CN205976378U - Indoorly independently remove intelligent mechanical float - Google Patents
Indoorly independently remove intelligent mechanical float Download PDFInfo
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- CN205976378U CN205976378U CN201620566421.5U CN201620566421U CN205976378U CN 205976378 U CN205976378 U CN 205976378U CN 201620566421 U CN201620566421 U CN 201620566421U CN 205976378 U CN205976378 U CN 205976378U
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- mechanical float
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- plastering
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Abstract
The utility model discloses an indoorly independently remove intelligent mechanical float belongs to the construction machinery field. It includes moving platform, carriage, plastering unit, fixed support component, operation main control system, executive component to and set up on the mechanical float and respectively with indoor diagnostic information collection system, distancer, the position collection system of operation main control system communication, the mechanical float during operation, the moving direction distance of mechanical float is confirmed to the operation main control system based on the information monitoring who receives, and through its removal of executive component control, when reacing the predetermined distance, through executive component adjustment mechanical float and the distance of treating the operation wall, and pass through fixed support component, it is fixed with the distance of treating the operation wall that the carriage makes the mechanical float, and fix between ground and roof, then the operation main control system passes through executive component and starts plastering unit, it plasters to carry out the automation to wall operation area. The utility model is used for its positioning mobile that decides for oneself can be realized to indoor plastering, promotes its full automatization working property.
Description
Technical field
This utility model is related to building machinery field and in particular to a kind of mechanical float of autonomous.
Background technology
Traditional plastering technique depends on manual work mostly, is the thing of a time-consuming effort again.In the last few years, with
The work that continues to bring out so that cement is plastered a wall of new technique New Measure is possibly realized by running to machine by hand.That commonly uses at present smears
Systems technology that wall technology is divided into semi-automatic formula to plaster a wall systems technology and manpower is plastered a wall.
The manpower technology of plastering a wall relies solely on manual observations' operation, and its method is simply easy to operate, but its degree of accuracy is relatively low, smears
The variable thickness of wall and be separated by larger, expends time and manpower, delamination layer of simultaneously plastering, hollowing, and quick-fried ash and crack become current
Generally existing insoluble problem in engineering, its work under bad environment simultaneously, substantial amounts of plaster is larger to human injury, no
Beneficial to health.It is low that semiautomatic mechanical float (plastering machine) can be good at solving thickness and precision, and delamination layer of plastering is empty
Drum, quick-fried ash and the problems such as crack, it generally includes three parts：(bottom is provided with pulley to movable frames, for realizing plastering
The movement of machine), travelling carriage and apparatus of plastering, travelling carriage is arranged on one end that movable frames lean on body of wall, and apparatus of plastering generally wraps
Include cement mortar hopper, white washed wall plate etc., and apparatus of plastering is slidably connected with travelling carriage, realizes apparatus of plastering under the driving of motor
Along travelling carriage oscilaltion, thus realizing apparatus of plastering to treat operation metope automatization's white washed wall from top to bottom or from top to bottom,
A kind of Multifunctional automatic whitewashing machine as disclosed in Application No. 20142066734.9.Although existing auto-manual system mechanical float
Automatic plastering operation can be realized, but its complex operation is complicated, need the artificial operation positioning participating in work machine.
Utility model content
Goal of the invention of the present utility model is：For above-mentioned problem, provide one kind can autonomous indoors
The indoor autonomous intelligence mechanical float of positioning.
