherein the error compensating mechanism comprises a mounting base plate, a front and rear moving platform, a front and rear driving assembly, a left and right moving platform, and a left and right driving assembly, wherein the front and rear moving platform is in sliding fit with the mounting base plate, the front and rear driving assembly is used for driving the front and rear moving platform to move front and rear relative to the mounting base plate, the left and right moving platform is in sliding fit with the front and rear moving platform, the left and right driving assembly is used for driving the left and right moving platform to move left and right relative to the front and rear moving platform, and the plastering execution mechanism.
5. The plastering apparatus as claimed in claim 4, wherein the first lifting assembly comprises a first lifting rail and a first lifting driving mechanism, the first lifting rail is vertically disposed on the chassis, the first detecting unit is used for detecting the inclination angle of the first lifting rail, the first lifting driving mechanism is used for driving the error compensation mechanism to move along the first lifting rail, a rack is disposed on the first lifting rail, the rack extends along the length direction of the first lifting rail, the first lifting driving mechanism comprises a first lifting motor and a gear, the first lifting motor is fixed on the mounting substrate, the gear is connected to the output shaft of the first lifting motor, and the gear is engaged with the rack.
6. The plastering apparatus of claim 1, further comprising a second lifting assembly connected to the actuating end of the error compensation mechanism, wherein the plastering actuating mechanism is disposed on the second lifting assembly, and the second lifting assembly is used for driving the plastering actuating mechanism to move up and down.
7. The plastering apparatus of claim 6, wherein the second lifting assembly comprises a second lifting rail connected to the actuating end of the error compensating mechanism, and a second lifting driving mechanism for driving the plastering actuator to move along the second lifting rail, the second lifting driving mechanism comprising a second lifting motor and a screw nut mechanism, the second lifting motor being fixed to the second lifting rail, the second lifting motor being connected to the plastering actuator through the screw nut mechanism.
8. The plastering apparatus as claimed in claim 1, wherein the first lifting assembly comprises a first lifting driving mechanism and two first lifting rails, the two first lifting rails are vertically arranged on the chassis, the two first lifting rails are spaced from each other left and right, the first lifting driving mechanism is used for driving the error compensation mechanism to move along the two first lifting rails, the second detection units are provided in two, and the two second detection units are respectively mounted on the two first lifting rails.
9. Plastering robot comprising a plastering apparatus according to any of claims 1 to 8.
10. An error compensation method is applied to plastering equipment, the plastering equipment comprises a chassis, a first lifting assembly, an error compensation mechanism and a plastering execution mechanism, the first lifting assembly is vertically arranged on the chassis, the error compensation mechanism is arranged on the first lifting assembly, the first lifting assembly is used for driving the error compensation mechanism to move up and down, and the plastering execution mechanism is connected with an execution end of the error compensation mechanism, and the method is characterized by comprising the following steps:
acquiring the inclination angle of the first lifting assembly;
acquiring the distance between a reference point and a front wall surface, wherein the reference point and the first lifting assembly are relatively fixed in position;
acquiring the height of the error compensation mechanism;
calculating the front and rear error compensation amount according to the inclination angle of the first lifting assembly, the distance between the reference point and the front wall surface and the height of the error compensation mechanism;
and controlling the error compensation mechanism to drive the plastering execution mechanism to move back and forth according to the front and back error compensation quantity.
11. The error compensation method of claim 10, wherein the calculating a front-rear error compensation amount based on the tilt angle of the first lifting assembly, the distance between the reference point and the front wall surface, and the height of the error compensation mechanism comprises:
and calculating a front-back error compensation amount according to a formula delta d-ds-d- (h-hs) tan α, wherein delta d is the front-back error compensation amount, α is the inclination angle of the first lifting assembly, hs is the height of the reference point, ds is the distance between the reference point and the front wall surface, l is the distance between the foremost end of the plastering execution mechanism and the reference point, h is the height of the error compensation mechanism, and d is the preset plastering thickness.
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| CN114457983A (en) * | 2022-02-28 | 2022-05-10 | 广东博智林机器人有限公司 | Interactive system, plastering robot and plastering method |
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| CN115233991A (en) * | 2021-04-23 | 2022-10-25 | 广东博智林机器人有限公司 | Construction equipment and operation method of construction equipment |
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