Intelligence wall plastering deviceTechnical field
The invention belongs to house decoration equipment, relate to one and fill for house decoration wall plasteringPut.
Background technology
In house decoration process, need to plaster to metope, conventionally adopt mechanical float to carry outArtificial treatment, mechanical float belongs to a kind of electric tool, comprises shell, plastering plate and for drivingThe drive motors of plastering plate, the hand-held described mechanical float of decoration worker carries out plastered work.
Because manual type is plastered, operating efficiency is lower; In addition, the height of plastering quality,Depend on to a great extent decoration worker's experience, the flatness of plastering cannot effectively ensure; WorkMake labour intensity larger.
Summary of the invention
In order to overcome, the operating efficiency of existing wall plastering mode is lower, polishing effect is poorFoot, the invention provides a kind of mechanized operation, increases work efficiency, promotes the intelligence of polishing effectCan wall plastering device.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of intelligent wall plastering device, comprises plastering plate, and described plastering plate driven unit is provided withStart stop switch, described intelligent wall plastering device also comprises range controlling mechanism, described stroke controlThe motion end of mechanism processed is connected with mechanical arm, and described plastering plate is installed on described mechanical arm, described inThe driven unit of range controlling mechanism, the start stop switch of described plastering plate drive machine unit all forRealize the intelligence intelligence of the plastering controller of plastering and connect, the described intelligence controller of plastering also comprises:
For according to the size of metope to be plastered, demarcate the kinematic axis of range controlling mechanism, and giveGo out the demarcating module of Stroke Control track;
Be used for according to the intelligent operation control module of Stroke Control TRAJECTORY CONTROL plastering plate operation;
The start stop switch of described plastering plate driven unit, the driven unit of range controlling mechanism all withDescribed intelligent operation control module connects.
Further, described range controlling mechanism comprises directions X motion assembly and Y-direction exercise groupPart, described Y-direction motion assembly is arranged on the motion end of directions X motion assembly, described YDirection motion assembly is connected with mechanical arm, described directions X motion assembly and directions X driven unitConnect, described Y-direction motion assembly is connected with Y-direction driven unit.
Or: described range controlling mechanism comprises directions X motion assembly, Y-direction exercise groupPart and for adjusting the Z-direction motion assembly of distance between plastering plate and metope to be plastered, instituteState the motion end that Y-direction motion assembly is arranged on directions X motion assembly, described Y-direction fortuneThe motion end of moving assembly is connected with Z-direction motion assembly, described Z-direction motion assemblyMotion end is connected with mechanical arm, and described directions X motion assembly is connected with directions X driven unit,Described Y-direction motion assembly is connected with Y-direction driven unit, described Z-direction exercise groupPart is connected with Z direction driven unit.
Further again, described intelligent wall plastering device also comprises for metope after measuring processing flatThe roughness measurement module of whole degree, the output of described roughness measurement module and described intelligence are smearedAsh controller connects, and the described intelligence controller of plastering also comprises:
For by degree of plainness for wall surface Distribution Value after the processing measuring and default flatness thresholdThe flatness comparison module that value compares;
For thinking defective when certain region flatness lower than the default flatness presentation time, and according toThis position, region control range controlling mechanism carries out the feedback compensation processing of feedback compensation operationModule.
Preferably, described roughness measurement module is laser measuring apparatus. Certainly, also can adoptOther metering systems, as long as can measure flatness.
Described plastering plate is provided with the pressure adjusting part for regulating the pressure of plastering. This pressure regulatesAssembly, can set according to the material of plastering and thickness, to reach the good effect of plasteringReally.
The front of described plastering plate is the station of plastering, and vibrating motor is installed at the back side of described plastering plate.The effect of this vibrating motor is to provide vibration, to realize the effect of better plastering.
Described intelligent sanding and polishing controller also comprises communication module. Can by this communication moduleBe connected with control computer, realize unit control; Or this communication module and control and management center connectConnect, this control and management center and every intelligent metope sanding and polishing machine composition intelligent network, realizeNetworking control; Or be that this communication module for example, is connected with communication terminal (mobile phone),Realize Long-distance Control by communication terminal.
The front of described plastering plate is the station of plastering, and described plasterer's bit strip has charging aperture.
Described charging aperture is connected with the upper end of feed pipe, the lower end of described feed pipe and automatic blendingCase connects. By this structural design, avoid artificial loading, realize the material loading behaviour of automationDo, promoted intelligent degree.
For the situation of work high above the ground, described range controlling mechanism can adopt similar " unmanned plane "Technology, control by remote controller, realize plastered work; Wherein, on unmanned plane, only takeBand mechanical arm, plastering plate and feed pipe, miscellaneous part is installed in the workbench that is positioned at groundUpper, can effectively reduce like this weight that unmanned plane carries.
