CN209942172U - Home decoration plastering device - Google Patents
Home decoration plastering device Download PDFInfo
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- CN209942172U CN209942172U CN201920466961.XU CN201920466961U CN209942172U CN 209942172 U CN209942172 U CN 209942172U CN 201920466961 U CN201920466961 U CN 201920466961U CN 209942172 U CN209942172 U CN 209942172U
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Abstract
The utility model provides a home decoration plastering device, which comprises a sensing mechanism, a control mechanism, a supporting and conducting mechanism and an actuating mechanism; the sensing signal output end of the sensing mechanism is connected with the sensing signal input end of the control mechanism, the action control signal output end of the control mechanism is connected with the action control signal output end of the actuating mechanism, the material control signal output end of the control mechanism is connected with the material control signal input end of the supporting and conducting mechanism, and the supporting and conducting mechanism supports the sensing mechanism, the control mechanism and the actuating mechanism. The utility model provides a device can improve the efficiency of construction of house ornamentation trade, uses manpower sparingly and administrative cost.
Description
Technical Field
The application relates to the field of home decoration, in particular to a home decoration plastering device.
Background
At present, a plurality of plastering devices applied to public decoration are available in the market, are limited by the influence of complicated arc shape, various internal structures and stress areas on the top of houses in the home decoration market, and are not suitable for the home decoration market. In addition, in the construction process, workers are required to continuously perform the feeding process, so that the labor and the material can not be effectively saved in the household plastering market.
SUMMERY OF THE UTILITY MODEL
In order to solve one of the technical problems, the utility model provides a house ornamentation plastering unit.
The embodiment of the utility model provides a home decoration plastering device, which comprises a sensing mechanism, a control mechanism, a supporting and conducting mechanism and an actuating mechanism; the sensing signal output end of the sensing mechanism is connected with the sensing signal input end of the control mechanism, the action control signal output end of the control mechanism is connected with the action control signal output end of the actuating mechanism, the material control signal output end of the control mechanism is connected with the material control signal input end of the supporting and conducting mechanism, and the supporting and conducting mechanism supports the sensing mechanism, the control mechanism and the actuating mechanism.
Preferably, the sensing mechanism comprises a three-axis laser locator, a laser signal receiver and a laser range finder; the laser signal receiver is used for receiving the laser returned after the positioning laser is transmitted to the surrounding environment; the laser signal output end of the laser signal receiver is connected with the laser signal input end of the laser range finder, and the distance signal output end of the laser range finder is connected with the distance signal input end of the control mechanism.
Preferably, the sensing mechanism further comprises an obstacle avoidance radar, and an obstacle signal output end of the obstacle avoidance radar is connected with an obstacle signal input end of the control mechanism and used for identifying obstacles in the surrounding environment.
Preferably, the sensing mechanism further comprises a pressure sensor, the pressure sensor is arranged at the tail end of the actuating mechanism, and a pressure signal output end of the pressure sensor is connected with a pressure signal input end of the control mechanism and used for monitoring the flow rate of the spraying material in the spraying and scraping operation process of the actuating mechanism.
Preferably, the sensing mechanism further comprises an attitude measuring instrument, and an attitude signal output end of the attitude measuring instrument is connected with an attitude signal input end of the control mechanism and used for monitoring the attitude of the actuating mechanism.
Preferably, the supporting and conducting mechanism comprises a base, a spray pipe, a material box, a water tank, a stirring device, a fixing device and a protective shell, the protective shell is arranged at the top of the base, and the sensing mechanism, the control mechanism and the executing mechanism are all arranged inside the protective shell;
the material box is used for storing materials required by the spraying and scraping operation process executed by the executing mechanism, a spraying pump is arranged in the material box, and a spraying signal input end of the spraying pump is connected with a spraying signal output end of the control mechanism and used for spraying the materials in the material box to the executing mechanism through a spraying pipe;
a motor is arranged in the stirring device, and a stirring signal input end of the motor is connected with a stirring signal output end of the control mechanism and is used for stirring the materials stored in the material box;
the water tank is used for storing water used when the stirring device stirs the materials stored in the material tank, and spraying water to the material tank through the spray pipe when the stirring device stirs the materials stored in the material tank.