Indoor autonomous intelligence mechanical float, including the travelling carriage of the height-adjustable being arranged at mobile platform one end, with
And and the apparatus of plastering that is slidably connected of travelling carriage activity, described mobile platform also includes along horizontally and vertically direction adjustable in length
Fixed support part；Be arranged at Operation control main frame on mobile platform, execution unit, and be arranged on mechanical float and point
Not with the indoor characteristic information harvester of Operation control main-machine communication, diastimeter, orientation harvester, wherein interior feature is believed
Breath harvester is used for Real-time Collection architectural modulus, and distance meter is used for the distance of Real-time Collection mechanical float and wall；Orientation
Harvester is used for the azimuth of Real-time Collection mechanical float；
When mechanical float works, Operation control main frame by receive architectural modulus and locally stored architectural design parameter ratio
Right, determine flooring figure and size and metope operating area, because actual building structure and size may by personal error,
The practical factors such as barrier affect, so mechanical float can not place one's entire reliance upon, architectural design parameter is as the data of real work
(moving direction, displacement, region of plastering) is it is therefore desirable to the architectural modulus based on actual acquisition and architectural design parameter ratio
Right, for example based on the door and window size of actual acquisition, architectural design parameter is adjusted, and the information such as direction of door and window keeps not
Become, thus obtaining flooring figure and size and the metope operating area of reality, and using flooring figure and size as smearing
The indoor walking of grey machine is with reference to figure；
Determine that the moving direction of mechanical float and displacement are (just fixed based on indoor walking with reference to the azimuth of figure and reception
Position), Operation control main frame sends the control instruction of direction of belt travel to execution unit, controls mechanical float to move by execution unit
Dynamic, when mechanical float arrival displacement is detected, Operation control main frame sends halt instruction to execution unit, controls mechanical float
Stop moving；Operation control main frame sends regulating command to execution unit, adjusts mechanical float by execution unit and treats operation wall
The distance of wall is within operating distance scope, and adjusts the length in horizontally and vertically direction for the fixed support part by execution unit
Degree is so that mechanical float is fixed between ground and roof, and fixes with the distance treating operation wall；Then Operation control main frame leads to
Cross execution unit and start apparatus of plastering, automatic plastering is carried out to metope operating area.
Multiple working interfaces can be divided into, by operation based on indoor Global Operation region, the size according to apparatus of plastering
Control main frame controls mechanical float to take baseline apart from wall fixed range (experience preset value) as mechanical float according to Reference Map
Walking path so that mechanical float reaches the first positioning (when often moving to a working interface whne operation) plastered, Ran Houzai
Wall distance is entered to plaster with fine positioning so as within operating distance scope, then make it reinforce by fixed support part, just
In automatic plastering operation.After the completion of plastering in work at present interface, Operation control main frame passes through execution unit by fixed support part
Withdraw (being easy to mechanical float to move) with travelling carriage, controller moves to next working interface and continues operation, until metope operation
Plaster and complete in region.
Further, indoor characteristic information harvester is additionally operable to gather indoor obstacle information, Operation control main frame base
Moving direction and displacement in the indoor obstacle information real-time adjustment mechanical float receiving.
Travelling carriage of the present utility model includes Lift Part and upper upper frame, and Lift Part passes through execution unit and Operation control
Main frame is connected, and, along Lift Part oscilaltion, by withstanding on upper upper frame on roof, the reliability realizing mechanical float is solid for upper-top part
Fixed.
Fixed support part of the present utility model includes distance adjustment component and the supporting part being connected respectively with execution unit
Part, by adjusting the length of distance adjustment component, the front end of distance adjustment component is scheduled on wall；By adjusting support member
Length, the bottom of support member is pushed up on the ground.
In order to preferably ensure the flatness plastered, this utility model is provided with and Operation control master around apparatus of plastering
The positional distance measuring instrument of machine communication, Operation control main frame, based on the range information for collection, is smeared by performs device adjustment
The perpendicularity of the depth of parallelism, apparatus of plastering and ground of apparatus for ash and wall, thus ensure vertical ascent and the decline of apparatus of plastering.
Further, described Operation control main frame is provided with wireless communication interface, receives operational order for long-range.
Further, described wireless communication interface is additionally operable to be communicated with the overall Vision device being arranged on roof, uses
In mobile navigation.
Further, described Operation control main frame also includes alarm unit, when detecting abnormal, sends alarm.
In sum, due to employing technique scheme, the beneficial effects of the utility model are：It is capable of mechanical float
Autonomous positioning and movement, reduce artificial participation, lifting mechanical float full-automatic work performance.
Brief description
Fig. 1 is the structural representation of specific implementation；
Fig. 2 is the three dimensional structure diagram of specific implementation；
Fig. 3 is the track route schematic diagram of mechanical float in specific implementation.
Specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, with reference to embodiment and accompanying drawing, right
This utility model is described in further detail.
Referring to Fig. 1,2, of the present utility model interior autonomous intelligence mechanical float, (pass through including being arranged at mobile platform 1
The universal wheel 11 of bottom setting is mobile, and universal wheel passes through execution unit 5 and controls mobile open and close) height-adjustable of one end
Travelling carriage, and and the apparatus of plastering 3 that is slidably connected of travelling carriage activity, wherein travelling carriage includes Lift Part 21 and upper upper frame
22, upper upper frame 22 can lift along Lift Part 21, for example with motor and sprocket wheel mode realize, the mode of expansion link is realized
Deng.
