CN114161244A - Indoor construction equipment and method - Google Patents
Indoor construction equipment and method Download PDFInfo
- Publication number
- CN114161244A CN114161244A CN202210016946.1A CN202210016946A CN114161244A CN 114161244 A CN114161244 A CN 114161244A CN 202210016946 A CN202210016946 A CN 202210016946A CN 114161244 A CN114161244 A CN 114161244A
- Authority
- CN
- China
- Prior art keywords
- putty
- indoor construction
- working surface
- construction equipment
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title abstract description 24
- 238000005507 spraying Methods 0.000 claims abstract description 77
- 239000007921 spray Substances 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 239000012636 effector Substances 0.000 claims abstract description 9
- 239000003973 paint Substances 0.000 claims description 36
- 239000000428 dust Substances 0.000 claims description 31
- 239000011248 coating agent Substances 0.000 claims description 24
- 238000000576 coating method Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 23
- 238000005498 polishing Methods 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 description 12
- 239000010410 layer Substances 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000007790 scraping Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 206010035653 pneumoconiosis Diseases 0.000 description 4
- 244000137852 Petrea volubilis Species 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 239000011505 plaster Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 229910052602 gypsum Inorganic materials 0.000 description 2
- 239000010440 gypsum Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 238000010345 tape casting Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000004852 Lung Injury Diseases 0.000 description 1
- 206010069363 Traumatic lung injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 231100000515 lung injury Toxicity 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000001743 silencing effect Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- 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 present disclosure relates to an indoor construction apparatus and method. The indoor construction equipment includes: a scanner configured to acquire depth data corresponding to each coordinate position of a working surface in a room; a putty spray mechanism having a putty spray head, the putty spray mechanism configured to spray putty onto the work surface; the tail end of the mechanical arm is provided with an end effector which is detachably connected with the putty spray head; and the controller is in signal connection with the putty spraying mechanism, the mechanical arm and the scanner and is configured to enable the mechanical arm to adjust the position and the spraying direction of the putty sprayer according to each coordinate position of the working surface and corresponding depth data so that the putty sprayer sprays putty with a corresponding spraying amount at the specified coordinate position of the working surface.
Description
Technical Field
The disclosure relates to the field of interior decoration, in particular to indoor construction equipment and method.
Background
In the current interior decoration industry, the putty-applying and paint-brushing operations on indoor walls and ceilings are still stuck in the manual construction phase. When the emulsion paint is used for constructing the working surface, the surface of a base layer is firstly treated, then a gypsum bottom layer and a surface layer are painted for repair, then putty is fully applied for two times, after the putty is dried completely, sand paper is used for overall polishing, and finally primer and finish paint are painted.
Disclosure of Invention
The inventor finds that the manual putty scraping, polishing, paint brushing and other processes in the related technology are high in labor cost and long in construction period, and constructors inhale a large amount of dust to easily cause pneumoconiosis and other problems, and in addition, the potential safety hazard of personal safety accidents also exists during high-altitude construction.
In view of this, the embodiments of the present disclosure provide an indoor construction apparatus and method, which can reduce manpower usage and improve construction efficiency.
In one aspect of the present disclosure, there is provided an indoor construction apparatus including: a scanner configured to acquire depth data corresponding to each coordinate position of a work surface within the chamber;
a putty spray mechanism having a putty spray head, the putty spray mechanism configured to spray putty onto the work surface;
the tail end of the mechanical arm is provided with an end effector which is detachably connected with the putty spray head;
and the controller is in signal connection with the putty spraying mechanism, the mechanical arm and the scanner and is configured to enable the mechanical arm to adjust the position and the spraying direction of the putty sprayer according to each coordinate position of the working surface and corresponding depth data so that the putty sprayer sprays putty with a corresponding spraying amount at the specified coordinate position of the working surface.
In some embodiments, the putty applying mechanism further comprises:
the airless pump is provided with an interface connected with the material tank and is connected with the putty nozzle pipeline;
the controller is in signal connection with the airless pump and is configured to adjust the airless pump according to the depth data so that the putty nozzle can spray putty with a corresponding spraying amount at the specified coordinate position of the working surface.
In some embodiments, the controller is in signal connection with the putty spray head to adjust the opening degree of the putty spray head.
In some embodiments, the scanner is disposed at the end of the robotic arm.
In some embodiments, the indoor construction equipment further includes:
the mechanical arm is supported on the box body;
the traveling mechanism is arranged at the bottom of the box body;
the controller is in signal connection with the travelling mechanism and is configured to enable the travelling mechanism to drive the box body to move to a ground position corresponding to the specified coordinate position of the working surface.
In some embodiments, the indoor construction equipment further includes:
the supporting leg assembly is arranged on the box body or the travelling mechanism;
the controller is in signal connection with the supporting leg assembly and is configured to enable the supporting leg assembly to adjust the bottom surface of the box body to be horizontal according to the ground flatness after the travelling mechanism moves to the ground position corresponding to the designated coordinate position of the working surface.