In the present invention, abandon manually-operated mode, plastering plate be arranged on mechanical arm,Realize by robot the operation of plastering; Mechanical arm is arranged on range controlling mechanism to the tripControlling organization can driving mechanical arm and plastering plate move along X-axis and Y-axis, this XThe space of axle and Y-axis has been contained the whole plane for the treatment of plastered wall face; Further, strokeControlling organization can also carry out the motion of Z axis, can realize between plastering plate and metope to be polishedThe adjusting of distance.
In addition, the drive unit of the starting switch of plastering plate driven unit, range controlling mechanism is equalBe connected with the intelligence controller of plastering, the described intelligence controller of plastering, can control plastering plateStart or stop, can control range controlling mechanism along the moving of X-axis and Y-axis, andThe adjusting of Z axis; Treating plastered wall face in the face of one, according to the size of metope, carry outThe demarcation of range controlling mechanism, and provide control track, then carry out intelligence according to controlling trackThe control of changing.
After operation completes, be also provided with the measurement module for detection of flatness, for scanning behaviourThe flatness of whole metope after doing, if detect that certain flatness, lower than predetermined threshold value, thinksThere is defect in this position; Arrive this position by controlling range controlling mechanism, and again start and smearHawk is added work, until whole metope meets the requirement of flatness, and effective guarantee like thisPlastering quality.
The operation position of described plastering plate is provided with charging aperture, described charging aperture and feed pipe upper endConnect, the lower end of described feed pipe is communicated with batcher, in described batcher, taking concrete asExample, is provided with the import of each formula, and each import is provided with flowmeter, and controller is according to formula controlAutomatic feed processed, and stir, after confirming to stir, controller starts delivery pumpExport by feed pipe.
On described plastering plate also with pressure adjusting part, for regulating the plastering plate pressure in when workPower value, and the bottom surface of plastering plate installation vibrating motor are vibrated in the time of operation, realize goodThe effect of plastering.
The power supply of whole device, can adopt battery, also can adopt external civil power,The charging modes of described battery, can be wired mode, also can adopt wireless mode to realize.
Beneficial effect of the present invention is mainly manifested in: mechanized operation, increase work efficiency, carryRise polishing effect.
Brief description of the drawings
Fig. 1 is the schematic diagram of intelligent wall plastering device.
Fig. 2 is the plaster schematic diagram of controller of intelligence.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
See figures.1.and.2, a kind of intelligent wall plastering device, comprises plastering plate 1, described in smearThe driven unit of hawk 1 is provided with start stop switch, and described intelligent wall plastering device also comprises strokeControlling organization 2, the motion end of described range controlling mechanism is connected with mechanical arm 3, described machineryDescribed plastering plate 1 is installed on arm 3, the driven unit of described range controlling mechanism 2, described in smearThe start stop switch of hawk 1 driven unit is all for realizing intelligence that intelligence the plasters controller 4 of plasteringConnect, the described intelligence controller 4 of plastering comprises:
For according to the size of metope to be plastered, demarcate the kinematic axis of range controlling mechanism, and giveGo out the demarcating module 41 of Stroke Control track;
Be used for according to the intelligent operation control module 42 of Stroke Control TRAJECTORY CONTROL plastering plate operation;
The start stop switch of described plastering plate 1 driven unit, the driven unit of range controlling mechanism 2All be connected with described intelligent operation control module 42.
Further, described range controlling mechanism 2 comprises directions X motion assembly and Y-direction motionAssembly, described Y-direction motion assembly is arranged on the motion end of directions X motion assembly, described YDirection motion assembly is connected with mechanical arm, described directions X motion assembly and directions X driven unitConnect, described Y-direction motion assembly is connected with Y-direction driven unit.
Or: described range controlling mechanism 2 comprises directions X motion assembly, Y-direction motionAssembly and for adjusting the Z-direction motion assembly of distance between plastering plate and metope to be plastered,Described Y-direction motion assembly is arranged on the motion end of directions X motion assembly, described Y-directionThe motion end of motion assembly is connected with Z-direction motion assembly, described Z-direction motion assemblyMotion end be connected with mechanical arm, described directions X motion assembly is connected with directions X driven unit,Described Y-direction motion assembly is connected with Y-direction driven unit, described Z-direction exercise groupPart is connected with Z direction driven unit.
Further again, described intelligent wall plastering device also comprises for metope after measuring processing flatThe roughness measurement module 5 of whole degree, the output of described roughness measurement module 5 and described intelligenceThe controller 4 of plastering connects, and the described intelligence controller 4 of plastering also comprises:
For by degree of plainness for wall surface Distribution Value after the processing measuring and default flatness thresholdThe flatness comparison module 43 that value compares;
For thinking defective when certain region flatness lower than the default flatness presentation time, and according toThis position, region control range controlling mechanism carries out the feedback compensation processing of feedback compensation operationModule 44.
Further, described roughness measurement module 5 is laser measuring apparatus. Certainly, also canAdopt other modes.
