CN203320912U - Automatic plastering and troweling robot for wall - Google Patents
Automatic plastering and troweling robot for wall Download PDFInfo
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- CN203320912U CN203320912U CN2013203827159U CN201320382715U CN203320912U CN 203320912 U CN203320912 U CN 203320912U CN 2013203827159 U CN2013203827159 U CN 2013203827159U CN 201320382715 U CN201320382715 U CN 201320382715U CN 203320912 U CN203320912 U CN 203320912U
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Abstract
The utility model discloses an automatic plastering and troweling robot for a wall. The automatic plastering and troweling robot comprises a translation mechanism, a lifting mechanism, a plastering machine and a controller, wherein a cement mortar storage hopper, a cement mortar pushing apparatus, a plastering apparatus and the controller are arranged in the plastering machine; the plastering apparatus comprises a plastering plate and a troweling sheet which are arranged at the side of the cement mortar storage hopper, which is close to the wall; the cement mortar storage hopper, the plastering plate and the troweling sheet are respectively provided with stretching plates which are mutually embedded; and widths of the cement mortar storage hopper, the plastering plate and the troweling sheet are regulated by the controller according to a wall image obtained by a camera to keep away from a non-plastering region or stop plastering. According to the automatic plastering and troweling robot, cement mortar can be automatically pressed and troweled, and the plastering operation and movement of the plastering robot can be accurately regulated and treated, thus the flexibility of the robot is greatly improved, the manual operation strength is reduced, manpower resources can be greatly reduced, the work efficiency is increased, and the project quality and safety can be ensured.
Description
Technical field
The utility model relates to the building machinery of electromechanical, is a kind of metope automatic plastering, floating handling machine people specifically.
Background technology
Modern urban architecture increasing, job requirements is increasing.Especially in building operations, carry out surface of wall and plaster, the operations such as metope cleaning, maintenance, plastering is one working procedure of outbalance in builing industry.In building operations, cement layer, mortar bed that metope adheres to, normally by the mortar delivery pump mortar spraying to metope, process is manual floating again, stranding is real, this operating type, not only increased the difficulty of workman's operation, reduced workmanship and operating efficiency, the planeness shortcoming uniformity of gained body of wall mortar face.In building operations, indoor wall float work amount is large, and technical requirements is high, and in existing construction machinery, some has the wall plastering function, but the precision of construction is not high, simultaneously such plastering machine can only, along the operation of surface of wall in the vertical direction, if will be moved horizontally the action need human assistance, increase the manual work amount, reduced efficiency of construction, the situation of window appears in most of plastering machine for metope simultaneously, the operation of can not being plastered, thus increased difficulty to construction.
Summary of the invention
Technical problem to be solved in the utility model is for the problems referred to above, a kind of metope automatic plastering, floating handling machine people are provided, overcome the construction working amount large, manual operation efficiency is low, the difficult problems such as manpower shortage and construction quality, not only reduce construction intensity, reduce the manual work amount, guarantee to obtain the wall cement layer smooth smooth simultaneously, adhere to evenly, improve efficiency of construction, guarantee workmanship, reduce expense of human.
Described metope automatic plastering, floating handling machine people, is characterized in that: comprise translation mechanism, elevating mechanism, troweling machine, controller, described translation mechanism comprises the Horizontal shifting platform that is laid in the translation track on ground and is placed in described translation track top and moves along this translation track along the metope of plastering, described elevating mechanism comprises to be fixed with described Horizontal shifting platform and, perpendicular to the crane on ground, on described crane, pulley is housed, and described troweling machine is vertically moved along described crane by the wire rope traction of walking around pulley, be provided with the storage ash bucket in described troweling machine, push away apparatus for ash, apparatus of plastering, controller, described apparatus of plastering comprises the plastering plate that is arranged at the nearly metope side of described storage ash bucket and floating, described plastering plate is positioned at the downside of described floating, plastering plate is connected with described storage ash bucket with floating rotating shaft by the plastering plate rotating shaft parallel with the metope of plastering respectively with floating, described storage ash bucket, plastering plate, floating is respectively equipped with mutually nested expansion plate, expansion plate is the edge horizontal direction telescopic adjustment width parallel with the described metope of plastering under the control of described controller, be fixed with the camera in the face of the metope direction of plastering on described apparatus of plastering, for the described storage ash bucket of metope image adjustment obtained from described camera by described controller basis, plastering plate, the width of floating is avoided the non-district that plasters, perhaps stop the action of plastering.