In some embodiments, the indoor construction equipment further includes:
the operation screen is arranged on the surface of the box body;
the controller is in signal connection with the operation screen, and is configured to receive an instruction input on the operation screen from the outside, generate a depth image according to depth data corresponding to each coordinate position of the working surface, and display the depth image on the operation screen.
In some embodiments, the indoor construction equipment further includes:
the camera is arranged on the mechanical arm;
a wireless communication element;
the controller is connected with the camera and the wireless communication element, and is configured to send the pictures shot by the camera to an external communication device through the wireless communication element and receive instructions input by the external communication device through the wireless communication element.
In some embodiments, the indoor construction equipment further includes:
a sander having a sanding head removably connected to the end effector;
wherein the controller is configured to cause the robotic arm to adjust a position and a dressing direction of the dressing head to cause the dressing machine to dress the work surface.
In some embodiments, the controller is in signal communication with the sander or sanding head and is configured to adjust the rotational speed of the sanding head.
In some embodiments, the sander further comprises:
one end of the dust suction pipe is connected with the polishing head and is configured to absorb dust generated in the polishing process;
a dust bag located below the sanding head, connected to the other end of the dust collection tube, and configured to collect the dust.
In some embodiments, the indoor construction equipment further includes:
a paint spray mechanism having a paint spray head removably connected to the end effector;
wherein the controller is configured to cause the robotic arm to adjust a position and a spray direction of the paint spray head to cause the paint spray head to spray paint onto the work surface.
In some embodiments, the indoor construction equipment further includes:
the airless pump is provided with an interface connected with the material tank and is connected with the coating nozzle pipeline;
the controller is in signal connection with the airless pump and is configured to adjust the airless pump according to the depth data so that the paint spray head sprays paint with a specified spraying amount on the working surface.
In some embodiments, the controller is in signal communication with the coating material application mechanism to adjust the opening of the coating material spray head.
In some embodiments, the indoor construction equipment further includes:
and the battery is arranged in the box body and is configured to supply power to the scanner, the putty spraying mechanism, the controller, the walking mechanism and the mechanical arm.
In some embodiments, the case further comprises:
and the charging interface is connected with the battery line to charge the battery.
In one aspect of the present disclosure, there is provided an indoor construction method, including:
scanning a working surface in a room, and acquiring depth data corresponding to each coordinate position of the working surface;
and enabling the mechanical arm to adjust the position and the spraying direction of the putty spray head according to each coordinate position and the corresponding depth data of the working surface so as to spray putty with a corresponding spraying amount at the appointed coordinate position of the working surface.
In some embodiments, the indoor construction method further comprises:
and adjusting the opening degree of the putty spray head according to each coordinate position of the working surface and the corresponding depth data.
In some embodiments, the indoor construction method further comprises:
and after the spraying of the putty is finished, polishing the working surface after the spraying of the putty by using a polisher, and collecting dust in a dust bag.
In some embodiments, the indoor construction method further includes:
and after polishing is finished, coating is sprayed on the polished working surface through a coating nozzle mechanism.
In some embodiments, the indoor construction equipment further comprises: the mechanical arm is supported on the box body; wherein, the indoor construction method further comprises:
before the scanner scans a working surface and/or coats putty, the walking mechanism drives the box body to move to a ground position corresponding to the designated coordinate position of the working surface.
In some embodiments, the indoor construction equipment further comprises: the supporting legs are arranged on the box body or the travelling mechanism; wherein, the indoor construction method further comprises:
retracting the leg assembly during movement of the travel mechanism;
after the walking mechanism moves to the ground position corresponding to the designated coordinate position of the working surface, the supporting leg assembly is unfolded, and the bottom surface of the box body is adjusted to be horizontal according to the ground flatness.
Therefore, this disclosure implements the depth data that acquires every coordinate position department of working surface through the scanner, and will depth data turns into the required putty spraying volume of every coordinate position department, and the arm removes the putty shower nozzle and arrives the putty that each coordinate position department of working surface blowout corresponds the spraying volume compares in relevant art, uses indoor construction equipment construction to save complicated processes such as basic unit's processing, gypsum find repair and putty scraping fill many times, effectively practices thrift process room latency and needs the time that putty scraping was just can make the whole leveling of working surface of maintenance repeatedly, and has improved the precision of filling processing basic unit surface, has still avoided construction tool such as putty scraper to leave the scraping vestige at working surface, makes the working surface after the spraying level and smooth, scribble the face even, difficult fracture. In addition, the indoor construction equipment automatically sprays putty, does not need constructors to participate in and contact the construction process in a short distance in real time, reduces labor cost, and reduces the risks of easy safety accidents of high-altitude construction and easy pneumoconiosis of the constructors.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural view of an indoor construction apparatus according to some embodiments of the present disclosure;
FIG. 2 is a schematic structural view of indoor construction equipment according to further embodiments of the present disclosure;
fig. 3 is a flow chart of an indoor construction method according to some embodiments of the present disclosure.
