CN116696002A - Outer wall construction robot and outer wall construction system - Google Patents
Outer wall construction robot and outer wall construction system Download PDFInfo
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- CN116696002A CN116696002A CN202211159887.XA CN202211159887A CN116696002A CN 116696002 A CN116696002 A CN 116696002A CN 202211159887 A CN202211159887 A CN 202211159887A CN 116696002 A CN116696002 A CN 116696002A
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- 238000010276 construction Methods 0.000 title claims abstract description 126
- 230000007246 mechanism Effects 0.000 claims abstract description 327
- 238000005507 spraying Methods 0.000 claims abstract description 44
- 238000000576 coating method Methods 0.000 claims description 106
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- 238000006073 displacement reaction Methods 0.000 claims description 8
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- 238000000889 atomisation Methods 0.000 claims description 5
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- 230000008569 process Effects 0.000 description 26
- 230000033001 locomotion Effects 0.000 description 25
- 238000000926 separation method Methods 0.000 description 21
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Classifications
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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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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The application relates to the technical field of building equipment, in particular to an outer wall construction robot and an outer wall construction system. The application discloses an outer wall construction robot, comprising: a basket mechanism; the wall leaning mechanism is connected with the hanging basket mechanism and is used for leaning against the outer wall to enable the hanging basket mechanism to be arranged at intervals with the outer wall; the feeding mechanism is arranged in the hanging basket mechanism; the actuating device comprises a mechanical arm, an additional shaft and an actuating mechanism, wherein the additional shaft is arranged on the hanging basket mechanism and extends in the horizontal direction, the mechanical arm is movably arranged on the additional shaft and can reciprocate along the extending direction of the additional shaft, and the actuating mechanism is detachably arranged on the mechanical arm; the feeding mechanism is connected with the executing mechanism and feeds the executing mechanism, and the executing mechanism is used for executing the operation on the outer wall. The external wall construction robot has a large operation range, and can finish the small-space operation of external wall corners of characteristic spraying of internal corners, concave surfaces, balconies, windows, air conditioner cantilever plates, structure connecting plates and the like.
Description
Technical Field
The application relates to the technical field of building equipment, in particular to an outer wall construction robot and an outer wall construction system.
Background
Along with the aging problem of construction workers, the labor intensity of construction is high, the action is repeated and the like, and the difficulty and risk of the high-altitude operation of the outer wall are added, more young people are reluctant to do the operation, and the cost of the construction operation of the outer wall is increased due to the annual rising of the wages of the workers.
The existing outer wall construction equipment in the market mainly comprises a manual hanging basket which needs manual operation, so that the technical level of operators can greatly influence the construction quality, and the construction efficiency can also be influenced by the equipment and the operators. The operation range of the traditional outer wall construction robot is mainly a plane wall, and common characteristics such as an internal corner, a concave surface, a balcony, a window, an air conditioner cantilever plate, a structural connecting plate and the like cannot be covered.
Disclosure of Invention
The invention provides an outer wall construction robot and an outer wall construction system, and aims to enlarge the operation range of the outer wall construction robot.
In a first aspect, an embodiment of the present invention provides an exterior wall construction robot, including: a basket mechanism; the wall leaning mechanism is connected with the hanging basket mechanism and is used for leaning against the outer wall so as to enable the hanging basket mechanism to be arranged at intervals with the outer wall; the feeding mechanism is arranged in the hanging basket mechanism; the actuating device comprises a mechanical arm, an additional shaft and an actuating mechanism, wherein the additional shaft is arranged on the hanging basket mechanism and extends in the horizontal direction, the mechanical arm is movably arranged on the additional shaft and can reciprocate along the extending direction of the additional shaft, and the actuating mechanism is detachably arranged on the mechanical arm; the feeding mechanism is connected with the executing mechanism and feeds the executing mechanism, and the executing mechanism is used for executing operation on the outer wall.
According to the outer wall construction robot disclosed by the embodiment of the invention, the executing mechanism is detachably arranged on the mechanical arm, so that the executing mechanism is replaceable, the executing device is convenient to execute various types of operations, and in actual work, the executing mechanism can be replaced according to actual requirements so as to realize high-altitude operations such as rolling coating, spraying, cleaning and the like, and one machine is multipurpose. In addition, the mechanical arm is movably arranged on the additional shaft, so that the operation range can be enlarged, and the operation of the corner small space of the outer wall, which is sprayed by the characteristics of an internal corner, a concave surface, a balcony, a window, an air conditioner cantilever plate, a structure connecting plate and the like, can be completed.
According to the foregoing embodiment of the first aspect of the present invention, the exterior wall construction robot further includes a first detection mechanism for recognizing the size and shape characteristics of the exterior wall and constructing a three-dimensional model, and a second detection mechanism for detecting the environment below the basket mechanism, which are disposed up and down in the height direction of the basket mechanism, the execution means executing the operation based on the three-dimensional model.
In the above embodiment, through the first detection mechanism arranged above the hanging basket mechanism, the outer wall construction robot automatically recognizes the size and shape characteristics of the wall body in the lifting process of the hanging basket mechanism, then automatically constructs a three-dimensional model, such as a 3D point cloud image, and finally automatically generates a mechanical arm spraying track according to the point cloud image by a control system, thereby realizing unmanned construction process. Through the second detection mechanism arranged below the hanging basket mechanism, the hanging basket mechanism can give an alarm and pause automatic operation when an obstacle appears below in the descending process of the hanging basket mechanism and automatically complete operation when the ground is detected below, so that the construction process is more complete.
According to any one of the foregoing embodiments of the first aspect of the present invention, the basket mechanism includes: a basket frame including a mounting part for mounting the executing device; the hanging assembly comprises a traction piece connecting assembly and a telescopic assembly, wherein the traction piece connecting assembly is arranged above the telescopic assembly and is connected with the telescopic assembly, the traction piece connecting assembly is used for being connected with a traction piece, the telescopic assembly comprises a plurality of connecting parts connected with the hanging basket frame, the connecting parts are uniformly distributed along the periphery of the hanging basket frame, and each connecting part is provided with a degree of freedom stretching along the length direction of the connecting part; the lifting assembly is arranged on the traction piece connecting assembly and is used for driving the hanging assembly and the hanging basket frame to ascend or descend along with the traction piece; the installation part is positioned on one side of the suspension assembly, so that the execution device avoids the suspension assembly to execute the operation.
In the above embodiment, the installation part is arranged on the hanging basket frame, so that the execution device can be positioned on one side of the hanging assembly, the hanging assembly is avoided to execute operation, the execution device can be ensured to have enough activity space, and the hanging basket mechanism can have higher hanging basket stability in the movement process. The hanging assembly comprises a plurality of connecting parts which are uniformly distributed along the circumference of the hanging basket frame, the hanging assembly and the hanging basket frame are stably connected and kept balanced, each connecting part is provided with a degree of freedom which stretches out and draws back along the length direction of the hanging assembly, so that the lifting assembly can quickly level through the hanging assembly after being deflected in the process of driving the hanging assembly and the hanging basket frame to ascend or descend along with the traction piece, and the balance stability of the hanging basket mechanism is ensured, thereby ensuring the operation quality of the executing device.
According to any one of the foregoing embodiments of the first aspect of the present invention, the telescopic assembly includes a plurality of telescopic adjusting members, the telescopic adjusting members being capable of rigidly adjusting their lengths, one end of each of the telescopic adjusting members being the connecting portion, and the other end of each of the telescopic adjusting members being a hinge portion; the hinge parts are arranged close to the traction piece connecting component relative to the connecting parts, at least two hinge parts are hinged to each other to form hinge joints, the hinge joints are connected with each other, and the telescopic component is connected with the traction piece connecting component through the hinge joints.
In the above-mentioned embodiment, flexible subassembly includes a plurality of flexible regulating parts, flexible regulating part can adjust self length rigidly, flexible regulating part one end is connecting portion, flexible regulating part other end is articulated portion, each flexible regulating part bottom is along hanging flower basket frame circumference evenly distributed and be connected with hanging flower basket frame promptly, the top is assembled in order to be used for being connected with traction element coupling assembling and forms single hoisting point structure, each flexible regulating part all can be flexible along self length mode, so that can adjust the gradient of hanging flower basket frame in a flexible way, for example when hanging flower basket frame slope down left, can realize hanging flower basket frame leveling through shortening the connecting portion of being connected with hanging flower basket frame left side, or the extension also can realize hanging flower basket frame leveling with the connecting portion of hanging flower basket frame right side connection, the leveling mode is nimble convenient.
