CN113338587A - Automatic building wall surface slurry spraying system and automatic spraying method - Google Patents
Automatic building wall surface slurry spraying system and automatic spraying method Download PDFInfo
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- CN113338587A CN113338587A CN202110730718.6A CN202110730718A CN113338587A CN 113338587 A CN113338587 A CN 113338587A CN 202110730718 A CN202110730718 A CN 202110730718A CN 113338587 A CN113338587 A CN 113338587A
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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
Abstract
The invention discloses an automatic building wall slurry spraying system and an automatic spraying method, wherein the system comprises a movement mechanism and a spraying mechanism; the movement mechanism comprises a sliding trolley, a lifting guide rail and a lifting driving piece, and the lifting guide rail is arranged on the sliding trolley; the spraying mechanism comprises a spray gun, a mounting assembly and an angle detection unit, wherein the mounting assembly is mounted on the lifting guide rail and driven by the lifting driving piece to lift up and down along the lifting guide rail; the spray gun is rotatably arranged on the mounting assembly and is used for spraying slurry to a wall surface to be sprayed; the angle detection unit is used for detecting an included angle between the spraying surface of the spray gun and the wall forming theoretical surface so as to adjust the horizontal rotation angle of the spray gun to ensure that the spraying surface of the spray gun is parallel to the wall forming theoretical surface. The invention has the advantages of high automation degree, high construction efficiency, high construction quality, low labor cost, safety, reliability and the like.
Description
Technical Field
The invention mainly relates to the technical field of building construction, in particular to an automatic spraying system and an automatic spraying method for building wall surface slurry.
Background
The coating and covering process of the slurry (such as cement mortar, putty powder, paint, diatom ooze and the like) on the surface of the building is an important construction project in the field of construction, and the aim of improving the indoor environment of the building or improving the building performance of the building, such as heat insulation, moisture resistance, weathering resistance and the like, is achieved mainly by coating the slurry on the surface of the wall body of the building. In the traditional slurry coating and covering process, a special tool (such as a spray gun for spraying slurry) is held by a hand to coat the slurry on the surface of a blank wall, so that the workload is large, the working efficiency is low, the labor intensity is high, and the construction quality (such as the flatness of the wall surface) is difficult to ensure; to wall top position, need set up platforms such as scaffold frame, the manual work is under construction on high platform, has safety risk such as fall. In the process of implementing the invention, the applicant of the present invention proposes a corresponding automatic spraying robot system, but in the use process, the whole robot system (including the position of the spraying mechanism) still needs to be manually positioned, so that the whole system cannot be fully automated, and the spraying efficiency and the spraying precision cannot be effectively guaranteed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems in the prior art, the invention provides the automatic building wall surface slurry spraying system and the automatic spraying method which are high in automation degree, construction efficiency and construction quality.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an automatic building wall slurry spraying system comprises a movement mechanism and a spraying mechanism; the movement mechanism comprises a sliding trolley, a lifting guide rail and a lifting driving piece, and the lifting guide rail is arranged on the sliding trolley; the spraying mechanism comprises a spray gun, a mounting assembly and an angle detection unit, wherein the mounting assembly is mounted on the lifting guide rail and driven by the lifting driving piece to lift up and down along the lifting guide rail; the spray gun is rotatably arranged on the mounting assembly and is used for spraying slurry to a wall surface to be sprayed; the angle detection unit is used for detecting an included angle between the spraying surface of the spray gun and the wall forming theoretical surface so as to adjust the horizontal rotation angle of the spray gun to ensure that the spraying surface of the spray gun is parallel to the wall forming theoretical surface.
As a further improvement of the above technical solution:
the angle detection unit comprises telescopic rods positioned on two sides of the lifting guide rail, and a distance detection piece is arranged at the telescopic end of each telescopic rod and used for detecting the distance between the telescopic rod and the wall forming theoretical surface so as to obtain an included angle between the spraying surface of the spray gun and the wall forming theoretical surface through conversion.
The distance detection piece is a laser receiver and is used for receiving laser on the wall-forming theoretical surface to obtain the distance between the laser receiver and the wall-forming theoretical surface.