It should be understood that the dimensions of the various parts shown in the figures are not drawn to scale. Further, the same or similar reference numerals denote the same or similar components.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, that particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In some related technologies, latex paint is applied to the wall and ceiling of a house by manual construction. The inventor finds that the manual construction process of the related technology is quite complex through research: firstly, dust and other adhered matters on the surface of a base layer need to be removed; then, the plaster bottom layer and the surface layer are repaired, and putty is fully scraped for at least two times after the surface is completely scraped to solve the problems of roughness, sand holes, pitted surface, scratch and insufficient local surface flatness after the plaster construction. The top surface of the indoor wall surface is coated by scraping along the direction of a window, the indoor wall surface is coated by scraping from top to bottom, and putty cannot be coated too thick; after the putty is completely dried for 24 hours, the rough surface is comprehensively polished by abrasive paper, floating ash is removed, and finally the primer and the surface coating are uniformly brushed, so that the construction process is long. And the manual construction mode also can't the holistic roughness and the smoothness of accurate control wall top surface, the easy problem that appears thin thick inequality, leaves the cylinder and scribble the trace and flow weighs down, consequently extremely high to constructor technical merit requirement. Abrasive paper is large in grinding dust, constructors are prone to pneumoconiosis, and in addition, great potential safety hazards exist during high-altitude construction.
In view of this, the embodiments of the present disclosure provide an indoor construction apparatus and method, which can reduce manpower usage and improve construction efficiency.
Fig. 1 and 2 are schematic structural views of indoor construction equipment according to some embodiments of the present disclosure. Referring to fig. 1 and 2, the present disclosure provides an indoor construction apparatus. The apparatus comprises: the putty spraying machine comprises a scanner 1, a putty spraying mechanism 2, a mechanical arm 3 and a controller 4.
The scanner 1 is configured to acquire corresponding depth data at various coordinate positions of the work surface within the chamber. The work surface within the chamber includes a wall surface and/or a ceiling surface within the chamber. When the indoor construction equipment of the present disclosure is set to the outdoor, the construction can also be performed on the outer wall of a building or the like. The depth data comprise positive and negative error values of surface depths of wall top surfaces, full-house internal and external corners, door and window openings, electric appliance box hole openings and the like, wherein the internal corners in the full-house internal and external corners refer to recessed corners, such as included angles between the top surfaces and walls on the periphery, and the external corners refer to protruded corners, such as included angles formed by two walls at a turning part of a walkway. The scanner 1 is preferably an infrared scanner.
The putty spraying mechanism 2 has a putty spray head 21, and the putty spraying mechanism 2 is configured to spray putty onto the work surface.
The end of the mechanical arm 3 is provided with an end pick-up 31, and the end pick-up 31 is detachably connected with the putty spraying nozzle 21.
The controller 4 with putty spraying mechanism 2 the arm 3 with the equal signal connection of scanner 1, controller 4 are according to the putty spraying volume of each coordinate position department is confirmed to each coordinate position of working surface and the depth data that corresponds, and the depressed part spraying volume is many, and the protruding position then spraying volume is few to adjust the height, angle and the position etc. of arm 3, thereby adjust the position and the spraying direction of putty shower nozzle 21, so that putty shower nozzle 21 is in the putty of the corresponding spraying volume of appointed coordinate position department blowout of working surface. The controller 4 stores depth data corresponding to each coordinate position of the working surface, and when the indoor construction equipment leaves the working place and returns, the controller 4 moves the indoor construction equipment to the coordinate position of the previous spraying to continue construction.
This embodiment obtains the depth data of every coordinate position department of working surface through scanner 1, and calculate every coordinate position department of working surface and correspond required putty spraying volume according to these depth data, make 3 move putty shower nozzle 21 to each coordinate position department and spout the putty that corresponds the spraying volume, compare in relevant technology, basic unit's processing has been saved to this embodiment, complicated processes such as plaster is mended and putty is filled and filled many times, effectively practice thrift process room latency and need relapse the putty of knife coating and just can make the whole time that keeps leveling of working surface, the precision of filling processing basic unit surface has been improved simultaneously, construction tools such as putty scraper has been avoided leaving the knife coating vestige at the working surface, make the working surface after the spraying level and smooth, the coating is even, difficult fracture. In addition, the indoor construction equipment automatically sprays putty, does not need constructors to participate in and contact the construction process in a short distance in real time, reduces labor cost, and reduces the risks of easy safety accidents of high-altitude construction and easy pneumoconiosis of the constructors.
Referring to fig. 2, in some embodiments, the putty applying mechanism 2 further includes an airless pump 22, and the airless pump 22 has an interface connected to a bucket storing putty and is connected to the putty nozzle 21 through a pipeline. The airless pump 22 has high horsepower, can immediately convey putty in the material tank to the putty spray head 21, and has better silencing effect. The controller 4 is in signal connection with the airless pump 22, so that the putty amount output by the airless pump 22 is adjusted when the putty spray head 21 moves to each coordinate position according to the depth data collected by the scanner 1, and the putty spray head 21 sprays putty with a corresponding spraying amount at the appointed coordinate position of the working surface.