As a kind of embodiment, on described troweling machine, the motor of plastering is housed, the rear end face of described storage ash bucket is provided with and pushes away hawk, the described motor of plastering drives and pushes away the described hawk that pushes away of grey connecting rod promotion, under the motor pushing of plastering that makes the mortar in described storage ash bucket control at controller, be pushed on described plastering plate, on the metope of when described troweling machine rises, mortar being plastered.
As a kind of embodiment, described plastering plate is in working order the time and plaster between metope and be acute angle, establish the indexing control device of setting for corner and the encoder fed back for angle in described plastering plate rotating shaft, make depth of plastering change to regulate by the angle of adjusting plastering plate and plaster between metope.
Described floating is acute angle with the metope of plastering in working order the time, establish the indexing control device set for corner in described floating rotating shaft and for the power sensor of pressure feedback, make floating pressure change to regulate by adjusting floating and the pressure of plastering between metope.
As a kind of embodiment, the top of described troweling machine is provided with infrared distance sensor, described infrared distance sensor is electrically connected to the input interface of described controller, while approaching for the obstruction in above it or the side of detecting troweling machine, stops described robot upwards or laterally operation.
As a kind of embodiment, the bottom of described storage ash bucket is provided with the ash bucket expansion plate, and the both sides of storage ash bucket are provided with the ash bucket wallboard, and the bottom of storage ash bucket is provided with the extension and contraction control motor, and described extension and contraction control motor is driven and controlled by described controller; Described ash bucket expansion plate is mutually nested by two or more plate faces, the plate face of the described ash bucket expansion plate of transverse ends is fixedly connected with the described ash bucket wallboard of both sides, be provided with the ash bucket expansion link below the bottom surface of described ash bucket expansion plate, the two ends of described ash bucket expansion link are fixedly connected with the ash bucket wallboard of described storage ash bucket both sides, described ash bucket expansion link is provided with flexible screw thread pair, by described extension and contraction control driven by motor.
As prioritization scheme, described plastering plate and described floating expansion plate, the expansion plate of its both side ends is fixedly connected with the ash bucket wallboard of this side respectively, makes plastering plate and floating width synchronously change with the ash bucket expansion plate.
As prioritization scheme, described ash bucket expansion plate, described plastering plate, described floating and ash bucket expansion link coat by the bellows of transversal stretching, in order to isolated mortar.
As a kind of embodiment, be provided with ash storage box and feeding engine on described Horizontal shifting platform, described ash storage box is connected with the storage ash bucket on troweling machine by feed pipe.
As prioritization scheme, described Horizontal shifting platform is provided with lifting motor, in top and the bottom of described crane, is equipped with pulley, and described lifting motor is connected with described pulley by transmission device, form described elevating mechanism, in the lifting of the described troweling machine of control lower-pilot of described controller.
The utility model can carry out pressing and the floating processing operation of cement mortar automatically, obtains surface of wall cement layer even thickness, smooth smooth, and this robot can move freely in the horizontal direction, has increased the working space of operation, reduces hand labor power.We are equipped with sensing device and camera head with it in robot and can be accurately plaster operation and the motion of the robot that plasters are regulated and processed with this, robot is running into the window's position action that can automatically stop plastering, simultaneously robot plasters in process and moves to the next position, a part is window, a part is to treat the plastered wall face, now robot shortens the length of apparatus of plastering, the window that apparatus of plastering is corresponding partly is isolated, apparatus of plastering is treated the action of proceeding to plaster of plastered wall face portion, solve major part and plastered machine for this kind of unvanquishable difficulty of situation, greatly improved the flexibility of robot, reduced manual work intensity, the utility model not only can greatly reduce manpower, increase work efficiency, and can guarantee workmanship and safety.