According to any one of the foregoing embodiments of the first aspect of the present application, the wall-leaning mechanism includes: a connection unit extending in a horizontal direction; and at least two wall units, at least two wall units along the horizontal direction interval connect in the connecting unit, every wall unit extends along vertical direction and sets up, every wall unit includes: the fixed wall-leaning assembly is fixedly connected with the connecting unit; the telescopic wall leaning assembly is movably arranged on one side of the fixed wall leaning assembly and can reciprocate along the length direction of the fixed wall leaning assembly; the upper guide piece is arranged at the upper end of the fixed wall leaning component; and the lower guide piece is arranged at the lower end of the telescopic wall leaning component, and the fixed wall leaning component, the telescopic wall leaning component, the upper guide piece and the lower guide piece are used for propping against the building outer wall.
In the above embodiment, the wall units are connected by the connecting units, so that the adjacent wall units are fixed to form a stable structure, and the overall mobility and the trafficability of the wall unit are improved. The wall leaning unit comprises a fixed wall leaning component and a telescopic wall leaning component movably arranged on one side of the fixed wall leaning component, when the wall leaning mechanism is in a transportation state, the telescopic wall leaning component is contracted and arranged relative to the fixed wall leaning component, so that the distance between an upper guide piece arranged at the upper end of the fixed wall leaning component and a lower guide piece arranged at the lower end of the telescopic wall leaning component is shortened, and the transportation is convenient; when the wall leaning mechanism stretches and sets up at the telescopic wall leaning component of operating condition for fixed wall leaning component extension for install in the fixed upper guide of wall leaning component upper end and install in the distance increase between the lower guide of telescopic wall leaning component lower extreme, be convenient for lean on the wall mechanism through all kinds of characteristic surfaces, through the fixed structural style that leans on wall component and telescopic wall leaning component to combine, make wall leaning mechanism can fast switch over at transportation state and operating condition, need not to dismantle, made things convenient for the user to operate, promoted personnel's work efficiency. In addition, through the combined structural mode of the guide piece and the wall leaning component, when the wall leaning mechanism passes through various types of characteristic surfaces, such as a continuous surface, a window opening surface, a cantilever plate/connecting plate surface and a balcony characteristic surface, at least two structures are always contacted on the characteristic surface, and the condition that the wall leaning mechanism does not suddenly lose a supporting surface occurs, so that the outer wall construction robot passes through the characteristic surface more stably, the trafficability of the working surface is improved, and the working coverage rate is increased.
According to any of the foregoing embodiments of the first aspect of the present application, the connection unit includes: the rack fixing rod is of a hollow structure and comprises two open ends which are oppositely arranged along the horizontal direction; the adjusting rods are in clearance fit with the inner wall of the rack fixing rod, the two adjusting rods are respectively and symmetrically arranged on two sides of the rack fixing rod along the horizontal direction, one end of each adjusting rod extends into the opening end, the other end of each adjusting rod is connected with the wall leaning unit, each adjusting rod is provided with an exposed section exposed out of the rack fixing rod, and the distance between two adjacent wall leaning units can be adjusted by adjusting the length of the exposed section; the locking piece is used for locking the position of the adjusting rod relative to the rack fixing rod; and the clamp assembly is used for adjusting a gap between the adjusting rod and the rack fixing rod.
In the above embodiment, the connection unit is provided with the adjusting rod extending into the frame fixing rod, the distance between two adjacent wall leaning units can be adjusted by adjusting the length of the exposed section of the adjusting rod relative to the frame fixing rod, and the position of the adjusting rod relative to the frame fixing rod is locked by the locking piece, so that the distance between the two wall leaning units can be adjusted, and the wall leaning mechanism of the embodiment of the application can be conveniently applied to hanging basket mechanisms with various sizes. Through setting up clamp assembly, adjust the clearance between regulation pole and the frame dead lever, cooperation capture piece locking regulation pole for the position of frame dead lever for the connecting unit both can the quick adjustment width, guaranteed again that the connection of regulation pole and frame dead lever is reliable and the zero clearance rocks, stable in structure is firm, safe and reliable.
According to any of the foregoing embodiments of the first aspect of the present invention, the feeding mechanism includes: the charging basket assembly comprises a first charging basket and a second charging basket which are respectively arranged along the front-back direction of the outer wall construction robot, and the first charging basket and the second charging basket are symmetrically distributed relative to the center of gravity of the outer wall construction robot; the feeding pump is respectively communicated with the first charging basket and the second charging basket through connecting pipelines with the same length and is used for sucking paint from the charging basket assembly.
In the embodiment, the first charging bucket and the second charging bucket are symmetrically distributed relative to the gravity center of the outer wall construction robot, so that on one hand, space is reserved to enable the steel wire rope and the composite cable to pass through at the gravity center point, and the outer wall construction robot is ensured not to be unbalanced after being lifted; on the other hand, the gravity center is not changed along with the reduction of paint in the charging basket when the operation is carried out. The feed pump is communicated with the first charging basket and the second charging basket respectively through connecting pipelines with the same length and absorbs paint, so that the same discharge amount of the two charging baskets can be ensured, the gravity center of the hanging basket mechanism is prevented from being changed due to different discharge amounts of the two charging baskets, and further the conditions of inclination, deflection and the like are caused.
According to any of the foregoing embodiments of the first aspect of the present invention, the feeding mechanism further includes: the feeding pump is respectively communicated with the first charging barrel and/or the second charging barrel through the damper, and the damper is used for reducing vibration of the connecting pipeline along the direction perpendicular to the flowing direction of the paint; a gas storage tank; and the booster valve is arranged in the air storage tank, and the feed pump can be respectively communicated with the first charging basket and/or the second charging basket through the booster valve.
In the embodiment, the feeding pulse of the feeding pump can be effectively reduced through the damper, and the uneven spraying of the emulsion paint with strong fluidity can be avoided; the pressurizing valve and the air storage tank are used for increasing the air pressure of the pump material, so that the blockage of a pipeline by the relief paint with poor fluidity can be avoided.
According to any of the foregoing embodiments of the first aspect of the present invention, the feeding mechanism further includes: a liquid flowmeter installed on the connecting pipeline for monitoring the flow of the paint; the pump body air proportional valve is connected with the feed pump and used for controlling the pump pressure; and the spray gun air proportional valve is connected with the feed pump and used for controlling the atomization degree of the coating.
In the above-mentioned embodiment, use liquid flowmeter control coating flow, control the pump pressure through pump body air proportional valve, control the coating atomization degree through spray gun air proportional valve to make this feeding mechanism can satisfy the spraying of different coating such as emulsion paint, polychrome lacquer, relief paint, equipment commonality is high, need not frequent switching equipment during the construction, effectively reduces disposable investment cost and conversion cost.
According to any one of the foregoing embodiments of the first aspect of the present invention, the actuator further includes a quick-change assembly, and the actuator includes a spraying mechanism and/or a roll-coating mechanism, and the spraying mechanism or the roll-coating mechanism is detachably connected to the distal end of the mechanical arm through the quick-change assembly.
In the above embodiment, the quick-change assembly is provided, so that the execution mechanism can be detachably mounted at the tail end of the mechanical arm to finish the operation along with the movement of the mechanical arm, when the spraying operation needs to be executed, the execution mechanism is replaced by the spraying mechanism through the quick-change assembly, and when the rolling operation needs to be executed, the execution mechanism is replaced by the rolling mechanism through the quick-change assembly, so that the spraying and automatic color separation rolling function is realized, and the adaptability of the equipment is wider.
According to any of the foregoing embodiments of the first aspect of the present invention, the roll coating mechanism comprises: the roller assembly is used for rolling and coating the outer wall; the elastic floating assembly comprises a mounting seat, a movable piece and a first elastic piece, wherein the movable piece is connected with the roller assembly, the movable piece can move along the radial direction of the roller assembly relative to the mounting seat, and the movable piece is elastically connected with the mounting seat through the first elastic piece.
In the above embodiment, the elastic floating assembly is connected with the roller assembly, so that when the roller assembly is abutted against the surface to be worked, the roller assembly is not moved by the resistance of the surface to be worked, at this time, the distance between the elastic floating assembly and the roller assembly is adjusted by the first elastic piece, so that the movable piece can move relative to the radial direction of the roller assembly, and further the roller assembly is flexibly contacted with the surface to be worked, and the pressure and the sticking degree between the roller assembly and the surface to be worked can be adjusted.
