CN214885216U

CN214885216U - Automatic spraying robot system for building wall surface slurry

Info

Publication number: CN214885216U
Application number: CN202120268894.8U
Authority: CN
Inventors: 周擎坤; 段攀; 刘业; 余卓; 叶程恺
Original assignee: Hunan Highengine Intelligent Technology Co ltd
Current assignee: Hunan Highengine Intelligent Technology Co ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-11-26
Anticipated expiration: 2031-01-29

Abstract

The utility model discloses an automatic spraying robot system for building wall surface slurry, which comprises a robot, a motion mechanism, a spraying mechanism and a slurry thickness detection mechanism; the movement mechanism comprises a sliding trolley, a lifting guide rail and a lifting driving piece, and the lifting guide rail is arranged on the sliding trolley; the robot is arranged on the lifting guide rail and driven by the lifting driving piece to lift up and down along the lifting guide rail; the spraying mechanism is arranged on the robot and used for spraying slurry to the wall surface to be sprayed; the slurry thickness detection mechanism is used for detecting the thickness of slurry on the wall surface so as to adjust the spraying operation of the spraying mechanism to ensure the smoothness of the wall surface spraying slurry. The utility model has the advantages of degree of automation is high, the efficiency of construction is high, construction quality is high, the cost of labor is low and safe and reliable.

Description

Automatic spraying robot system for building wall surface slurry

Technical Field

The utility model mainly relates to a building construction technical field, concretely relates to building wall thick liquids automatic spraying robot system.

Background

The coating and covering process of the slurry (such as cement mortar, putty powder, paint, diatom ooze and the like) on the surface of the building is an important construction project in the field of construction, and the aim of improving the indoor environment of the building or improving the building performance of the building, such as heat insulation, moisture resistance, weathering resistance and the like, is achieved mainly by coating the slurry on the surface of the wall body of the building. In the traditional slurry coating and covering process, a special tool (such as a spray gun for spraying slurry) is held by a hand to coat the slurry on the surface of a blank wall, so that the workload is large, the working efficiency is low, the labor intensity is high, and the construction quality (such as the flatness of the wall surface) is difficult to ensure; to wall top position, need set up platforms such as scaffold frame, the manual work is under construction on high platform, has safety risk such as fall.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in: problem to prior art existence, the utility model provides a degree of automation is high, efficiency of construction and construction quality are high building wall thick liquids automatic spraying robot system.

In order to solve the technical problem, the utility model provides a technical scheme does:

an automatic spraying robot system for building wall surface slurry comprises a robot, a moving mechanism, a spraying mechanism and a slurry thickness detection mechanism;

the movement mechanism comprises a sliding trolley, a lifting guide rail and a lifting driving piece, and the lifting guide rail is arranged on the sliding trolley;

the robot is arranged on the lifting guide rail and driven by the lifting driving piece to lift up and down along the lifting guide rail;

the spraying mechanism is arranged on the robot and used for spraying slurry to the wall surface to be sprayed;

the slurry thickness detection mechanism is used for detecting the thickness of slurry on the wall surface so as to adjust the spraying operation of the spraying mechanism to ensure the smoothness of the wall surface spraying slurry.

As a further improvement of the above technical solution:

the bottom of the sliding trolley is provided with a pulley and a supporting leg used for lifting to position the sliding trolley.

And the sliding trolley is provided with a positioning unit for positioning the position of the sliding trolley so as to enable the sliding trolley to be positioned in a plane parallel to the wall forming theoretical surface.

The robot is a six-axis robot.

The spraying mechanism comprises a spray gun and a slurry storage tank, and the spray gun is connected with the slurry storage tank through a pipeline.

The slurry thickness detection mechanism comprises an ultrasonic sensor and is arranged right above the spray gun.