The top end of each telescopic rod is provided with a positioning point; and the mounting assembly is provided with a visual detection unit for detecting the distance between the mounting assembly and the positioning point on each telescopic rod so as to obtain an included angle between the spraying surface of the spray gun and the wall forming theoretical surface.
Each telescopic rod is an electric cylinder.
And the fixed ends of the telescopic rods are vertically and rotatably arranged on two sides of the lifting guide rail.
The mounting assembly comprises a horizontal sliding rail, a rotating seat and a mounting seat, two ends of the horizontal sliding rail are respectively positioned on the lifting guide rail, and the rotating seat is mounted on the horizontal sliding rail and can slide along the horizontal sliding rail; the mounting seat is rotatably mounted on the rotating seat and can rotate in a vertical plane, and the spray gun is mounted on the mounting seat and can rotate in a horizontal plane.
The wall surface coating slurry spraying device is characterized by further comprising a slurry thickness detection mechanism for detecting the thickness of the slurry on the wall surface so as to adjust the spraying operation of the spray gun to ensure the smoothness of the wall surface coating slurry.
The invention also discloses an automatic spraying method based on the automatic building wall surface slurry spraying system, which comprises the following steps:
the angle detection unit detects an included angle between a spraying surface of the spray gun and a wall forming theoretical surface;
and adjusting the horizontal rotation angle of the spray gun according to the included angle between the spraying surface of the spray gun and the wall forming theoretical surface to enable the spraying surface of the spray gun and the wall forming theoretical surface to be parallel to each other.
As a further improvement of the above technical solution:
wherein the wall-forming theoretical surface is formed by lasing of a laser.
Compared with the prior art, the invention has the advantages that:
according to the automatic building wall surface slurry spraying system, the sliding trolley of the movement mechanism is used for quickly moving to the corresponding position, so that the simplicity and the rapidity of operation are improved; the spray gun can spray the blank wall surface in a large area through the lifting motion of the spray gun on the lifting guide rail, the horizontal motion of the spray gun on the horizontal slide rail and the adjustment of the self angle, and the whole spray efficiency is high and easy to realize; the levelness adjustment of the sliding trolley is completed automatically through the matching of the levelness detection unit and the supporting unit, and the spraying angle of the spray gun is also completed automatically through the matching of the angle detection unit and the horizontal servo motor; in the spraying process, the thickness of the slurry is detected by the slurry thickness detection mechanism, and the smoothness of the wall surface spraying slurry is ensured by controlling the spraying operation (such as opening or closing) of the spraying mechanism according to the thickness of the slurry; compared with a manual mode, the automatic spraying system does not need manual participation, and is extremely high in overall automation degree, high in construction efficiency, high in construction quality, low in labor cost, safe and reliable.
Drawings
Fig. 1 is a schematic perspective view of an automatic spraying system of the present invention in a specific application.
Fig. 2 is a schematic perspective view of the second embodiment of the automatic spraying system of the present invention.
Fig. 3 is a partially enlarged view of fig. 2.
Fig. 4 is a schematic perspective view of the sliding cart according to the embodiment of the present invention.
Fig. 5 is a schematic front view of the sliding cart according to the embodiment of the present invention.
Fig. 6 is a side view schematically showing the structure of the sliding cart according to the embodiment of the present invention.
Fig. 7 is a schematic bottom view of the sliding cart according to the present invention.