According to any of the foregoing embodiments of the first aspect of the present invention, the roll coating mechanism further comprises: the flexible swing assembly comprises a rotating shaft piece, a swing arm and a second elastic piece, wherein the swing arm extends in the axial direction of the roller assembly in parallel, the roller assembly is installed on the swing arm, the swing arm is rotationally connected with the movable piece through the rotating shaft piece, and the second elastic piece is elastically connected with the swing arm.
In the above embodiment, the roll coating mechanism is further provided with a flexible swing assembly, including a rotating shaft member, a swing arm and a second elastic member, the swing arm extends parallel to the axial direction of the roller assembly, the roller assembly is mounted on the swing arm, the swing arm is rotationally connected with the movable member through the rotating shaft member, and the second elastic member elastically connects the swing arm with the rotating shaft member. Preferably, the swing arm is rotationally connected with the movable part through the rotating shaft part, the axial direction of the rotating shaft part is orthogonal with the movement direction of the movable part, the swing arm is rotationally connected with the movable part through the arrangement to be more stable, the operation is simpler and more convenient, the rotation direction and the rotation angle are convenient to control, the roller assembly and the wall surface are guaranteed to be tightly attached, and when the roller coating is carried out, the swing arm is rotationally connected with the movable part to ensure that even if a certain included angle exists between the working surface to be coated and the mechanical arm of the clamping roller coating mechanism, the roller assembly and the working surface to be completely attached can be guaranteed.
According to any of the foregoing embodiments of the first aspect of the present application, the roll coating mechanism further comprises: the visual detection assembly is arranged on the mounting seat and is positioned above the roller assembly, the visual detection assembly is used for acquiring an image of a surface to be worked and processing the image to obtain characteristic information of the surface to be worked, the visual detection assembly can feed back the image of the surface to be worked and the characteristic information of the surface to be worked to an upper computer, and the upper computer can generate a displacement deviation rectifying signal aiming at the rolling mechanism based on the image of the surface to be worked and the characteristic information of the surface to be worked.
In the above embodiment, the roll coating mechanism may be disposed on an outer wall construction robot, and the outer wall construction robot may perform roll coating operation simultaneously when running down along the outer wall. The visual detection component is used for acquiring and processing the image of the surface to be operated to obtain characteristic information of the surface to be operated, feeding the image of the surface to be operated and the characteristic information of the surface to be operated back to the upper computer, generating a displacement deviation correcting signal aiming at the roll coating mechanism based on the image of the surface to be operated and the characteristic information of the surface to be operated, improving the accuracy of the self operation position of the roll coating mechanism when the roll coating mechanism performs the roll coating operation, and being convenient for precisely controlling the operation range of the roll coating mechanism. The visual detection assembly can ensure that the initial position of the roll coating is aligned to the existing side line when the roll coating mechanism of the embodiment of the application performs color separation roll coating on the surface to be processed, thereby ensuring the straightness of the color separation line. The complex process that the beautiful line paper is stuck to ensure the color separation line to be neat when the color separation is rolled and coated in the prior art and then torn off after the construction is finished is simplified. The roller coating mechanism provided by the embodiment of the application can ensure accurate and tidy color separation lines, and compared with the prior art, the roller coating mechanism is simple in process, effectively shortens working hours and improves construction efficiency.
According to any one of the foregoing embodiments of the first aspect of the present invention, the visual detection component is configured to perform color contrast processing and/or depth contrast processing according to the image of the surface to be worked to obtain the characteristic information of the surface to be worked, where the characteristic information of the surface to be worked includes at least one of the following: edge line characteristics of a rolled coating area, corner point characteristics of the rolled coating area, existing separation seam edge line characteristics, window frame corner point characteristics and window frame edge line characteristics.
In the above embodiment, the visual detection component can generate some characteristic information of the surface to be operated corresponding to the edge and the corner point through color contrast processing and/or depth contrast processing, so that the edge generated by subsequent roll coating is overlapped and leveled with the edge of the rolled coating area, the edge of the window frame, and the like, and the occurrence of the edge overlapping dislocation phenomenon is reduced.
According to any one of the foregoing embodiments of the first aspect of the present invention, the roll coating mechanism further includes a detecting element for generating detection information reflecting the pressure between the roller assembly and the outer wall, and the executing device controls the roll coating mechanism to execute the operation on the outer wall with constant force by a preset control method based on the detection result of the detecting element.
In the embodiment, the pressure between the roller assembly and the outer wall is detected through the detection element, and then the roller coating mechanism is controlled to execute operation on the outer wall with constant force based on a preset control method, so that uneven roller coating of the mechanical arm caused by the contact pressure change between the roller assembly and the wall surface in the construction process can be avoided, and the visual chromatic aberration of the finished outer wall is caused.
In a second aspect, an embodiment of the present application provides an exterior wall construction system, including: the suspension mechanism is fixed at the top of the outer wall; an outer wall construction robot according to any one of the foregoing embodiments of the first aspect of the present application is used to perform a work on an outer wall, and a traction member having one end connected to the outer wall construction robot and the other end connected to the suspension mechanism, the outer wall construction robot being allowed to climb or descend along the outer wall by traction of the traction member.
According to the outer wall construction system provided by the embodiment of the application, the outer wall construction robot is suspended outside the outer wall through the traction piece and the suspension mechanism to execute high-altitude operation, the execution device executes various operation types, and in actual operation, the execution mechanism can be replaced according to actual requirements to realize high-altitude operation such as rolling coating, spraying, cleaning and the like, so that one machine is multipurpose. In addition, the mechanical arm is movably arranged on the additional shaft, so that the operation range can be enlarged, and the problem of inconvenient operation of the corner small space of the outer wall of the characteristic spraying of the internal corner, the concave surface, the balcony, the window, the air conditioner cantilever plate, the structure connecting plate and the like can be solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of the overall structure of an outer wall construction robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a first construction state of an outer wall construction robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a second construction state of an outer wall construction robot according to an embodiment of the present invention;
FIG. 4 is a schematic view of an outer wall construction robot for constructing a window and a balcony according to an embodiment of the present invention;
FIG. 5 is a schematic view of an outer wall construction robot for balcony gusset construction according to an embodiment of the present invention;
FIG. 6 is a perspective view of a basket mechanism according to one embodiment of the present invention;
FIG. 7 is a schematic view of a suspension assembly according to an embodiment of the present invention;
FIG. 8 is a perspective view of a wall proximity mechanism in accordance with one embodiment of the present invention;
FIG. 9 is a schematic diagram of a connection unit according to an embodiment of the present invention;
FIG. 10 is a schematic view of a clamp assembly according to one embodiment of the present invention;
FIG. 11 is a schematic view of a feeding mechanism according to an embodiment of the present invention;
FIG. 12 is a schematic perspective view of a roller coating mechanism according to one embodiment of the invention;
FIG. 13 is an exploded perspective view of a roller coating mechanism according to one embodiment of the present invention;
fig. 14 is a schematic view of a scene of a roll-coating application of a roll-coating mechanism according to an embodiment of the present invention;
fig. 15 is a schematic structural view of an external wall construction system according to an embodiment of the present invention.
Reference numerals illustrate:
1000-hanging basket mechanism; 1100-a basket frame; 1110-a mounting portion; 1200-a suspension assembly; 1210-a traction element coupling assembly; 1211-elevator mount; 1220—telescoping assembly; 1221-a connection; 1222-hinge; 1223-articulation node; 1224-telescoping adjustment; 1225-transverse links; 1226-a first connecting plate; 1227-a second tie plate; 1300-a lifting assembly; 1310-a lifter; 1320—a security lock; 1400-rotor mechanism; 1500-vacuum chuck; 2000-wall leaning mechanism; 2100-a connection unit; 2110—a rack fixing bar; 2111-open end; 2112-through hole; 2120-adjusting the rod; 2121-exposed segment; 2122-sliding groove; 2130—a locking element; 2140—a clamp assembly; 2141—a clamp; 2142-telescoping rod; 2143-a platen; 2200-wall units; 2210-fixed wall-rest assembly; 2220-telescoping wall mount assembly; 2221-locking hole; 2230-upper guide; 2240-lower guide; 2250-wall leaning wheel; 2260-locking drive; 2270-locking member; 3000-feeding mechanism; 3100-bucket assembly; 3110-a first barrel; 3120-a second barrel; 3200—a feed pump; 3300-dampers; 3400-an air storage tank; 3500-boost valve; 3600-liquid flow meter; 3700-pump body air proportional valve; 3800-spray gun air proportional valve; 3900-gas flowmeter; 4000-an execution device; 4100—a robotic arm; 4200-additional shaft; 4300—an actuator; 4400-quick change assembly; 5000-a first detection mechanism; 6000-second detection mechanism; 7000-spraying means; 8000-rolling coating mechanism; 8100-roller assembly; 8110-inner feed roll; 8120-rotary feed joint; 8130-roller mount; 8200-elastic floating component; 8210-mount; 8220-a movable member; 8230-a first elastic member; 8240-linear bearings; 8300-flexible swing assembly; 8310—a shaft member; 8320-swing arm; 8330-a second elastic member; 8340-a connecting arm; 8400-visual inspection component; 8410-protective cover; 8420-driving member; 8430-three-dimensional camera; 8500-detecting element; 9000-a suspension mechanism; s1-a first path; s2-a second path; a-balcony spraying surface; b-windowsill spraying surface; c-air conditioner cantilever plate.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination does not exist and is not within the scope of protection claimed by the present invention.
