CN110886472B - Positioning method and positioning device of plastering robot - Google Patents
Positioning method and positioning device of plastering robot Download PDFInfo
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- CN110886472B CN110886472B CN201911194140.6A CN201911194140A CN110886472B CN 110886472 B CN110886472 B CN 110886472B CN 201911194140 A CN201911194140 A CN 201911194140A CN 110886472 B CN110886472 B CN 110886472B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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Abstract
The invention belongs to the technical field of robot positioning, and discloses a positioning method of a plastering robot, which comprises the following steps: acquiring pressure values between the two upright columns and the ceiling; if the pressure value of at least one upright is greater than the preset lower limit value, judging whether the pressure value of at least one upright is greater than the preset upper limit value: if so, the plastering robot fails to position; if not, judging whether the pressure values of the two stand columns are both larger than a preset lower limit value, if so, successfully positioning the plastering robot. The top end of the upright post is provided with a pressure sensor, and the pressure sensor is used for directly detecting the pressure value between the upright post and the ceiling. According to the invention, the relationship between the pressure values of the two stand columns and the preset upper limit value and the preset lower limit value is judged, so that the pressure values of the two stand columns are both positioned in the interval of the preset upper limit value and the preset lower limit value, the extrusion forces of the two sides of the robot can be controlled to be neither too large nor too small, and the robot can be reliably fixed.
Description
Technical Field
The invention relates to the technical field of robot positioning, in particular to a positioning method and a positioning device of a plastering robot.
Background
At present, a jacking fixing mode of semi-automatic plastering equipment in a room is mainly fixed manually, and after the equipment is adjusted manually, a hydraulic pump is stepped on by feet to enable an upright post to ascend until the upright post jacks the ceiling of the room. The jacking force of the upright post and the ceiling is determined according to the feeling of an operator, and the operator feels that the equipment is fixed at the foot position after jacking. The pressure of the manual hydraulic mode is sensed by the experience of workers, the jacking force obtained by different workers is different and has a great relation with the personal level and the experience, and the accurate control and the standardized adjustment cannot be realized. In addition, the method is time-consuming and labor-consuming, has certain potential safety hazard and is difficult to control according to different people.
Based on the above situation, it is necessary to design a new robot positioning method and structure.
Disclosure of Invention
One object of the present invention is: provided is a method for positioning a plastering robot, which can improve the fixing reliability of the plastering robot.
Another object of the invention is: the positioning device of the plastering robot can accurately control the extrusion force between the robot and a ceiling, and further improve the fixing reliability of the robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a positioning method of a plastering robot is disclosed, which comprises a jacking fixing treatment, wherein the jacking fixing treatment comprises the following steps:
respectively acquiring pressure values between the two upright columns and the ceiling;
if the pressure value of at least one upright column is greater than a preset lower limit value, judging whether the pressure value of at least one upright column is greater than a preset upper limit value:
if so, the plastering robot fails to position; if not, judging whether the pressure values of the two upright columns are both larger than the preset lower limit value, if so, successfully positioning the plastering robot.
Preferably, the tops of the two uprights are respectively provided with a pressure sensor for detecting a pressing force between the uprights and the ceiling.
Preferably, after the plastering robot is successfully positioned, the two upright posts stop rising.
Preferably, after the plastering robot fails to locate, the two upright posts stop rising and send out an alarm signal at the same time.
Specifically, the pressure values of the two stand columns are respectively judged to be in relation with the preset upper limit value and the preset lower limit value, so that the pressure values of the two stand columns are all located in the interval between the preset upper limit value and the preset lower limit value, the extrusion force of two sides of the robot can be effectively controlled to be neither too large nor too small, the condition of single point or single side stress of the robot is avoided, and the robot is reliably fixed on the premise of not damaging the robot and a building structure.
As a preferred technical scheme, in the step: before pressure values between the two columns and the ceiling are respectively obtained, the method further comprises the following steps: driving the two uprights to approach the ceiling;
in the following steps: respectively obtaining pressure values between two upright columns and a ceiling, and if the pressure value of any upright column is not greater than a preset lower limit value, returning to the step: driving the two uprights to approach the ceiling;
in the following steps: and when judging whether the pressure values of the two stand columns are both larger than the preset lower limit value, if not, returning to the step: two uprights are driven close to the ceiling.
Preferably, the plastering robot comprises a chassis, the stand column is installed on the chassis, the chassis is provided with four leveling electric cylinders, and the lifting of the stand column is realized through the synchronous motion of the four leveling electric cylinders.
Specifically, through setting up the above-mentioned step of returning two stands of drive and being close to the ceiling, can make the positioning process form the closed loop, and then make fixed of robot progressively be close to predetermined extrusion force effect, until success or failure, whole process need not personnel and participates in, and degree of automation is high.
As a preferable technical solution, before the jacking fixing treatment, the method further comprises leveling the plastering robot, wherein the leveling treatment is used for leveling a chassis of the plastering robot and making a plastering mechanism parallel to the wall.
Specifically, before jacking fixing treatment, leveling treatment of the robot is completed firstly, so that on one hand, the success rate of jacking fixing of the robot can be improved, and on the other hand, the plastering operation effect of the robot after jacking fixing can be guaranteed.
As a preferable technical scheme, the leveling treatment sequentially comprises horizontal adjustment treatment of the chassis and parallel adjustment treatment of the plastering mechanism and the wall body.
Preferably, the leveling treatment sequentially comprises parallel adjustment treatment of the chassis and the wall body, horizontal adjustment treatment of the chassis, and parallel adjustment treatment of the plastering mechanism and the wall body.