Compared with the prior art, the utility model has the advantages of:

the utility model discloses a building wall thick liquids automatic spraying robot system, through the sliding trolley of motion to the quick movement is to corresponding position, improves the simplicity and the rapidity of operation; the blank wall surface in a large area can be sprayed through the self movement of the robot and the lifting movement on the lifting guide rail, and the whole spraying efficiency is high and easy to realize; the robot spraying mode is adopted, so that the operation is flexible and the automation degree is high; in the spraying process, the thickness of the slurry is detected by the slurry thickness detection mechanism, and the smoothness of the wall surface spraying slurry is ensured by controlling the spraying operation (such as opening or closing) of the spraying mechanism according to the thickness of the slurry; compared with a manual mode, the automatic spraying robot system is high in overall automation degree, high in construction efficiency, high in construction quality, low in labor cost, safe and reliable.

Drawings

Fig. 1 is a schematic perspective view of the system of the present invention in specific application.

Fig. 2 is a schematic structural diagram of the system of the present invention in a front view in a specific application.

Fig. 3 is a schematic side view of the system of the present invention in a specific application.

Fig. 4 is a schematic structural view of the moving cart according to the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a spray gun and a slurry thickness detection mechanism according to an embodiment of the present invention.

Fig. 6 is a flow chart of the spraying method according to the present invention.

Fig. 7 is a schematic diagram of various aspects of the present invention in an embodiment.

The reference numbers in the figures denote: 1. a robot; 2. a motion mechanism; 201. a sliding trolley; 2011. a pulley; 2012. supporting legs; 2013. a handrail; 2014. a positioning unit; 202. a lifting guide rail; 203. a lifting drive member; 3. a spraying mechanism; 301. a spray gun; 4. a slurry thickness detection mechanism; 401. an ultrasonic sensor.

Detailed Description

The invention is further described with reference to the drawings and the specific embodiments.

As shown in fig. 1 to 3, the automatic building wall paste spraying robot system of the present embodiment includes a robot 1 (e.g., a six-axis robot), a moving mechanism 2, a spraying mechanism 3, and a paste thickness detection mechanism 4; the movement mechanism 2 comprises a sliding trolley 201, a lifting guide rail 202 and a lifting driving piece 203, wherein the lifting guide rail 202 is arranged on the sliding trolley 201; the robot 1 is arranged on the lifting guide rail 202 and driven by the lifting driving piece 203 to lift up and down along the lifting guide rail 202; namely, the spraying mechanism 3 moves in a larger range through the self movement and lifting movement of the robot 1; in the process of the movement of the robot 1, the spraying mechanism 3 arranged on the robot 1 sprays slurry (such as cement mortar, putty powder, paint, diatom mud and the like) on the wall surface to be sprayed; the slurry thickness detection mechanism 4 is used for detecting the thickness of the slurry sprayed on the wall surface so as to adjust the spraying operation (such as opening or closing) of the spraying mechanism 3 to ensure the smoothness of the slurry sprayed on the wall surface, and if the thickness of the slurry is reached, the spraying of the spraying mechanism 3 is stopped.

The utility model discloses a building wall thick liquids automatic spraying robot system, through the sliding trolley 201 of motion mechanism 2 to the corresponding position is moved fast, improves the simplicity and rapidity of operation; through the self-movement of the robot 1 and the lifting movement on the lifting guide rail 202, the large-area blank wall surface can be sprayed, and the whole spraying efficiency is high and easy to realize; the spraying mode of the robot 1 is adopted, so that the operation is flexible and the automation degree is high; in the spraying process, the thickness of the slurry is detected by the slurry thickness detection mechanism 4, and the smoothness of the wall surface spraying slurry is ensured by controlling the spraying operation (such as opening or closing) of the spraying mechanism 3 according to the thickness of the slurry; compared with a manual mode, the automatic spraying robot system is high in overall automation degree, high in construction efficiency, high in construction quality, low in labor cost, safe and reliable.