In the embodiment, the putty in the charging bucket is pumped to the putty spray head 21 through the airless pump 22, and the flow rate of the putty sprayed by the airless pump 22 is adjusted according to the depth data of the working surface, so that the putty corresponding to the spraying amount is accurately sprayed to the coordinate position corresponding to the working surface. The method realizes accurate spraying of putty, and effectively saves the base layer processing time for removing, grinding and leveling convex parts and filling and repairing concave parts in the manual putty applying process and the base layer repairing time for filling and compacting large defect parts.
In some embodiments, the controller 4 is in signal connection with the putty spray head 21 to adjust the opening degree of the putty spray head 21.
In this embodiment, the controller is used to adjust the opening of the putty nozzle 21, and the putty nozzle can be further matched with the airless pump 22, so as to more finely control the putty spraying amount of the putty nozzle 21. The uniform smearing of the working surface is realized, and the construction quality is effectively improved.
Referring to fig. 2, in some embodiments, the scanner 1 is disposed at the end of the robotic arm 3, moving with the robotic arm 3.
In the embodiment, the scanner 1 is carried at the tail end of the mechanical arm 3, before putty spraying work starts, the mechanical arm 3 moves the scanner 1 to each position of a working surface, and depth data of all coordinate positions are scanned and collected without dead angles. In the putty spraying process, the scanner 1 moves along with the mechanical arm 3, the depth data of the working surface is tracked and collected while the putty spray head 21 is sprayed, the depth change condition of the working surface is monitored in real time, and constructors can judge whether the flatness of the working surface meets the construction requirements according to the depth data scanned in real time.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: a box 5 and a running gear 51. The mechanical arm 3 is supported on the box body 5, and the box body 5 drives the mechanical arm 3 to move. The traveling mechanism 51 comprises a driving wheel arranged at the bottom of the box body 5 and a processor connected with a control signal, and the processor can receive a signal of the controller 4 to adjust the rotation and the steering of a wheel shaft of the driving wheel, so that the driving wheel drives the box body 5 to move to a ground position corresponding to an appointed coordinate position of the working surface, and the traveling mechanism can be matched with the movement of the mechanical arm 3 to realize the spraying in a larger area.
Carry on arm 3 on box 5 in this embodiment, drive box 5 by running gear 51 and remove needs the spraying the ground position that the appointed coordinate position of working surface corresponds to move putty shower nozzle 21 to the coordinate position department that needs the spraying by arm 3, do not need the artifical supplementary whole working surface's of realization building not have the nimble spraying in dead angle, reduced the cost of labor, avoided constructor high altitude construction's risk.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: a leg assembly 52. The leg assembly 52 is provided on the box body 5 or the traveling mechanism 51, and is in a retracted state when the box body 5 moves. The controller 4 is in signal connection with the leg assembly 52, after the traveling mechanism 51 drives the box body 5 to move to the ground position corresponding to the coordinate position to be painted, the controller 4 causes the leg assembly 52 to be unfolded, and adjusts the bending and stretching of the leg assembly 52 according to the ground flatness, so that the bottom surface of the box body 5 is kept horizontal.
In the embodiment, the supporting leg assembly 52 is arranged on the box body 5 or the travelling mechanism 51 to adjust the bottom level of the box body, so that the problem of uneven ground of a building is solved, and the position of the putty sprayed out by the putty spray head 21 is more accurate.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: and an operation panel 53 provided on the surface of the case 5. The controller 4 is in signal connection with the operation screen 53, generates a depth image according to depth data corresponding to each coordinate position of the working surface, and displays the depth image on the operation screen 53. The operation panel 53 can also receive an instruction input from the outside on the operation panel 53, so that the controller 4 sends out a corresponding operation signal according to the instruction.
Working surface degree of depth distribution map that this embodiment generated through operation screen 53, constructor not only can acquire working surface's roughness information more directly perceivedly, can also carry out real-time supervision to the change of working surface thickness according to the depth image of scanner 1 feedback on operation screen 53 to the position of discerning door and window entrance to a cave and electrical switch box entrance to rationally dodge when the construction. In addition, the constructor can also set and adjust parameters such as the spraying amount of the airless pump 22, the opening degree and the spraying direction of the putty spray head 21, the position of the mechanical arm 3 and the like adaptively through the operation panel 53 according to the actual construction requirements.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: a camera 6 and a wireless communication element. The camera 6 is arranged on the mechanical arm 3. The wireless communication element includes bluetooth, a wireless router, and the like. The controller 4 is in signal connection with both the camera 6 and the wireless communication element, and is configured to send pictures taken by the camera 6 to external communication equipment such as a platform, a server and a mobile phone through the wireless communication element. The controller 4 can also receive instructions input by external communication equipment through the wireless communication element, and set and adjust parameters of equipment such as the spraying amount of the airless pump 22, the opening degree and the spraying direction of the putty spray head 21, the position of the mechanical arm 3, the camera 6 and the like.