Specifically, the two groups of processes of parallel adjustment processing of the chassis and the wall body and parallel adjustment processing of the plastering mechanism and the wall body are essentially parallel adjustment of the plastering mechanism and the wall body, wherein the parallel adjustment processing of the chassis and the wall body is rough adjustment, the parallel adjustment processing of the plastering mechanism and the wall body is precise adjustment, and the latter has higher precision than the former and can ensure the reliable parallel of the plastering mechanism and the wall body. The horizontal adjustment processing step of the chassis is arranged before the parallel adjustment processing step of the plastering mechanism and the wall body, so that the parallel adjustment of the plastering mechanism and the wall body can be operated on the basis of smaller deviation, and the realization of high-precision adjustment is facilitated.
Specifically, the chassis horizontal adjustment processing step is arranged after the chassis and wall parallel adjustment processing step, the whole chassis can be separated from the ground in the chassis horizontal adjustment process of the robot, the whole support is realized through the leveling electric cylinder, and the whole horizontal effect of the robot can be improved through the leveling electric cylinder support mode.
As a preferable technical solution, the leveling process includes the steps of:
acquiring the angle values of the chassis in the X direction and the Y direction;
calculating the vertical distance of the four leveling electric cylinders of the chassis, which is required to move when the four leveling electric cylinders reach the chassis level, according to the angle values in the X direction and the Y direction;
and the leveling electric cylinders simultaneously perform lifting actions according to the required moving vertical distance.
Preferably, four leveling electric cylinders are arranged on the chassis, and the chassis is horizontally adjusted through the lifting action of the leveling electric cylinders.
Particularly, the perpendicularity of a plaster surface obtained by plastering operation from top to bottom can be ensured by horizontally adjusting the chassis. Further, the angle of the chassis is a spatial angle, the angles in two directions may affect each other, and may need to be adjusted to and fro at four corners of the chassis for many times, which takes time and has long effect difference. According to the scheme, the angle values in two coordinate directions are obtained, the lifting distances of different positions of the chassis are integrally calculated by combining the angle values in the two coordinate directions, finally, the four leveling electric cylinders simultaneously execute lifting actions, the X direction and the Y direction of the chassis can synchronously complete horizontal adjustment, the defects that the front and back mutual influence and repeated adjustment caused by successively adjusting the level in different coordinate directions are avoided, and the efficiency and the precision of horizontal adjustment of the chassis are improved.
As a preferred technical scheme, in the step: after the angle values of the X direction and the Y direction of the chassis are obtained, the method further comprises the following steps:
judging whether the angle values in the two directions are both within a preset angle error interval, if so, successfully adjusting the chassis horizontally; if not, executing the following steps: and calculating the vertical distance of the four leveling electric cylinders of the chassis required to move when reaching the chassis level according to the angle values in the X direction and the Y direction.
As a preferred technical scheme, in the step: after the leveling electric cylinder simultaneously carries out lifting action according to the vertical distance of required movement, the method also comprises the following steps:
and returning to the step of acquiring the angle values of the chassis in the X direction and the Y direction.
As a preferred technical scheme, in the step: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps:
and rotating the inclination angle sensor to enable coordinate axes in the X direction and the Y direction of the inclination angle sensor to be superposed with coordinate axes in two directions formed by the four leveling electric cylinders.
Specifically, connecting lines of two groups of diagonal leveling electric cylinders in the four leveling electric cylinders are perpendicular to each other, and the two groups of perpendicular leveling electric cylinders respectively form coordinate axes in the X direction and the Y direction of the chassis.
Preferably, a rotating platform is arranged on the chassis, the inclination angle sensor is installed on the rotating platform, and the rotation of the rotating platform is used for adjusting the angle of the inclination angle sensor, so that the coincidence of coordinate axes is realized.
Specifically, before the angle values of the chassis in the X direction and the Y direction are obtained, the angle of the tilt sensor is adjusted, so that the coordinate system of the tilt sensor is overlapped with the coordinate system formed by the leveling electric cylinder, the calculation process of the vertical distance required to move by the leveling electric cylinder can be simplified, and the accuracy of the calculation result is improved.
As a preferable technical scheme, after the chassis is successfully horizontally adjusted, the method further comprises the following steps:
respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body;
calculating the rotation angle required by the plastering mechanism to be parallel to the wall according to the distance value between the two sides of the plastering mechanism and the wall;
the plastering mechanism rotates according to the required rotating angle.
Specifically, the alignment condition of the plastering mechanism and the wall body greatly affects the thickness of the plaster surface in the later period, if the plastering mechanism is not aligned to the wall body, the thickness of the plaster surface is thick and thin at the same time, and the problem of consistency of the thickness of the plaster surface can be effectively solved after the parallelism adjustment of the plastering mechanism and the wall body is realized through the angle adjustment.
Preferably, the plastering mechanism is installed on the rotary platform, and the angle adjustment of the plastering mechanism is realized by rotating the rotary platform, so that the plastering mechanism is parallel to the wall body.
Preferably, distance sensors are arranged on two sides of the plastering mechanism or the rotating platform and used for detecting the distance value between the two sides of the plastering mechanism and the wall body.
As a preferred technical scheme, in the step: after the distance values of the two sides of the plastering mechanism and the wall body are respectively obtained, the method further comprises the following steps: judging whether the difference value of the distance values between the two sides of the plastering mechanism and the wall is within a preset plastering head distance error interval or not, if so, successfully adjusting the plastering mechanism and the wall in parallel; if not, the step is executed to calculate the rotation angle required by the plastering mechanism to be parallel to the wall body according to the distance value between the two sides of the plastering mechanism and the wall body.
Preferably, in the step: after the plastering mechanism rotates according to the required rotating angle, the plastering mechanism further comprises the following steps: and returning to the step of respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body.