Described plastering plate 1 is provided with the pressure adjusting part for regulating the pressure of plastering. This pressure is adjustedJoint assembly, can set according to the material of plastering and thickness, to reach good plasteringEffect.
The front of described plastering plate 1 is the station of plastering, and vibration is installed at the back side of described plastering plate 1Motor. The effect of this vibrating motor is to provide vibration, to realize the effect of better plastering.
The described intelligence controller 4 of plastering also comprises communication module 45. Can by this communication moduleBe connected with control computer, realize unit control; Or this communication module and control and management center connectConnect, this control and management center and every intelligent wall plastering machine composition intelligent network, realize networkChange and control; Or be that this communication module for example, is connected with communication terminal (mobile phone), logicalCross communication terminal and realize Long-distance Control.
The front of described plastering plate 1 is the station of plastering, and described plasterer's bit strip has charging aperture. ThisThe plaster head of scheme adopts electronic plaster head, and the structures such as plastering plate all adopt prior art to realize.
Described charging aperture is connected with the upper end of feed pipe 6, and the lower end of described feed pipe 6 is with automaticBatcher 7 connects (in Fig. 1, feed pipe 6 only draws a part). By this structural design,Avoid artificial loading, realized the material loading operation of automation, promoted intelligent degree.
For the situation of work high above the ground, described range controlling mechanism can adopt similar " unmanned plane "Technology, control by remote controller, realize plastered work; Wherein, on unmanned plane, only takeBand mechanical arm, plastering plate and feed pipe, miscellaneous part is installed in the workbench that is positioned at groundUpper, can effectively reduce like this weight that unmanned plane carries.
The scheme of the present embodiment, has abandoned manually-operated mode, and plastering plate is arranged on to machineryOn arm, realize by robot the operation of plastering; Mechanical arm is arranged on range controlling mechanism,The trip controlling organization can driving mechanical arm and plastering plate move along X-axis and Y-axis,The space of this X-axis and Y-axis has been contained the whole plane for the treatment of plastered wall face; Further,Range controlling mechanism can also carry out the motion of Z axis, can realize plastering plate and metope to be polishedBetween the adjusting of distance.
In addition, the drive unit of the starting switch of plastering plate driven unit, range controlling mechanism is equalBe connected with the intelligence controller of plastering, the described intelligence controller of plastering, can control plastering plateStart or stop, can control range controlling mechanism along the moving of X-axis and Y-axis, andThe adjusting of Z axis; Treating plastered wall face in the face of one, according to the size of metope, carry outThe demarcation of range controlling mechanism, and provide control track, then carry out intelligence according to controlling trackThe control of changing.
After operation completes, be also provided with the measurement module for detection of flatness, for scanning behaviourThe flatness of whole metope after doing, if detect that certain flatness, lower than predetermined threshold value, thinksThere is defect in this position; Arrive this position by controlling range controlling mechanism, and again start and smearHawk is added work, until whole metope meets the requirement of flatness, and effective guarantee like thisPlastering quality.
The operation position of described plastering plate is provided with charging aperture, described charging aperture and feed pipe upper endConnect, the lower end of described feed pipe is communicated with batcher, in described batcher, taking concrete asExample, is provided with the import of each formula, and each import is provided with flowmeter, and controller is according to formula controlAutomatic feed processed, and stir, after confirming to stir, controller starts delivery pumpExport by feed pipe.
On described plastering plate also with pressure adjusting part, for regulating the plastering plate pressure in when workPower value, and the bottom surface of plastering plate installation vibrating motor are vibrated in the time of operation, realize goodThe effect of plastering.
Further intelligent in order to realize, the frame of this intelligence wall plastering machine is installed vehicle with walking machineStructure, walking mechanism realizes mobile by wheel disc, and the driven unit of this walking mechanism is controlled;When one after plastered wall face completes, can be poor by the coordinate position of mutual alignment, by wholeIndividual intelligent wall plastering machine moves to the next one from current metope and treats plastered wall face, and according underA size for the treatment of plastered wall face is demarcated, and carries out same intellectualized operation control,Thus, having substituted decoration worker has realized the entirety of multiple metopes in house and has plastered. This vehicle with walking machineStructure comprises four feets, and these four feets are Collapsible structures, when some positions, bottom surfaceWhile being uneven, the feet at place can, by the adjusting of stretching structure, make Stroke ControlIt is stable that the position of mechanism keeps, and ensures the job stability of plastering plate.
The power supply of whole device, can adopt battery, also can adopt external civil power,The charging modes of described battery, can be wired mode, also can adopt wireless mode to realize.
The metope of the present embodiment is the various walls that general reference house decoration process relates to, for example roomSurrounding metope, exterior wall or end face etc., can be vertical plane, plane or inclined-plane.
Content described in the embodiment of this description is only the row of the way of realization to inventive conceptLift, protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states,Protection scope of the present invention also and in those skilled in the art is conceived according to the present invention and can be expectedEquivalent technologies means.