CN207999043U - A kind of robot of achievable building wall plastering - Google Patents

Abstract

The utility model provides a robot capable of plastering building walls, which comprises a base (1), and is characterized in that: a rotating disc (3) is arranged on the base (1), and A laser distance measuring device, a mechanical arm device and a control module are provided, a plastering knife (8) is provided at one end of the mechanical arm device, and at least two identifiers corresponding to the laser distance measuring device ( 10). The utility model has the advantages of simple structure, convenient use, high work efficiency, high degree of automation, effectively reducing labor intensity and the like.

Description

A robot capable of plastering building walls

Technical field:

The utility model relates to the field of construction machinery, in particular to a robot capable of plastering building walls.

Background technique:

At present, plastering in construction is mainly manual labor, which is labor-intensive, low-efficiency, and difficult to control quality. The skill level of workers is the decisive factor. As labor costs do not rise, construction costs will also rise, which is not conducive to the industry. develop. Although some construction plastering machines have appeared in the industry, most of them have disadvantages such as complicated installation, large size, heavy weight, long preparation time before work, difficult disassembly and transportation, and many operators and maintenance personnel.

Utility model content:

The utility model provides a robot capable of plastering building walls in order to overcome the deficiencies in the prior art.

The utility model provides the following technical solutions:

A robot capable of plastering building walls, which includes a base, is characterized in that: a rotating disk is arranged on the base, a laser distance measuring device, a mechanical arm device and a control module are arranged on the rotating disk, There is a bracket on the disc, a pendent on the bracket, a laser generator at the lower end of the pendent, a photosensitive matrix board on the rotating disc below the ray emitting end of the laser generator, and a A set of supporting feet, a group of motors corresponding to the supporting feet are evenly distributed on the base, and a screw is provided on each supporting foot, and the upper end of the screw passes through the base and is connected with the output shaft of the corresponding motor; The laser distance measuring device comprises that a laser distance finder is arranged on the bracket, and at least two laser identifiers correspondingly matched with the laser distance finder are arranged on the construction wall; a plastering knife is arranged on the mechanical arm device, The photosensitive matrix board, the motor, the laser distance measuring device, the mechanical arm device and the control module form an electrical signal connection and cooperation.

On the basis of above-mentioned technical scheme, also can have following further technical scheme:

The mechanical arm device includes a base arranged on a rotating disk, a large arm is articulated on the base, a small arm is articulated on the large arm, a cantilever is articulated on the small arm, a rotating seat is arranged on the cantilever, and a cantilever is articulated on the cantilever. A fourth servo motor corresponding to the rotating seat is provided, a plastering knife connecting seat is provided on the rotating seat, a plastering knife is arranged on the plastering knife connecting seat, and a plastering knife is arranged on the plastering knife connecting seat. The knife corresponds to the fifth servo motor that cooperates.

A connecting seat is provided between the bracket and the laser rangefinder, and the connecting seat includes a horizontal rotating seat, and a connecting frame is arranged on the horizontal rotating seat, and the laser rangefinder is connected to the connecting frame through a rotating shaft.

The photosensitive matrix board includes a board body on which a group of photosensitive elements are distributed in a matrix, and the photosensitive matrix board forms an electrical signal connection with the control module.

Utility model advantages:

The utility model has the advantages of simple structure, convenient use, high degree of automation, improved production efficiency, improved plastering quality, effectively reduced labor intensity, reduced construction cost, improved comprehensive economic benefits, and the like.

Description of drawings:

Fig. 1 is a structural representation of the utility model;

Fig. 2 is the structural representation of photosensitive matrix plate in Fig. 1;

Fig. 3 is the top view of the utility model;

Fig. 4 is a schematic diagram of the moving track of the plastering knife of the present invention when plastering the construction wall.

Detailed ways:

As shown in Figures 1-3, a robot capable of plastering building walls includes a triangular base 1 on which a horizontally distributed rotating disk 3 is arranged on the upper surface of the base 1, and The servo motor 3a corresponding to the rotating disk 3, the servo motor 3a controls the rotation of the rotating disk 3, and forms an electrical signal connection with the control module mentioned below.