Specifically, the steps of returning to respectively obtain the distance values between the two sides of the plastering mechanism and the wall body are arranged, so that the parallel adjusting process of the plastering mechanism and the wall body forms a closed loop, the parallelism of the plastering mechanism and the wall body is gradually close to the preset requirement until the plastering mechanism and the wall body are successful, personnel are not needed in the whole process, and the automation degree is high.
Preferably, the plastering robot further comprises a translation mechanism, the translation mechanism is mounted on the rotating platform, and the plastering mechanism is mounted on the translation mechanism. After the parallel adjustment of the plastering mechanism and the wall is successful or after the jacking and fixing treatment, the translation mechanism drives the plastering mechanism to move towards the direction of the wall, so that the distance between the plastering mechanism and the wall meets the requirement of a preset plastering gap.
As a preferred technical scheme, in the step: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps:
respectively obtaining the distance values between the two sides of the chassis and the wall body;
calculating the rotation angle required by the chassis to be parallel to the wall according to the distance values between the two sides of the chassis and the wall;
the chassis rotates according to the required rotation angle.
Preferably, distance sensors are arranged on two sides of the chassis and used for detecting distance values between the two sides of the chassis and the wall.
Preferably, the bottom of the chassis is provided with a driving wheel, and the angle adjustment of the chassis is realized through the driving wheel, so that the chassis is parallel to the wall body.
As a preferred technical scheme, in the step: after the distance values between the two sides of the chassis and the wall body are respectively obtained, the method further comprises the following steps: judging whether the difference value of the distance values between the two sides of the chassis and the wall is within a preset chassis distance error interval or not, if so, successfully adjusting the chassis and the wall in parallel; if not, the step of executing calculates the rotation angle required by the chassis to be parallel to the wall according to the distance value between the two sides of the chassis and the wall.
Preferably, in the step: after the chassis rotates according to the required rotation angle, the method also comprises the following steps: and returning to the step of respectively obtaining the distance values between the two sides of the chassis and the wall body.
Specifically, the steps of returning and respectively obtaining the distance values between the two sides of the chassis and the wall body are arranged, so that a closed loop can be formed in the parallel adjusting process of the chassis and the wall body, the parallelism of the chassis and the wall body is gradually close to the preset requirement until the parallel adjusting process is successful, personnel are not needed in the whole process, and the automation degree is high.
On the other hand, disclose a plastering robot's positioner, including two stands and pressure sensor, every the top of stand is provided with pressure sensor, the stand is used for realizing plastering robot's fixed with the ceiling extrusion, pressure sensor is used for detecting the pressure value between stand and the ceiling.
Preferably, the plastering robot further comprises a plastering mechanism, and the plastering mechanism is mounted on the positioning device. The positioning device further comprises a base plate, a rotating platform and a translation mechanism, wherein the rotating platform is installed above the base plate and is rotationally connected with the base plate. The stand is fixed on rotary platform, install on the stand translation mechanism, translation mechanism is located between two stands, translation mechanism can follow the stand goes up and down, the mechanism of plastering is installed translation mechanism is last. The chassis is provided with a driving wheel and four leveling electric cylinders, and the leveling electric cylinders are used for adjusting the level of the chassis and realizing the integral lifting of the chassis and the upright column, namely the telescopic action of the leveling electric cylinders realizes the distance control between the upright column and the ceiling.
Distance sensors are arranged on two sides of the front end of the chassis and used for detecting the distance between two sides of the chassis and the wall body, and therefore the chassis and the wall body can be adjusted in a assisted mode.
The rotary platform is provided with an inclination angle sensor, and the inclination angle sensor is used for detecting an included angle between the chassis and a horizontal plane so as to assist in adjusting the level of the chassis.
Distance sensors are arranged on two sides of the plastering mechanism or the rotary platform, and the distance sensors on the plastering mechanism or the rotary platform are used for detecting the distance between two sides of the plastering mechanism and the wall body so as to assist in adjusting the parallelism of the plastering mechanism and the wall body.
The invention has the beneficial effects that: the pressure sensors are arranged at the top ends of the stand columns, the pressure values between the stand columns and a ceiling are directly detected through the pressure sensors, the pressure values of the two stand columns are enabled to be located in the interval between the preset upper limit value and the preset lower limit value by judging the relation between the pressure values of the two stand columns and the preset upper limit value and the relation between the pressure values of the two stand columns and the preset lower limit value respectively, the extrusion forces on the two sides of the robot can be effectively controlled to be neither too large nor too small, and the robot is reliably fixed on the premise that the robot and a building structure are not damaged.
In addition, before jacking and fixing treatment, parallel adjustment treatment of the chassis and the wall body, horizontal adjustment treatment of the chassis and parallel adjustment treatment of the plastering mechanism and the wall body are firstly carried out, so that the position precision of the robot after jacking and fixing can be ensured, and the plastering operation quality is improved.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
FIG. 1 is a flow chart of a jacking fixing process according to an embodiment;
FIG. 2 is a flowchart of a chassis leveling process according to an embodiment;
FIG. 3 is a flow chart of the parallel adjustment process of the plastering mechanism and the wall according to the embodiment;
FIG. 4 is a flowchart illustrating a parallel adjustment process of a base plate and a wall according to an embodiment;
FIG. 5 is an overall flow chart framework of a positioning method according to an embodiment;
FIG. 6 is a schematic structural diagram of a positioning device according to an embodiment (including a column);
FIG. 7 is a schematic structural view of a positioning device according to an embodiment (not shown);
fig. 8 is a top view of a positioning device according to an embodiment (the upright is not shown).
