阅读说明：本技术 墙面抹灰机的定位移动系统 (Positioning and moving system of wall plastering machine ) 是由 卜长明 刘鸿志 程晨 葛怀微 孙毅 杨海燕 于 2020-12-23 设计创作，主要内容包括：本发明公开了一种墙面抹灰机的定位移动系统,包括平板车,还包括第一平移装置、升降装置、第二平移装置和电机控制器,平板车还包括用于调整平板车与被抹灰墙面间距离的第二车轮机构、第一测距传感器、第二测距传感器、第三测距传感器和第四测距传感器,第二车轮机构包括车轮架和设置在平板车架上驱动车轮架升降的电动缸组。本发明墙面抹灰机的定位移动系统,其能自动调整车身及抹浆器与墙面之间的距离,保证抹灰作业的连续进行,解决了现有抹灰机在抹灰作业过程中需要人工频繁的安装及调整位置抹灰机的问题,能很大的提高抹灰作业效率。(The invention discloses a positioning and moving system of a wall plastering machine, which comprises a flat car, a first translation device, a lifting device, a second translation device and a motor controller, wherein the flat car further comprises a second wheel mechanism, a first distance measuring sensor, a second distance measuring sensor, a third distance measuring sensor and a fourth distance measuring sensor, the second wheel mechanism is used for adjusting the distance between the flat car and a plastered wall surface, and the second wheel mechanism comprises a wheel frame and an electric cylinder group which is arranged on the flat car frame and drives the wheel frame to lift. The positioning and moving system of the wall plastering machine can automatically adjust the distance between the vehicle body and the plastering device and the wall, ensure the continuous plastering operation, solve the problem that the existing plastering machine needs to be frequently installed and adjusted manually in the plastering operation process, and greatly improve the plastering operation efficiency.)

1. Location mobile system of wall plastering machine, including the flatbed, the flatbed includes dull and stereotyped frame and sets up the first wheel mechanism in dull and stereotyped frame bottom, first wheel mechanism is used for adjusting the steering wheel mechanism of flatbed advancing direction and setting up the first drive wheel mechanism that is used for driving the flatbed to advance and move back in dull and stereotyped frame bottom, its characterized in that including setting up at dull and stereotyped frame front end:

the flat car further comprises a second wheel mechanism arranged at the bottom of the flat car frame and used for adjusting the distance between the flat car and a plastered wall surface, a first distance measuring sensor used for detecting the distance between the front part of the side surface of the flat car frame and the plastered wall surface, a second distance measuring sensor used for detecting the distance between the rear part of the side surface of the flat car frame and the plastered wall surface, a third distance measuring sensor used for detecting the distance between the front end of the flat car frame and the front wall surface when the flat car moves forwards, and a fourth distance measuring sensor used for detecting the distance between the rear end of the flat car frame and the rear wall surface when the flat car moves backwards, wherein the second wheel mechanism comprises a wheel frame arranged below the flat car frame, an unpowered wheel arranged on one side of the wheel frame, a second driving wheel mechanism arranged on the other side of the wheel frame and an electric cylinder group arranged on the flat car frame and used for;

the positioning and moving system of the wall plastering machine further comprises a first translation device, a lifting device, a second translation device and a motor controller;

the first translation device comprises a screw rod and a guide rod which are arranged on the flat frame and are parallel to the front and back directions of the flat frame, a translation sliding plate which is in threaded fit with the screw rod and is in sliding fit with the wire guide rod, and a first motor which is arranged on the flat frame and drives the screw rod to rotate;

the lifting device comprises a vertical frame vertically arranged on the translational sliding plate, a vertical guide rail vertically arranged on the translational sliding plate, a lifting sliding plate arranged on the vertical guide rail and in up-and-down sliding fit with the vertical guide rail, and a lifting power mechanism for driving the lifting sliding plate to move up and down along the vertical guide rail, wherein the upper end of the vertical guide rail is fixed on the vertical frame;

the second translation device comprises a supporting plate arranged on the lifting sliding plate, an electric push rod arranged on the supporting plate and used for adjusting the distance between a plastering device of the wall plastering machine and the wall surface, and a fifth distance measuring sensor used for detecting the distance between the plastering device and the plastered wall surface;

the first sensor, the second sensor, the third sensor, the fourth sensor and the fifth sensor are respectively connected with a signal input interface of the motor controller through leads, and a signal output interface of the motor controller is respectively connected with control signal input ends of the steering wheel mechanism, the first driving wheel mechanism, the electric cylinder group, the second driving wheel mechanism and the lifting power mechanism through leads.

2. A positioning and moving system of a wall plastering machine according to claim 1, characterized in that: the lifting power mechanism comprises a guide wheel arranged at the top of the vertical frame, a second motor arranged on the translational sliding plate, a grooved wheel arranged at the end part of a rotating shaft of the second motor and a steel rope, one end of the steel rope is fixed in the grooved wheel, and the other end of the steel rope is connected with the lifting sliding plate through the guide wheel.

3. A positioning and moving system of a wall plastering machine according to claim 1, characterized in that: the vertical frame is formed by connecting a plurality of sections through bolts, the vertical guide rail is cylindrical, the vertical guide rail is formed by connecting a plurality of sections through threads, and the supporting plate is fixed on the lifting sliding plate through bolts.

Technical Field

The invention relates to the technical field of building construction, in particular to a wall plastering device.

Background

The wall plastering refers to surface layer engineering of plastering cement mortar, mixed mortar and the like on a wall. The plastering work of the indoor and outdoor wall is a work after the construction of the building structure is finished, and the scientific plastering work can play the functions of moisture prevention, weathering prevention, heat insulation and the like, thereby preventing the wall body of the building from being eroded by wind, rain, snow and the like.

In the prior art, wall plastering is usually manually finished, the construction efficiency is low, the labor intensity is high, and especially, outdoor wall plastering still has high safety risk, so that an automatic device capable of replacing manual plastering needs to be developed. The existing plastering machine moves up and down along a vertical guide rail under a fixed state, needs to be manually positioned and installed before operation to fix the plastering machine, cannot move transversely, is poor in operation flexibility, needs to be manually and transversely transferred after vertical plastering is performed, is remounted and positioned again, cannot continue plastering operation, cannot continuously and automatically operate, and is low in working efficiency.

Disclosure of Invention

In view of this, the present invention provides a positioning and moving system for a wall plastering machine, so as to solve the technical problems of manual installation and positioning required before the work of the existing plastering machine and low working efficiency.

The invention relates to a positioning and moving system of a wall plastering machine, which comprises a flat car, wherein the flat car comprises a flat car frame and a first wheel mechanism arranged at the bottom of the flat car frame, and the first wheel mechanism comprises a steering wheel mechanism arranged at the front end of the flat car frame and used for adjusting the advancing direction of the flat car and a first driving wheel mechanism arranged at the bottom of the flat car frame and used for driving the flat car to advance and retreat;

the flat car further comprises a second wheel mechanism arranged at the bottom of the flat car frame and used for adjusting the distance between the flat car and a plastered wall surface, a first distance measuring sensor used for detecting the distance between the front part of the side surface of the flat car frame and the plastered wall surface, a second distance measuring sensor used for detecting the distance between the rear part of the side surface of the flat car frame and the plastered wall surface, a third distance measuring sensor used for detecting the distance between the front end of the flat car frame and the front wall surface when the flat car moves forwards, and a fourth distance measuring sensor used for detecting the distance between the rear end of the flat car frame and the rear wall surface when the flat car moves backwards, wherein the second wheel mechanism comprises a wheel frame arranged below the flat car frame, an unpowered wheel arranged on one side of the wheel frame, a second driving wheel mechanism arranged on the other side of the wheel frame and an electric cylinder group arranged on the flat car frame and used for;

the positioning and moving system of the wall plastering machine further comprises a first translation device, a lifting device, a second translation device and a motor controller;

the first translation device comprises a screw rod and a guide rod which are arranged on the flat frame and are parallel to the front and back directions of the flat frame, a translation sliding plate which is in threaded fit with the screw rod and is in sliding fit with the wire guide rod, and a first motor which is arranged on the flat frame and drives the screw rod to rotate;

the lifting device comprises a vertical frame vertically arranged on the translational sliding plate, a vertical guide rail vertically arranged on the translational sliding plate, a lifting sliding plate arranged on the vertical guide rail and in up-and-down sliding fit with the vertical guide rail, and a lifting power mechanism for driving the lifting sliding plate to move up and down along the vertical guide rail, wherein the upper end of the vertical guide rail is fixed on the vertical frame;

the second translation device comprises a supporting plate arranged on the lifting sliding plate, an electric push rod arranged on the supporting plate and used for adjusting the distance between a plastering device of the wall plastering machine and the wall surface, and a fifth distance measuring sensor used for detecting the distance between the plastering device and the plastered wall surface;

the first sensor, the second sensor, the third sensor, the fourth sensor and the fifth sensor are respectively connected with a signal input interface of the motor controller through leads, and a signal output interface of the motor controller is respectively connected with control signal input ends of the steering wheel mechanism, the first driving wheel mechanism, the electric cylinder group, the second driving wheel mechanism and the lifting power mechanism through leads.

Furthermore, the lifting power mechanism comprises a guide wheel arranged at the top of the vertical frame, a second motor arranged on the translational sliding plate, a grooved wheel arranged at the end part of a rotating shaft of the second motor and a steel rope with one end fixed in the grooved wheel and the other end connected with the lifting sliding plate through the guide wheel.