In a specific embodiment, as shown in fig. 4, a pulley 2011 and a support leg 2012 are installed at the bottom of the sliding trolley 201, a laser positioning unit 2014 is installed at the top of the sliding trolley 201, and handrails 2013 are further installed at two sides of the sliding trolley 201. During specific work, the trolley is pushed to reach the position right in front of a wall surface to be painted through the handrail 2013, then the laser positioning unit 2014 (such as a laser) is opened, the position of the sliding trolley 201 is positioned through the laser positioning unit 2014, and the position of the sliding trolley 201 is adjusted to be located in a reference plane (a plane parallel to a wall forming theoretical surface); after the positioning is completed, the four support legs 2012 (e.g., telescopic cylinders) at the bottom of the sliding cart 201 are extended out to support the sliding cart 201 so that the sliding cart 201 does not move any more, and the telescopic distance of each telescopic cylinder is adjusted to ensure that the sliding cart 201 is in a horizontal state. Above-mentioned sliding trolley 201's overall structure is simple, the removal is convenient and be convenient for fixed, is favorable to improving holistic efficiency of construction.

In one embodiment, as shown in fig. 5, the spraying mechanism 3 comprises a spray gun 301 and a slurry storage tank (not shown), the spray gun 301 is connected with the slurry storage tank through a pipeline; wherein thick liquids storage jar is located subaerially mutually, links to each other with spray gun 301 that is located robot 1 through the pipeline, and spray gun 301 can realize controlling the start, the stopping of thick liquids spraying, the flow of thick liquids, spraying time etc to realize follow-up accurate control to the wall planarization.

In a specific embodiment, as shown in fig. 5, the slurry thickness detecting mechanism 4 includes an ultrasonic sensor 401 located above the spray gun 301 and used for detecting a distance h4 between a sensing surface of the spray gun and the wall surface, wherein the distance h2 between the sensing surface and the blank surface is predetermined, the distance (h5) between the sensing surface and the wall forming theoretical surface is also predetermined, and the thickness of the slurry sprayed is obtained from h2-h4, and when the distance h4 detected by the ultrasonic sensor 401 is equal to h5, the wall surface in the above area is considered to reach the wall theoretical surface. Of course, the ultrasonic sensor 401 may be replaced by a laser sensor, a distance sensor or a visual detection system (such as an industrial camera), and the number is selected according to actual situations.

In an embodiment, the spray gun 301 is rotatably mounted on the six-axis robot 1, for example, the spray gun 301 may be mounted on the robot 1 through an angle controller (conventional structure, not shown in the figures), and the adjustment of the direction of the spray gun 301 may be controlled through the control of the angle controller, so as to achieve the adjustment of the spraying direction. Specifically, when a part such as a reentrant corner is to be painted, the spray gun 301 cannot reach the position such as the reentrant corner due to the installation restriction of the moving mechanism 2, and at this time, the spray angle of the spray gun 301 can be adjusted to paint the special area.

As shown in fig. 6, the automatic spraying method based on the automatic building wall slurry spraying robot system specifically includes the steps of:

1) pushing the sliding trolley 201 to the front of the wall surface to be sprayed, enabling the plane of the sliding trolley 201 to be parallel to the wall forming theoretical surface of the wall surface to be sprayed, and fixing the sliding trolley 201; wherein the plane on which the sliding trolley 201 is located is a reference plane, and the wall forming theoretical surface is obtained by surveying a blank wall;

2) by controlling the lifting motion of the lifting driving piece 203 of the motion mechanism 2 and the motion of the robot 1, the spraying mechanism 3 moves in a working surface parallel to a reference surface, and simultaneously the spraying mechanism 3 sprays slurry to a blank wall in the motion process;

3) in the process of spraying the slurry by the spraying mechanism 3, the slurry thickness detection mechanism 4 detects the thickness of the slurry at the spraying position, and controls the spraying operation of the spraying mechanism 3 according to the thickness of the slurry to ensure the smoothness of the wall surface spraying slurry.