In fig. 6 to 8:
1. a column; 2. a pressure sensor; 3. a chassis; 4. rotating the platform; 5. leveling the electric cylinder; 6. a distance sensor; 7. a tilt sensor; 8. a plastering mechanism; 9. a wall body.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The first embodiment is as follows:
a method for positioning a plastering robot, comprising a jacking fixing process, as shown in fig. 1, the jacking fixing process comprising the steps of:
driving the two uprights to approach the ceiling;
respectively acquiring pressure values between the two upright columns and the ceiling;
if the pressure value of any one upright column is not greater than a preset lower limit value, returning to the step: driving the two uprights to approach the ceiling; if the pressure value of at least one upright column is greater than a preset lower limit value, judging whether the pressure value of at least one upright column is greater than a preset upper limit value:
if the plastering robot fails to position, the two upright posts stop rising and send out alarm signals at the same time; if not, judging whether the pressure values of the two stand columns are both larger than the preset lower limit value, if so, successfully positioning the plastering robot, and stopping the two stand columns from rising.
In the following steps: and when judging whether the pressure values of the two stand columns are both larger than the preset lower limit value, if not, returning to the step: two uprights are driven close to the ceiling.
In this embodiment, the plastering robot includes the chassis, the column mouting is in on the chassis, the chassis is provided with four leveling electric jar, realizes through four leveling electric jar's simultaneous movement the jacking of stand. And pressure sensors are respectively arranged at the tops of the two stand columns and are used for detecting the extrusion force between the stand columns and the ceiling. The pressure values of the two stand columns are respectively judged to be in relation with the preset upper limit value and the preset lower limit value, so that the pressure values of the two stand columns are all located in the interval between the preset upper limit value and the preset lower limit value, the extrusion forces of two sides of the robot can be effectively controlled to be neither too large nor too small, the condition of single point or single side stress of the robot is avoided, and the robot is reliably fixed on the premise of not damaging the robot and a building structure. Through setting up the above-mentioned step of returning two stands of drive and being close to the ceiling, can make the positioning process form the closed loop, and then make fixed of robot progressively be close to predetermined extrusion force effect, until success or failure, whole process need not personnel's participation, and degree of automation is high.
Example two:
the difference between this embodiment and the first embodiment is:
before the jacking and fixing treatment, the leveling treatment is carried out on the plastering robot, and the leveling treatment is used for enabling a chassis of the plastering robot to be leveled and enabling a plastering mechanism to be parallel to a wall body. Before the jacking is fixed, the leveling of the robot is completed firstly, so that the success rate of jacking and fixing of the robot can be improved, and the plastering effect of the robot after jacking and fixing can be guaranteed. In this embodiment, the leveling process sequentially includes a horizontal adjustment process of the chassis, and a parallel adjustment process of the plastering mechanism and the wall.
As shown in fig. 2, the level adjustment process of the chassis includes the steps of:
acquiring the angle values of the chassis in the X direction and the Y direction;
calculating the vertical distance of the four leveling electric cylinders of the chassis, which is required to move when the four leveling electric cylinders reach the chassis level, according to the angle values in the X direction and the Y direction;
and the leveling electric cylinders simultaneously perform lifting actions according to the required moving vertical distance.
Particularly, the perpendicularity of a plaster surface obtained by plastering operation from top to bottom can be ensured by horizontally adjusting the chassis. Further, the angle of the chassis is a spatial angle, the angles in two directions may affect each other, and may need to be adjusted to and fro at four corners of the chassis for many times, which takes time and has long effect difference. According to the scheme, the angle values in two coordinate directions are obtained, the lifting distances of different positions of the chassis are integrally calculated by combining the angle values in the two coordinate directions, finally, the four leveling electric cylinders simultaneously execute lifting actions, the X direction and the Y direction of the chassis can synchronously complete horizontal adjustment, the defects that the front and back mutual influence and repeated adjustment caused by successively adjusting the level in different coordinate directions are avoided, and the efficiency and the precision of horizontal adjustment of the chassis are improved.
In this embodiment, in the step: after the angle values of the X direction and the Y direction of the chassis are obtained, the method further comprises the following steps:
judging whether the angle values in the two directions are both within a preset angle error interval, if so, successfully adjusting the chassis horizontally; if not, executing the following steps: and calculating the vertical distance of the four leveling electric cylinders of the chassis required to move when reaching the chassis level according to the angle values in the X direction and the Y direction.
In the following steps: after the leveling electric cylinder simultaneously carries out lifting action according to the vertical distance of required movement, the method also comprises the following steps: and returning to the step of acquiring the angle values of the chassis in the X direction and the Y direction.
As a preferred embodiment, in the step: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps: and rotating the inclination angle sensor to enable coordinate axes in the X direction and the Y direction of the inclination angle sensor to be superposed with coordinate axes in two directions formed by the four leveling electric cylinders. Specifically, connecting lines of two groups of diagonal leveling electric cylinders in the four leveling electric cylinders are perpendicular to each other, and the two groups of perpendicular leveling electric cylinders respectively form coordinate axes in the X direction and the Y direction of the chassis. The chassis is provided with a rotating platform, the inclination angle sensor is installed on the rotating platform, and the rotating platform is rotated to adjust the angle of the inclination angle sensor, so that the coincidence of coordinate axes is realized. Before the angle values of the chassis in the X direction and the Y direction are obtained, the angle of the inclination angle sensor is adjusted, so that the coordinate system of the inclination angle sensor is overlapped with the coordinate system formed by the leveling electric cylinder, the calculation process of the vertical distance required to move by the leveling electric cylinder can be simplified, and the accuracy of the calculation result is improved.
As shown in fig. 3, in this embodiment, after the horizontal adjustment of the chassis is successful, a parallel adjustment process of the plastering mechanism and the wall is further included, and the parallel adjustment process of the plastering mechanism and the wall specifically includes the following steps:
respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body;
calculating the rotation angle required by the plastering mechanism to be parallel to the wall according to the distance value between the two sides of the plastering mechanism and the wall;
the plastering mechanism rotates according to the required rotating angle.
