CN119195441B - Automatic wall smoothing robot - Google Patents
Automatic wall smoothing robotInfo
- Publication number
- CN119195441B CN119195441B CN202411451463.XA CN202411451463A CN119195441B CN 119195441 B CN119195441 B CN 119195441B CN 202411451463 A CN202411451463 A CN 202411451463A CN 119195441 B CN119195441 B CN 119195441B
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- Prior art keywords
- trowelling
- material receiving
- receiving box
- frame
- robot
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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
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- Engineering & Computer Science (AREA)
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- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
本发明属于墙面抹平技术领域，且公开了一种墙面自动抹平机器人，包括机器人主体、升降机构和抹平机构；所述升降机构设置在机器人主体上，所述抹平机构设置在升降机构上；所述抹平机构包括抹平监测组件，所述抹平监测组件包括有接料箱，所述接料箱与升降机构连接，接料箱的内部设有五个料槽，所述接料箱上安装有连接架一，所述连接架一的上方连接有主抹平刀，所述接料箱上的两侧均连接有侧护板，所述连接架一的内部活动安装有五个能与主抹平刀对应的套杆。该设设计可以实现自动抹平机器人在抹平作业的同时准确的对应坑洼处进行修补和填充，无法后续人工修补，从而提高了抹平作业的工作效率，进而抹平的墙面出现坑洼的现象。
The present invention belongs to the technical field of wall smoothing, and discloses an automatic wall smoothing robot, including a robot body, a lifting mechanism and a smoothing mechanism; the lifting mechanism is arranged on the robot body, and the smoothing mechanism is arranged on the lifting mechanism; the smoothing mechanism includes a smoothing monitoring component, and the smoothing monitoring component includes a material receiving box, the material receiving box is connected to the lifting mechanism, and five material troughs are provided inside the material receiving box, a connecting frame 1 is installed on the material receiving box, a main smoothing knife is connected to the top of the connecting frame 1, side guard plates are connected to both sides of the material receiving box, and five sleeve rods that can correspond to the main smoothing knife are movably installed inside the connecting frame 1. This design can enable the automatic smoothing robot to accurately repair and fill the corresponding potholes during the smoothing operation, and no subsequent manual repair is required, thereby improving the work efficiency of the smoothing operation, and then the smoothed wall surface will have potholes.
Description
Technical Field
The invention belongs to the technical field of wall trowelling, and particularly relates to an automatic wall trowelling robot.
Background
The automatic wall trowelling robot is an important technology in the field of building construction and aims at improving the efficiency and quality of wall trowelling work. Along with the continuous improvement of construction speed and quality requirements in the building industry, the traditional manual wall surface trowelling mode is time-consuming and labor-consuming, and trowelling quality is difficult to guarantee. The automatic wall trowelling robot has the advantages that the wall trowelling efficiency is greatly improved through an automatic and intelligent mode, and the labor cost is reduced. However, in the practical use process of the existing automatic wall surface trowelling robot, in terms of the flatness of the wall surface after trowelling, pothole phenomenon often occurs, and the construction quality is affected, wherein the pothole phenomenon has two main reasons, namely, uneven cement ash spraying in advance causes the position of a wall surface part to be coated in a leaking way; secondly, the wall surface is uneven, the machine cannot completely correct the unevenness of the wall surface in the trowelling process, and the two problems can lead to the fact that the automatic trowelling robot for the wall surface is not high in flatness after trowelling the wall surface, so that the final construction effect is affected.
Therefore, an automatic wall trowelling robot is provided to solve the problems.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides an automatic wall trowelling robot.
In order to achieve the aim, the invention provides the technical scheme that the automatic wall trowelling robot comprises a robot main body, a lifting mechanism and a trowelling mechanism;
the lifting mechanism is arranged on the robot main body, and the trowelling mechanism is arranged on the lifting mechanism;
the utility model provides a trowelling mechanism includes trowelling monitoring component, trowelling monitoring component is including connecing the workbin, connect the workbin to be connected with elevating system, the inside of connecing the workbin is equipped with five silo, connect and install link one on the workbin, the top of link one is connected with main trowelling sword, the both sides on the workbin of connecing all are connected with the side shield, link one's inside movable mounting has five loop bars that can correspond with main trowelling sword, link one's outside is installed and is had the wall defect monitoring camera that can take a picture to the wall in real time, the outside fixed cover of loop bar has cup jointed the baffle that can seal the silo, link one's inside is provided with the electromagnetic plate, one all corresponds four electromagnetic plates around the baffle, link one's inside movable cover has been connected with the magnet that can correspond with the electromagnetic plate, one side orientation electromagnetic plate, the opposite side of magnet is connected with the card pole one that can block in the loop bar inside, five the inside movable mounting has a loop bar's inside movable connection has a pivot, a pivot that can be equipped with the pivot of a movable mounting bracket, one outside movable mounting bracket has a pivot, one end that can be connected to the pivot, one outside movable mounting bracket is located outside movable mounting bracket, one outside movable mounting bracket and outside movable mounting bracket has a pivot.