A support 4 is provided on the rotating disk 3, and a control module not shown in the figure is provided on the support 4. In the cavity in the support 4, a plumb 4a is arranged in the cavity, a laser generator is arranged at the lower end of the plumb 4a, and a photosensitive matrix board 4b is arranged on the bottom surface of the cavity below the ray emitting end of the laser generator. The photosensitive matrix plate 4b includes a plate body, which is a photosensitive plate, and a group of photosensitive elements 4c connected in parallel are distributed on the plate body in a matrix.

Below each corner of the base 1 is provided with a support foot 5, on each support foot 5 is provided with a vertically distributed screw rod 5a, on each corner of the base 1 is respectively provided with a motor 6. The motor 6 is a servo motor. The upper end of each screw 5a passes through the base 1 and is connected with the output shaft of the corresponding motor 6 . The motor drives the screw to rotate to adjust the height of the base.

A laser distance measuring device, a mechanical arm device and a control module are also arranged on the rotating disk 3, and the described laser distance measuring device comprises that a laser distance measuring device 12 is arranged on the support 4, and at least two are arranged on the construction wall surface. The quota and laser identifier 10 correspond to the laser range finder 12 . Also be provided with connecting seat 13 between described support 4 and laser range finder 12, described connecting seat 13 comprises horizontal rotating seat 13a, is provided with connecting frame 13b on horizontal rotating seat 13a, passes on connecting frame 13b The rotating shaft is connected with a laser range finder 12 . The horizontal rotating base is used to adjust the left and right angles of the laser range finder in the horizontal direction, and the rotating shaft on the connecting frame is used to adjust the depression angle and elevation angle of the laser range finder in the up and down direction. The laser range finder 12 forms an electrical signal connection and cooperation with the control module through wires.

The mechanical arm device includes a base 7 on the rotating disk 3 on one side of the support 4, a large arm 7a is hinged on the base 7, a small arm 7b is hinged at one end of the large arm 7a, and a small arm 7b is hinged at one end of the small arm 7b. Cantilever 7c. A first servo motor 7h is provided at the hinge of the base 7 and the boom 7a, a second servo motor 7r is provided at the hinge of the boom 7a and the forearm 7b, and a second servo motor 7r is provided at the hinge of the forearm 7b and the cantilever 7c. Three servo motors 7j.

The cantilever 7c is provided with a swivel base 7d, the cantilever 7c is provided with a fourth servo motor 7e correspondingly matched with the swivel base 7d, the swivel base 7d is provided with a plastering knife connecting seat 7f, and on the plastering knife connecting seat 7f A plastering knife 8 is provided, and a fifth servo motor 7g corresponding to the plastering knife 8 is provided on the plastering knife connecting seat 7f. The first, second, third, fourth and fifth servo motors are all connected and cooperated with the control module through wires to form electrical signals.

The corresponding cooperation between the servo motor 3a and the rotating disk 3 provides the first degree of freedom; the corresponding cooperation between the first servo motor 7h and the arm 7a provides the second degree of freedom; the corresponding cooperation between the second servo motor 7r and the forearm 7b provides the third degree of freedom; The three servo motors 7j and the cantilever 7c correspond to provide the fourth degree of freedom; the fourth servo motor 7e and the rotating seat 7d correspond to provide the fifth degree of freedom; the fifth servo motor 7g and the plastering knife connecting seat 7f correspond to provide the sixth degree of freedom degrees, so that the plastering knife can be adjusted in 6 degrees of freedom.

work process:

The first step: first place the robot in a suitable position (can operate to the construction wall 11), turn on the power, press the power switch, the robot is in standby state, and press the adjustment button on the control module. At this time, the laser emitter at the end of the pendulum emits laser light to the matrix plate below (the laser is aligned with the center of the matrix plate, which is the vertical position), and the control module according to the deviation and direction of the landing point of the laser on the matrix plate and the center point, Calculate the parameters that need to be adjusted for the screw on each support foot, and then control the corresponding motor to drive the screw to rotate and adjust until the laser is aligned with the center point of the matrix board. After the adjustment, the adjustment system will automatically shut down.