In this embodiment, constructor accessible external communication equipment carries out remote monitoring to the work progress, thereby can also realize remote control to wall spraying equipment through wireless communication component to controller 4 send instruction, avoided constructor to construct the risk of operation under high dust, high risk environment to can in time adjust equipment parameter according to actual construction demand.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: and a sander 7. The polisher 7 can polish the work surface after the putty is completely dried. The sander 7 has a sanding head 71 removably connected to the end-effector 31. Before the sanding, the putty nozzle 21 may be removed and the sanding head 71 mounted on the end effector 31. The controller 4 is configured to cause the robot arm 3 to adjust the position and the dressing direction of the dressing head 71 so that the dresser 7 dresses the work surface.
In this embodiment, carry on the processing of polishing that each position department of working surface was comprehensive accurate through arm 3 and realize polishing head 71, compare among the prior art for the constructor with sand paper to the polishing and the mill of wall top surface, efficiency is higher.
In some embodiments, the controller 4 is in signal connection with the sander 7 or the sanding head 71 and is configured to adjust the rotational speed of the sanding head 71.
In this embodiment, the rotational speed of the sanding head 71 is controlled to adjust the sanding speed in a targeted manner depending on the actual condition of the work surface.
Referring to fig. 2, in some embodiments, the sander 7 further comprises: a dust suction pipe 72 and a dust bag 73. One end of the dust suction pipe 72 is connected to the polishing head 71 and configured to absorb dust generated during polishing. A dust bag 73 is located below the sanding head 71, connected to the other end of the dust suction pipe 72, and configured to collect the dust.
Compare and polish by manual sand paper, this embodiment is passed through dust absorption pipe 72 at the in-process of polishing and is retrieved dust into dust bag 73 in real time, and not only environmental protection and energy saving but also avoid constructor to inhale a large amount of dust and cause the lung injury.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: and a coating spraying mechanism 8. And after finishing polishing and absorbing floating ash, spraying paint on the top surface of the wall. The paint comprises a primer and a top paint. The coating material dispensing mechanism 8 has a coating material nozzle 81 detachably connected to the end effector 31. The controller 4 is configured to cause the robot arm 3 to adjust the position and the spraying direction of the paint sprayer 81 so that the paint sprayer 81 sprays paint onto the work surface.
Compare in artifical coating appear thin uneven, leave the cylinder easily and scribble the trace and flow and weigh down the scheduling problem, carry on coating shower nozzle 81 through arm 3 in this embodiment and carry out comprehensive accurate coating spraying to working surface, make working surface level and smooth, and be suitable for the coating of various brands and various qualities.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: without the air pump 22. The airless pump 22 is provided with an interface connected with the charging bucket, and the airless pump 22 is connected with the coating nozzle 81 through a pipeline. The controller 4 is in signal connection with the airless pump 22, and is configured to adjust the airless pump 22 according to the depth data, so that the coating nozzle 81 sprays a specified spraying amount of coating on the working surface, and the regional spraying of different colors and different types of coating can be realized according to the personalized requirements of customers.
In this embodiment, the amount of paint sprayed on the work surface can be adaptively controlled by adjusting the amount of paint sprayed by airless pump 22, the position of paint sprayer 81, and the direction of spraying.
In some embodiments, the controller 4 is in signal connection with the paint spraying mechanism 8 to adjust the opening of the paint sprayer 81.
In this embodiment, the control of the opening of the paint sprayer 81 can be matched with the control of the spraying amount of the airless pump 22, so that the different colors and different types of paints on the working surface can be uniformly coated in different areas, and the construction quality and the working surface flatness are effectively improved.
Referring to fig. 2, in some embodiments, the indoor construction equipment further includes: and a battery 9. A battery 9 is disposed within the housing 5 and configured to power the scanner 1, the putty applying mechanism 2, the controller 4, the traveling mechanism 51, the leg assembly 52, and the robot arm 3. The battery 9 is preferably a lithium battery.
In this embodiment, battery duration is long, can realize the long-time work of indoor construction equipment, and battery 9 can use by turns, compares in manual work, has greatly reduced operating time.
Referring to fig. 2, in some embodiments, the box 5 further comprises: and a charging interface 91 connected to an external power supply. The charging interface 91 is connected to the battery 9 by a line to charge the battery 9.
In this embodiment, the power charging interface 91 is provided on the box body 5, so that the scanner 1, the putty spraying mechanism 2, the controller 4, the traveling mechanism 51, the leg assembly 52, the mechanical arm 3 and other devices can always maintain the power-on state, thereby realizing uninterrupted construction and improving the working efficiency.
Fig. 3 is a flow chart of an indoor construction method according to some embodiments of the present disclosure. Referring to fig. 3, the present disclosure also provides an indoor construction method. The method comprises the following steps: step S10 to step S40. In each indoor construction process, steps S10 to S40 are sequentially performed.