In this embodiment, in the step: after the distance values of the two sides of the plastering mechanism and the wall body are respectively obtained, the method further comprises the following steps: judging whether the difference value of the distance values between the two sides of the plastering mechanism and the wall is within a preset plastering head distance error interval or not, if so, successfully adjusting the plastering mechanism and the wall in parallel; if not, the step is executed to calculate the rotation angle required by the plastering mechanism to be parallel to the wall body according to the distance value between the two sides of the plastering mechanism and the wall body.
In the following steps: after the plastering mechanism rotates according to the required rotating angle, the plastering mechanism further comprises the following steps: and returning to the step of respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body.
Specifically, the alignment condition of the plastering mechanism and the wall body greatly affects the thickness of the plaster surface in the later period, if the plastering mechanism is not aligned to the wall body, the thickness of the plaster surface is thick and thin at the same time, and the problem of consistency of the thickness of the plaster surface can be effectively solved after the parallelism adjustment of the plastering mechanism and the wall body is realized through the angle adjustment. The plastering mechanism is installed on the rotary platform, and the angle adjustment of the plastering mechanism is realized by rotating the rotary platform, so that the plastering mechanism is parallel to a wall body. Preferably, distance sensors may be disposed on both sides of the plastering mechanism or the rotating platform for detecting a distance value between both sides of the plastering mechanism and the wall. In addition, the steps of returning to respectively obtain the distance values between the two sides of the plastering mechanism and the wall body are arranged, so that a closed loop can be formed in the parallel adjusting process of the plastering mechanism and the wall body, the parallelism of the plastering mechanism and the wall body is gradually close to the preset requirement until the plastering mechanism and the wall body are successfully adjusted, personnel are not needed in the whole process, and the automation degree is high.
As a preferred embodiment, in practical applications, the plastering robot further comprises a translation mechanism mounted on the rotating platform, and the plastering mechanism is mounted on the translation mechanism. After the parallel adjustment of the plastering mechanism and the wall is successful or after the jacking and fixing treatment, the translation mechanism drives the plastering mechanism to move towards the direction of the wall, so that the distance between the plastering mechanism and the wall meets the requirement of a preset plastering gap.
Example three:
the difference between this embodiment and the first embodiment is:
before the jacking and fixing treatment, the leveling treatment is carried out on the plastering robot, and the leveling treatment is used for enabling a chassis of the plastering robot to be leveled and enabling a plastering mechanism to be parallel to a wall body. Before the jacking is fixed, the leveling of the robot is completed firstly, so that the success rate of jacking and fixing of the robot can be improved, and the plastering effect of the robot after jacking and fixing can be guaranteed. In this embodiment, the leveling process sequentially includes a parallel adjustment process of the chassis and the wall, and a horizontal adjustment process of the chassis. The chassis horizontal adjustment processing step is arranged after the chassis and wall parallel adjustment processing step, the whole chassis can be separated from the ground in the horizontal adjustment process of the chassis of the robot, the whole support is realized through the leveling electric cylinder, and the whole horizontal effect of the robot can be improved through the leveling electric cylinder support mode.
As shown in fig. 2, the level adjustment process of the chassis includes the steps of:
acquiring the angle values of the chassis in the X direction and the Y direction;
calculating the vertical distance of the four leveling electric cylinders of the chassis, which is required to move when the four leveling electric cylinders reach the chassis level, according to the angle values in the X direction and the Y direction;
and the leveling electric cylinders simultaneously perform lifting actions according to the required moving vertical distance.
Particularly, the perpendicularity of a plaster surface obtained by plastering operation from top to bottom can be ensured by horizontally adjusting the chassis. Further, the angle of the chassis is a spatial angle, the angles in two directions may affect each other, and may need to be adjusted to and fro at four corners of the chassis for many times, which takes time and has long effect difference. According to the scheme, the angle values in two coordinate directions are obtained, the lifting distances of different positions of the chassis are integrally calculated by combining the angle values in the two coordinate directions, finally, the four leveling electric cylinders simultaneously execute lifting actions, the X direction and the Y direction of the chassis can synchronously complete horizontal adjustment, the defects that the front and back mutual influence and repeated adjustment caused by successively adjusting the level in different coordinate directions are avoided, and the efficiency and the precision of horizontal adjustment of the chassis are improved.
In this embodiment, in the step: after the angle values of the X direction and the Y direction of the chassis are obtained, the method further comprises the following steps:
judging whether the angle values in the two directions are both within a preset angle error interval, if so, successfully adjusting the chassis horizontally; if not, executing the following steps: and calculating the vertical distance of the four leveling electric cylinders of the chassis required to move when reaching the chassis level according to the angle values in the X direction and the Y direction.
In the following steps: after the leveling electric cylinder simultaneously carries out lifting action according to the vertical distance of required movement, the method also comprises the following steps: and returning to the step of acquiring the angle values of the chassis in the X direction and the Y direction.
As a preferred embodiment, in the step: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps: and rotating the inclination angle sensor to enable coordinate axes in the X direction and the Y direction of the inclination angle sensor to be superposed with coordinate axes in two directions formed by the four leveling electric cylinders. Specifically, connecting lines of two groups of diagonal leveling electric cylinders in the four leveling electric cylinders are perpendicular to each other, and the two groups of perpendicular leveling electric cylinders respectively form coordinate axes in the X direction and the Y direction of the chassis. The chassis is provided with a rotating platform, the inclination angle sensor is installed on the rotating platform, and the rotating platform is rotated to adjust the angle of the inclination angle sensor, so that the coincidence of coordinate axes is realized. Before the angle values of the chassis in the X direction and the Y direction are obtained, the angle of the inclination angle sensor is adjusted, so that the coordinate system of the inclination angle sensor is overlapped with the coordinate system formed by the leveling electric cylinder, the calculation process of the vertical distance required to move by the leveling electric cylinder can be simplified, and the accuracy of the calculation result is improved.