Illustration of the drawings: 1. a motion mechanism; 11. a sliding trolley; 111. a support unit; 1111. supporting legs; 1112. supporting the servo motor; 112. a pressure detecting member; 12. a lifting guide rail; 13. a levelness detection unit; 131. an angle sensor; 2. a spraying mechanism; 21. a spray gun; 22. mounting the component; 221. a horizontal slide rail; 222. a support; 223. a rotating seat; 224. a mounting seat; 225. a horizontal servo motor; 226. rotating the servo motor; 23. an angle detection unit; 231. a telescopic rod; 232. a distance detecting member.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 2, the automatic building wall slurry spraying system of the present embodiment includes a moving mechanism 1 and a spraying mechanism 2; the movement mechanism 1 comprises a sliding trolley 11, a lifting guide rail 12 and a lifting driving piece, wherein the lifting guide rail 12 is arranged on the sliding trolley 11; in one embodiment, the spraying mechanism 2 includes a spray gun 21, a mounting assembly 22, an angle detection unit 23, and a slurry storage tank (not shown), the spray gun 21 being connected to the slurry storage tank through a pipe; the slurry storage tank is positioned on the ground and is connected with the spray gun 21 through a pipeline, and the spray gun 21 can control the start and stop of slurry spraying, the flow of the slurry, the spraying time and the like, so that the subsequent accurate control on the wall surface smoothness is realized; wherein the mounting base 224 is mounted on the lifting guide rail 12, and the spray gun 21 is rotatably mounted on the mounting base 224; the angle detection unit 23 is configured to detect an included angle between the spraying surface of the spray gun 21 and the wall forming theoretical surface, so as to adjust a rotation angle of the spray gun 21 to ensure that the spraying surface of the spray gun 21 and the wall forming theoretical surface are parallel to each other. Wherein the wall-forming theoretical surface can be formed by lasing with a laser.
After the levelness of the sliding trolley 11 is adjusted, the lifting guide rail 12 on the sliding trolley 11 is ensured to be in a vertical plane, and the spray gun 21 on the lifting guide rail 12 is ensured to move in the vertical plane for spraying. However, the vertical plane in which the lifting rail 12 lies may not be parallel to the theoretical wall-forming surface, so that the lance 21 is not aligned with the theoretical wall-forming surface. Therefore, in order to solve the technical problem, in the embodiment, the angle detecting unit 23 detects an included angle between the spraying surface of the spray gun 21 and the wall-forming theoretical surface, and the rotation angle of the spray gun 21 is automatically adjusted to ensure that the spraying surface of the spray gun 21 and the wall-forming theoretical surface are parallel to each other (i.e., the spray gun 21 is right opposite to the wall-forming theoretical surface), so as to ensure the precision and reliability of spraying.
In an embodiment, as shown in fig. 2, the angle detecting unit 23 includes telescopic rods 231 (e.g., electric cylinders) located at two sides of the lifting guide rail 12, and a distance detecting member 232 (e.g., a laser receiver) is disposed at a top end of each telescopic rod 231 for detecting a distance between the telescopic rod 231 and the wall-forming theoretical surface to obtain an included angle between the spraying surface of the spray gun 21 and the wall-forming theoretical surface through conversion. Specifically, the electric cylinders are all in an initial position (i.e., in a non-extended state), the laser receiver at the top end of the electric cylinders can detect the distance of laser on the wall-forming theoretical surface, and then the distance between the two laser receivers is combined, so that the included angle between the vertical plane where the connecting line between the two laser receivers is located and the wall-forming theoretical surface can be obtained, namely the deviation angle between the spray gun 21 and the wall-forming theoretical surface is obtained. The detection mode of the laser receiver is simple and reliable.
In addition, the fixed end of the telescopic rod 231 (electric cylinder) is hinged to both sides of the lifting guide rail 12, and when the angle detection is not required, the telescopic rod 231 is rotated upward to be flush with both sides of the lifting guide rail 12, thereby facilitating the transportation or movement.
As a further supplement to the above embodiment, after the deviation angle of the spray gun 21 is obtained, the telescopic length of each electric cylinder is adjusted to make each laser receiver be located in the theoretical wall-forming plane, wherein the telescopic length of each electric cylinder can be obtained through the electric cylinder, and then the deviation angle of the spray gun 21 is obtained through conversion again through the moving distance of the two electric cylinders and the distance between the two electric cylinders, so that the deviation angle is verified again, and the precision of the deviation angle adjustment of the subsequent spray gun 21 is ensured.