In step S10, a work surface in a room is scanned, and depth data corresponding to each coordinate position of the work surface is acquired.
In step S20, the manipulator 3 adjusts the position and the spraying direction of the putty nozzle 21 according to each coordinate position of the work surface and the corresponding depth data, so as to spray the putty with a corresponding spraying amount at the designated coordinate position of the work surface.
In some embodiments, step S11 is further included in step S10. In step S11, the opening degree of the putty nozzle 21 is adjusted according to the coordinate position of the work surface and the corresponding depth data.
In step S30, after the putty application is completed, the work surface after the putty application is polished by the sander 7, and the dust is collected in the dust bag 73.
In step S40, after the end of polishing, paint is sprayed on the polished work surface by the paint spraying mechanism 8.
In some embodiments, step S12 is further included in step S10. In step S12, before the scanner 1 scans the work surface and/or paints the putty, the walking mechanism 51 drives the box 5 to move to the ground position corresponding to the designated coordinate position of the work surface.
In some embodiments, step S121 and step S122 are also included in step S12.
In step S121, the leg assembly 52 is retracted during the movement of the traveling mechanism 51;
in step S122, after the traveling mechanism 51 moves to the ground position corresponding to the designated coordinate position of the work surface, the leg assembly 52 is unfolded, and the bottom surface of the box 5 is adjusted to be horizontal by the leg assembly 52 according to the flatness of the ground.
Compare in correlation technique artifical puttying complex operation consuming time, the operation precision is low, constructor's health safety can't obtain the guarantee, this embodiment is based on indoor construction equipment, scan indoor all work surface through scanner 1, realize the diversified collection of a lot of depth data, and handle the calculation to putty spraying volume, then carry on putty shower nozzle 21 through arm 3, the putty coating spraying to the work surface that corresponds spraying volume with each coordinate position department, and through the aperture of adjusting putty shower nozzle 21, the position and the flow of adjustment spraying such as the flexible of landing leg subassembly 52, make work surface reach and level the effect, wait the putty dry and thoroughly back, polisher 7 polishes comprehensively meticulously, it absorbs floating ash to polish the completion. And finally, spraying the coating on the working surface through a coating nozzle mechanism 8 until a finished product is obtained.
Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (22)
1. An indoor construction equipment, characterized by, includes:
a scanner (1) configured to acquire depth data corresponding to respective coordinate positions of a work surface within a room;
a putty spraying mechanism (2) having a putty spray head (21), the putty spraying mechanism (2) configured to spray putty onto the work surface;
the end of the mechanical arm (3) is provided with an end pick-up (31), and the end pick-up (31) is detachably connected with the putty spray head (21);
the controller (4) is in signal connection with the putty spraying mechanism (2), the mechanical arm (3) and the scanner (1) and is configured to adjust the position and the spraying direction of the putty spray head (21) according to each coordinate position of the working surface and corresponding depth data, so that the putty spray head (21) sprays putty with a corresponding spraying amount at the specified coordinate position of the working surface.
2. Indoor construction equipment according to claim 1, wherein the putty applying mechanism (2) further comprises:
the airless pump (22) is provided with an interface connected with the charging bucket, and the airless pump (22) is connected with the putty spray head (21) through a pipeline;
the controller (4) is in signal connection with the airless pump (22) and is configured to adjust the airless pump (22) according to the depth data, so that the putty spray head (21) can spray putty with a corresponding spraying amount at a specified coordinate position of the working surface.
3. Indoor construction equipment according to claim 1, wherein the controller (4) is in signal connection with the putty nozzle (21) to adjust the opening degree of the putty nozzle (21).
4. Indoor construction equipment according to claim 1, characterized in that the scanner (1) is arranged at the end of the robot arm (3).
5. The indoor construction equipment of claim 1, further comprising:
a box (5), on which the mechanical arm (3) is supported;
the traveling mechanism (51) is arranged at the bottom of the box body (5);
wherein the controller (4) is in signal connection with the travelling mechanism (51) and is configured to enable the travelling mechanism (51) to drive the box body (5) to move to a ground position corresponding to the specified coordinate position of the working surface.
6. The indoor construction equipment of claim 5, further comprising:
the supporting leg assembly (52) is arranged on the box body (5) or the walking mechanism (51);
wherein the controller (4) is in signal connection with the supporting leg assembly (52) and is configured to enable the supporting leg assembly (52) to adjust the bottom surface of the box body (5) to be horizontal according to the ground flatness after the walking mechanism (51) moves to the ground position corresponding to the designated coordinate position of the working surface.
7. The indoor construction equipment of claim 5, further comprising:
the operation screen (53) is arranged on the surface of the box body (5);
the controller (4) is in signal connection with the operation screen (53), and is configured to receive an instruction input on the operation screen (53) from the outside, generate a depth image according to depth data corresponding to each coordinate position of the working surface, and display the depth image on the operation screen (53).