The application provides an outer wall construction robot, which is characterized by comprising: the device comprises a hanging basket mechanism, a wall leaning mechanism, a feeding mechanism and an executing device, wherein the wall leaning mechanism is connected with the hanging basket mechanism and is used for leaning against an outer wall so as to enable the hanging basket mechanism and the outer wall to be arranged at intervals; the feeding mechanism is arranged in the hanging basket mechanism; the actuating device comprises a mechanical arm, an additional shaft and an actuating mechanism, wherein the additional shaft is arranged on the hanging basket mechanism and extends in the horizontal direction, the mechanical arm is movably arranged on the additional shaft and can reciprocate along the extending direction of the additional shaft, and the actuating mechanism is detachably arranged on the mechanical arm; the feeding mechanism is connected with the executing mechanism and feeds the executing mechanism, and the executing mechanism is used for executing operation on the outer wall.
As shown in fig. 1, the exterior wall construction robot of the present application includes: the hanging basket mechanism 1000, the wall-leaning mechanism 2000, the feeding mechanism 3000 and the executing device 4000, wherein the wall-leaning mechanism 2000 is connected with the hanging basket mechanism 1000, and the wall-leaning mechanism 2000 is used for leaning against the outer wall so that the hanging basket mechanism 1000 and the outer wall are arranged at intervals; the feeding mechanism 3000 is arranged in the hanging basket mechanism 1000; the actuator 4000 includes a robot arm 4100, an additional shaft 4200, and an actuator 4300, the additional shaft 4200 is mounted on the basket mechanism 1000 and extends in the horizontal direction, the robot arm 4100 is movably mounted on the additional shaft 4200 and is capable of reciprocating along the extending direction of the additional shaft 4200, and the actuator 4300 is detachably mounted on the robot arm 4100; the feeding mechanism 3000 is connected to the actuator 4300 and feeds the actuator 4300, and the actuator 4300 is used to perform a job on an exterior wall.
According to the outer wall construction robot of the embodiment of the application, the executing mechanism 4300 is detachably mounted on the mechanical arm 4100, so that the executing mechanism 4300 is replaceable, and the executing device 4000 is convenient for executing various kinds of operations. In actual work, the executing mechanism 4300 can be replaced according to actual requirements so as to realize high-altitude operations such as rolling coating, spraying, cleaning and the like, and realize one machine with multiple purposes.
In addition, the mechanical arm 4100 is movably mounted on the additional shaft 4200, so as to expand the working range, referring to fig. 2-5, fig. 2 is a schematic view of a first construction state of the exterior wall construction robot according to an embodiment of the present application, fig. 3 is a schematic view of a second construction state of the exterior wall construction robot according to an embodiment of the present application, fig. 4 is a schematic view of the exterior wall construction robot according to an embodiment of the present application for window and balcony construction, and fig. 5 is a schematic view of the exterior wall construction robot according to an embodiment of the present application for balcony cantilever construction.
As shown in fig. 2 and 3, the outer wall construction robot of the present embodiment may be disposed on the front side, and moved to the left side by the additional shaft 4200, and the posture of the actuator 4300 is adjusted in cooperation with the mechanical arm 4100, so that the side construction operation may be performed, and when the actuator 4300 is the spraying mechanism 7000, the spraying operation may be performed, and when the actuator 4300 is the roll coating mechanism 8000, the roll coating operation may be performed. In fig. 2 and 3, the painting mechanism 7000 is used to match the mechanical arm 4100 with the additional shaft 4200 disposed horizontally, so that the actuator 4300 moves along the first path S1 to implement the left-side internal corner feature operation, moves along the second path S2 to implement the right-side internal corner operation, and implements the concave operation in combination with the first path S1 and the second path S2. The working range of the front surface of the actuating mechanism 4300 is larger, meanwhile, the mechanical arm 4100 can move to two sides of a hanging point of the hanging basket mechanism 1000, and interference between the mechanical arm 4100 and a traction piece is avoided, so that the front surface and the two side surfaces are sprayed in a larger range. Compared with the traditional outer wall construction robot, the robot is compact in structure and can enter a small concave area for operation. Similarly, fig. 4 is a schematic diagram of the working of the external wall construction robot according to the embodiment of the present application on the balcony spraying surface a and the windowsill spraying surface B in the working state. Fig. 5 is a schematic diagram of an outer wall construction robot spraying operation on an air conditioner cantilever board C according to an embodiment of the present application, where an upper plane, a lower plane and a side surface of the air conditioner cantilever board C need to be sprayed, the outer wall construction robot is stopped at one side of the air conditioner cantilever board C, and the swing spraying mechanism 7000 is a nozzle facing downward by using the flexibility of the mechanical arm 4100 and the additional shaft 4200, so as to finish the upper plane spraying of the air conditioner cantilever board C; the robot descends to a certain height, and the swinging spraying mechanism 7000 is in a horizontal state, so that the side spraying of the air conditioner cantilever plate C is finished; the robot continues to descend to air conditioner cantilever plate C below, swings spraying mechanism 7000 and is the nozzle upwards, accomplishes air conditioner cantilever plate C's bottom surface spraying to accomplish air conditioner cantilever plate C's spraying operation. The spraying process of the structural web is similar. And will not be described in detail herein. The outer wall construction robot provided by the embodiment of the application can finish the small space operation of the outer wall corners sprayed by the characteristics of internal corners, concave surfaces, balconies, windows, air conditioner cantilever plates C, structure connecting plates and the like.
Further, the exterior wall construction robot further includes a first detection mechanism 5000 and a second detection mechanism 6000 which are disposed up and down in the height direction of the basket mechanism 1000, the first detection mechanism 5000 is used for recognizing the size and shape characteristics of the exterior wall and constructing a three-dimensional model, the execution device 4000 executes the operation based on the three-dimensional model, and the second detection mechanism 6000 is used for detecting the environment below the basket mechanism 1000. In the above embodiment, the first detection mechanism 5000 disposed above the basket mechanism 1000 enables the outer wall construction robot to automatically recognize the size and shape characteristics of the wall during the lifting process of the basket mechanism 1000, then automatically construct a three-dimensional model, such as a 3D point cloud image, and finally automatically generate the spraying track of the mechanical arm 4100 according to the point cloud image by the control system, thereby realizing unmanned construction process. Through the second detection mechanism 6000 arranged below the hanging basket mechanism 1000, the hanging basket mechanism 1000 can give an alarm and pause automatic operation when an obstacle appears below the hanging basket mechanism 1000 in the descending process, and the operation can be automatically completed when the ground is detected below, so that the construction process is more complete.
Referring to fig. 6 and 7, in some alternative embodiments, the basket mechanism 1000 includes: the hanging basket comprises a hanging basket frame 1100, a hanging assembly 1200 and a lifting assembly 1300, wherein the hanging basket frame 1100 comprises a mounting part 1110, the mounting part 1110 is used for mounting an executing device 4000, the hanging assembly comprises a traction piece connecting assembly 1210 and a telescopic assembly 1220, the traction piece connecting assembly 1210 is arranged above the telescopic assembly 1220 and is connected with the telescopic assembly 1220, the traction piece connecting assembly 1210 is used for being connected with a traction piece, the telescopic assembly 1220 comprises a plurality of connecting parts 1221 connected with the hanging basket frame 1100, the plurality of connecting parts 1221 are uniformly distributed along the periphery of the hanging basket frame 1100, and each connecting part 1221 has the degree of freedom of stretching along the length direction of the connecting part; the lifting assembly 1300 is mounted on the traction member connection assembly 1210, and is used for driving the hanging assembly 1200 and the hanging basket frame 1100 to ascend or descend along with the traction member; wherein, the mounting portion 1110 is located at one side of the suspension assembly 1200, so that the executing device 4000 avoids the suspension assembly 1200 to execute the job. Preferably, the actuator 4000 can be located at the front side of the suspension assembly 1200 such that the actuator 4000 can avoid the suspension assembly 1200 to perform the work. Alternatively, the basket mechanism 1000 of the present application is applied to an overhead work, and the performing device 4000 may perform an overhead cleaning work, a roll coating work, a painting work, an overhead fire fighting work, or the like.