The accompanying drawing explanation
Fig. 1 is the utility model overall structure schematic diagram,
Fig. 2 is the left view of Fig. 1,
Fig. 3 be in Fig. 2 the storage ash bucket A to view,
Fig. 4 be in Fig. 3 B to view.
In figure: 1-translation roller, 2-crane, 3-push away grey connecting rod, 4-the motor of plastering, 5-charging aperture, 6-camera, 7-plastering plate, the rotating shaft of 8-plastering plate, 9-floating rotating shafts, 10-floating, 11-push away hawk, 12-storage ash bucket, 13-translation motor, 14-pulley, 15-ash bucket wallboard, 16-ash bucket expansion plate, 17-steel cable, 18-ash bucket expansion link, 19-troweling machine, 20-infrared distance sensor, 21-ash storage box, 22-feed pipe, 23-feeding engine, 24-lifting motor, 25-translation track, 26-Horizontal shifting platform, 27-controller, 28-the metope of plastering, 29-extension and contraction control motor.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated: as shown in Fig. 1,2, described metope automatic plastering, floating handling machine people, comprise translation mechanism, elevating mechanism, troweling machine 19, controller 27; Described translation mechanism comprises the Horizontal shifting platform 26 that is laid in the translation track 25 on ground and is placed in described translation track 25 tops and moves along this translation track 25 along the metope 28 of plastering; It is fixing with described Horizontal shifting platform 26 and perpendicular to the crane 2 on ground that described elevating mechanism comprises, on described crane 2, pulley 14 is housed, and described troweling machine 19 is vertically moved along described crane 2 by steel cable 17 tractions of walking around pulley 14; Be provided with storage ash bucket 12 in described troweling machine 19, push away apparatus for ash, apparatus of plastering, controller 27, described apparatus of plastering comprises the plastering plate 7 that is arranged at described storage ash bucket 12 nearly metope sides and floating 10, described plastering plate 7 is positioned at the downside of described floating 10, and plastering plate 7 is connected with described storage ash bucket 12 with floating rotating shaft 9 by the plastering plate rotating shaft 8 parallel with the metope of plastering respectively with floating 10.
As Fig. 3,4, described storage ash bucket, plastering plate, floating are respectively equipped with mutually nested expansion plate, expansion plate is the edge horizontal direction telescopic adjustment width parallel with the described metope 28 of plastering under the control of described controller 27, on described apparatus of plastering, be fixed with in the face of plastering the camera 6 of metope direction, for by described controller, according to the described storage ash bucket of metope image adjustment obtained from described camera, plastering plate, the width of floating, avoiding non-plaster district or the action that stops plastering.
As Fig. 2, on described troweling machine 19, the motor 4 of plastering is housed, the rear end face of described storage ash bucket 12 is provided with and pushes away hawk 11, the described motor 4 of plastering drives and pushes away the described hawk 11 that pushes away of grey connecting rod 3 promotion, under promoting, the motor 4 of plastering that makes the mortar in described storage ash bucket 12 control at controller 27 is pushed on described plastering plate 7, on the metope 28 of when described troweling machine 19 rises, mortar being plastered.
As Fig. 2, as a kind of embodiment, described plastering plate 7 is in working order the time and plaster between metope and be acute angle, establish the indexing control device of setting for corner and the encoder fed back for angle in described plastering plate rotating shaft 8, make depth of plastering change to regulate by the angle of adjusting plastering plate and plaster between metope.
As Fig. 2, described floating 10 is acute angle with the metope of plastering in working order the time, establish the indexing control device set for corner in described floating rotating shaft 8 and for the power sensor of pressure feedback, make floating pressure change to regulate by adjusting floating and the pressure of plastering between metope.
As Fig. 2, as a kind of embodiment, the top of described troweling machine 19 is provided with infrared distance sensor 20, described infrared distance sensor 20 is electrically connected to the input interface of described controller 27, while approaching for the obstruction in above it or the side of detecting troweling machine, stops described robot upwards or laterally operation.