Preferably, the outside cover of draw-in lever one is equipped with the extension spring one, the one end and the link of extension spring one are connected, the other end and the magnetic path of extension spring one are connected, the outside cover of draw-in lever two is equipped with the extension spring two, the one end and the movable block of extension spring two are connected, the other end and the pivot of extension spring two are connected, the elasticity of extension spring one is greater than the elasticity of extension spring two.
Preferably, the mounting frame is connected with a material receiving box, a driving motor is mounted on the outer side of the material receiving box, the other end of the output shaft of the driving motor extends to the inside of the mounting frame and is fixedly sleeved with a driving wheel II, and the driving wheel II is in transmission connection with the driving wheel I through a driving belt.
Preferably, the trowelling mechanism further comprises a feeding component arranged on the trowelling monitoring component, the feeding component comprises a swing arm, the outer part of the swing arm is fixedly sleeved on an output shaft of the driving motor, an air passage is formed in the material receiving box, a movable pipe is movably arranged on the outer side of the material receiving box and can be communicated with the air passage, the other end of the movable pipe is fixedly communicated with a first air cylinder, a first piston rod is sleeved on the inner part of the first air cylinder, and the other end of the first piston rod can be hinged to the swing arm.
Preferably, five air cylinders II corresponding to the material grooves are arranged above the material receiving box, a piston rod II is sleeved inside the air cylinders II, one end of the piston rod II is connected with a connecting frame II positioned outside the air cylinders II, the other end of the piston rod II is connected with a tension spring III, and the other end of the tension spring III is connected with the air cylinders II.
Preferably, an electronic air valve is installed at the bottom of the tension spring III, a communicating pipe is communicated below the electronic air valve, and the other end of the communicating pipe is connected with a material receiving box and can be communicated with an air passage.
Preferably, the other side of link II is connected with the ejector pad, the bottom of ejector pad is connected with the square pole, the outside activity of square pole has cup jointed the push pedal that is located the silo inside, the bottom of square pole is connected with the spring, the other end and the push pedal of spring are connected, the outside of push pedal can be with the inner wall contact of silo.
Preferably, the trowelling mechanism further comprises an auxiliary trowelling assembly, the auxiliary trowelling assembly is arranged on the material receiving box, the auxiliary trowelling assembly comprises an electric telescopic rod, the electric telescopic rod is connected with the material receiving box, the output end of the electric telescopic rod is connected with a wheel frame, a pinch roller flush with the main trowelling blade is movably arranged in the wheel frame, a pull block is connected to the bottom of the wheel frame, and a shielding plate positioned between the pull block and the pinch roller is connected to the bottom of the wheel frame.
Preferably, both sides of receiving the workbin all are connected with the gag lever post, the outside activity of gag lever post has cup jointed and can with the vice trowelling sword of main trowelling sword parallel and level, the top of vice trowelling sword is connected with the removal frame, the inside fixed circular shaft of activity in the pull block that cup joints of removal frame.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, by arranging the loop bar and the rotating shaft, when the trowelling mechanism is used for trowelling upwards, the wall defect monitoring camera can be used for capturing a trowelled wall in real time, the control end of the transmission of the captured image is used for analyzing, meanwhile, the control end is used for judging whether the wall has a pothole and analyzing the size and the position of the pothole, when the wall is judged to have the pothole, the control end can be used for starting an electromagnetic plate around the loop bar corresponding to the position of the pothole, due to the operation of the electromagnetic plate, magnetic attraction can be generated on the magnetic block, the magnetic block and the clamping rod are driven to move downwards, so that the clamping rod I is separated from the interior of the loop bar, then the fixing effect between the loop bar and the connecting frame I is removed, and the tension spring II in a stretched state at this moment can be used for driving the moving block and the clamping rod II to descend and be clamped in the interior of the loop bar, so that the loop bar and the rotating shaft can be fixed, and the loop bar and the baffle can be driven to rotate, and the loop bar can be correspondingly closed, and the loop bar can be used for automatically filling the pothole after the pothole is designed, thus the cement paste can be filled in the hollow, and the cement paste can be automatically filled in the hollow, and the cement paste can be filled into the hollow, and the hollow can be well can be automatically designed.