8. The indoor construction equipment of claim 1, further comprising:
the camera (6) is arranged on the mechanical arm (3);
a wireless communication element;
the controller (4) is in signal connection with the camera (6) and the wireless communication element, and is configured to send pictures shot by the camera (6) to an external communication device through the wireless communication element and receive instructions input by the external communication device through the wireless communication element.
9. The indoor construction equipment of claim 1, further comprising:
a sander (7) having a sanding head (71) removably connected to the end-effector (31);
wherein the controller (4) is configured to cause the robot arm (3) to adjust the position and the dressing direction of the dressing head (71) so that the dresser (7) dresses the work surface.
10. Indoor construction equipment according to claim 9, wherein the controller (4) is in signal connection with the sanding machine (7) or sanding head (71) and is configured to adjust the rotational speed of the sanding head (71).
11. Indoor construction equipment according to claim 9, wherein the sander (7) further comprises:
a dust suction pipe (72) having one end connected to the polishing head (71) and configured to absorb dust generated during polishing;
a dust bag (73) located below the sanding head (71), connected to the other end of the dust suction pipe (72), and configured to collect the dust.
12. The indoor construction equipment of claim 1, further comprising:
a paint spraying mechanism (8) having a paint spray head (81) detachably connected to the end effector (31);
wherein the controller (4) is configured to cause the robotic arm (3) to adjust a position and a spraying direction of the paint spray head (81) to cause the paint spray head (81) to spray paint onto the work surface.
13. The indoor construction equipment of claim 12, further comprising:
the airless pump (22) is provided with an interface connected with the material tank, and the airless pump (22) is connected with the coating nozzle (81) through a pipeline;
wherein the controller (4) is in signal connection with the airless pump (22) and is configured to adjust the airless pump (22) according to the depth data so that the paint spray head (81) sprays a specified spraying amount of paint on the working surface.
14. Indoor construction equipment according to claim 12, wherein the controller (4) is in signal connection with the paint spraying mechanism (8) to adjust the opening degree of the paint spray head (81).
15. The indoor construction equipment according to any one of claims 5 to 7, further comprising:
a battery (9) disposed in the box (5) and configured to supply power to the scanner (1), the putty applying mechanism (2), the controller (4), the traveling mechanism (51), and the robot arm (3).
16. Indoor construction equipment according to claim 15, wherein the box body (5) further comprises:
and the charging interface (91) is connected with an external power supply, and the charging interface (91) is in line connection with the battery (9) so as to charge the battery (9).
17. An indoor construction method based on the indoor construction equipment according to any one of claims 1 to 16, comprising:
scanning a working surface in a room, and acquiring depth data corresponding to each coordinate position of the working surface;
and enabling the mechanical arm (3) to adjust the position and the spraying direction of the putty spray head (21) according to each coordinate position and the corresponding depth data of the working surface so as to spray putty with a corresponding spraying amount at the appointed coordinate position of the working surface.
18. The indoor construction method according to claim 17, further comprising:
and adjusting the opening degree of the putty spray head (21) according to the coordinate position of the working surface and the corresponding depth data.
19. The indoor construction method according to claim 17, further comprising:
after the putty is sprayed, the working surface after the putty is sprayed is polished by a polisher (7), and dust is collected in a dust bag (73).
20. The indoor construction method according to claim 19, further comprising:
and after polishing is finished, coating is sprayed on the polished working surface through a coating spraying mechanism (8).
21. The indoor construction method according to claim 17, wherein the indoor construction equipment further comprises: the mechanical arm comprises a box body (5) and a travelling mechanism (51) arranged at the bottom of the box body (5), wherein the mechanical arm (3) is supported on the box body (5); wherein, the indoor construction method further comprises:
before the scanner (1) scans a working surface and/or coats putty, the walking mechanism (51) drives the box body (5) to move to a ground position corresponding to the designated coordinate position of the working surface.