As Fig. 3,4, as a kind of embodiment, the bottom of described storage ash bucket 12 is provided with ash bucket expansion plate 16, and the both sides of storage ash bucket 12 are provided with ash bucket wallboard 15, the bottom of storage ash bucket 12 is provided with extension and contraction control motor 29, and described extension and contraction control motor 29 is driven and controlled by described controller 27; Described ash bucket expansion plate 16 is mutually nested by two or more plate faces, the plate face of the described ash bucket expansion plate of transverse ends is fixedly connected with the described ash bucket wallboard 15 of both sides, be provided with ash bucket expansion link 18 below the bottom surface of described ash bucket expansion plate 16, the two ends of described ash bucket expansion link 18 are fixedly connected with the ash bucket wallboard 15 of described storage ash bucket 12 both sides, described ash bucket expansion link 18 is provided with flexible screw thread pair, by described extension and contraction control motor 29, is driven.
As Fig. 3,4, as prioritization scheme, described plastering plate 7 and described floating 10 expansion plate, the expansion plate of its both side ends is fixedly connected with the ash bucket wallboard 15 of this side respectively, makes plastering plate and floating width synchronously change with ash bucket expansion plate 16.
As prioritization scheme, described ash bucket expansion plate 16, described plastering plate 7, described floating 10 and ash bucket expansion link 18 coat by the bellows of transversal stretching, in order to isolated mortar.
As Fig. 1, as a kind of embodiment, be provided with ash storage box 21 and feeding engine 23 on described Horizontal shifting platform 26, described ash storage box 21 is connected with the storage ash bucket 12 on troweling machine 19 by feed pipe 22.
As Fig. 1, as prioritization scheme, described Horizontal shifting platform 26 is provided with lifting motor 24, top and bottom at described crane 2 are equipped with pulley 14, described lifting motor 24 is connected with described pulley 14 by transmission device, form described elevating mechanism, in the lifting of the described troweling machine of control lower-pilot of described controller.
This robot that plasters can not only complete plastering of vertical wall and meticulous floating processing operation on structure design, and, not needing the human assistance operation, just can move in the horizontal direction automatically flexible operation along wall, increase working space, reduced manual labor.In robot, sensing device and camera head are housed with it simultaneously, can be accurately plaster operation and the motion of the robot that plasters be regulated and processed with this, robot in the process of plastering, run into the window's position can automatically stop plastering the action or automatically the scope of plastering is adjusted, greatly improved the flexibility of robot, by control system, can automatically adjust and process, realize automation mechanized operation and fine processing, increase work efficiency, reduced the manual work amount, further guarantee construction quality, met the construction demand.
The present invention has increased the translation track 25 that robot can be moved freely along wall, floating device is arranged on elevating mechanism, elevating mechanism is fixed in travel mechanism, can control travel mechanism by control system moves left and right along wall on translation track 25, its distance moved is the length of plastering plate 7, and the length of its translation track 25 also can be done to extend and shorten and regulate, flexible operation according to the length of construction metope simultaneously, save manual labor, improve operating efficiency.Described apparatus of plastering, it pushes away grey connecting rod 3 by the motor 4 of plastering, and plastering plate 7, floating 10, pushes away hawk 11 and forms.Ash storage box 21 is housed on Horizontal shifting platform 26 for loading cement mortar, while being plastered action, control the feeding engine 23 on Horizontal shifting platform 26 by control system, feeding engine 23 is delivered to the cement mortar in this ash storage box 21 in storage ash bucket 12 by feed pipe 22, now control system can drive motor 4 motions of plastering in apparatus of plastering, motor 4 drives of plastering push away grey connecting rod 3 and carry out stretching motion, one end of connecting rod connects motor, other end connection pushes away hawk 11, apparatus of plastering end upside is equipped with floating rotating shaft 9, the end downside is equipped with plastering plate rotating shaft 8, floating rotating shaft 9 is connected with floating 10, form from top to bottom the angle of zero to 90 degree with treating the plastered wall face on vertical for floating 10, plastering plate rotating shaft 8 one ends are connected with plastering plate 7, plastering plate 7 forms the angle of zero to 90 degree from lower to upper with treating the plastered wall face on vertical, floating rotating shaft 9, can detect, regulate the floating angle with metope, the connecting rod drive pushes away hawk and moves with uniform speed, to store up the cement mortar loaded in ash bucket