2. According to the invention, when the hollow on the wall surface is judged, the control end starts the electronic air valve corresponding to the hollow position, the output shaft of the driving motor rotates to drive the swing arm to push the interior of the first air cylinder, and the air in the first air cylinder is conveyed into the second air cylinder for opening the electronic air valve through the air passage and the communicating pipe, so that the air pressure in the second air cylinder is increased, the second piston rod, the second connecting frame and the pushing block are pushed to move towards the main trowelling knife, meanwhile, the tension spring III is stretched, the pushing block can drive the pushing plate to move together through the square rod, and meanwhile, the bottom of the pushing plate is tightly contacted with the bottom of the inner cavity of the trough due to the restoring effect of elastic force, and the movement of the pushing plate can enable excessive cement paste in the trough to move downwards along the trough, so that the pushing force can be applied to cement paste, the cement paste is accelerated to fall down, and the problem of high viscosity cement paste can be solved.
3. According to the invention, the pressing wheel and the auxiliary trowelling knife are arranged, and as the trowelling mechanism ascends, the pressing wheel is slightly contacted with the wall surface after trowelling, and rolls, along with the falling of cement paste in the trough, the cement paste can be pressed into the hollow part of the wall surface through the rolling of the pressing wheel, so that the cement paste can be fully filled into the hollow part, and meanwhile, the auxiliary trowelling knife continuously trowells the cement paste which is superfluous after filling the hollow part along with the ascending of the trowelling mechanism, so that the flatness of the wall surface after paste filling can be ensured, and after the size of the hollow part judged by the control end is filled, the control end starts the electric telescopic rod, drives the wheel frame and the pressing wheel to shrink upwards, and simultaneously, the pulling block pulls the movable frame and the auxiliary trowelling knife to move along the limit rod, scrapes the superfluous cement paste into the auxiliary trowelling knife, finally abuts against the bottom of the material receiving box, and the bonding part of the cement paste of the wall surface is prevented from being broken, and the flatness of the wall surface is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the trowelling mechanism of the present invention;
FIG. 3 is a schematic cross-sectional view of the trowelling mechanism of the present invention;
FIG. 4 is a schematic cross-sectional view of a baffle plate of the present invention;
FIG. 5 is a schematic view of a partial enlarged structure at A in FIG. 4;
FIG. 6 is a schematic cross-sectional view of the mounting bracket of the present invention;
FIG. 7 is a schematic view of a partial enlarged structure at B in FIG. 6;
FIG. 8 is a schematic cross-sectional view of a first cartridge of the present invention;
fig. 9 is a schematic cross-sectional structure of a communication pipe according to the present invention.
In the figure, 1, a robot main body; lifting mechanism, 3, trowelling mechanism, 31, trowelling monitoring assembly, 311, material receiving box, 312, trough, 313, connecting frame one, 314, main trowelling knife, 315, wall defect monitoring camera, 316, baffle plate, 317, loop bar, 318, mounting frame, 319, rotating shaft, 3110, side guard, 3111, driving motor, 3112, electromagnetic plate, 3113, magnet block, 3114, clip bar one, 3115, tension spring one, 3116, moving block, 3117, clip bar two, 3118, tension spring two, 3119, driving wheel one, 3120, driving wheel two, 3121, driving belt, 32, charging assembly, 321, swinging arm, 322, movable tube, 323, inflator one, 324, piston rod one, 325, airway, 326, communicating pipe, 327, inflator two, 328, electronic air valve, 329, piston rod two, 3210, tension spring three, 3211, connecting frame two, 3212, push block, 3213, square bar, 3214, push plate, 3215, spring 33, auxiliary trowelling assembly, driving wheel two, driving wheel one, 3120, driving wheel two, 3121, driving wheel two, driving wheel drive pulley, 3121, driving wheel two, 325, air carrier two, and moving trolley arms, 329, and moving frame two, including, and 8, and connecting frame two.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 9, the present invention provides an automatic wall trowelling robot comprising a robot body 1, a lifting mechanism 2 and a trowelling mechanism 3;
the lifting mechanism 2 is arranged on the robot main body 1, and the trowelling mechanism 3 is arranged on the lifting mechanism 2;
The trowelling mechanism 3 comprises a trowelling monitoring component 31, the trowelling monitoring component 31 comprises a material receiving box 311, the material receiving box 311 is connected with a lifting mechanism 2, five material tanks 312 are arranged in the material receiving box 311, a first connecting frame 313 is arranged on the material receiving box 311, a main trowelling knife 314 is connected above the first connecting frame 313, two side guard plates 3110 are connected on two sides of the material receiving box 311, five sleeve rods 317 which can correspond to the main trowelling knife 314 are movably arranged in the first connecting frame 313, a wall defect monitoring camera 315 which can photograph a wall surface in real time is arranged on the outer side of the first connecting frame 313, a baffle 316 which can seal the material tanks 312 is fixedly sleeved outside the sleeve rods 317, an electromagnetic plate 3112 is arranged in the first connecting frame 313, four electromagnetic plates 3112 are respectively corresponding to the periphery of one baffle 316, the inside activity of link one 313 has cup jointed the magnetic path 3113 that can correspond with electromagnetism board 3112, one side of magnetic path 3113 is towards electromagnetism board 3112, the opposite side of magnetic path 3113 is connected with the card pole one 3114 that can joint in the loop bar 317 inside, the inside activity of five loop bars 317 has cup jointed a pivot 319, the inside movable sleeve of pivot 319 is equipped with movable block 3116, the outside of movable block 3116 is connected with the card pole two 3117 that can with card pole one 3114 butt, the one end of pivot 319 extends to the outside of link one 313 and has fixedly cup jointed drive wheel one 3119, the mounting bracket 318 that is located the outside of drive wheel one 3119 is installed to the outside of link one 313, connect the workbin 311 outside and main trowelling knife 314 parallel and level, pivot 319 movable mounting is in the inside of mounting bracket 318.
By adopting the scheme, when the trowelling mechanism 3 is trowelled upwards, the wall defect monitoring camera 315 can snap the trowelled wall in real time, analyze the control end of the transmission of the snapped picture, and simultaneously judge whether the wall has a pothole or not and analyze the size and the position of the pothole;
When it is determined that a wall surface is recessed, the control end opens the electromagnetic plate 3112 around the sleeve rod 317 corresponding to the recessed position, and due to the operation of the electromagnetic plate 3112, magnetic attraction force can be generated on the magnetic block 3113 to drive the magnetic block 3113 and the first clamping rod 3114 to move downwards, so that the first clamping rod 3114 is separated from the interior of the sleeve rod 317, then the fixing effect between the sleeve rod 317 and the first connecting frame 313 is removed, and at the moment, the tension spring 3118 in a stretched state can drive the moving block 3116 and the second clamping rod 3117 to descend and be clamped in the interior of the sleeve rod 317 to fix the sleeve rod 317 and the rotating shaft 319 due to the reset effect of elasticity;
Because of the rotation of the first 3119 driving wheel, the rotating shaft 319, the loop bar 317 and the baffle 316 can be driven to rotate, and the closing of the loop bar 317 corresponding to the trough 312 is released, so that the redundant cement paste in the trough 312 can fall to the pothole to fill the pothole of the wall surface.
As shown in fig. 5, a first tension spring 3115 is sleeved outside the first clamping rod 3114, one end of the first tension spring 3115 is connected with the first connecting frame 313, the other end of the first tension spring 3115 is connected with the magnetic block 3113, a second tension spring 3118 is sleeved outside the second clamping rod 3117, one end of the second tension spring 3118 is connected with the moving block 3116, the other end of the second tension spring 3118 is connected with the rotating shaft 319, and the elastic force of the first tension spring 3115 is larger than that of the second tension spring 3118.
By adopting the scheme, when the control end closes the electromagnetic plate 3112, the magnetic block 3113 loses magnetic attraction, the electromagnetic plate 3112 is pushed to be reset and clamped in the sleeve rod 317 under the action of the elastic force of the tension spring I3115, meanwhile, the clamping rod II 3117 is pushed out of the sleeve rod 317, and the tension spring II 3118 is stretched at the moment, so that the fixation of the rotating shaft 319 and the sleeve rod 317 is released.
As shown in fig. 5 to 7, the mounting frame 318 is connected with the receiving box 311, a driving motor 3111 is installed at the outer side of the receiving box 311, the other end of the output shaft of the driving motor 3111 extends to the inside of the mounting frame 318 and is fixedly sleeved with a driving wheel two 3120, and the driving wheel two 3120 is in driving connection with the driving wheel one 3119 through a driving belt 3121.