By arranging the mounting portion 1110 on the basket frame 1100, the executing device 4000 can be located on one side of the hanging assembly 1200, and the hanging assembly 1200 is avoided from executing operations, so that not only can the executing device 4000 be ensured to have enough activity space, but also the basket mechanism 1000 can have higher basket stability in the moving process. The suspension assembly 1200 includes a plurality of connection parts 1221 uniformly distributed along the circumference of the basket frame 1100, so that the suspension assembly 1200 and the basket frame 1100 are stably connected and kept balanced, each connection part 1221 has a degree of freedom of stretching along the length direction of the connection part, so that the lifting assembly 1300 can quickly level through the suspension assembly 1200 after the suspension assembly 1200 and the basket frame 1100 are deflected in the process of lifting or descending along with the traction element, and the balance stability of the basket mechanism 1000 is ensured, thereby ensuring the operation quality of the execution device 4000.
In some alternative embodiments, telescoping assembly 1220 further includes the same number of hinges 1222 as connectors 1221, hinge 1222 being disposed adjacent to retractor connector assembly 1210 relative to connectors 1221, at least two hinges 1222 being hinged to each other to form a hinge node 1223, each hinge node 1223 being interconnected, and telescoping assembly 1220 being connected to retractor connector assembly 1210 by hinge node 1223. In the above embodiment, the interconnection between the hinge nodes 1223 can form a single suspension point structure. Each hinge node 1223 can be directly connected with each other, so that the structure of the telescopic assembly 1220 is more stable, and the telescopic assembly 1220 can be indirectly connected with each other through a connecting piece, so that installation space is provided for other mechanisms, and the telescopic assembly 1220 is connected with the traction piece connecting assembly 1210 through the hinge node 1223, so that the telescopic assembly 1220 can be movably connected with the traction piece connecting assembly 1210, and the hanging basket mechanism 1000 can flexibly adjust the traction piece conveniently.
Still further, the telescopic assembly 1220 includes a plurality of telescopic members 1224, wherein the telescopic members 1224 are capable of rigidly adjusting their lengths, one end of the telescopic members 1224 is a connecting portion 1221, and the other end of the telescopic members 1224 is a hinge portion 1222. Because the length of the telescopic adjusting piece 1224 can be rigidly adjusted, the traction piece connecting piece can be limited, so that the traction piece connecting piece and the lifting assembly 1300 can still be stably installed on the hanging basket frame 1100 under the condition that the telescopic assembly 1220 loses traction of the traction piece, and the lifting assembly 1300 can not be caused to lose support and fall in the hanging basket frame 1100, so that the problem that the rope threading is difficult or other inconvenient to use is caused by the damage of parts. The bottom ends of the telescopic adjusting pieces 1224 are uniformly distributed along the circumferential direction of the hanging basket frame 1100 and are connected with the hanging basket frame 1100, the top ends of the telescopic adjusting pieces 1224 are converged to be used for being connected with the traction piece connecting assembly 1210 to form a single hanging point, each telescopic adjusting piece 1224 can stretch out and draw back along the length mode of the telescopic adjusting piece, so that the inclination of the hanging basket frame 1100 can be flexibly adjusted, for example, when the hanging basket frame 1100 inclines leftwards and downwards, the hanging basket frame 1100 can be leveled by shortening the connecting part 1221 connected with the left side of the hanging basket frame 1100, or the hanging basket frame 1100 can be leveled by elongating the connecting part 1221 connected with the right side of the hanging basket frame 1100. The suspension system adopts a single suspension point suspension mode, can reduce the labor intensity and the construction difficulty caused by suspension construction, reduces the construction cost, improves the working efficiency, enhances the adaptability of the suspension on the roof, and is more flexible and convenient.
In some alternative embodiments, the telescoping adjustment 1224 is any one or combination of a power push rod, a servo module, a cylinder, or a basket bolt. So that the telescoping adjustment member 1224 can be adjusted either electrically or manually. Preferably, the telescopic adjusting piece 1224 is electrically adjusted, so as to realize automatic detection and adjustment and enhance the safety of high-altitude operation.
Specifically, when the telescopic adjusting member 1224 is an electric adjusting member, the basket mechanism 1000 of the embodiment of the present application further includes an inclination detector and a leveling controller, the inclination detector is mounted on the basket frame 1100 and is used for detecting inclination information of the basket frame 1100, the leveling controller is in signal connection with the inclination detector and the telescopic assembly 1220, and the leveling controller controls the telescopic operation of the connecting portion 1221 according to the inclination information. In the above embodiment, by providing the inclination detector for detecting the inclination direction and the inclination angle of the basket frame 1100, the leveling controller obtains the inclination information of the basket frame 1100 based on the inclination detector, and further controls each connection part 1221 of the telescopic assembly 1220, thereby adjusting the balance of the whole basket mechanism 1000.
As shown in fig. 6, the basket frame 1100 of the embodiment of the present application is preferably a frame structure, so that the embodiment illustrated in the drawings of the present application sets four telescopic adjusting members 1224, and the four telescopic adjusting members 1224 are respectively connected with four corners of the basket frame 1100, that is, the connecting portions 1221 and the hinge portions 1222 are respectively four, two hinge nodes 1223 are formed by two-by-two groups of the four hinge portions 1222, the four connecting portions 1221 are also respectively hinged with the basket frame 1100, the hanging assembly 1200 is connected with the basket frame 1100 through four hinge points, the stability of the single-hanging-point structure is ensured to the greatest extent, and the executing device 4000 is mounted on the basket frame 1100. Because the movement mechanism is mounted at the front end of the suspension assembly 1200, the actuator 4000 has sufficient space to perform the action without interfering with the traction member and the suspension assembly 1200. Suspension assembly 1200 also includes a cross-link 1225, with cross-link 1225 being laterally hingedly connected between two hinge nodes 1223. Specifically, two ends of the transverse link 1225 are respectively hinged to two hinge joints 1223, two telescopic adjusting members 1224 of the same group form hinge surfaces along the axial direction, and the transverse link 1225 respectively crosses the two hinge surfaces along the length direction. In the above embodiment, by arranging the transverse connecting rod 1225, the transverse connecting rod 1225 is transversely connected between the two hinge nodes 1223, and two ends of the transverse connecting rod 1225 are respectively and rotatably connected with the two hinge nodes 1223, on one hand, the distance between the two hinge nodes 1223 can be limited, on the other hand, the overall stability of the single-suspension-point structure of the suspension assembly 1200 can be effectively improved, the stress of the hanging basket mechanism 1000 is uniform due to the four hinge points, and the structure meets the adjustment requirement.
When the basket mechanism 1000 is unbalanced left and right due to the movement of the actuator 4000 or the movement of the basket mechanism 1000, for example, when the left side is lower, the left side and the right side can be balanced by contracting the two electric telescopic adjusting members 1224 or elongating the two telescopic adjusting members 1224 on the right side; if the right side is lower, the purpose of balancing left and right can be achieved by extending the left two telescopic adjusting members 1224 or contracting the right two telescopic adjusting members 1224. When the basket mechanism 1000 is unbalanced in front and back due to the movement of the actuator 4000 or the movement of the basket mechanism 1000, for example, when the front side is lower, the front side can be contracted by the two expansion adjusting members 1224 at the front side or the expansion adjusting member 1224 at the rear side is extended, so as to achieve the purpose of front and back balance; for example, the lower back side may be balanced by extending the front two telescoping members 1224 or retracting the back telescoping member 1224. If the left, right, front and rear sides are not flat, the expansion and contraction of the four expansion and contraction adjusting members 1224 are comprehensively adjusted according to the above principle.