Preferably, actuating mechanism includes six arms, spouts and scrapes device, universal wheel and pilot lamp, the universal wheel sets up on the base, the motion signal input part of universal wheel with control mechanism's motion signal output part is connected, six arms set up support conduction mechanism's front end, the arm control signal input part of six arms is connected with control mechanism's arm control signal output part, the front end of six arms is provided with spouts and scrapes the device, spout that to scrape the device spout and scrape control signal input part and control mechanism spout and scrape the control signal output part and be connected, the pilot signal input part of pilot lamp is connected with control mechanism's pilot signal output part for instruct operating condition.
The utility model has the advantages as follows: the utility model discloses a perception mechanism perception surrounding environment information to plaster wall and ground according to surrounding environment information control actuating mechanism, filled the blank that home decoration market stirring sprays the integration of plastering. The utility model provides a device can improve the efficiency of construction of house ornamentation trade, uses manpower sparingly and administrative cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural view of a home plastering device according to an embodiment of the present invention;
fig. 2 is a schematic view of a home plastering apparatus according to an embodiment of the present invention.
Reference numerals:
1. the automatic spraying and scraping device comprises a base, 2 parts of a spraying pipe, 3 parts of a material box, 4 parts of a water tank, 5 parts of a stirring device, 6 parts of a six-shaft mechanical arm, 7 parts of a spraying and scraping device, 8 parts of a universal wheel.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1 and 2, the present embodiment provides a home plastering device, which comprises a sensing mechanism, a control mechanism, a supporting and conducting mechanism and an actuating mechanism;
the sensing mechanism is used for sensing the ambient environment information and the action information of the execution mechanism in the spraying and scraping action process;
the control mechanism is used for controlling the execution mechanism to execute the spraying and scraping action according to the ambient environment information and the action information;
the supporting and conducting mechanism is used for providing support for the sensing mechanism, the control mechanism and the executing mechanism and transmitting materials required by the executing mechanism in the spraying and scraping action process;
and the actuating mechanism is used for executing spraying and scraping actions.
Specifically, the sensing mechanism comprises a three-axis laser positioner, a laser signal receiver, a laser range finder, an obstacle avoidance radar, a pressure sensor and a posture measuring instrument;
the three-axis laser positioner is used for defining a world coordinate system and emitting positioning laser to the surrounding environment;
the laser signal receiver is used for receiving laser returned after the positioning laser is emitted to the surrounding environment;
the laser range finder is used for monitoring the distance between the execution mechanism and the wall surface in the surrounding environment according to positioning laser emitted by the three-axis laser positioner and laser returned after the positioning laser is emitted to the surrounding environment;
the obstacle avoidance radar is used for identifying obstacles in the surrounding environment;
the pressure sensor is used for monitoring the flow of the spraying material in the spraying and scraping operation process of the actuating mechanism;
and the attitude measuring instrument is used for monitoring the attitude of the actuating mechanism.
The environment of doors, windows and door openings in the surrounding environment can be identified through the sensing mechanism. The narrow wall or narrow door opening space, the arc-shaped wall and the cylindrical scene can be accurately identified. The device can work normally in narrow working spaces such as kitchens and toilets.
The supporting and conducting mechanism comprises a base 1, a spray pipe 2, a material box 3, a water tank 4, a stirring device 5, a fixing device and a protective shell, the protective shell is arranged at the top of the base 1, and the sensing mechanism, the control mechanism and the executing mechanism are all arranged inside the protective shell;
the feed box 3 is used for storing materials required by the spraying and scraping operation executed by the execution mechanism, and a spraying pump is arranged in the feed box 3 and is used for spraying the materials in the feed box 3 to the execution mechanism through the spraying pipe 2;
the stirring device 5 is internally provided with a motor which is used for stirring the materials stored in the material box 3;
the water tank 4 is used for storing water used when the stirring device 5 stirs the material stored in the material box 3, and spraying water to the material box 3 through the spray pipe 2 when the stirring device 5 stirs the material stored in the material box 3.