Furthermore, the vertical frame is formed by connecting a plurality of sections through bolts, the vertical guide rail is cylindrical, the vertical guide rail is formed by connecting a plurality of sections through threads, and the supporting plate is fixed on the lifting sliding plate through bolts.

The invention has the beneficial effects that:

the positioning and moving system of the wall plastering machine can automatically adjust the distance between the vehicle body and the plastering device and the wall, ensure the continuous plastering operation, solve the problem that the existing plastering machine needs to be frequently installed and adjusted manually in the plastering operation process, and greatly improve the plastering operation efficiency.

Drawings

Fig. 1 is a schematic perspective view of a positioning and moving system of a wall plastering machine;

FIG. 2 is a schematic perspective view of another perspective view of the positioning and moving system of the wall plastering machine;

fig. 3 is a schematic bottom-side perspective view of the flatbed.

Detailed Description

The invention is further described below with reference to the figures and examples.

This embodiment wall plastering machine's location mobile system includes the flatbed, the flatbed includes flatbed frame 1 and sets up the first wheel mechanism in the flatbed frame bottom, first wheel mechanism is used for adjusting the steering wheel mechanism 2 of flatbed advancing direction and sets up the first driving wheel mechanism 3 that is used for driving the flatbed to advance and move back in the flatbed frame bottom including setting up at the flatbed frame front end. The steering wheel mechanism in this embodiment comprises a bogie 201 hinged to the front end of the flatbed frame, a steering wheel 202 arranged on the bogie, and an electric cylinder 204 for pushing the bogie to rotate around a hinge shaft 203, although the steering wheel mechanism can also take other forms in the prior art in different embodiments. In this embodiment, the first driving wheel mechanism includes a first driving wheel set 301, a third motor 302 and a first transmission gear set 303 for transmitting the power output by the third motor to the transmission shaft of the first driving wheel set, but in different embodiments, the first driving wheel mechanism may also take other forms in the prior art.

In this embodiment, the flatbed further comprises a second wheel mechanism arranged at the bottom of the flatbed frame for adjusting the distance between the flatbed and the plastered wall surface, a first distance measuring sensor 4 for detecting the distance between the front part of the side surface of the flatbed frame and the plastered wall surface, a second distance measuring sensor 5 for detecting the distance between the rear part of the side surface of the flatbed frame and the plastered wall surface, a third distance measuring sensor 6 for detecting the distance between the front end of the flatbed frame and the front wall surface when the flatbed moves forward, and a fourth distance measuring sensor 7 for detecting the distance between the rear end of the flatbed frame and the rear wall surface when the flatbed moves backward, the second wheel mechanism comprises a wheel frame 8 arranged below the flatbed frame, a non-powered wheel 9 arranged at one side of the wheel frame, a second driving wheel mechanism 10 arranged at the other side of the wheel frame, and an electric cylinder group 11 arranged on the flatbed frame for driving the wheel frame to, the electric cylinder group 11 in this embodiment is composed of four electric cylinders distributed in a rectangular shape. In this embodiment, the second driving wheel mechanism 10 includes a second driving wheel set 1001, a fourth motor 1002 and a second transmission gear set 1003 for transmitting the power output by the fourth motor to the transmission shaft of the second driving wheel set, but in different embodiments, the second driving wheel mechanism may also take other forms in the prior art.

The positioning and moving system of the wall plastering machine in the embodiment further comprises a first translation device, a lifting device, a second translation device and a motor controller.

The first translation device comprises a screw rod 12 and a guide rod 13 which are arranged on the flat frame and are parallel to the front and back directions of the flat frame, a translation sliding plate 14 which is in threaded fit with the screw rod and is in sliding fit with the wire guide rod, and a first motor 15 which is arranged on the flat frame and drives the screw rod to rotate. In the embodiment, the first motor and the screw rod are in gear transmission, and in different embodiments, the first motor and the screw rod can also transmit power in other modes.

The lifting device comprises a vertical frame 16 vertically arranged on the translational sliding plate, a vertical guide rail 17 vertically arranged on the translational sliding plate and with the upper end fixed on the vertical frame, a lifting sliding plate 18 arranged on the vertical guide rail and in up-and-down sliding fit with the vertical guide rail, and a lifting power mechanism driving the lifting sliding plate to move up and down along the vertical guide rail. In this embodiment, the lifting power mechanism includes a guide wheel 19 disposed at the top of the stand, a second motor 20 disposed on the translational sliding plate, a grooved wheel 21 disposed at the end of the rotating shaft of the second motor, and a steel cable 22 having one end fixed in the grooved wheel and the other end connected to the lifting sliding plate via the guide wheel. In the specific implementation, the end of the steel rope can be provided with a hook or a lock catch to facilitate the connection with the lifting sliding plate and the disassembly. And in different embodiments, the lifting power mechanism can also adopt other forms in the prior art.