22. The indoor construction method of claim 21, wherein the indoor construction equipment further comprises: the supporting legs are arranged on the box body (5) or the travelling mechanism (51); wherein, the indoor construction method further comprises:
retracting the leg assembly (52) during movement of the running gear (51);
after the walking mechanism (51) moves to the ground position corresponding to the designated coordinate position of the working surface, the supporting leg assembly (52) is unfolded, and the bottom surface of the box body (5) is adjusted to be horizontal by the supporting leg assembly (52) according to the ground flatness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210016946.1A CN114161244A (en) | 2022-01-07 | 2022-01-07 | Indoor construction equipment and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210016946.1A CN114161244A (en) | 2022-01-07 | 2022-01-07 | Indoor construction equipment and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114161244A true CN114161244A (en) | 2022-03-11 |
Family
ID=80489133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210016946.1A Pending CN114161244A (en) | 2022-01-07 | 2022-01-07 | Indoor construction equipment and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114161244A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08118263A (en) * | 1994-10-19 | 1996-05-14 | Tokyu Constr Co Ltd | Wall surface painting robot system |
| CN201744904U (en) * | 2010-08-18 | 2011-02-16 | 西安绿宇机械设备有限公司 | Metope putty dedusting sander |
| CN106592898A (en) * | 2016-11-29 | 2017-04-26 | 昆山顶牛市政建设有限公司 | Construction method of inner wall putty |
| CN206967188U (en) * | 2017-06-22 | 2018-02-06 | 中国建筑第八工程局有限公司 | A kind of wall surface putty sander |
| US20180318865A1 (en) * | 2017-05-05 | 2018-11-08 | John M. Harvison | Autonomous painting robot |
| CN109306794A (en) * | 2018-10-19 | 2019-02-05 | 飞码机器人私人有限公司 | A kind of industrial building high-wall external coating System and method for |
| CN109914756A (en) * | 2019-03-19 | 2019-06-21 | 珠海心怡科技有限公司 | Indoor wall 3D putty based on indoor construction intelligent robot prints smooth processing method |
| CN110424683A (en) * | 2019-07-12 | 2019-11-08 | 正如(广东)机器人科技有限公司 | A kind of 3D printing architectural surface robot |
| CN213174670U (en) * | 2020-08-29 | 2021-05-11 | 姚辉璐 | Multifunctional intelligent wall surface processing robot |
| WO2021191662A1 (en) * | 2020-03-26 | 2021-09-30 | Tavakolian Amirhossein | Smart robot for preparation and painting buildings walls |
-
2022
- 2022-01-07 CN CN202210016946.1A patent/CN114161244A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08118263A (en) * | 1994-10-19 | 1996-05-14 | Tokyu Constr Co Ltd | Wall surface painting robot system |
| CN201744904U (en) * | 2010-08-18 | 2011-02-16 | 西安绿宇机械设备有限公司 | Metope putty dedusting sander |
| CN106592898A (en) * | 2016-11-29 | 2017-04-26 | 昆山顶牛市政建设有限公司 | Construction method of inner wall putty |
| US20180318865A1 (en) * | 2017-05-05 | 2018-11-08 | John M. Harvison | Autonomous painting robot |
| CN206967188U (en) * | 2017-06-22 | 2018-02-06 | 中国建筑第八工程局有限公司 | A kind of wall surface putty sander |
| CN109306794A (en) * | 2018-10-19 | 2019-02-05 | 飞码机器人私人有限公司 | A kind of industrial building high-wall external coating System and method for |
| CN109914756A (en) * | 2019-03-19 | 2019-06-21 | 珠海心怡科技有限公司 | Indoor wall 3D putty based on indoor construction intelligent robot prints smooth processing method |
| CN110424683A (en) * | 2019-07-12 | 2019-11-08 | 正如(广东)机器人科技有限公司 | A kind of 3D printing architectural surface robot |
| WO2021191662A1 (en) * | 2020-03-26 | 2021-09-30 | Tavakolian Amirhossein | Smart robot for preparation and painting buildings walls |
| CN213174670U (en) * | 2020-08-29 | 2021-05-11 | 姚辉璐 | Multifunctional intelligent wall surface processing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11905719B2 (en) | Automated wall finishing system and method | |
| US10697188B2 (en) | Automated drywalling system and method | |
| CN109702764B (en) | Multifunctional movable operating robot for polishing and spraying indoor wall | |
| US11724404B2 (en) | Surface finish quality evaluation system and method | |
| WO2020077660A1 (en) | Operating system and method for surface coating robot | |
| CN105983502B (en) | Intelligent automobile lacquering and stoving varnish integrated robot | |
| CN104842238B (en) | A kind of intelligent automatically grinding polishing unit and its application method based on number bus | |
| CN106499159B (en) | Integrated full-automatic wall plaster unit and its application method | |
| CN105908952B (en) | A kind of scissor-type roof machining robot and its electricity system | |
| CN106639267A (en) | Wall surface processing robot | |
| NZ508330A (en) | Robotic ship fairing and painting | |
| CN105649310B (en) | Smart coatings spray equipment | |
| CN110434700A (en) | A kind of Portable wall surface full-automatic sanding fillers spray-painting plant and application method | |
| JP2000145391A (en) | Method for remote control type manpower-saving moving working for tunnel interior surface regeneration treatment and system apparatus therefor | |
| CN110905161B (en) | Construction method for epoxy resin terrace | |
| CN114161244A (en) | Indoor construction equipment and method | |
| CN208965987U (en) | A kind of construction wall plastering equipment | |
| CN212453654U (en) | Device for cleaning and applying release agent on surface of template | |
| CN205438065U (en) | Intelligence wall burnishing and polishing device | |
| CN115110720A (en) | Putty construction method | |
| CN207620319U (en) | Intelligent construction painting device | |
| CN2355844Y (en) | Universal grinder | |
| CN218346697U (en) | Spraying device for finishing work | |
| CN112878683A (en) | Construction process of stone-like paint for building exterior wall | |
| CN216228715U (en) | Corrosion resistant denoter surface finish device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |