CN213927354U

CN213927354U - Plastering device and plastering robot

Info

Publication number: CN213927354U
Application number: CN202022125492.0U
Authority: CN
Inventors: 姜欣; 李康; 陈大元; 刘云辉
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2021-08-10
Anticipated expiration: 2030-09-24

Abstract

The utility model discloses a plastering unit and plastering robot, plastering unit include scraper blade, torque sensor, motor module, and plastering robot includes control platform and plastering unit. The contact force of the scraper and the wall is detected in real time by arranging the torque sensor, the motor module is enabled to output a proper rotation torque by calculating and controlling the rotation of the motor module according to the contact force obtained by detection, the contact force of the scraper and the wall is controlled in real time, and active compliance control of the plastering device is realized. The plastering device is controlled by the control platform to automatically carry out plastering process on the wall surface, so that the automation degree and the plastering quality are improved.

Description

Plastering device and plastering robot

Technical Field

The utility model belongs to the technical field of construction machinery and specifically relates to a plastering unit and plastering robot are related to.

Background

In house decoration, the wall plastering process plays an important role. In the wall plastering process, the coating can be finished only manually at present, a scraper is manually operated to coat the coating on the wall, the operation steps are complicated, the machine is mechanical, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a plastering unit can be through the rotation moment of torsion when plastering unit real-time detection scraper blade contact wall to calculate and control the rotation of scraper blade according to the testing result, export a suitable rotation moment of torsion, realize plastering unit's the gentle and agreeable control of initiative, improve construction quality.

The utility model discloses still provide a plastering robot who has above-mentioned plastering unit.

According to the utility model discloses plastering unit of first aspect embodiment, include: scraper blade, torque sensor, motor module. The scraper blade is used for plastering to the wall, torque sensor is used for connecting the scraper blade detect when scraper blade contact wall the rotation moment of torsion of scraper blade, motor module connects torque sensor is used for the basis rotate torque control the scraper blade rotates.

According to the utility model discloses plastering unit has following beneficial effect at least: the contact force of the scraper and the wall is detected in real time by arranging the torque sensor, the motor module is enabled to output a proper rotation torque by calculating and controlling the rotation of the motor module according to the contact force obtained by detection, the contact force of the scraper and the wall is controlled in real time, active compliance control of the plastering device is realized, and the construction quality is improved.

According to the utility model discloses a some embodiments, motor module includes servo motor and encoder, the encoder is used for detecting servo motor's running state, servo motor basis rotation torque control the scraper blade rotates.

According to some embodiments of the utility model, the motor module still includes the reduction gear, the reduction gear is used for the increase the output torque of motor module, in order to control the scraper blade rotates.

According to some embodiments of the utility model, the pivot of motor module is connected torque sensor is used for indirect control the scraper blade rotates.

According to the utility model discloses plastering robot of second aspect embodiment, plastering robot includes according to the utility model discloses the plastering unit of foretell first aspect embodiment.

According to some embodiments of the utility model, the plastering robot still includes control platform, control platform includes mobile device and arm, the arm sets up on the mobile device, control platform is used for controlling plastering device moves on the wall.

According to some embodiments of the utility model, be provided with elevating gear on the mobile device, elevating gear will the arm with the mobile device is connected, is used for through mechanical arm control plastering unit removes on the wall.

According to some embodiments of the utility model, the arm includes grand arm, mobile device is connected to the one end of grand arm, and the other end is connected plastering unit, grand arm is used for control plastering unit removes on the wall.

According to some embodiments of the utility model, the arm still includes little mechanical arm, micro mechanical arm one end is connected macro mechanical arm, the other end is connected plastering unit is used for control plastering unit removes on the wall.

According to the utility model discloses a some embodiments, plastering robot still includes ranging module, ranging module includes at least three laser rangefinder sensor for detect the wall with ranging module's depth of parallelism.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of a plastering apparatus according to an embodiment of the present invention;

fig. 2 is a schematic view of a plastering apparatus according to an embodiment of the present invention;

fig. 3 is a schematic view of a plastering robot according to an embodiment of the present invention;

fig. 4 is a schematic view of a micro-robotic arm according to an embodiment of the present invention;

fig. 5 is a schematic view of a micro-mechanical arm with a laser ranging sensor according to an embodiment of the present invention;

the plastering device 100, the scraper 110, the torque sensor 120, the motor module 130, the speed reducer 131, the servo motor 132, the encoder 133, the fixing plate 210, the fixing frame 220, the bottom plate 230, the first fixing block 240, the first fixing part 241, the first connecting part 242, the second fixing block 250, the second fixing part 251, the second connecting part 252, the first mounting block 261, the second mounting block 262, the first connecting shaft 271, the second connecting shaft 272, the rotating shaft 280, the connecting hole 290, the paint 400, the micro-mechanical arm 310, the macro-mechanical arm 320, the lifting device 330, the moving device 340, the driving branched chain 311, the moving platform 312, the fixing platform 313 and the laser ranging sensor 350.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 and 2, according to the utility model discloses a plastering device, including scraper blade 110, torque sensor 120, motor module 130, scraper blade 110 is used for plastering to the wall, and scraper blade 110 is connected to torque sensor 120's one end, detects the rotation torque of scraper blade 110 when scraper blade 110 contacts the wall, and motor module 130 is connected torque sensor 120 for according to the rotation torque control scraper blade 110's that detects rotation. The utility model discloses an in the embodiment, the size of a dimension of scraper blade 110 is based on imitative ergonomic design, and is similar with the scraper blade instrument that uses when the current manual work plasters, and the middle part axis position of scraper blade 110 is equipped with fixed plate 210 additional, fixed plate 210 and scraper blade 110 rigid coupling. The fixing plate 210 is connected to the base plate 230 by providing at least one fixing block. Preferably, in this embodiment, two fixing blocks, namely a first fixing block 240 and a second fixing block 250, are disposed at two ends of the fixing plate 210, and the first fixing block 240 and the second fixing block 250 are respectively fixed at two ends of the fixing plate 210; in one embodiment, the first fixing block 240 is T-shaped, and the first fixing block 240 includes a first fixing portion 241 and a first connecting portion 242 formed to extend perpendicularly from the first fixing portion 241; the first fixing portion 241 is connected to the fixing plate 210 by a fixing member, and preferably, the first fixing portion 241 is connected to the fixing plate 210 by four fixing members; the first connecting portion 242 has a first fixing hole, and the first fixing hole penetrates through the first connecting portion 242. In some embodiments, the second fixing block 250 is T-shaped, and the second fixing block 250 includes a second fixing portion 251 and a second connecting portion 252 formed to extend perpendicularly from the second fixing portion 251; the second fixing portion 251 is connected to the fixing plate 210 by a fixing member, and preferably, the second fixing portion 251 is connected to the fixing plate 210 by four fixing members; a second connection shaft 272 extends vertically from the second connection portion 252.

At least one mounting block is designed on the bottom plate 230 corresponding to at least one fixing block, for example, two mounting blocks, namely a first mounting block 261 and a second mounting block 262, are arranged on the bottom plate 230, and the first mounting block 261 and the second mounting block 262 are respectively arranged at two ends of the bottom plate 230; in one embodiment, the first mounting block 261 is T-shaped; further, the second mounting block 262 is T-shaped. The first mounting block 261 and the second mounting block 262 are respectively provided with a through hole; the first connecting shaft 271 is adapted to pass through the first fixing hole and the through hole of the first mounting block 261, and the second connecting shaft 272 is adapted to pass through the through hole of the second mounting block 262. Preferably, a bearing is disposed in the through hole, the first connecting shaft 271 is connected with the first mounting block 261 through the bearing, and the second connecting shaft 272 is connected with the second mounting block 262 using the bearing, so that the rotational flexibility between the mounting block and the fixing block is improved. The base plate 230 is provided with coupling holes 290 to be coupled to the robot arm through the coupling holes 290, and preferably, four coupling holes 290 are provided on the base plate 230.

The fixing portion of the fixing frame 220 is connected to the bottom plate 230 through a fixing member, preferably, the fixing portion of the fixing frame 220 is connected to the bottom plate 230 through four fixing members, the fixing portion of the fixing frame 220 extends vertically to form a supporting portion, and the supporting portion is provided with a through hole for the rotating shaft 280 of the motor module 130 to pass through, so that the rotating shaft 280 is connected to the torque sensor 120. Fixing holes are further provided on the supporting portion, and preferably, two fixing members are used to connect the motor module 130 with the fixing frame 220 by providing two fixing holes.

When the actual work of plastering, scraper blade 110 and wall are not strict parallel state, a side of scraper blade 110 contacts with the wall, the even coating of coating is on the wall through removing, the quantity of coating and the roughness of wall all can influence the contact force size between wall and scraper blade 110, come the rotation moment of torsion of real-time detection scraper blade 110 and wall through setting up torque sensor 120, and according to the rotation moment of torsion that obtains that detects, through calculating and the rotation of control motor module 130, make motor module 130 output a suitable rotation moment of torsion, the contact force size between real-time control scraper blade 110 and the wall, realize plastering unit's initiative compliance control, improve the construction quality of plastering technology.