As shown in fig. 4, in the present embodiment, before the horizontal adjustment process of the chassis, a parallel adjustment process of the chassis and the wall is further included, and the parallel adjustment process of the chassis and the wall includes the following steps:
respectively obtaining the distance values between the two sides of the chassis and the wall body;
calculating the rotation angle required by the chassis to be parallel to the wall according to the distance values between the two sides of the chassis and the wall;
the chassis rotates according to the required rotation angle.
In this embodiment, in the step: after the distance values between the two sides of the chassis and the wall body are respectively obtained, the method further comprises the following steps: judging whether the difference value of the distance values between the two sides of the chassis and the wall is within a preset chassis distance error interval or not, if so, successfully adjusting the chassis and the wall in parallel; if not, the step of executing calculates the rotation angle required by the chassis to be parallel to the wall according to the distance value between the two sides of the chassis and the wall.
In the following steps: after the chassis rotates according to the required rotation angle, the method also comprises the following steps: and returning to the step of respectively obtaining the distance values between the two sides of the chassis and the wall body.
Distance sensors are arranged on two sides of the chassis and used for detecting distance values between the two sides of the chassis and the wall. The bottom of the chassis is provided with a driving wheel, and the angle adjustment of the chassis is realized through the driving wheel, so that the chassis is parallel to the wall body. In addition, by setting the steps of returning and respectively acquiring the distance values between the two sides of the chassis and the wall body, a closed loop can be formed in the parallel adjustment process of the chassis and the wall body, so that the parallelism of the chassis and the wall body gradually approaches to the preset requirement until the parallel adjustment process is successful, personnel participation is not needed in the whole process, and the automation degree is high.
Example four:
the difference between this embodiment and the first embodiment is:
before the jacking and fixing treatment, leveling treatment is carried out on the plastering robot, wherein the leveling treatment sequentially comprises parallel adjustment treatment of the chassis and the wall body, horizontal adjustment treatment of the chassis and parallel adjustment treatment of the plastering mechanism and the wall body, and is shown in fig. 5. Specifically, the two groups of processes of parallel adjustment processing of the chassis and the wall body and parallel adjustment processing of the plastering mechanism and the wall body are essentially parallel adjustment of the plastering mechanism and the wall body, wherein the parallel adjustment processing of the chassis and the wall body is rough adjustment, the parallel adjustment processing of the plastering mechanism and the wall body is precise adjustment, and the latter has higher precision than the former and can ensure the reliable parallel of the plastering mechanism and the wall body. The horizontal adjustment processing step of the chassis is arranged before the parallel adjustment processing step of the plastering mechanism and the wall body, so that the parallel adjustment of the plastering mechanism and the wall body can be operated on the basis of smaller deviation, and the realization of high-precision adjustment is facilitated. The chassis horizontal adjustment processing step is arranged after the chassis and wall parallel adjustment processing step, the whole chassis can be separated from the ground in the horizontal adjustment process of the chassis of the robot, the whole support is realized through the leveling electric cylinder, and the whole horizontal effect of the robot can be improved through the leveling electric cylinder support mode.
As shown in fig. 2, the level adjustment process of the chassis includes the steps of:
acquiring the angle values of the chassis in the X direction and the Y direction;
calculating the vertical distance of the four leveling electric cylinders of the chassis, which is required to move when the four leveling electric cylinders reach the chassis level, according to the angle values in the X direction and the Y direction;
and the leveling electric cylinders simultaneously perform lifting actions according to the required moving vertical distance.
Particularly, the perpendicularity of a plaster surface obtained by plastering operation from top to bottom can be ensured by horizontally adjusting the chassis. Further, the angle of the chassis is a spatial angle, the angles in two directions may affect each other, and may need to be adjusted to and fro at four corners of the chassis for many times, which takes time and has long effect difference. According to the scheme, the angle values in two coordinate directions are obtained, the lifting distances of different positions of the chassis are integrally calculated by combining the angle values in the two coordinate directions, finally, the four leveling electric cylinders simultaneously execute lifting actions, the X direction and the Y direction of the chassis can synchronously complete horizontal adjustment, the defects that the front and back mutual influence and repeated adjustment caused by successively adjusting the level in different coordinate directions are avoided, and the efficiency and the precision of horizontal adjustment of the chassis are improved.
In this embodiment, in the step: after the angle values of the X direction and the Y direction of the chassis are obtained, the method further comprises the following steps:
judging whether the angle values in the two directions are both within a preset angle error interval, if so, successfully adjusting the chassis horizontally; if not, executing the following steps: and calculating the vertical distance of the four leveling electric cylinders of the chassis required to move when reaching the chassis level according to the angle values in the X direction and the Y direction.
In the following steps: after the leveling electric cylinder simultaneously carries out lifting action according to the vertical distance of required movement, the method also comprises the following steps: and returning to the step of acquiring the angle values of the chassis in the X direction and the Y direction.
As a preferred embodiment, in the step: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps: and rotating the inclination angle sensor to enable coordinate axes in the X direction and the Y direction of the inclination angle sensor to be superposed with coordinate axes in two directions formed by the four leveling electric cylinders. Specifically, connecting lines of two groups of diagonal leveling electric cylinders in the four leveling electric cylinders are perpendicular to each other, and the two groups of perpendicular leveling electric cylinders respectively form coordinate axes in the X direction and the Y direction of the chassis. The chassis is provided with a rotating platform, the inclination angle sensor is installed on the rotating platform, and the rotating platform is rotated to adjust the angle of the inclination angle sensor, so that the coincidence of coordinate axes is realized. Before the angle values of the chassis in the X direction and the Y direction are obtained, the angle of the inclination angle sensor is adjusted, so that the coordinate system of the inclination angle sensor is overlapped with the coordinate system formed by the leveling electric cylinder, the calculation process of the vertical distance required to move by the leveling electric cylinder can be simplified, and the accuracy of the calculation result is improved.