It can be appreciated that, a person skilled in the art can flexibly set the number of the telescopic adjusting members 1224, which may also be six, eight, ten, etc., specifically considering the overhead working load and the connection requirement of the actual basket frame 1100, the four connecting portions 1221 are preferred embodiments, and the basket mechanism 1000 of the present application is further provided with a first detecting mechanism and a second detecting mechanism which are disposed up and down along the height direction of the basket mechanism 1000, the first detecting mechanism is used for identifying the size and shape characteristics of the outer wall and constructing a three-dimensional model, the executing device 4000 executes the operation based on the three-dimensional model, the second detecting mechanism is used for detecting the environment under the basket device, and when the obstacle occurs, the obstacle avoidance or suspension operation can be realized. The telescopic adjusting piece 1224 of the application can quickly level, and ensures the balance of the hanging basket mechanism 1000, thereby ensuring the execution quality and the quality of building a three-dimensional model diagram.
Still further, the lifting assembly 1300 includes a hoist 1310 and a safety lock 1320, wherein the traction member coupling assembly 1210 includes a hoist mount 1211 through which a traction member can pass, and the hoist 1310 is fixedly mounted to the hoist mount 1211 and coupled to the traction member such that the basket mechanism 1000 can be raised or lowered with the traction member. The safety lock 1320 is disposed above the hoist 1310, and the safety lock 1320 can lock the traction member when the traction member is abnormal, so that the basket mechanism 1000 of the embodiment of the present application is applied to an overhead working apparatus, and can ensure the safety of the overhead operation.
Optionally, the suspension assembly 1200 further includes a first link 1226 and a second link 1227 hingedly connected to opposite sides of the hoist mount 1211, the first link 1226 and the second link 1227 being hingedly connected to opposite ends of the cross link 1225, respectively. In the above embodiment, the suspension assembly 1200 is provided with the first connecting plate 1226 and the second connecting plate 1227 at both sides of the hoist mount 1211, so that the upper ends of the first connecting plate 1226 and the second connecting plate 1227 are respectively hinged to both sides of the hoist mount 1211, and the upper ends of the first connecting plate 1226 and the second connecting plate 1227 are respectively hinged to both ends of the transverse connecting rod 1225, by which the stability of the single-suspension-point structure can be improved. When the first connecting plate 1226 and the second connecting plate 1227 are respectively disposed on the left and right sides of the hoist mount 1211, the upper ends of the first connecting plate 1226 and the second connecting plate 1227 are respectively hinged to the left and right sides of the hoist mount 1211, and the lower ends of the first connecting plate 1226 and the second connecting plate 1227 are respectively hinged to the two ends of the transverse connecting rod 1225, so that the left and right stability of the single-lifting-point structure can be improved through the arrangement. When the first connecting plate 1226 and the second connecting plate 1227 are respectively disposed on the front and rear sides of the hoist mount 1211, the upper ends of the first connecting plate 1226 and the second connecting plate 1227 are respectively hinged to the front and rear sides of the hoist mount 1211, and the lower ends of the first connecting plate 1226 and the second connecting plate 1227 are respectively hinged to the two ends of the transverse connecting rod 1225, so that the front and rear stability of the single-lifting-point structure can be improved through the arrangement. It will be appreciated that one skilled in the art may provide a set of first and second connection plates 1226, 1227, and that multiple sets of first and second connection plates 1226, 1227 may be provided to enhance the stability of the basket mechanism 1000.
In some alternative embodiments, a single-suspension-point frame structure of the suspension assembly 1200 is formed between the telescopic assembly 1220 and the traction element connecting assembly 1210, the telescopic movement of the telescopic assembly 1220 does not affect the traction element connecting assembly 1210, the mounting portion 1110 is far away from the connecting portion 1221 of the telescopic assembly 1220 and the execution device 4000 is made to be close to the traction element connecting assembly 1210, so that the execution device 4000 is prevented from avoiding the suspension assembly 1200 when executing the operation, the suspension assembly 1200 is prevented from interfering with the movement of the execution device 4000, and the operation coverage rate of the execution device 4000 is limited. Still further, in some alternative embodiments, the actuator 4000 moves transversely in the left-right direction as shown in fig. 2, the telescopic assembly 1220 can swing telescopically in all directions, the actuator 4000 and the telescopic assembly 1220 are distributed up and down, and the actuator 4000 is disposed above the telescopic assembly 1220, so that the swing path of the telescopic assembly 1220 and the movement path of the actuator 4000 are not on the same height plane; and the movement direction of the actuator 4000 intersects with a plane formed by the expansion and contraction directions of any adjacent two of the connecting portions 1221. The moving direction of the executing device 4000 is parallel to the triangular frame structure formed by the first connecting plate 1226, the second connecting plate 1227 and the transverse connecting rod 1225, and the triangular frame structure formed by the executing device 4000, the first connecting plate 1226, the second connecting plate 1227 and the transverse connecting rod 1225 are basically at the same height, so that the interference on the hanging assembly 1200 is reduced when the executing device 4000 moves, the stability of the hanging basket mechanism 1000 in the outer wall construction robot of the embodiment of the application is enhanced, and the operation quality of the executing device 4000 is improved.
As shown in fig. 8 and 9, the wall-leaning mechanism 2000 includes: the connecting unit 2100 and at least two wall leaning units 2200, the connecting unit 2100 is arranged along the horizontal direction in an extending way; at least two wall units 2200 are connected to the connection unit 2100 at intervals in a horizontal direction, each wall unit 2200 is provided to extend in a vertical direction, and each wall unit 2200 includes: a fixed wall assembly 2210, a telescopic wall assembly 2220, an upper guide 2230, and a lower guide 2240, wherein the fixed wall assembly 2210 is fixedly connected with the connection unit 2100; the telescopic wall-leaning component 2220 is movably arranged at one side of the fixed wall-leaning component 2210 and can reciprocate along the length direction of the fixed wall-leaning component 2210; the upper guide 2230 is installed at the upper end of the fixed wall-leaning assembly 2210; and the lower guide 2240 is installed at the lower end of the telescopic wall leaning component 2220, and the fixed wall leaning component 2210, the telescopic wall leaning component 2220, the upper guide wheel and the lower guide wheel are used for leaning against the building outer wall. By way of example and not limitation, the wall-contacting mechanism 2000 illustrated in the drawings of the present application is provided with two wall-contacting units 2200, and a person skilled in the art can flexibly adjust the number of the wall-contacting units 2200 as long as the same wall-contacting units 2200 are connected by the connection unit 2100.
According to the wall leaning mechanism 2000 of the embodiment of the application, the wall leaning units 2200 are connected by arranging the connecting units 2100, so that the adjacent wall leaning units 2200 are fixed to form a stable structure, and the mobility and the trafficability of the whole wall leaning mechanism 2000 are improved. The wall unit 2200 includes a fixed wall assembly 2210 and a telescopic wall assembly 2220 movably disposed at one side of the fixed wall assembly 2210, and when the wall mechanism 2000 is in a transportation state, the telescopic wall assembly 2220 is arranged to be contracted with respect to the fixed wall assembly 2210, so that a distance between an upper guide 2230 mounted at an upper end of the fixed wall assembly 2210 and a lower guide 2240 mounted at a lower end of the telescopic wall assembly 2220 is shortened, thereby facilitating transportation; when the wall leaning mechanism 2000 is arranged in an extending mode of the working state of the telescopic wall leaning component 2220 relative to the fixed wall leaning component 2210, the distance between an upper guide piece 2230 installed at the upper end of the fixed wall leaning component 2210 and a lower guide piece 2240 installed at the lower end of the telescopic wall leaning component 2220 is increased, the wall leaning mechanism 2000 is convenient to pass through various types of characteristic surfaces, and the wall leaning mechanism 2000 can be quickly switched in a transportation state and a working state by means of the structural mode of combining the fixed wall leaning component 2210 with the telescopic wall leaning component 2220 without disassembly, so that the operation of users is facilitated, and the working efficiency of the personnel is improved. In addition, by the combined structural mode of the guide piece and the wall leaning component, when the wall leaning mechanism 2000 passes through various types of characteristic surfaces, such as continuous surfaces, window hole surfaces, cantilever plates/connecting plates and balcony characteristic surfaces, at least two structures are always contacted on the characteristic surfaces, and the condition that the wall leaning mechanism 2000 does not suddenly lose a supporting surface occurs, so that equipment passes through the characteristic surfaces more stably.