In some embodiments of the present invention, the motor module 130 includes a servo motor 132 and an encoder 133, the encoder 133 is used for detecting the rotation state of the servo motor 132, and the servo motor 132 controls the scraper 110 to rotate according to the rotation torque. The encoder 133 is installed on the servo motor 132 to measure the magnetic pole position and the rotation angle and rotation speed of the servo motor 132, and can precisely control the rotation torque output from the servo motor 132 to the scraper 110 by detecting the rotation angle and rotation speed information of the servo motor 132. In other embodiments, a combination of stepper motors and drivers may also be used to detect and control blade rotation.

In some embodiments of the present invention, the motor module 130 further includes a speed reducer 131, and the speed reducer 131 is used to increase the output torque of the motor module 130. The reducer 131 connects the servo motor 132 and the torque sensor 120, and is used for increasing the output torque of the motor module 130, increasing the adjustment range of the contact force between the scraper 110 and the wall surface, and further meeting the actual requirement. In other embodiments, the requirement on the magnitude of the contact force is low, and a speed reducer can be omitted under the condition that the output torque of the motor module is sufficient, so that the manufacturing cost is reduced.

In some embodiments of the present invention, the shaft 280 of the motor module 130 is connected to the torque sensor 120 for indirectly controlling the rotation of the scraper. In other embodiments, the motor module 130 may be disposed at another end different from the torque sensor 120 to directly control the rotation of the blade, i.e., the rotating shaft 280 of the motor module 130 is not connected to the torque sensor 120, but is connected to a fixed block at the other end. The rotation at two ends of the scraper can be independently detected and controlled by arranging two groups of torque sensors and two groups of motor modules, so that the control precision is improved.

With reference to fig. 3, the present invention also provides a plastering robot, which comprises the plastering apparatus 100 in the above embodiment.

In some embodiments of the present invention, the plastering robot further comprises a control platform, the control platform comprises a moving device 340 and a mechanical arm, and the mechanical arm is disposed on the moving device 340 for controlling the plastering device 100 to move on the wall surface. The moving device 340 is driven by four wheels and two steering wheels, four driven wheels are arranged, pivot steering can be achieved, the device can move flexibly on the horizontal ground and is used for moving on the indoor ground on a large scale, the bottom of the device is also provided with a fixing device, the fixing device can be supported when the plastering robot reaches a designated station, and stability in the construction process is guaranteed. The mechanical arm controls the plastering device 100 to move on the wall in three dimensions, including controlling the plastering device 100 to actively approach to the wall, controlling the plastering device 100 to move horizontally, vertically or obliquely on the wall, having larger freedom of movement, flexibly realizing various movement tracks during manual plastering, coating the coating 400 on the wall uniformly, and improving the quality of the plastering process. In other embodiments, the control platform can be a cantilever beam type truss structure, and the planar two-degree-of-freedom motion of the plastering device can be realized through the up-down lifting mechanism and the horizontal reciprocating mechanism, so that the manufacturing cost can be reduced, and the rough plastering process with lower quality requirement can be met.

In some embodiments of the present invention, the moving device 340 is provided with a lifting device 330, and the lifting device 330 connects the mechanical arm with the moving device 340 for controlling the plastering device 100 to move on the wall surface through the mechanical arm. Through setting up elevating gear 330, increased the working area of plastering robot on every station, realize satisfying the demand of plastering of higher high wall to the complete coverage of target work wall.

In some embodiments of the present invention, the mechanical arm includes a macro mechanical arm 320, one end of the macro mechanical arm 320 is connected to the moving device 340, and the other end is connected to the plastering device 100, for controlling the plastering device 100 to move on the wall surface. In order to prevent to exceed the bearing capacity on building ground, macro arm 320 is in the utility model discloses in for the light weight type cooperation arm of six degrees of freedom, have the ability of imitative human arm function, the repeatability is higher, control is convenient, and itself has realized the force control based on the double encoder mode, can satisfy the requirement of plastering technology to wall contact force size, satisfies the demand of construction space and construction action completely.

Referring to fig. 3 and 4, in some embodiments of the present invention, the mechanical arm further includes a micro mechanical arm 310, one end of the micro mechanical arm 310 is connected to the macro mechanical arm 320, and the other end is connected to the plastering apparatus 100, for controlling the movement of the plastering apparatus 100 on the wall surface. The micro mechanical arm 310 is a 3-RPS parallel platform mechanism and comprises a moving platform 312, a driving branched chain 311 and a fixed platform 313, wherein the moving platform 312 and the fixed platform 313 are provided with fixing holes, the moving platform 312 is connected with a base of the plastering device 100 through a fixing piece, and the fixed platform is connected with the mechanical arm through a fixing piece. In this embodiment, the driving branched chain 311 is a micro digital linear steering engine, and the length of the branched chain can be changed by receiving a digital control signal, so that the posture of the plastering device 100 in the working process can be adjusted, and the functions of avoiding obstacles and adjusting the posture can be realized. Preferably, the moving platform 312 and the fixed platform 313 have the same area to achieve the best posture adjustment effect. In other embodiments, a 3-UPS/S type or 6-UPU type structure can be selected according to design requirements to achieve different control accuracies.

In some embodiments of the present invention, referring to fig. 5, the plastering robot further includes a distance measuring module, and the distance measuring module includes at least three laser distance measuring sensors 350 for detecting the parallelism of the wall surface and the distance measuring module. The utility model discloses in, set up 3 laser rangefinder sensor 350 on little arm, through the support that extends from motion platform 312, fix 3 laser rangefinder sensor 350 respectively by one side of 3 drive branched chains 311. When using, through setting up 3 not on same straight line laser ranging sensor 350, can confirm the wall plane of reflection laser, according to the distance information that obtains of detection, can judge whether wall and motion platform 312 are parallel, if nonparallel, then can be through the motion gesture of adjusting macro-arm 320, perhaps adjust the parallel degree of motion platform 312 and wall through the length of adjusting micro-arm 310's drive branch chain 311, thereby control the depth of parallelism of plastering unit 100 and wall, improve the construction quality of plastering technology. In this embodiment, for convenience of controlling the driving branches 311, the driving branches are respectively disposed beside one side of the 3 driving branches 311, so that the setting of parameter control is more intuitive and convenient. In other embodiments, the laser distance measuring sensor 350 may also be disposed on the bottom plate of the plastering apparatus 100 to directly detect whether the bottom plate of the plastering apparatus is parallel to the wall surface, or disposed on the mobile platform to detect whether the mobile platform is parallel to the wall surface. In other embodiments, an infrared ranging sensor or an ultrasonic ranging sensor may be used to form the ranging module, or more than three ranging sensors may be used to improve the detection accuracy.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "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. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. Plastering apparatus, characterized by comprising:

the scraper is used for plastering a wall surface;

the torque sensor is used for connecting the scraper and detecting the rotation torque of the scraper when the scraper contacts a wall surface;

and the motor module is connected with the torque sensor and is used for controlling the scraper to rotate according to the rotating torque.

2. The plastering apparatus as claimed in claim 1, wherein: the motor module comprises a servo motor and an encoder, the encoder is used for detecting the rotation state of the servo motor, and the servo motor controls the scraper to rotate according to the rotation torque.

3. The plastering apparatus as claimed in claim 1, wherein: the motor module further comprises a speed reducer for increasing the output torque of the motor module to control the scraper to rotate.

4. The plastering apparatus as claimed in claim 1, wherein: and the rotating shaft of the motor module is connected with the torque sensor and used for indirectly controlling the scraper to rotate.

5. Plastering robot, its characterized in that: the plastering robot includes the plastering apparatus as claimed in any one of claims 1 to 4.

6. The plastering robot of claim 5, wherein: still include control platform, control platform includes mobile device and arm, the arm sets up on the mobile device, control platform is used for controlling plastering unit moves on the wall.

7. The plastering robot of claim 6, wherein: and the lifting device is arranged on the moving device, and the mechanical arm is connected with the moving device through the lifting device and is used for controlling the plastering device to move on the wall surface through the mechanical arm.

8. The plastering robot of claim 6, wherein: the mechanical arm comprises a macro mechanical arm, one end of the macro mechanical arm is connected with the moving device, the other end of the macro mechanical arm is connected with the plastering device, and the macro mechanical arm is used for controlling the plastering device to move on the wall surface.

9. The plastering robot of claim 8, wherein: the mechanical arm further comprises a micro mechanical arm, one end of the micro mechanical arm is connected with the macro mechanical arm, the other end of the micro mechanical arm is connected with the plastering device, and the micro mechanical arm is used for controlling the plastering device to move on the wall surface.

10. The plastering robot of any of claims 6 to 9, wherein: still include the range finding module, the range finding module includes at least three laser rangefinder sensor for detect the wall with the depth of parallelism of range finding module.