Second step: as shown in Figures 1, 3 and 4, first install two laser rangefinders in the middle of 11 of the wall to be constructed, the two laser rangefinders are arranged on the left and right, and There is a certain distance between them, and the two laser distance measuring recognizers are installed at the same height, and the two laser distance measuring recognizers are adjusted to the wall contact end to be consistent with the planned plastered plane.

Then, the height a of the laser ranging identifier, the distance b between two laser ranging identifiers, the distance c from the construction starting point to the laser ranging identifier, and the horizontal distance d between the construction starting point and the central axis of the laser ranging identifier , the height f from the laser ranging identifier to the construction end point, the distance e between the construction start point and the construction end point on the same horizontal plane, and input the above a-e parameters into the control module.

Then adjust the laser range finder to align with the laser range finder on the left, and press the button on the control module to measure the distance k, elevation angle g, and horizontal plane between the laser range finder and the left laser range finder. The left and right pincer angle i, and input these parameters into the control module.

Then align the laser range finder with the laser range finder on the right, and press the button on the control module to measure the distance l, elevation angle h, and distance between the laser range finder and the right laser range finder. and input these parameters into the control module, and then remove the two laser distance measuring identifiers on the wall surface 11 to be constructed.

The third step: spraying mortar to the construction wall surface 11 with a dust spraying system composed of a micro-sand pump and a mortar spray gun not shown in the figure.

The fourth step: press the working button, the control module obtains the position and posture of the troweling knife walking trajectory (the dotted arrow in the figure) in Cartesian coordinates through the parameters input in advance, and then through the homogeneous transformation matrix operation, and then controls the The module controls the mechanical arm device to drive the plastering knife to smooth the wall.

Claims (4)

1. A robot capable of plastering building walls, which includes a base (1), characterized in that: a rotating disk (3) is provided on the base (1), and a rotating disk (3) is provided on the rotating disk (3) The bracket (4) is provided with a pendent (4a) on the bracket (4), a laser generator is provided at the lower end of the suspension The photosensitive matrix board (4b) has a set of supporting feet (5) evenly distributed under the base (1), a group of motors (6) evenly distributed on the base (1), and a set of motors (6) on each supporting foot (5). A screw (5a) is provided, and the upper end of the screw (5a) passes through the base (1) and is connected with the output shaft of the corresponding motor (6). A laser distance measuring device and a mechanical arm device are also provided on the rotating disk (3) and a control module; the laser distance measuring device includes that a laser distance finder (12) is provided on the bracket (4), and at least two laser distance finders (12) corresponding to the laser distance finder (12) are arranged on the construction wall An identifier (10); a plastering knife (8) is provided on the mechanical arm device, and the photosensitive matrix board (4b), the motor (6), the laser distance measuring device, the mechanical arm device and the control module form an electrical Signal connections fit. 2. A robot capable of plastering building walls according to claim 1, characterized in that: said mechanical arm device includes a base (7) set on the rotating disk (3), on the base ( 7) A boom (7a) is hinged on the upper arm (7a), a forearm (7b) is hinged on the boom (7a), a cantilever (7c) is hinged on the forearm (7b), and a swivel seat is arranged on the cantilever (7c) (7d), the cantilever (7c) is provided with the fourth servo motor (7e) corresponding to the rotating seat (7d), and the rotating seat (7d) is provided with a plastering knife connection seat (7f), and the plastering knife A plastering knife (8) is provided on the connecting seat (7f), and a fifth servo motor (7g) corresponding to the plastering knife (8) is also provided on the plastering knife connecting seat (7f). 3. A robot capable of plastering building walls according to claim 1, characterized in that: a connecting seat (13) is provided between the bracket (4) and the laser range finder (12) , the connecting seat (13) includes a horizontal rotating seat (13a), a connecting frame is arranged on the horizontal rotating seat (13a), and a laser range finder (12) is connected to the connecting frame through a rotating shaft. 4. A robot capable of plastering building walls according to claim 1, characterized in that: the photosensitive matrix board (4b) includes a board body, and a group of photosensitive matrix boards are distributed in a matrix on the board body. Original (4c).