Apparatus of plastering 3 can adopt any existing structure, for example, include plaster wall plate 31, conveyer belt 32 and cement mortar
The apparatus of plastering 3 that hopper (in figure is not drawn into) is constituted, that is, apparatus of plastering 3 is by vibrating and transmitting the water in cement mortar hopper
Cement mortar is sent to white washed wall plate 31, controls apparatus of plastering 3 to slide up and down along crane 22 by execution unit, thus completing to wall
The automatic plastering operation of wall.
Be provided with mobile platform 2 simultaneously fixed support part along horizontally and vertically direction adjustable in length (Fig. 1,2
Shown in 61,62,63), wherein distance adjustment component 61 is used for fixing the distance of mechanical float and wall, that is, passing through will be apart from tune
The front end of section part 61 withstands on wall so as to fix；Front support part 62 and rear support member 63 be used for fixing mechanical float with
The distance on ground, that is, pass through the bottom Xia Ding of front support part 62 and rear support member 63 on the ground so as to fix.
Mobile platform 2 is additionally provided with Operation control main frame 4 and execution unit 5, and Operation control main frame 4 mainly includes centre
Reason device 41, communication interface 42 and memory element and Alarm Unit etc., the operation control for plastered work processes and receives
Remote operation instruction and alarm etc. is detected during exception, and send corresponding control instruction to execution unit 5, thus start plastering
The autonomous of machine, automatic plastering operation, and the seat lifting adjusting to travelling carriage is completed by execution unit 5, to fixed support
Telescopic adjustment of part etc..
And be arranged on mechanical float and communicate respectively with Operation control main frame 4 indoor characteristic information harvester, survey
Distance meter, orientation harvester, in this specific embodiment, indoor characteristic information harvester includes 2D laser radar 73 and vision
Harvester 71 (such as Kinect), wherein 2D laser radar 73 are used for Real-time Collection flooring characteristic information, including room
Overall size, the width of door, Obstacle Position and size etc.；The room wheel that 2D laser radar 73 is gathered by Operation control main frame 4
Wide size, the width of door and locally stored architectural design parameter (for example pass through BIM software by architectural design drawing data
Architectural design parameter imports the local storage unit of Operation control main frame 4) compare, the dimension information based on Real-time Collection carries out chi
Very little renewal, obtains flooring figure and size, and as the indoor walking as mechanical float with reference to figure；Do not considering obstacle
In the case of thing, flooring figure can be directly based upon and obtain indoor walking with reference to figure, that is, according to indoor walking with reference to figure, take distance
, as the walking path (movement position line) of mechanical float, the distance away from wall is according to the reality of mechanical float for the baseline of wall fixed range
Border size determines, obtains the first positioning of mechanical float, as shown in Figure 3.Again by fine positioning of plastering, obtain the operating position of mechanical float
Line.In the case of considering barrier, then need to walk indoors determines the initial position of barrier with reference in figure, and is moving
During based on real-time data collection correction and update cartographic information Obstacle Position, determine mechanical float walking path when,
Need to carry out avoidance process, keep away for example with existing SLAM (simultaneous localization and mapping)
Barrier technique.Vision collecting device 71 is used for Real-time Collection metope characteristic information, the size including door and the size of window, operation control
Main frame 4 processed by it being compared (the correspondingly-sized information revising architectural design parameter) with locally stored architectural design parameter,
Determine metope operating area, that is, remove door, the metope of window place vertical plane.2D laser radar 73 and vision collecting device 71 can
It is arranged at the optional position of mechanical float based on demand, in this specific embodiment, 2D laser radar 73 is arranged on mobile platform
On, on vision collecting device 71 setting Lift Part 21, can be with the distance letter of Real-time Collection mechanical float and wall as long as can guarantee that
Cease.