and press and smear metope through pushing away hawk, plastering plate by end is floating by the mortar press polish on metope.When apparatus of plastering descends, at first, by floating rotating shaft, detect and regulate the floating angle with metope, carry out from top to bottom floating action, i.e. meticulous floating processing.The operation of being plastered of apparatus of plastering uphill process, complete by plastering plate the action of plastering, and the decline process is carried out floating processing operation, by floating, completes and strikes off action, realizes meticulous floating processing, guarantees the metope even thickness, smooth smooth.Described elevating mechanism, realize that by elevating mechanism apparatus of plastering completes the floating action of cement mortar at uphill process, and the decline process completes the action that strikes off on cement layer surface, and elevating mechanism can be adjusted according to the height of indoor wall.Described travel mechanism, drive travel mechanism to move horizontally along translation track 25 by translation motor 13, completes next this operation of plastering.Increased camera head, camera head is arranged on the top of apparatus of plastering, utilize camera head to treat the plastered wall surface and carry out image taking, the pictorial information of picked-up is preserved and this information is passed to control system, then carry out image recognition by control system, image is processed, graphical analysis, by the image information of extracting, with this, can to plastering of the robot that plasters, operate accurately and motion is regulated and processed, when this function can realize that robot runs into surface of wall and window occurs, apparatus of plastering moves to edge of window along can automatically stopping plastering operation, then continue motion up or down, until run into surface of wall, again recover to plaster action, simultaneously robot plasters in process and moves to the next position, a part is window, a part is to treat the plastered wall face, now robot carries out compression movement by extension and contraction control motor 29 drive ash bucket wallboards 15, shorten the transverse width of apparatus of plastering, the window that apparatus of plastering is corresponding partly is isolated, apparatus of plastering is treated the action of proceeding to plaster of plastered wall face portion, solve major part and plastered machine for this kind of unvanquishable difficulty of situation.Increased infrared distance sensor 20, when apparatus of plastering rises to the elevating mechanism top and drops to base plate, controlled in real time it by infrared distance sensor 20 detections by control system and stop and running status.Used control system, control system consists of single-chip microcomputer, and it can be to the action of plastering of robot, and move operation and descending operation are processed in real time, for the labyrinth of metope, can adjust in real time robot.This robot can carry out automation mechanized operation, and functioning efficiency is high, has reduced difficulty of construction, has reduced manpower, has greatly improved workmanship simultaneously.
Claims (10)
1. a metope automatic plastering, floating handling machine people, is characterized in that: comprise translation mechanism, elevating mechanism, troweling machine (19), controller (27);
Described translation mechanism comprises the Horizontal shifting platform (26) that is laid in the translation track (25) on ground and is placed in described translation track (25) top and moves along this translation track (25) along the metope (28) of plastering; It is fixing with described Horizontal shifting platform (26) and perpendicular to the crane (2) on ground that described elevating mechanism comprises, pulley (14) is housed on described crane (2), and described troweling machine (19) is vertical mobile along described crane (2) by the steel cable of walking around pulley (14) (17) traction;
Be provided with storage ash bucket (12) in described troweling machine (19), push away apparatus for ash, apparatus of plastering, controller (27), described apparatus of plastering comprises plastering plate (7) and floating (10) that are arranged at the nearly metope side of described storage ash bucket (12), described plastering plate (7) is positioned at the downside of described floating (10), plastering plate (7) is connected with described storage ash bucket (12) with floating rotating shaft (9) by the plastering plate rotating shaft (8) parallel with the metope of plastering respectively with floating (10), described storage ash bucket, plastering plate, floating is respectively equipped with mutually nested expansion plate, expansion plate is the edge horizontal direction telescopic adjustment width parallel with the described metope of plastering (28) under the control of described controller (27), be fixed with the camera (6) in the face of the metope direction of plastering on described apparatus of plastering, for the described storage ash bucket of metope image adjustment obtained from described camera by described controller basis, plastering plate, the width of floating is avoided the non-district that plasters, perhaps stop the action of plastering.
