Mortar spraying and plastering integrated robot for wall construction

The mortar spraying and plastering integrated robot is designed to automate wall mortar construction, cost-effectively replacing manual labor. Firstly, the wall mortar construction process including spraying, micro-plastering, and monolithic plastering is proposed to enhance the efficiency and solidity of mortar application. Secondly, the robot posture model is established, and sources of error are analyzed to ensure that the robot remains parallel to the wall. Thirdly, a model of scraper angle and plaster compaction force is presented, concluding that keeping scraper angles between 12° and 37° can achieve sufficient plaster compaction force. Subsequently, the effect of construction speed on plastering thickness is discussed, enabling rapid adjustment of construction speed to thickness requirements. Finally, a LiDAR-based plastering quality inspection method compatible with existing wall surface quality acceptance standards is presented. Experimental results confirm that the plastering performance of the robot meets the quality standards with an efficiency of up to 50 m2/h. •A robot is developed for integrated mortar spraying and plastering.•Sufficient compaction force is obtained when a scraper angle is from 12° to 37°.•The relationship between construction speed and plaster thickness is established.•A LiDAR-based method for construction quality inspection and evaluation is adopted.•Robot-plastered walls meet standards in flatness, verticality, and thickness.