In other embodiments, an anchor point (a conventional protruding point, i.e. a row, not shown) may be disposed at the top end of each electric cylinder, and a visual detection unit (e.g. a 3D camera, etc.) may be disposed on the mounting assembly 22 for detecting the distance between the anchor point and each telescopic rod 231 to obtain the included angle between the spraying surface of the spray gun 21 and the theoretical wall surface. Specifically, under the condition that each electric cylinder is at the initial position, the telescopic length of one electric cylinder is adjusted to enable the positioning point of the electric cylinder to be located in the wall forming theoretical surface, the distance between the initial position and the positioning point of the adjusted position is detected through the visual detection unit, the deviation angle of the spray gun 21 is finally obtained, and the secondary verification is achieved.
In a specific embodiment, as shown in fig. 2, the mounting assembly 22 includes a horizontal sliding rail 221, a rotating base 223 and a mounting base 224, wherein two ends of the horizontal sliding rail 221 are respectively located on the lifting rail 12 and can slide on the lifting rail 12; the rotating seat 223 is installed on the horizontal sliding rail 221 and can horizontally slide along the horizontal sliding rail 221; the mounting base 224 is rotatably mounted on the rotating base 223 and can rotate in a vertical plane, and the spray gun 21 is mounted on the mounting base 224 and can rotate in a horizontal plane through a horizontal servo motor 225; in addition, the rotating base 223 is also rotatably mounted on the bracket 222 on the horizontal sliding rail 221 through a rotating shaft, and the vertical pitching motion of the spray gun 21 on the mounting base 224 is realized through the rotating servo motors 226 on both sides of the bracket 222, so that the slurry spraying direction is adjusted. Specifically, when a position such as a reentrant corner is to be painted, the spray gun 21 cannot reach the position such as the reentrant corner due to the position restriction of the moving mechanism 1, and at this time, the spray angle of the spray gun 21 can be adjusted to paint the special area.
After the deviation angle of the spray gun 21 is obtained, the horizontal rotation angle of the spray gun 21 is controlled through the horizontal servo motor 225, so that the spray gun 21 is right opposite to the wall forming theoretical surface, and the safety and reliability of spraying are ensured; the adjustment of the deviation angle of the spray gun 21 is realized through the horizontal servo motor 225, and the adjustment is simple, convenient and reliable and is easy to realize.
In an embodiment, the wall surface coating device further comprises a slurry thickness detection mechanism for detecting the thickness of the slurry sprayed on the wall surface, so as to adjust the spraying operation (such as turning on or off) of the spraying mechanism 2 to ensure the smoothness of the wall surface coating slurry, and if the thickness of the slurry is reached, the spraying of the spraying mechanism 2 is stopped. The slurry thickness detection mechanism comprises an ultrasonic sensor, is positioned above the spray gun 21 or on the mounting component 22 (not shown in the figure) and is used for detecting the distance between the wall surface and the wall forming theoretical surface, and when the sprayed wall surface is detected to be coincident with the wall forming theoretical surface, the spraying is judged to be finished. Of course, the ultrasonic sensors can be replaced by laser sensors or distance sensors or visual detection systems (such as 3D industrial cameras for constructing spraying models), and the number is selected according to actual conditions.
In addition, in order to ensure the precision and reliability of the spraying operation, it is necessary to ensure that the spray gun 21, the lifting guide rail 12 and the like are located in a vertical plane, so that the positions of the spray gun and the lifting guide rail can be accurately adjusted to ensure the precision of the spraying. Since the lifting guide rails 12 are all located on the sliding cart 11, it is necessary to ensure that the sliding cart 11 is horizontal during the spraying operation, and the ground is usually uneven in the construction site, so that the sliding cart 11 is required to be capable of automatically detecting and adjusting the levelness. As shown in fig. 4 to 7, in the present embodiment, a plurality of supporting units 111 with automatically adjustable height are installed at the bottom of the sliding trolley 11; the sliding trolley 11 is provided with a levelness detection unit 13 for detecting the levelness of the sliding trolley 11, so as to respectively adjust the supporting height of each supporting unit 111 to ensure that the sliding trolley 11 is on the horizontal plane. Specifically, the levelness detection unit 13 is adopted to detect the levelness of the sliding trolley 11, and then the heights of the supporting units 111 arranged at the bottom of the sliding trolley 11 are respectively and automatically adjusted, so that the levelness of the sliding trolley 11 is adjusted; the levelness detection and adjustment modes are completed in a full-automatic mode, manual participation is not needed, the levelness adjustment efficiency is high, the levelness adjustment precision is high, and the automation degree of the whole spraying system is high.