In some alternative embodiments, at least one of the upper and lower guides 2230, 2240 is a guide wheel. Because the upper guide piece 2230 is responsible for guiding when the wall leaning mechanism 2000 is up, the lower guide piece 2240 is responsible for guiding when the wall leaning mechanism 2000 is down, when at least one of the upper guide piece 2230 and the lower guide piece 2240 is a guide wheel, the guide wheel is in rolling contact with the characteristic surface, so that the guide wheel can be tightly matched with the characteristic surface, the impact with the characteristic surface is reduced, the service life is prolonged, meanwhile, the guide wheel is adopted as a guide piece, so that the guide wheel can be used as a fulcrum, the guide wheel adapts to any uneven outer wall working environment, the stability of the whole wall leaning mechanism 2000 is maintained, the integral shaking is reduced, and the walking stability of the wall leaning mechanism 2000 is improved.
In other alternative embodiments, at least one of the upper and lower guides 2230, 2240 is a guide ramp structure. Specifically, when at least one of the upper guide member 2230 and the lower guide member 2240 is a guide slope structure, the adoption of the guide slope structure as the guide member can facilitate the movement of the wall leaning mechanism 2000 through the feature surface, enhancing the stability of walking of the wall leaning mechanism 2000. The guide slope structure is not shown in the drawings as an alternative embodiment, and one skilled in the art can flexibly set the guide slope structure according to the traveling direction of the wall-contacting mechanism 2000.
Optionally, the fixed wall-leaning assembly 2210 and the telescopic wall-leaning assembly 2220 each include a flat plate portion extending in the vertical direction and an elastic layer disposed on a side of the flat plate portion facing the building outer wall. The elastic layer is arranged to enable the fixed wall leaning component 2210 and the telescopic wall leaning component 2220 to be in elastic contact with the characteristic surface, so that abrasion caused by hard contact between the wall leaning mechanism 2000 and the characteristic surface is avoided, and the durability of the wall leaning mechanism 2000 is improved.
In alternative embodiments, as shown in fig. 8, both the fixed wall assembly 2210 and the telescoping wall assembly 2220 include a plurality of wall-engaging wheels 2250 arranged in sequence in a vertical direction, with each wall-engaging wheel 2250 axis being parallel to the upper and lower guides 2230, 2240. Through setting up a plurality of wall wheel 2250 that arrange in proper order along vertical direction and constitute fixed wall subassembly 2210 and flexible wall subassembly 2220 by, make fixed wall mechanism 2000 always have the wheel contact on the wall at the removal in-process, the degree of wholly taking place the slope is less, also more steady when the discontinuous wall of passing through, and the passing through range is wider.
Further, the wall-engaging wheel 2250 has a diameter smaller than the diameter of the upper guide 2230 and the diameter of the lower guide 2240. Compared with the planetary gears, the wall leaning mechanism 2000 of the embodiment of the application has the advantages that the reasonable distribution of the large and small wheels enables the wheels to be always contacted with the wall surface when the wall leaning mechanism invades the wall body, the gesture shake can not occur, and the walking is more stable.
Optionally, the telescoping wall assembly 2220 includes a plurality of locking holes 2221 arranged in a vertical direction; each wall unit 2200 includes a locking driving piece 2260 and a locking piece 2270, the locking driving piece 2260 is mounted on the fixed wall assembly 2210, and the locking driving piece 2260 drives the locking piece 2270 to extend into the locking hole 2221 or withdraw from the locking hole 2221, so that the telescopic wall assembly 2220 is locked or unlocked with the reciprocating movement of the fixed wall assembly 2210. By providing the lock driving member 2260 to drive the lock member 2270, the lock member 2270 can be made to extend into the lock hole 2221, so that the reciprocating movement of the telescopic wall leaning component 2220 and the fixed wall leaning component 2210 is locked, and then the relative movement between the two is fixed, and the wall leaning mechanism 2000 is stabilized, and since the plurality of lock holes 2221 are arranged along the vertical direction, the position between the telescopic wall leaning component 2220 and the fixed wall leaning component 2210 can be adjusted by flexibly adjusting the position of the lock hole 2221 locked by the lock member 2270, and when the lock driving member drives the lock member 2270 to enable the lock member 2270 to withdraw from the lock hole 2221, the reciprocating movement degree of freedom of the telescopic wall leaning component 2220 relative to the fixed wall leaning component 2210 can be realized, and further the relative movement of the telescopic wall leaning component 2220 can be flexibly adjusted, and when the storage is required after the transportation is completed, the automatic storage can be realized.
In the transportation state of the wall leaning mechanism 2000, the locking driving piece 2260 drives the locking piece 2270 to extend into the locking hole 2221 of the telescopic wall leaning component 2220, so that the telescopic wall leaning component 2220 is arranged in a shrinking manner relative to the fixed wall leaning component 2210, that is, the distance between the upper guide piece 2230 installed at the upper end of the fixed wall leaning component 2210 and the lower guide piece 2240 installed at the lower end of the telescopic wall leaning component 2220 is shortened, and the transportation is convenient. When the wall leaning mechanism 2000 is in an operating state, the locking driving member 2260 drives the locking member 2270 to withdraw from the locking hole 2221, so that the telescopic wall leaning assembly 2220 is extended and arranged relative to the fixed wall leaning assembly 2210 under the action of gravity, and then is extended to a set position, the locking driving member 2260 drives the locking member 2270 to extend into the locking hole 2221, so that the telescopic wall leaning assembly 2220 is fixed relative to the fixed wall leaning assembly 2210. At this time, the distance between the upper guide piece 2230 installed at the upper end of the fixed wall leaning component 2210 and the lower guide piece 2240 installed at the lower end of the telescopic wall leaning component 2220 is larger, so that the wall leaning mechanism 2000 can be conveniently operated by a user through various types of characteristic surfaces, and the wall leaning mechanism 2000 can be quickly switched between a transportation state and a working state by the aid of the structural mode of combining the fixed wall leaning component 2210 with the telescopic wall leaning component 2220, so that the wall leaning mechanism 2000 is free from disassembly, and the working efficiency of the user is improved. In addition, by the combined structural mode of the guide piece and the wall leaning component, when the wall leaning mechanism 2000 passes through various types of characteristic surfaces, such as continuous surfaces, window hole surfaces, cantilever plates/connecting plates and balcony characteristic surfaces, at least two structures are always contacted on the characteristic surfaces, and the condition that the wall leaning mechanism 2000 does not suddenly lose a supporting surface occurs, so that equipment passes through the characteristic surfaces more stably. The diameters of the upper guide wheel and the lower guide wheel are larger, so that the guide effect is achieved when the robot passes through the threshold, and collision or blocking caused when the robot invades into the wall body is avoided. By using the flexibility of the mechanical arm 4100, the spraying mechanism 7000 can freely swing at multiple angles up and down, left and right, and spraying of small concave surfaces around the windowsill, balcony side surfaces, balcony bottom surfaces and other non-positive features can be realized.
As shown in fig. 9, the connection unit 2100 includes: the frame fixing bar 2110, the adjusting bar 2120 and the locking piece 2130, wherein the frame fixing bar 2110 is of a hollow structure and comprises two open ends 2111 which are oppositely arranged along the horizontal direction; two adjusting rods 2120 are symmetrically arranged on two sides of the frame fixing rod 2110 along the horizontal direction respectively, one end of each adjusting rod 2120 extends into the opening end 2111, the other end of each adjusting rod 2120 is connected with the wall leaning unit 2200, the adjusting rods 2120 are provided with exposed sections 2121 exposed out of the frame fixing rod 2110, and the distance between two adjacent wall leaning units 2200 can be adjusted by adjusting the length of the exposed sections 2121; the lock 2130 is used to lock the position of the adjustment lever 2120 relative to the housing fixing lever 2110. The connection unit 2100 is provided with the adjusting rod 2120 extending into the frame fixing rod 2110, the distance between two adjacent wall leaning units 2200 can be adjusted by adjusting the length of the adjusting rod 2120 relative to the exposed section 2121 of the frame fixing rod 2110, and the position of the adjusting rod 2120 relative to the frame fixing rod 2110 is locked by the locking piece 2130, so that the distance between the two wall leaning units 2200 can be adjusted, and the wall leaning mechanism 2000 of the embodiment of the application can be suitable for all sizes of high-altitude operation robots.