2. metope automatic plastering according to claim 1, floating handling machine people, it is characterized in that: the motor of plastering (4) is housed on described troweling machine (19), the rear end face of described storage ash bucket (12) is provided with and pushes away hawk (11), the described motor of plastering (4) driving pushes away grey connecting rod (3) and promotes the described hawk (11) that pushes away, be pushed to described plastering plate (7) under the motor of plastering (4) promotion that makes the mortar in described storage ash bucket (12) control at controller (27) upper, on the metope (28) of when described troweling machine (19) rises, mortar being plastered.
3. metope automatic plastering according to claim 1 and 2, floating handling machine people, it is characterized in that: described plastering plate (7) is in working order the time and plaster between metope and be acute angle, establish the indexing control device of setting for corner and the encoder fed back for angle in described plastering plate rotating shaft (8), make depth of plastering change to regulate by the angle of adjusting plastering plate and plaster between metope.
4. metope automatic plastering according to claim 1, floating handling machine people, it is characterized in that: described floating (10) are acute angle with the metope of plastering in working order the time, establish the indexing control device set for corner in described floating rotating shaft (8) and for the power sensor of pressure feedback, make floating pressure change to regulate by adjusting floating and the pressure of plastering between metope.
5. metope automatic plastering according to claim 1, floating handling machine people, it is characterized in that: the top of described troweling machine (19) is provided with infrared distance sensor (20), described infrared distance sensor (20) is electrically connected to the input interface of described controller (27), while approaching for the obstruction in above it or the side of detecting troweling machine, stops described robot upwards or laterally operation.
6. metope automatic plastering according to claim 1, floating handling machine people, it is characterized in that: the bottom of described storage ash bucket (12) is provided with ash bucket expansion plate (16), the both sides of storage ash bucket (12) are provided with ash bucket wallboard (15), the bottom of storage ash bucket (12) is provided with extension and contraction control motor (29), and described extension and contraction control motor (29) is driven and controlled by described controller (27); Described ash bucket expansion plate (16) is mutually nested by two or more plate faces, the plate face of the described ash bucket expansion plate of transverse ends is fixedly connected with the described ash bucket wallboard (15) of both sides, below, bottom surface at described ash bucket expansion plate (16) is provided with ash bucket expansion link (18), the two ends of described ash bucket expansion link (18) are fixedly connected with the ash bucket wallboard (15) of described storage ash bucket (12) both sides, described ash bucket expansion link (18) is provided with flexible screw thread pair, by described extension and contraction control motor (29), is driven.
7. metope automatic plastering according to claim 6, floating handling machine people, it is characterized in that: the expansion plate of described plastering plate (7) and described floating (10), the expansion plate of its both side ends is fixedly connected with the ash bucket wallboard (15) of this side respectively, makes plastering plate and floating width change with ash bucket expansion plate (16) is synchronous.
8. metope automatic plastering according to claim 7, floating handling machine people, it is characterized in that: described ash bucket expansion plate (16), described plastering plate (7), described floating (10) and ash bucket expansion link (18) coat by the bellows of transversal stretching, in order to isolated mortar.
9. metope automatic plastering according to claim 1, floating handling machine people, it is characterized in that: be provided with ash storage box (21) and feeding engine (23) on described Horizontal shifting platform (26), described ash storage box (21) is connected with the storage ash bucket (12) on troweling machine (19) by feed pipe (22).
10. metope automatic plastering according to claim 1, floating handling machine people, it is characterized in that: described Horizontal shifting platform (26) is provided with lifting motor (24), top and bottom at described crane (2) are equipped with pulley (14), described lifting motor (24) is connected with described pulley (14) by transmission device, form described elevating mechanism, in the lifting of the described troweling machine of control lower-pilot of described controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013203827159U CN203320912U (en) | 2013-06-28 | 2013-06-28 | Automatic plastering and troweling robot for wall |
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| CN2013203827159U CN203320912U (en) | 2013-06-28 | 2013-06-28 | Automatic plastering and troweling robot for wall |
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| CN111305514B (en) * | 2020-02-26 | 2021-07-13 | 广东博智林机器人有限公司 | Plastering method and device |
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-
2013
- 2013-06-28 CN CN2013203827159U patent/CN203320912U/en not_active Expired - Fee Related
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