The second translation device comprises a supporting plate 23 arranged on the lifting sliding plate, an electric push rod 25 arranged on the supporting plate and used for adjusting the distance between a plastering device 24 of the wall plastering machine and the wall surface, and a fifth distance measuring sensor 26 used for detecting the distance between the plastering device and the plastered wall surface, wherein the electric push rod is parallel to the width direction of the flat plate vehicle frame.

The first sensor, the second sensor, the third sensor, the fourth sensor and the fifth sensor are respectively connected with a signal input interface of the motor controller 27 through conducting wires, and a signal output interface of the motor controller 27 is respectively connected with control signal input ends of the steering wheel mechanism, the first driving wheel mechanism, the electric cylinder group, the second driving wheel mechanism and the lifting power mechanism through conducting wires.

The working principle of the positioning and moving system of the wall plastering machine in the embodiment is as follows:

the method for adjusting the position of the vehicle body and the position of the plastering device before plastering comprises the following steps:

the first step is as follows: placing the flat car at a certain distance from the plastered wall surface, controlling a third motor 302 of a first driving wheel mechanism by a motor controller to drive a first driving wheel set 301 to drive the flat car to move forward, processing detection data of a first sensor and a second sensor by the motor controller during the moving process of the flat car, and if the distance difference between the front part of the side surface and the rear part of the side surface of the flat car frame detected by the first sensor and the second sensor is not within a set threshold range, indicating that the moving direction of the flat car and the body of the flat car are not parallel to the plastered wall surface, controlling an electric cylinder 204 of a steering wheel mechanism by the motor controller to drive a bogie 201 to rotate around a hinge shaft 203 to adjust the moving direction of the flat car until the distance difference between the front part of the side surface and the rear part of the side surface detected by the first sensor and the second sensor is within the set threshold range, so as to ensure that the body of the flat car is parallel to the plastered wall surface. And in the process that the flat car advances, the controller also judges whether the flat car collides with a wall surface according to the detection values of the first sensor, the second sensor and the third sensor so as to ensure the driving safety.

The second step is that: under the condition that the advancing direction of the flat car is parallel to the plastered wall surface, the motor controller controls the third motor to stop working according to whether the distance between the side surface of the flat car frame and the plastered wall surface detected by the first sensor and the second sensor is within a set threshold range, if the detected distance is not within the set threshold range, the motor controller controls the telescopic rods of the electric cylinders in the electric cylinder group 11 to extend out simultaneously so as to raise the height of the flat car frame and separate the wheels of the first wheel mechanism from the ground, and then the fourth motor 1002 controlling the second driving wheel mechanism 10 drives the second driving wheel set 1001 so as to enable the distance between the flat car frame and the plastered wall surface to be within the set threshold range. And then the telescopic rods of the electric cylinders in the electric cylinder group 11 are controlled to retract simultaneously, so that the wheels of the first wheel mechanism contact the ground again.

The third step: the motor controller controls the electric push rod 25 to drive the plastering device 24 to move forwards, so that the distance of the discharge port of the plastering device 24 for feeding the plastered wall surface is in a set threshold range.

The positions of the vehicle body and the plastering device are adjusted to the set range through the steps, then the motor controller can control the flat car to move forward or backward for plastering, and mortar is discharged from the mortar outlet groove 241 of the plastering device 24 and is plastered on the wall surface by the plastering plate 242 in the plastering process. When the third sensor detects that the distance from the front end of the flat car to the front wall surface reaches a set threshold range in the process of moving the flat car forwards and plastering, or when the fourth sensor detects that the distance from the rear end of the flat car to the rear wall surface reaches a set threshold range in the process of moving the flat car backwards and plastering, the motor controller firstly controls the first motor 15 of the first translation device to drive the screw rod 12 to rotate, so that the plastering device 24 moves from one end of the flat car frame to the other end, and thus, one-time wall surface transverse movement plastering is completed. After finishing one-time wall surface transverse moving plastering, the motor controller controls the second motor 20 of the lifting power mechanism to drive the lifting slide plate to move upwards for a set distance, thereby carrying out the next wall surface transverse moving plastering operation.

The positioning and moving system of the wall plastering machine in the embodiment can automatically adjust the distance between the vehicle body and the plastering device and the wall, ensures the continuous plastering operation, solves the problem that the existing plastering machine needs to be installed and adjusted manually frequently in the plastering operation process, and can greatly improve the plastering operation efficiency.

As an improvement to the above embodiment, the vertical frame is composed of a plurality of sections connected by bolts, the vertical guide rail is cylindrical, the vertical guide rail is composed of a plurality of sections connected by threads, and the support plate is fixed on the lifting slide plate by bolts. The improvement enables the positioning and moving mechanism of the plastering machine to be detachable and convenient to transport.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.