In a specific embodiment, in step 3), the thickness detection mechanism 4 converts the distance between the moving surface and the wall surface to obtain the thickness of the slurry, and finally obtains the thickness of the slurry to be sprayed. Specifically, as shown in fig. 7, the above process is obtained by the following steps:

determining a wall forming theoretical surface B by manually surveying the blank wall surface A, wherein the distance h3 between the curved surface A and the vertical surface B is the thickness of the wall body to be sprayed; manually translating the wall forming theoretical surface B for a distance h to obtain a vertical surface D, wherein the vertical surface D is a reference surface; the motion track surface (sensing surface C) of the ultrasonic sensor 401 arranged on the spray gun 301 is parallel to the surface B and the surface D, and the distance between the surface C and the surface D is h 1;

therefore, the thickness of the spraying slurry is h 3-h 2- (h-h 1); wherein h3 is the thickness of the blank wall to be sprayed, h2 is the distance from the sensing surface (i.e. the C surface) to the wall surface detected by the ultrasonic sensor 401, h is the distance between the wall forming theoretical surface and the reference surface, and h1 is the distance between the reference surface and the sensing surface;

that is, the ultrasonic sensor 401 feeds back in real time to obtain how thick the blank wall needs to be sprayed, and when h3 is equal to 0, the wall surface spraying in the area reaches the wall forming theoretical thickness, the spraying is completed.

In a specific embodiment, in the step 3), the flatness of the wall surface spraying slurry is realized by controlling the amount of the slurry sprayed by the spraying mechanism 3 through the thickness of the slurry to be sprayed; wherein the control of the slurry amount is realized by controlling the spraying flow rate or the spraying time or the spraying track.

In a specific embodiment, in step 2), the motion trajectory of the spraying mechanism 3 is generally S-shaped. The spraying can be carried out from top to bottom along the S-shaped track, or from bottom to top along the S-shaped track, or from left to right along the S-shaped track, or from right to left along the S-shaped track. The S-shaped spraying track can improve the overall spraying efficiency.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims

1. An automatic spraying robot system for building wall surface slurry is characterized by comprising a robot (1), a moving mechanism (2), a spraying mechanism (3) and a slurry thickness detection mechanism (4);

the movement mechanism (2) comprises a sliding trolley (201), a lifting guide rail (202) and a lifting driving piece (203), and the lifting guide rail (202) is installed on the sliding trolley (201);

the robot (1) is arranged on the lifting guide rail (202) and driven by the lifting driving piece (203) to lift up and down along the lifting guide rail (202);

the spraying mechanism (3) is arranged on the robot (1) and is used for spraying slurry to the wall surface to be sprayed;

the slurry thickness detection mechanism (4) is used for detecting the thickness of the slurry on the wall surface so as to adjust the smoothness of the wall surface spraying slurry by the spraying operation of the spraying mechanism (3).

2. The automatic building wall surface slurry spraying robot system according to claim 1, characterized in that the bottom of the sliding trolley (201) is provided with a pulley (2011) and a supporting leg (2012) for lifting to position the sliding trolley (201).

3. The automatic building wall surface sizing agent spraying robot system according to claim 2, characterized in that a positioning unit (2014) is arranged on the sliding trolley (201) and used for positioning the position of the sliding trolley (201) to enable the sliding trolley to be located in a plane parallel to a wall forming theoretical surface.

4. The automatic building wall surface paste spraying robot system according to any one of claims 1-3, wherein the robot (1) is a six-axis robot.

5. The automatic building wall surface slurry spraying robot system according to any one of claims 1-3, characterized in that the spraying mechanism (3) comprises a spray gun (301) and a slurry storage tank, and the spray gun (301) is connected with the slurry storage tank through a pipeline.

6. The automatic building wall surface paste spraying robot system according to claim 5, wherein the paste thickness detection mechanism (4) comprises an ultrasonic sensor (401) mounted right above the spray gun (301).