By adopting the scheme, when the wall surface is judged to be hollow, the driving motor 3111 is started, the driving wheel II 3120 can be driven to rotate, the driving wheel I3119 is driven to rotate through the driving belt 3121, and the rotating shaft 319 can be driven to rotate due to the rotation of the driving wheel I3119.
As shown in fig. 8, the trowelling mechanism 3 further includes a feeding component 32 disposed on the trowelling monitoring component 31, the feeding component 32 includes a swing arm 321, an outer portion of the swing arm 321 is fixedly sleeved on an output shaft of the driving motor 3111, an air passage 325 is disposed in the material receiving box 311, a movable pipe 322 is movably mounted on an outer side of the material receiving box 311, the movable pipe 322 can be communicated with the air passage 325, an air cylinder one 323 is fixedly communicated with the other end of the movable pipe 322, a piston rod one 324 is sleeved in the air cylinder one 323, and the other end of the piston rod one 324 can be hinged with the swing arm 321.
By adopting the scheme, the swing arm 321 can be driven to push towards the inside of the first air cylinder 323 due to the rotation of the output shaft of the driving motor 3111, and the air in the first air cylinder 323 is pushed into the air passage 325 at the moment, so that the air pressure in the air passage 325 is increased.
As shown in fig. 3 and 9, five second air cylinders 327 corresponding to the material tanks 312 are installed above the material receiving box 311, second piston rods 329 are sleeved inside the second air cylinders 327, one ends of the second piston rods 329 are connected with second connecting frames 3211 positioned outside the second air cylinders 327, the other ends of the second piston rods 329 are connected with third tension springs 3210, and the other ends of the third tension springs 3210 are connected with the second air cylinders 327.
By adopting the scheme, when the air pressure in the second inflator 327 is increased, the second piston rod 329 can be pushed to move towards the main trowelling knife 314, and meanwhile, the third tension spring 3210 is stretched, and the second piston rod 329 can be moved to drive the second connecting frame 3211.
As shown in fig. 3 and 9, an electronic air valve 328 is installed at the bottom of the tension spring three 3210, a communicating pipe 326 is communicated below the electronic air valve 328, and the other end of the communicating pipe 326 is connected with the material receiving box 311 and can be communicated with the air passage 325.
By adopting the scheme, when the wall surface is judged to be hollow, the control end can open the electronic air valve 328 corresponding to the hollow position, and at the moment, the air in the air passage 325 can be conveyed into the air cylinder II 327 for opening the electronic air valve 328, so that the air pressure in the air cylinder II 327 can be increased.
As shown in fig. 3 and 9, a push block 3212 is connected to the other side of the second connecting frame 3211, a square rod 3213 is connected to the bottom of the push block 3212, a push plate 3214 located inside the trough 312 is movably sleeved outside the square rod 3213, a spring 3215 is connected to the bottom end of the square rod 3213, the other end of the spring 3215 is connected to the push plate 3214, and the outside of the push plate 3214 can be in contact with the inner wall of the trough 312.
By adopting the scheme, due to the movement of the second connecting frame 3211, the push plate 3214 can be driven by the push block 3212 and the square rod 3213 to move together, and meanwhile, the spring 3215 in a compressed state can push the bottom of the push plate 3214 to be in close contact with the bottom of the inner cavity of the trough 312 due to the recovery action of elastic force, and due to the movement of the push plate 3214, the excessive cement paste in the trough 312 can be moved downwards along the trough 312, so that thrust can be applied to the cement paste, and the falling of the cement paste can be accelerated.
As shown in fig. 3, the trowelling mechanism 3 further includes an auxiliary trowelling assembly 33, the auxiliary trowelling assembly 33 is mounted on the material receiving box 311, the auxiliary trowelling assembly 33 includes an electric telescopic rod 331, the electric telescopic rod 331 is connected with the material receiving box 311, an output end of the electric telescopic rod 331 is connected with a wheel frame 332, a pinch roller 334 flush with the main trowelling blade 314 is movably mounted in the wheel frame 332, a pull block 336 is connected to a bottom of the wheel frame 332, and a shielding plate 335 between the pull block 336 and the pinch roller 334 is connected to a bottom of the wheel frame 332.