Distance meter adopts laser range finder 72 to be used for the distance of Real-time Collection mechanical float and wall, realizes to mechanical float
Position coordinateses positioning indoors；Simultaneously for effective control depth of plastering, can around apparatus of plastering 3 correct position cloth
Put 4 distance meters, for determining levelness and the perpendicularity of apparatus of plastering 3, by adjusting the left side of (fine setting) apparatus of plastering 3
The distance of upper right lower end and wall, realize the modulation to its levelness and perpendicularity it is ensured that the vertical ascent of apparatus of plastering 3 and under
Fall.
Orientation harvester adopts the azimuth of three axle electronic compass 74 Real-time Collection mechanical float, Operation control main frame 4 base
Determine the direction of mechanical float in real time in the azimuth receiving, so based on indoor walking with reference to figure determine moving direction with move away from
From.
In order to simplify the Navigation Control of mechanical float autonomous, when mechanical float works, Operation control main frame 4 is based on interior
Global Operation region, operating area is divided into multiple working interfaces by the size (width of plastering a wall) according to apparatus of plastering, and worked boundary
Face carries out being carried out continuously plastered work for unit.Mechanical float is controlled to take distance according to Reference Map by Operation control main frame 4
As the walking path of mechanical float, movement position line as shown in Figure 3, when every along movement position line for the baseline of wall fixed range
(the corresponding position just positioning of plastering in work at present interface is reached), Operation control when moving to a working interface whne operation
Main frame enters to plaster fine positioning so as within operating distance scope, that is, reach by execution unit to the distance of mechanical float and wall
To the depth of plastering purpose controlling apparatus of plastering 3 and wall, after mechanical float reaches and plasters fine positioning, work as shown in Figure 3
The position line, operation main frame by execution unit adjust fixed support part (61,62,63) make its top withstand on respectively wall,
On face, it is simultaneously based on fine setting and realizes to the levelness of apparatus of plastering 3 and the modulation of perpendicularity, thus ensureing the smooth of coat of plaster
Property, and so that upper upper frame 22 is withstood on roof by execution unit, mechanical float is reliably fixing.Then started by execution unit and smear
Apparatus for ash 3 carries out automatic plastering operation to work at present interface, that is, control apparatus of plastering 3 first to rise, then decline and complete once to smear
Grey operation.After the completion of the automatic plastering operation at work at present interface, industry control main frame passes through execution unit by fixed support portion
Part and upper upper frame 2 withdraw, and reorientate the current location of mechanical float simultaneously, and control its recoil movement position line, along set fortune
Dynamic direction (such as clockwise) continues operation along movement position line movement to subsequent work interface, until completing to be needed to be made
The working interface of industry.Operation main frame is during controlling mechanical float to carry out autonomous, if detect existing on movement position line
Barrier, then carry out avoidance process, that is, bypass current barrier and return movement position line.
During mechanical float movement and plastered work, if abnormal conditions is detected, Operation control main frame 4 is single to reporting to the police
Unit sends enabled instruction, controls it to send alarm.The confession for detecting cement mortar such as by being arranged on apparatus of plastering 3
The height sensor of material situation, when the height of the cement mortar detecting in cement mortar hopper is higher than max-thresholds or be less than
During minimum threshold, Operation control main frame sends alarm enabled instruction to Alarm Unit, controls it to send alarm；Or when by swashing
Optar detects mechanical float in being in moving process, and within a period of time, (concrete value is entered based on practical application scene
Row threshold value is arranged) when not moving, also send alarm enabled instruction to Alarm Unit；And pause suddenly during plastered work etc.
Abnormal conditions send alarm by starting Alarm Unit.
The above, specific embodiment only of the present utility model, any feature disclosed in this specification, unless
Especially describe, all can be replaced by other alternative features equivalent or that there is similar purpose；Disclosed all features or institute
Have method or during step, in addition to mutually exclusive feature and/or step, all can be combined in any way.