Actuating mechanism includes six arms 6, spouts and scrapes device 7, universal wheel 8 and pilot lamp, universal wheel 8 sets up on base 1, six arms 6 set up support the front end of conduction mechanism, the front end of six arms 6 is provided with spouts and scrapes device 7, the pilot lamp is connected with control mechanism for instruct operating condition.
Specifically, the present embodiment employs a six-axis robot arm 6 capable of moving in all directions in space. And a spraying and scraping guide part is arranged at the tail end of the six-axis mechanical arm 6, can be fixedly connected with the spraying and scraping device 7, and simultaneously guides materials required by spraying to the spraying and scraping module. And the spraying and scraping module is provided with an execution component for spraying and leveling. The spraying and scraping material is sprayed to the front wall surface through the spraying execution component, and then the spraying and scraping material is evenly leveled through the leveling execution component.
The control mechanism includes a processor configured with processor-executable operational instructions to perform operations comprising:
receiving distance information and attitude information sent by a laser range finder to obtain current position information and attitude information;
establishing a world coordinate system, and mapping the current position information and the attitude information into the world coordinate system;
determining a motion track of a base 1 and a motion track of a mechanical arm according to the current position information, the attitude information and a world coordinate system, sending a wheel motion instruction to an execution mechanism according to the motion track of the base 1, and sending a mechanical arm motion instruction to the execution mechanism according to the motion track of the mechanical arm;
receiving a stirring instruction, and controlling the stirring force of the stirring device 5 according to the stirring instruction;
receiving a spraying instruction, and controlling the spraying flow of the material in the material box 3 according to the spraying instruction;
and detecting the correctness of the sensing mechanism, the control mechanism, the supporting and conducting mechanism and the executing mechanism when the computer is started.
Specifically, the control mechanism described in this embodiment includes a decision layer, a sensing algorithm layer, and a driving layer. The decision layer comprises a stirring force control module for giving a working instruction to the stirring motor, a spraying flow control module for giving a working instruction to the spraying pump, a mechanical arm motion control module for giving a working instruction to the six-axis mechanical arm 6, a wheel control module for giving a motion instruction to the universal wheel 8, a working state display module for displaying the current working state and an operation data sending module for sending operation data to the far-end equipment.
The perception algorithm layer comprises an obstacle avoidance algorithm module for identifying a current obstacle, a machine learning module for learning current system characteristics and adapting, a stirring force control module for controlling stirring force, a jet flow control module for controlling jet flow, a coordinate conversion module for mapping the current position and the attitude of the home-mounted plastering device into a world coordinate system, a sensor fusion module for acquiring current position information and attitude information according to distance information and attitude information sent by a laser range finder, a laser positioning module for determining the position and the attitude of the home-mounted plastering device in the world coordinate system, a base 1 motion control module for determining the motion track of the base 1 according to the world coordinate system and the current position and the attitude of the home-mounted plastering device, a mechanical arm motion control module for determining the motion track of a mechanical arm according to the world coordinate system and the current position and the attitude of the home-mounted plastering device, a mechanical arm motion control module for controlling the mechanical arm motion track, and the health management module is used for identifying the faults of the current home decoration plastering device and issuing a protection instruction in time when the faults occur.