By adopting the scheme, as the trowelling mechanism 3 ascends, the pressing wheel 334 can slightly contact with the trowelled wall surface and roll, along with the falling of cement paste in the trough 312, the cement paste can be pressed into the hollow part of the wall surface by the rolling of the pressing wheel 334, so that the cement paste can be fully filled into the hollow part, and meanwhile, the auxiliary trowelling knife 338 can continuously trowelle the redundant cement paste filled in the hollow part along with the ascending of the trowelling mechanism 3, so that the flatness of the wall surface after paste filling can be ensured.
As shown in fig. 3 and 9, both sides of the material receiving box 311 are connected with a limiting rod 337, an auxiliary trowelling knife 338 which can be flush with the main trowelling knife 314 is movably sleeved outside the limiting rod 337, a movable frame 339 is connected to the top of the auxiliary trowelling knife 338, and a circular shaft 333 which moves inside the pull block 336 is fixedly sleeved inside the movable frame 339.
After filling the size of the pits judged by the control end, the control end starts the electric telescopic rod 331 to drive the wheel frame 332 and the pinch roller 334 to shrink upwards, meanwhile, the pull block 336 pulls the movable frame 339 and the auxiliary trowelling knife 338 to move along the limiting rod 337 through the circular shaft 333, excessive cement paste on the wall surface is scraped into the auxiliary trowelling knife 338, and finally the auxiliary trowelling knife 338 is abutted with the bottom of the material receiving box 311, so that the bonding part of the excessive cement paste and the cement paste on the wall surface can be pinched off.
The working principle and the using flow of the invention are as follows:
The robot main body 1 controls the lifting mechanism 2, and drives the trowelling mechanism 3 to rise through the lifting mechanism 2, along with the rising of the trowelling mechanism 3, the cement paste sprayed on the wall surface can be trowelled through the main trowelling blade 314, and then along with the trowelling of the main trowelling blade 314, the redundant cement paste can be scraped into the interior of the swing arm 321, and at the moment, trowelling operation of the wall surface can be realized.
When the trowelling mechanism 3 is trowelled upwards, the wall defect monitoring camera 315 can snap the trowelled wall in real time, analyze the control end of the transmission of the snapped picture, judge whether the wall has a pothole or not and analyze the size and the position of the pothole, when judging that the wall has the pothole, the control end can open the electromagnetic plate 3112 corresponding to the position of the pothole around the sleeve bar 317, because the electromagnetic plate 3112 operates, the magnetic attraction force can be generated on the magnetic block 3113, the magnetic block 3113 and the clamping bar 3114 are driven to move downwards, the clamping bar 3114 is separated from the sleeve bar 317, then the fixing effect between the sleeve bar 317 and the connecting frame 313 is removed, and meanwhile the tension spring 3115 is stretched, at this time, the tension spring two 3118 in the stretched state can drive the moving block 3116 and the clamping rod two 3117 to descend and be clamped in the sleeve rod 317 to fix the sleeve rod 317 and the rotating shaft 319, the control end starts the driving motor 3111 to drive the driving wheel two 3120 to rotate, and the driving wheel one 3119 is driven to rotate through the driving belt 3121, the rotating shaft 319 and the sleeve rod 317 and the baffle 316 at the position can be driven to rotate due to the rotation of the driving wheel one 3119, and the sleeve rod 317 is relieved from being closed corresponding to the trough 312, so that redundant cement paste in the trough 312 can fall into a pit, and the pit is filled with the cement paste along with the rising of the leveling mechanism 3.
When it is judged that a hole appears on the wall, the control end opens the electronic air valve 328 corresponding to the position of the hole, the swing arm 321 can be driven to push the inside of the first air cylinder 323 due to the rotation of the output shaft of the driving motor 3111, and the air in the first air cylinder 323 is conveyed to the second air cylinder 327 for opening the electronic air valve 328 through the air passage 325 and the communicating pipe 326, so that the air pressure in the second air cylinder 327 is increased, the piston rod 329, the second connecting frame 3211 and the push block 3212 are pushed to move towards the main trowelling blade 314, meanwhile, the tension spring three 3210 is stretched, the push block 3212 can drive the push plate 3214 to move together through the square rod 3213, and meanwhile, the spring 3215 in a compressed state can push the bottom of the push plate 3214 to be in close contact with the bottom of the inner cavity of the trough 312 due to the restoring action of the elasticity, and the movement of the push plate 3214 can move the redundant cement slurry in the trough 312 downwards along the trough 312, so that the thrust can be applied to the cement slurry and the cement slurry is accelerated to fall.