In a specific embodiment, as shown in fig. 1 and 2, the levelness detecting unit 13 includes two angle sensors 131, wherein one angle sensor 131 is used for measuring an angle between the sliding trolley 11 and a horizontal plane in the x direction, and the other angle sensor 131 is used for measuring an angle between the sliding trolley 11 and the horizontal plane in the y direction, wherein the x direction and the y direction are perpendicular to each other. The angles between the entire surface of the trolley 11 and the horizontal plane in the x direction and the y direction are detected by the two angle sensors 131, so that the levelness of the trolley 11 is obtained. The levelness detection unit 13 has a simple overall structure, is easy and convenient to operate, is easy to implement, and has low cost.
In one embodiment, the supporting unit 111 comprises a supporting leg 1111 and a supporting servo motor 1112, and the supporting servo motor 1112 is connected to the supporting leg 1111 through a transmission mechanism for adjusting the supporting height of the supporting leg 1111. Through the action of control support servo motor 1112, realize the height adjustment to supporting leg 1111 through drive mechanism again, its regulation mode is simple and convenient and adjust the precision height. In addition, pressure detecting pieces 112 for detecting the supporting pressure of the supporting legs 1111 are mounted on the bottoms of the supporting legs 1111, respectively. During specific work, the sliding trolley 11 is pushed to reach the position right in front of the wall surface to be painted through the handrails, and at the moment, the supporting legs 1111 are extended to support the sliding trolley 11 and enable the sliding trolley to not move any more. Because follow-up needs detect and adjust the levelness of sliding trolley 11, so need mark the initial position of supporting leg 1111 to guarantee the reliability of follow-up levelness adjustment, and if direct adoption carries out initial position's mark with supporting leg 1111 extension predetermined height's mode, under the uneven scene of ground pothole, still probably can not touch the ground after certain supporting leg 1111 extension predetermined height, thereby can influence the adjustment of follow-up levelness. Therefore, the pressure detecting part 112 (such as a pressure sensor) is installed at the bottom of the supporting legs 1111, when the pressure sensors on the supporting legs 1111 detect preset pressure, the pressure detecting part can judge that the supporting legs 1111 have contacted the ground, the position of each supporting leg 1111 can be determined to be the initial position of levelness adjustment, then the levelness detecting unit 13 detects the levelness of the sliding trolley 11, and then the height of each supporting leg 1111 is adjusted by adjusting each supporting servo motor 1112, so that the sliding trolley 11 is finally ensured to be in a horizontal state. The levelness of the sliding trolley 11 can be adjusted by adjusting the height of the supporting legs 1111, and the sliding trolley has the advantages of simple overall structure, simplicity and convenience in adjustment, high precision and high automation degree; the initial position of levelness adjustment is judged by detecting pressure through the pressure detecting piece 112 on each supporting leg 1111, and the precision and the reliability of subsequent levelness adjustment are ensured.
In addition, the bottom of the sliding trolley 11 is provided with a pulley; the handrails are arranged on two sides of the sliding trolley 11, the whole structure is simple, the movement is convenient, and the whole construction efficiency is improved.
According to the automatic building wall slurry spraying system, the sliding trolley 11 of the movement mechanism 1 is rapidly moved to the corresponding position, so that the simplicity and rapidity of operation are improved; the spray gun 21 can spray the wall surface of the blank in a large area through the lifting motion on the lifting guide rail 12, the horizontal motion on the horizontal slide rail 221 and the adjustment of the self angle, and the whole spray efficiency is high and easy to realize; the levelness adjustment of the sliding trolley 11 is completed automatically through the cooperation of the levelness detection unit 13 and the supporting unit 111, and the spraying angle of the spray gun 21 is also completed automatically through the cooperation of the angle detection unit 23 and the horizontal servo motor 225; in the spraying process, the thickness of the slurry is detected by the slurry thickness detection mechanism, and the smoothness of the wall surface spraying slurry is ensured by controlling the spraying operation (such as opening or closing) of the spraying mechanism 2 according to the thickness of the slurry; compared with a manual mode, the automatic spraying system does not need manual participation, is extremely high in overall automation degree, high in construction efficiency, high in construction quality, low in labor cost, safe and reliable.