The driving layer comprises a system initialization module for electrifying the system and initializing all data and mechanical states, a power-on self-test module for detecting the correctness of each mechanical electric control device when the system is electrified, a motor driving module for controlling the motor to work and a communication test module for testing whether the system is normally communicated with the outside.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (7)
1. The home decoration plastering device is characterized by comprising a sensing mechanism, a control mechanism, a supporting and conducting mechanism and an actuating mechanism; the sensing signal output end of the sensing mechanism is connected with the sensing signal input end of the control mechanism, the action control signal output end of the control mechanism is connected with the action control signal output end of the actuating mechanism, the material control signal output end of the control mechanism is connected with the material control signal input end of the supporting and conducting mechanism, and the supporting and conducting mechanism supports the sensing mechanism, the control mechanism and the actuating mechanism.
2. The apparatus of claim 1, wherein the sensing mechanism comprises a three-axis laser locator, a laser signal receiver, and a laser rangefinder; the laser signal receiver is used for receiving the laser returned after the positioning laser is transmitted to the surrounding environment; the laser signal output end of the laser signal receiver is connected with the laser signal input end of the laser range finder, and the distance signal output end of the laser range finder is connected with the distance signal input end of the control mechanism.
3. The device as claimed in claim 2, wherein the sensing mechanism further comprises an obstacle avoidance radar, and an obstacle signal output end of the obstacle avoidance radar is connected with an obstacle signal input end of the control mechanism, and is used for identifying obstacles in the surrounding environment.
4. The device of claim 3, wherein the sensing mechanism further comprises a pressure sensor, the pressure sensor is arranged at the tail end of the actuator, and a pressure signal output end of the pressure sensor is connected with a pressure signal input end of the control mechanism and used for monitoring the flow rate of the material sprayed by the actuator during the spraying and scraping actions.
5. The device of claim 4, wherein the sensing mechanism further comprises an attitude measurement instrument, and an attitude signal output end of the attitude measurement instrument is connected with an attitude signal input end of the control mechanism and is used for monitoring the attitude of the actuating mechanism.
6. The apparatus of claim 5, wherein the supporting and conducting mechanism comprises a base, a nozzle, a bin, a water tank, a stirring device, a fixing device and a protective shell, the protective shell is arranged on the top of the base, and the sensing mechanism, the control mechanism and the actuating mechanism are all arranged inside the protective shell;
the material box is used for storing materials required by the spraying and scraping operation process executed by the executing mechanism, a spraying pump is arranged in the material box, and a spraying signal input end of the spraying pump is connected with a spraying signal output end of the control mechanism and used for spraying the materials in the material box to the executing mechanism through a spraying pipe;
a motor is arranged in the stirring device, and a stirring signal input end of the motor is connected with a stirring signal output end of the control mechanism and is used for stirring the materials stored in the material box;
the water tank is used for storing water used when the stirring device stirs the materials stored in the material tank, and spraying water to the material tank through the spray pipe when the stirring device stirs the materials stored in the material tank.
7. The device of claim 6, wherein the actuator comprises six-axis mechanical arms, a spraying and scraping device, a universal wheel and an indicator light, the universal wheel is arranged on the base, a motion signal input end of the universal wheel is connected with a motion signal output end of the control mechanism, the six-axis mechanical arms are arranged at the front end of the support and conduction mechanism, a mechanical arm control signal input end of the six-axis mechanical arm is connected with a mechanical arm control signal output end of the control mechanism, the spraying and scraping device is arranged at the front end of the six-axis mechanical arm, a spraying and scraping control signal input end of the spraying and scraping device is connected with a spraying and scraping control signal output end of the control mechanism, and an indication signal input end of the indicator light is connected with an indication signal output end of the control mechanism and used for indicating the working state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920466961.XU CN209942172U (en) | 2019-04-09 | 2019-04-09 | Home decoration plastering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920466961.XU CN209942172U (en) | 2019-04-09 | 2019-04-09 | Home decoration plastering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209942172U true CN209942172U (en) | 2020-01-14 |
Family
ID=69127863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920466961.XU Active CN209942172U (en) | 2019-04-09 | 2019-04-09 | Home decoration plastering device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209942172U (en) |
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2019
- 2019-04-09 CN CN201920466961.XU patent/CN209942172U/en active Active
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