Because the rising of trowelling mechanism 3 can make pinch roller 334 and trowelling back wall slight contact to take place to roll, along with the whereabouts of the inside grout of silo 312, can roll through pinch roller 334, impress the grout to the inside of wall pothole, make the inside that the grout can be abundant fill to the pothole, simultaneously vice trowelling tool 338 can continue to trowelling the unnecessary grout after filling the pothole along the rising of trowelling mechanism 3, thereby can ensure the planarization after the wall moisturizing, after the pothole size of control end judgement is filled and is accomplished, the output shaft gyration of control end drive driving motor 3111, with baffle 316 reset closure, push pedal 3214 reset and remove simultaneously, then close electromagnetic plate 3112, magnetism is lost to piece 3113, under the elasticity effect of extension spring one 3115, promote electromagnetic plate 3112 reset joint and fix in the inside of loop bar 317, simultaneously with in pushing out the loop bar 317, control end start electric telescopic handle 331, drive wheel carrier 332 and pinch roller 334 shrink upwards, simultaneously can remove the vice shaft 3111 through the bridge piece 338 and pull the boss 338 and follow the surperficial cement paste of the bridge 338 of vice wall of side wall of a bridge 3111, the surmount 338 is avoided pressing into the unnecessary cement paste of the end portion of the trowelling tool 338, the surmount is reached along the bridge piece of the bridge piece 338 that is located on the surmount of the mortar of the bridge wall of the trowelling tool, the end is reached, the surmount is avoided the surmount is moved to the surmount and the mortar has been reached.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The automatic wall trowelling robot is characterized by comprising a robot main body (1), a lifting mechanism (2) and a trowelling mechanism (3);
The lifting mechanism (2) is arranged on the robot main body (1), and the trowelling mechanism (3) is arranged on the lifting mechanism (2);
The trowelling mechanism (3) comprises a trowelling monitoring component (31), the trowelling monitoring component (31) comprises a connecting box (311), the connecting box (311) is connected with a lifting mechanism (2), five trough (312) are arranged in the connecting box (311), a first connecting frame (313) is arranged on the connecting box (311), a main trowelling knife (314) is connected above the first connecting frame (313), side guard plates (3110) are respectively connected to two sides on the connecting box (311), five loop bars (317) which can correspond to the main trowelling knife (314) are movably arranged in the connecting frame (313), a wall defect monitoring camera (315) which can photograph a wall surface in real time is arranged on the outer side of the first connecting frame (313), a baffle plate (316) which can seal the trough (312) is fixedly sleeved outside the loop bars, an electromagnetic plate (3112) is arranged in the connecting frame (313), four surrounding plates (316) are respectively connected with the electromagnetic plate (3113) which can be correspondingly connected with the electromagnetic plate (3113) on one side of the magnetic plate (3113), the five loop bars (317) are movably sleeved with a rotating shaft (319), the rotating shaft (319) is movably sleeved with a moving block (3116), the outer side of the moving block (3116) is connected with a clamping rod II (3117) which can be abutted against the clamping rod I (3114), one end of the rotating shaft (319) extends to the outer side of the connecting frame I (313) and is fixedly sleeved with a driving wheel I (3119), the outer side of the connecting frame I (313) is provided with a mounting frame (318) positioned at the outer side of the driving wheel I (3119), the outer side of the material receiving box (311) is flush with the main trowelling knife (314), and the rotating shaft (319) is movably mounted in the mounting frame (318);
The clamping rod I (3114) is externally sleeved with a tension spring I (3115), one end of the tension spring I (3115) is connected with the first connecting frame (313), the other end of the tension spring I (3115) is connected with the magnetic block (3113), the clamping rod II (3117) is externally sleeved with a tension spring II (3118), one end of the tension spring II (3118) is connected with the moving block (3116), the other end of the tension spring II (3118) is connected with the rotating shaft (319), and the elasticity of the tension spring I (3115) is larger than that of the tension spring II (3118);
The trowelling mechanism (3) further comprises an auxiliary trowelling assembly (33), the auxiliary trowelling assembly (33) is arranged on the material receiving box (311), the auxiliary trowelling assembly (33) comprises an electric telescopic rod (331), the electric telescopic rod (331) is connected with the material receiving box (311), the output end of the electric telescopic rod (331) is connected with a wheel frame (332), a pinch roller (334) which is flush with the main trowelling knife (314) is movably arranged in the wheel frame (332), a pull block (336) is connected to the bottom of the wheel frame (332), and a shielding plate (335) which is positioned between the pull block (336) and the pinch roller (334) is connected to the bottom of the wheel frame (332);
Both sides of receiving case (311) all are connected with gag lever post (337), the outside activity of gag lever post (337) cup joints can with the vice trowelling sword (338) of main trowelling sword (314) parallel and level, the top of vice trowelling sword (338) is connected with removes frame (339), the inside fixed circular shaft (333) of activity in pulling block (336) that cup joints of removing frame (339).