The invention also discloses an automatic spraying method based on the automatic building wall surface slurry spraying system, which comprises the following steps:
the angle detection unit 23 detects an included angle between a spraying surface of the spray gun 21 and a wall forming theoretical surface; wherein the wall-forming theoretical surface is formed by emitting laser by a laser;
according to the included angle between the spraying surface of the spray gun 21 and the wall forming theoretical surface, the horizontal rotation angle of the spray gun 21 is adjusted, so that the spraying surface of the spray gun 21 and the wall forming theoretical surface are parallel to each other, and the precision and the reliability of subsequent spraying operation are guaranteed.
In a specific embodiment, the deviation angle of the spray gun 21 is obtained by detecting the corresponding distance through the laser receivers on the electric cylinders on the two sides of the lifting guide rail 12, and the specific detection process is described in the above spraying system, and is not described herein again.
In one embodiment, the lifting motion of the lifting drive and the horizontal motion of the horizontal slide rail 221 cause the coating mechanism 2 to move within a working plane parallel to the theoretical wall-forming surface while the coating mechanism 2 is spraying slurry onto the green wall during the movement. In the process of spraying the slurry, the slurry thickness detection mechanism obtains the thickness of the slurry through conversion by detecting the distance between the moving surface and the wall surface, and finally obtains the thickness of the slurry needing to be sprayed. The flatness of the wall surface spraying slurry is realized by controlling the amount of the slurry sprayed by the spraying mechanism 2 through the thickness of the slurry to be sprayed; wherein the control of the slurry amount is realized by controlling the spraying flow rate or the spraying time or the spraying track. Wherein, the motion trail of the spraying mechanism 2 is S-shaped as a whole. The spraying can be carried out from top to bottom along the S-shaped track, or from bottom to top along the S-shaped track, or from left to right along the S-shaped track, or from right to left along the S-shaped track. The S-shaped spraying track can improve the overall spraying efficiency.
In a specific embodiment, before the angle of the spray gun 21 is adjusted, the levelness of the sliding trolley 11 needs to be adjusted, specifically, the sliding trolley 11 is pushed to the front of the wall surface to be coated, and at this time, the supporting legs 1111 are extended to support the sliding trolley 11 so as to prevent the sliding trolley 11 from moving any more; due to the unevenness of the ground of the construction site, after each supporting leg 1111 extends, the supporting leg needs to be ensured to be in contact with the ground, so that the contact pressure of the supporting leg needs to be detected for judgment, specifically, when the pressure sensor on each supporting leg 1111 detects that each pressure reaches the preset pressure, each supporting leg 1111 can be judged to be in contact with the ground, and at the moment, the position of each supporting leg 1111 can be determined as the initial position of levelness adjustment; then, the levelness parameter of the sliding trolley 11 in the horizontal direction is detected by the levelness detection unit 13, specifically, the included angle between the plane where the sliding trolley 11 is located and the horizontal plane in two vertical directions is detected.
In an embodiment, the height of each support leg 1111 is adjusted by adjusting each support servo motor 1112 in the support unit 111, so as to finally ensure that the sliding cart 11 is in a horizontal state. The specific adjustment process is as described above for the spray coating system, and is not described herein again.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. An automatic building wall slurry spraying system is characterized by comprising a movement mechanism (1) and a spraying mechanism (2); the movement mechanism (1) comprises a sliding trolley (11), a lifting guide rail (12) and a lifting driving piece, wherein the lifting guide rail (12) is arranged on the sliding trolley (11); the spraying mechanism (2) comprises a spray gun (21), a mounting assembly (22) and an angle detection unit (23), wherein the mounting assembly (22) is mounted on the lifting guide rail (12) and driven by the lifting driving piece to lift up and down along the lifting guide rail (12); the spray gun (21) is rotatably arranged on the mounting component (22) and is used for spraying slurry to a wall surface to be sprayed; the angle detection unit (23) is used for detecting an included angle between the spraying surface of the spray gun (21) and the wall forming theoretical surface so as to adjust the horizontal rotation angle of the spray gun (21) to ensure that the spraying surface of the spray gun (21) is parallel to the wall forming theoretical surface.