As shown in fig. 3, in this embodiment, after the horizontal adjustment of the chassis is successful, a parallel adjustment process of the plastering mechanism and the wall is further included, and the parallel adjustment process of the plastering mechanism and the wall specifically includes the following steps:
respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body;
calculating the rotation angle required by the plastering mechanism to be parallel to the wall according to the distance value between the two sides of the plastering mechanism and the wall;
the plastering mechanism rotates according to the required rotating angle.
In this embodiment, in the step: after the distance values of the two sides of the plastering mechanism and the wall body are respectively obtained, the method further comprises the following steps: judging whether the difference value of the distance values between the two sides of the plastering mechanism and the wall is within a preset plastering head distance error interval or not, if so, successfully adjusting the plastering mechanism and the wall in parallel; if not, the step is executed to calculate the rotation angle required by the plastering mechanism to be parallel to the wall body according to the distance value between the two sides of the plastering mechanism and the wall body.
In the following steps: after the plastering mechanism rotates according to the required rotating angle, the plastering mechanism further comprises the following steps: and returning to the step of respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body.
Specifically, the alignment condition of the plastering mechanism and the wall body greatly affects the thickness of the plaster surface in the later period, if the plastering mechanism is not aligned to the wall body, the thickness of the plaster surface is thick and thin at the same time, and the problem of consistency of the thickness of the plaster surface can be effectively solved after the parallelism adjustment of the plastering mechanism and the wall body is realized through the angle adjustment. The plastering mechanism is installed on the rotary platform, and the angle adjustment of the plastering mechanism is realized by rotating the rotary platform, so that the plastering mechanism is parallel to a wall body. Preferably, distance sensors may be disposed on both sides of the plastering mechanism or the rotating platform for detecting a distance value between both sides of the plastering mechanism and the wall. In addition, the steps of returning to respectively obtain the distance values between the two sides of the plastering mechanism and the wall body are arranged, so that a closed loop can be formed in the parallel adjusting process of the plastering mechanism and the wall body, the parallelism of the plastering mechanism and the wall body is gradually close to the preset requirement until the plastering mechanism and the wall body are successfully adjusted, personnel are not needed in the whole process, and the automation degree is high.
As a preferred embodiment, in practical applications, the plastering robot further comprises a translation mechanism mounted on the rotating platform, and the plastering mechanism is mounted on the translation mechanism. After the parallel adjustment of the plastering mechanism and the wall is successful or after the jacking and fixing treatment, the translation mechanism drives the plastering mechanism to move towards the direction of the wall, so that the distance between the plastering mechanism and the wall meets the requirement of a preset plastering gap.
As shown in fig. 4, in the present embodiment, before the horizontal adjustment process of the chassis, a parallel adjustment process of the chassis and the wall is further included, and the parallel adjustment process of the chassis and the wall includes the following steps:
respectively obtaining the distance values between the two sides of the chassis and the wall body;
calculating the rotation angle required by the chassis to be parallel to the wall according to the distance values between the two sides of the chassis and the wall;
the chassis rotates according to the required rotation angle.
In this embodiment, in the step: after the distance values between the two sides of the chassis and the wall body are respectively obtained, the method further comprises the following steps: judging whether the difference value of the distance values between the two sides of the chassis and the wall is within a preset chassis distance error interval or not, if so, successfully adjusting the chassis and the wall in parallel; if not, the step of executing calculates the rotation angle required by the chassis to be parallel to the wall according to the distance value between the two sides of the chassis and the wall.
In the following steps: after the chassis rotates according to the required rotation angle, the method also comprises the following steps: and returning to the step of respectively obtaining the distance values between the two sides of the chassis and the wall body.
Distance sensors are arranged on two sides of the chassis and used for detecting distance values between the two sides of the chassis and the wall. The bottom of the chassis is provided with a driving wheel, and the angle adjustment of the chassis is realized through the driving wheel, so that the chassis is parallel to the wall body. In addition, by setting the steps of returning and respectively acquiring the distance values between the two sides of the chassis and the wall body, a closed loop can be formed in the parallel adjustment process of the chassis and the wall body, so that the parallelism of the chassis and the wall body gradually approaches to the preset requirement until the parallel adjustment process is successful, personnel participation is not needed in the whole process, and the automation degree is high.
Example five:
as shown in fig. 6 to 8, the positioning device of the plastering robot comprises two upright posts 1 and pressure sensors 2, wherein the pressure sensor 2 is arranged at the top end of each upright post 1, the upright posts 1 are used for being pressed with a ceiling to fix the plastering robot, and the pressure sensors 2 are used for detecting the pressure value between the upright posts 1 and the ceiling.
In this embodiment, the plastering robot further comprises a plastering mechanism 8, and the plastering mechanism 8 is mounted on the positioning device. The positioning device further comprises a chassis 3, a rotating platform 4 and a translation mechanism, wherein the rotating platform 4 is installed above the chassis 3, and the rotating platform 4 is rotationally connected with the chassis 3. The upright post 1 is fixed on the rotary platform 4, the translation mechanism is arranged on the upright post 1 and is positioned between the two upright posts, the translation mechanism can be lifted along the upright posts, and the plastering mechanism 8 is arranged on the translation mechanism. The chassis 3 is provided with a driving wheel and four leveling electric cylinders 5, the leveling electric cylinders 5 are used for adjusting the level of the chassis 3 and realizing the integral lifting of the chassis 3 and the upright post 1, namely, the telescopic action of the leveling electric cylinders 5 realizes the distance control between the upright post 1 and a ceiling.