2. The automatic wall trowelling robot of claim 1, wherein the mounting frame (318) is connected with the material receiving box (311), a driving motor (3111) is installed on the outer side of the material receiving box (311), the other end of an output shaft of the driving motor (3111) extends to the inside of the mounting frame (318) and is fixedly sleeved with a driving wheel II (3120), and the driving wheel II (3120) is in driving connection with a driving wheel I (3119) through a driving belt (3121).
3. The automatic wall trowelling robot of claim 2, wherein the trowelling mechanism (3) further comprises a feeding component (32) arranged on the trowelling monitoring component (31), the feeding component (32) comprises a swing arm (321), the outer part of the swing arm (321) is fixedly sleeved on an output shaft of a driving motor (3111), an air passage (325) is arranged in the material receiving box (311), a movable pipe (322) is movably arranged on the outer side of the material receiving box (311), the movable pipe (322) can be communicated with the air passage (325), the other end of the movable pipe (322) is fixedly communicated with an air cylinder I (323), a piston rod I (324) is sleeved in the air cylinder I (323), and the other end of the piston rod I (324) can be hinged with the swing arm (321).
4. The automatic wall trowelling robot of claim 3, wherein five air cylinders II (327) corresponding to the trough (312) are arranged above the material receiving box (311), piston rods II (329) are sleeved inside the air cylinders II (327), one ends of the piston rods II (329) are connected with connecting frames II (3211) positioned outside the air cylinders II (327), the other ends of the piston rods II (329) are connected with tension springs III (3210), and the other ends of the tension springs III (3210) are connected with the air cylinders II (327).
5. The automatic wall trowelling robot of claim 4, wherein an electronic air valve (328) is installed at the bottom of the tension spring III (3210), a communicating pipe (326) is communicated below the electronic air valve (328), and the other end of the communicating pipe (326) is connected with the material receiving box (311) and can be communicated with the air passage (325).
6. The automatic wall trowelling robot of claim 4, wherein a pushing block (3212) is connected to the other side of the second connecting frame (3211), a square rod (3213) is connected to the bottom of the pushing block (3212), a pushing plate (3214) located inside the trough (312) is movably sleeved on the outside of the square rod (3213), a spring (3215) is connected to the bottom end of the square rod (3213), the other end of the spring (3215) is connected to the pushing plate (3214), and the outside of the pushing plate (3214) can be in contact with the inner wall of the trough (312).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411451463.XA CN119195441B (en) | 2024-10-17 | 2024-10-17 | Automatic wall smoothing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411451463.XA CN119195441B (en) | 2024-10-17 | 2024-10-17 | Automatic wall smoothing robot |
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| CN119195441A CN119195441A (en) | 2024-12-27 |
| CN119195441B true CN119195441B (en) | 2025-09-26 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116163496A (en) * | 2023-04-06 | 2023-05-26 | 中国建筑第五工程局有限公司 | A wall smoothing device |
| CN117108021A (en) * | 2023-08-28 | 2023-11-24 | 安徽省怀远县金诚建筑工程有限公司 | An efficient plastering device for building walls |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200386238Y1 (en) * | 2005-03-07 | 2005-06-08 | 김병훈 | Semi-automatic construction putty equipment |
| CN213509460U (en) * | 2020-10-23 | 2021-06-22 | 海宁立潮工程咨询有限公司 | Device for controlling plastering quality of inner wall |
| CN219710890U (en) * | 2023-05-16 | 2023-09-19 | 中国二十冶集团有限公司 | A kind of smoothing device for house construction |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116163496A (en) * | 2023-04-06 | 2023-05-26 | 中国建筑第五工程局有限公司 | A wall smoothing device |
| CN117108021A (en) * | 2023-08-28 | 2023-11-24 | 安徽省怀远县金诚建筑工程有限公司 | An efficient plastering device for building walls |
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| CN119195441A (en) | 2024-12-27 |
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