2. The automatic building wall surface slurry spraying system according to claim 1, wherein the angle detection unit (23) comprises telescopic rods (231) located at two sides of the lifting guide rail (12), and a distance detection piece (232) is arranged at a telescopic end of each telescopic rod (231) and used for detecting a distance between the telescopic rod and a wall forming theoretical surface so as to convert the distance to obtain an included angle between a spraying surface of the spray gun (21) and the wall forming theoretical surface.
3. The automatic building wall surface paste spraying system according to claim 2, wherein the distance detecting member (232) is a laser receiver for receiving laser light from the wall forming theoretical surface to obtain the distance from the wall forming theoretical surface.
4. The automatic building wall surface slurry spraying system according to claim 2 or 3, wherein a top end of each telescopic rod (231) is provided with a positioning point; the mounting assembly (22) is provided with a visual detection unit for detecting the distance between the mounting assembly and the positioning point on each telescopic rod (231) so as to obtain the included angle between the spraying surface of the spray gun (21) and the wall forming theoretical surface.
5. The automatic building wall surface slurry spraying system according to claim 2 or 3, wherein each of the telescopic rods (231) is an electric cylinder.
6. The automatic building wall surface slurry spraying system according to claim 2 or 3, wherein the fixed end of each telescopic rod (231) is vertically and rotatably mounted on both sides of the lifting guide rail (12).
7. The automatic building wall surface slurry spraying system according to any one of claims 1 to 3, wherein the mounting assembly (22) comprises a horizontal sliding rail (221), a rotating seat (223) and a mounting seat (224), two ends of the horizontal sliding rail (221) are respectively located on the lifting guide rail (12), and the rotating seat (223) is mounted on the horizontal sliding rail (221) and can slide along the horizontal sliding rail (221); the mounting seat (224) is rotatably mounted on the rotating seat (223) and can rotate in a vertical plane, and the spray gun (21) is mounted on the mounting seat (224) and can rotate in a horizontal plane.
8. The automatic building wall surface slurry spraying system according to any one of claims 1 to 3, further comprising a slurry thickness detection mechanism for detecting the thickness of the slurry on the wall surface so as to adjust the spraying operation of the spray gun (21) to ensure the flatness of the wall surface spraying slurry.
9. An automatic spraying method based on the automatic building wall surface slurry spraying system as claimed in any one of claims 1 to 8, characterized by comprising the steps of:
the angle detection unit (23) detects an included angle between a spraying surface of the spray gun (21) and a wall forming theoretical surface;
and adjusting the horizontal rotation angle of the spray gun (21) according to the included angle between the spraying surface of the spray gun (21) and the wall forming theoretical surface to enable the spraying surface of the spray gun (21) and the wall forming theoretical surface to be parallel to each other.
10. The automated spray coating process of claim 9, wherein the wall-forming theoretical surface is formed by lasing with a laser.
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| CN202110730718.6A CN113338587A (en) | 2021-06-29 | 2021-06-29 | Automatic building wall surface slurry spraying system and automatic spraying method |
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| CN202110730718.6A CN113338587A (en) | 2021-06-29 | 2021-06-29 | Automatic building wall surface slurry spraying system and automatic spraying method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113877745A (en) * | 2021-09-30 | 2022-01-04 | 苏州林侣信息科技有限公司 | Co-plane multi-vehicle cooperative intelligent spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113877745A (en) * | 2021-09-30 | 2022-01-04 | 苏州林侣信息科技有限公司 | Co-plane multi-vehicle cooperative intelligent spraying robot |
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