Claims (9)
1. indoor autonomous intelligence mechanical float, including the travelling carriage of the height-adjustable being arranged at mobile platform one end, and
The apparatus of plastering being slidably connected with travelling carriage activity is it is characterised in that described mobile platform is also included along horizontally and vertically direction
The fixed support part of adjustable in length；It is arranged at Operation control main frame on mobile platform, execution unit, and be arranged at and smear
On grey machine and respectively with the indoor characteristic information harvester of Operation control main-machine communication, diastimeter, orientation harvester, wherein
Indoor characteristic information harvester is used for Real-time Collection architectural modulus, and distance meter is used for Real-time Collection mechanical float and wall
Distance；Orientation harvester is used for the azimuth of Real-time Collection mechanical float；
When mechanical float works, the architectural modulus of reception are compared by Operation control main frame with locally stored architectural design parameter,
Determine flooring figure and size, and metope operating area, and using flooring figure and size as indoor walking with reference to figure；
Based on indoor walking, with reference to figure and the azimuth that receives determines moving direction and the displacement of mechanical float, Operation control master
Machine sends the control instruction of direction of belt travel to execution unit, controls mechanical float to move by execution unit, plasters when detecting
When machine reaches displacement, Operation control main frame sends halt instruction to execution unit, controls mechanical float to stop moving；Operation control
Main frame processed sends regulating command to execution unit, adjusts mechanical float by execution unit and treats the distance of operation wall in working distance
Within scope, and the length in horizontally and vertically direction for the fixed support part is adjusted so that mechanical float is solid by execution unit
It is scheduled between ground and roof, and fix with the distance treating operation wall；Then Operation control main frame is started by execution unit
Apparatus of plastering, carries out automatic plastering to metope operating area.
2. mechanical float as claimed in claim 1 is it is characterised in that indoor characteristic information harvester is additionally operable to gather indoor barrier
Hinder thing information, Operation control main frame based on receive indoor obstacle information real-time adjustment mechanical float moving direction and movement away from
From.
3. mechanical float as claimed in claim 1 is it is characterised in that travelling carriage includes Lift Part and upper upper frame, Lift Part
It is connected with Operation control main frame by execution unit, upper-top part is along Lift Part oscilaltion.
4. mechanical float as claimed in claim 1 is it is characterised in that what fixed support part included being connected with execution unit respectively
Distance adjustment component and support member, by adjusting the length of distance adjustment component, the front end of distance adjustment component are scheduled on wall
On wall；By adjusting the length of support member, the bottom of support member is pushed up on the ground.
5. mechanical float as claimed in claim 1 is led to it is characterised in that being provided with around apparatus of plastering with Operation control main frame
The positional distance measuring instrument of letter, Operation control main frame, based on the range information for collection, adjusts, by performs device, dress of plastering
Put the perpendicularity with the depth of parallelism, apparatus of plastering and ground of wall.
6. mechanical float as claimed in claim 1 is it is characterised in that described Operation control main frame is provided with wireless communication interface,
Receive operational order for long-range.
7. mechanical float as claimed in claim 6 is it is characterised in that described wireless communication interface is additionally operable to and is arranged on roof
Overall Vision device is communicated, for mobile navigation.
8. mechanical float as claimed in claim 1 is it is characterised in that the bottom of described mobile platform is provided with universal wheel, universal
Wheel controls mobile open and close by execution unit.
9. mechanical float as claimed in claim 1, it is characterised in that described Operation control main frame also includes alarm unit, works as inspection
When measuring abnormal, send alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620566421.5U CN205976378U (en) | 2016-06-13 | 2016-06-13 | Indoorly independently remove intelligent mechanical float |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620566421.5U CN205976378U (en) | 2016-06-13 | 2016-06-13 | Indoorly independently remove intelligent mechanical float |
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| Publication Number | Publication Date |
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| CN205976378U true CN205976378U (en) | 2017-02-22 |
Family
ID=58020555
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| CN201620566421.5U Active CN205976378U (en) | 2016-06-13 | 2016-06-13 | Indoorly independently remove intelligent mechanical float |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105908955A (en) * | 2016-06-13 | 2016-08-31 | 电子科技大学 | Indoor automatic movement type intelligent plastering machine |
-
2016
- 2016-06-13 CN CN201620566421.5U patent/CN205976378U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105908955A (en) * | 2016-06-13 | 2016-08-31 | 电子科技大学 | Indoor automatic movement type intelligent plastering machine |
| CN105908955B (en) * | 2016-06-13 | 2018-07-27 | 电子科技大学 | Indoor autonomous intelligence mechanical float |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190815 Address after: 226131 No. 76, Xincheng West Road, Yuelai Town, Haimen City, Nantong City, Jiangsu Province Co-patentee after: UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY Patentee after: Jiangsu Aofeng Robot Technology Co., Ltd. Address before: 611731 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY |
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| TR01 | Transfer of patent right |