The rotary platform 4 is provided with an inclination angle sensor 7, and the inclination angle sensor 7 is used for detecting an included angle between the chassis 3 and a horizontal plane so as to assist in adjusting the level of the chassis 3.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are based on the orientations and positional relationships shown in the drawings and are used for convenience in description and simplicity in operation, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be constructed in a particular operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (6)
1. The positioning method of the plastering robot is characterized by comprising jacking fixing treatment, wherein the jacking fixing treatment comprises the following steps:
respectively acquiring pressure values between the two upright columns and the ceiling;
if the pressure value of at least one upright column is greater than a preset lower limit value, judging whether the pressure value of at least one upright column is greater than a preset upper limit value:
if so, the plastering robot fails to position; if not, judging whether the pressure values of the two stand columns are both greater than the preset lower limit value, if so, successfully positioning the plastering robot;
before the jacking and fixing treatment, leveling treatment is carried out on the plastering robot, wherein the leveling treatment is used for enabling a chassis of the plastering robot to be horizontal and enabling a plastering mechanism to be parallel to a wall body;
the leveling treatment sequentially comprises parallel adjustment treatment of the chassis and the wall body, horizontal adjustment treatment of the chassis and parallel adjustment treatment of the plastering mechanism and the wall body;
the leveling process includes the steps of:
acquiring the angle values of the chassis in the X direction and the Y direction;
calculating the vertical distance of the four leveling electric cylinders of the chassis, which is required to move when the four leveling electric cylinders reach the chassis level, according to the angle values in the X direction and the Y direction;
the leveling electric cylinders simultaneously perform lifting actions according to the required moving vertical distance;
in the following steps: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps:
respectively obtaining the distance values between the two sides of the chassis and the wall body;
calculating the rotation angle required by the chassis to be parallel to the wall according to the distance values between the two sides of the chassis and the wall;
the chassis rotates according to the required rotation angle.
2. The method of claim 1, wherein the method comprises the steps of: before pressure values between the two columns and the ceiling are respectively obtained, the method further comprises the following steps: driving the two uprights to approach the ceiling;
in the following steps: respectively obtaining pressure values between two upright columns and a ceiling, and if the pressure value of any upright column is not greater than a preset lower limit value, returning to the step: driving the two uprights to approach the ceiling;
in the following steps: and when judging whether the pressure values of the two stand columns are both larger than the preset lower limit value, if not, returning to the step: two uprights are driven close to the ceiling.
3. The method of claim 1, wherein the method comprises the steps of: after the angle values of the X direction and the Y direction of the chassis are obtained, the method further comprises the following steps:
judging whether the angle values in the two directions are both within a preset angle error interval, if so, successfully adjusting the chassis horizontally; if not, executing the following steps: and calculating the vertical distance of the four leveling electric cylinders of the chassis required to move when reaching the chassis level according to the angle values in the X direction and the Y direction.
4. The method of claim 1, wherein the method comprises the steps of: before obtaining the angle values of the X direction and the Y direction of the chassis, the method further comprises the following steps:
and rotating the inclination angle sensor to enable coordinate axes in the X direction and the Y direction of the inclination angle sensor to be superposed with coordinate axes in two directions formed by the four leveling electric cylinders.
5. The method of claim 3, further comprising the following steps after the pan leveling is successful:
respectively obtaining the distance values between the two sides of the plastering mechanism and the wall body;
calculating the rotation angle required by the plastering mechanism to be parallel to the wall according to the distance value between the two sides of the plastering mechanism and the wall;
the plastering mechanism rotates according to the required rotating angle.
6. The positioning device of the plastering robot is characterized by comprising two stand columns and pressure sensors, wherein the pressure sensor is arranged at the top end of each stand column, the stand columns are used for being extruded with a ceiling to fix the plastering robot, and the pressure sensors are used for detecting pressure values between the stand columns and the ceiling;
the positioning device further comprises a chassis, a rotating platform and a translation mechanism, wherein the rotating platform is installed above the chassis, the rotating platform is rotatably connected with the chassis, the stand columns are fixed on the rotating platform, the translation mechanism is installed on the stand columns, the translation mechanism is located between the two stand columns, the translation mechanism can lift along the stand columns, and the translation mechanism is used for installing a plastering mechanism; distance sensors are arranged on two sides of the plastering mechanism or the rotary platform, and the distance sensors on the plastering mechanism or the rotary platform are used for detecting the distance between two sides of the plastering mechanism and the wall body;
the chassis is provided with a driving wheel and four leveling electric cylinders, and the leveling electric cylinders are used for adjusting the level of the chassis and realizing the integral lifting of the chassis and the upright post; the rotary platform is provided with an inclination angle sensor, and the inclination angle sensor is used for detecting an included angle between the chassis and a horizontal plane;
distance sensors are arranged on two sides of the front end of the chassis, and the distance sensors on the chassis are used for detecting the distance between two sides of the chassis and the wall.
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| CN107905511A (en) * | 2017-11-15 | 2018-04-13 | 深圳广田机器人有限公司 | Surface of material strikes off robot and the method for striking off material |
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| DE10340620A1 (en) * | 2003-09-03 | 2005-04-07 | Silvia Rüber GmbH | System for working on ceiling rendering has a wheeled support frame with an adjustable frame to press a working tool against the underside of the ceiling to smooth the applied rendering |
| CN203783087U (en) * | 2014-03-25 | 2014-08-20 | 庞怀德 | Numerically-controlled troweling machine |
| CN106760420A (en) * | 2016-11-18 | 2017-05-31 | 辽宁大学 | A kind of vertical plastering machine of adjust automatically and the vertical method of plastering machine adjust automatically |
| CN206418738U (en) * | 2016-12-16 | 2017-08-18 | 深圳广田机器人有限公司 | plastering machine |
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