Still further, the adjusting lever 2120 is clearance-fitted with the inner wall of the frame fixing lever 2110, and the coupling unit 2100 further includes a clamp assembly 2140 for adjusting the clearance between the adjusting lever 2120 and the frame fixing lever 2110. By way of example and not limitation, the adjustment rod 2120 is a 40×40 open square rod, the inner contour of the housing fixing rod 2110 is a 41×41 square structure, and the adjustment rod 2120 is clearance fit with the inner wall of the housing fixing rod 2110. By providing the clamp assembly 2140 to adjust the gap between the adjustment rod 2120 and the frame fixing rod 2110, the cooperating locking piece 2130 locks the position of the adjustment rod 2120 relative to the frame fixing rod 2110, so that the connecting unit 2100 is structurally stable, firm, safe and reliable.
Specifically, the locking piece 2130 is a pin, appropriate pin holes are formed in the frame fixing rod 2110 and the adjusting rod 2120, the hole distances of the frame fixing rod 2110 and the adjusting rod 2120 are equal, the adjusting rod 2120 is inserted into the frame fixing rod 2110 and is connected through the two pins, the tail ends of the pins are stopped by the lock pins, and then the clamp assembly 2140 eliminates a gap between the wall wheel adjusting rod and the frame fixing rod. At this time, the pin as the locking piece 2130 ensures that the adjusting rod 2120 does not fall off from the frame fixing rod 2110, and the clamp assembly 2140 ensures that there is no gap between the adjusting rod 2120 and the frame fixing rod 2110, so that the wall leaning mechanism can quickly adjust the width, and the adjusting rod 2120 is reliably connected with the frame fixing rod 2110 without gaps. Compared with the prior art, at least 4 groups of 8 bolts are needed for fixation, so that the convenience of operation and the working efficiency of personnel are improved; compared with the method only using bolts for fixing, the method optimizes the problem of shaking of the connection.
As shown in fig. 10, the adjusting rod 2120 has a hollow structure, and a side wall of the adjusting rod 2120 has a sliding groove 2122 extending in a horizontal direction; the side wall of the frame fixing rod 2110 is provided with a through hole 2112, the clamp assembly 2140 comprises a clamp 2141, a telescopic rod 2142 and a pressing plate 2143, the pressing plate 2143 is connected with the clamp 2141 through the telescopic rod 2142, the telescopic rod 2142 passes through the sliding groove 2122 and the through hole 2112, the pressing plate 2143 is positioned inside the adjusting rod 2120, and the clamp 2141 controls the pressing plate 2143 to move towards the clamp 2141 through the telescopic rod 2142 so that the pressing plate 2143 presses the adjusting rod 2120 and the frame fixing rod 2110. In the above embodiment, the adjusting rod 2120 is of a hollow structure, so that the pressing plate 2143 of the clamp assembly 2140 can be located inside the adjusting rod 2120, the side wall of the adjusting rod 2120 is provided with the sliding groove 2122 extending along the horizontal direction, the telescopic rod 2142 can flexibly pass through the sliding groove 2122 and be fixed at any position, the side wall of the rack fixing rod 2110 is provided with the through hole 2112, the telescopic rod 2142 passes through the sliding groove 2122 and the through hole 2112 to be connected with the pressing plate 2143, the pressing plate 2143 is located inside the rack fixing rod 2110 and the adjusting rod 2120 at the same time, the clamp 2141 controls the pressing plate 2143 to move towards the clamp 2141 through the telescopic rod 2142, so that the pressing plate 2143 compresses the adjusting rod 2120 and the rack fixing rod 2110 to adjust the gap between the adjusting rod 2120 and the rack fixing rod 2110, the length of the connecting unit 2100 is flexibly adjustable, the distance between two wall leaning units is adjustable, the installation is convenient, the stability is strong, and the application range is wide.
Referring to fig. 11, the feeding mechanism 3000 includes: the charging basket assembly 3100 and the feed pump 3200, wherein the charging basket assembly 3100 comprises a first charging basket 3110 and a second charging basket 3120 which are respectively arranged along the front-back direction of the outer wall construction robot, and the first charging basket 3110 and the second charging basket 3120 are symmetrically distributed relative to the center of gravity of the outer wall construction robot; the feed pump 3200 is respectively communicated with the first charging basket 3110 and the second charging basket 3120 through connecting pipelines with the same length, and is used for sucking paint from the charging basket assembly 3100. By arranging the first charging bucket 3110 and the second charging bucket 3120 to be symmetrically distributed relative to the gravity center of the outer wall construction robot, on one hand, space is reserved to enable a steel wire rope and a composite cable to pass through at the gravity center point, so that the outer wall construction robot is ensured not to be unbalanced after being lifted; on the other hand, the gravity center is not changed along with the reduction of paint in the charging basket when the operation is carried out. The feed pump 3200 is communicated with the first charging basket 3110 and the second charging basket 3120 through connecting pipelines with the same length and absorbs paint, so that the same discharging amount of the two charging baskets can be ensured, the gravity center of the hanging basket mechanism 1000 is prevented from being changed due to different discharging amounts of the two charging baskets, and further the conditions of inclination, deflection and the like are avoided.
Further, the feeding mechanism 3000 further includes a damper 3300, the feeding pump 3200 is respectively communicated with the first bucket 3110 and/or the second bucket 3120 through the damper 3300, and the damper 3300 is used for reducing vibration of the connecting pipeline along a direction perpendicular to the flowing direction of the paint; a gas storage tank 3400; and a pressure increasing valve 3500 mounted to the gas storage tank 3400, the feed pump 3200 being capable of communicating with the first bucket 3110 and/or the second bucket 3120 through the pressure increasing valve 3500, respectively. The damper 3300 can effectively reduce the feeding pulse of the feeding pump 3200, and can avoid the non-uniformity of emulsion paint with strong fluidity during spraying; the use of the pressurization valve 3500 and the gas storage tank 3400 to increase the pumping air pressure can prevent the relief paint with poor fluidity from blocking the pipeline. Preferably, feed pump 3200 is a diaphragm pump.
Optionally, the feeding mechanism 3000 further includes: a liquid flow meter 3600, a pump body air proportional valve 3700, a spray gun air proportional valve 3800 and an air flow meter 3900, wherein the liquid flow meter 3600 is arranged on the connecting pipeline for monitoring the flow rate of the paint; an air flow meter 3900 is mounted to the connecting line for monitoring air flow; the pump body air proportional valve 3700 is connected with the feed pump 3200 and is used for controlling the pump pressure; the spray gun air proportional valve 3800 is connected to the feed pump 3200 for controlling the degree of paint atomization. According to the embodiment, the liquid flowmeter 3600 is used for monitoring the flow rate of the paint, the pump pressure is controlled through the pump body air proportional valve 3700, and the paint atomization degree is controlled through the spray gun air proportional valve 3800, so that the feeding mechanism 3000 can meet the requirements of spraying different paints such as emulsion paint, multi-color paint and relief paint, the equipment universality is high, equipment does not need to be frequently switched during construction, and the disposable investment cost and the conversion cost are effectively reduced.
Still further, the actuator 4000 may further comprise a quick-change assembly 4400, and the actuator 4300 may comprise a spray mechanism 7000 and/or a roll-coating mechanism 8000, wherein the spray mechanism 7000 or the roll-coating mechanism 8000 may be detachably connected to the end of the arm 4100 through the quick-change assembly 4400. Through setting up quick change assembly 4400 for actuating mechanism 4300 can detachably install in the end of arm 4100 and carry out the operation along with arm 4100 removal, when needs carry out the spraying operation, change actuating mechanism 4300 into spraying mechanism 7000 through quick change assembly 4400, when needs carry out the roll coating operation, change actuating mechanism 4300 into roll coating mechanism 8000 through quick change assembly 4400 to realize spraying and automatic colour separation roll coating function, make the adaptability of equipment wider. It is appreciated that the quick-change assembly 4400 may be implemented using prior art techniques, and the structure of the quick-change assembly 4400 will not be described in detail herein.
As shown in fig. 12 and 13, fig. 12 and 13 are respectively a perspective view and an exploded perspective view of a roll coating mechanism 8000 according to an embodiment of the present application, the roll coating mechanism 8000 according to the embodiment of the present application includes: a roller assembly 8100 and an elastic floating assembly 8200, wherein the roller assembly 8100 is used for rolling a work surface; the elastic floating assembly 8200 comprises a mounting seat 8210, a movable member 8220 and a first elastic member 8230, wherein the movable member 8220 is connected with the roller assembly 8100, the movable member 8220 can move along the radial direction of the roller assembly 8100 relative to the mounting seat 8210, and the movable member 8220 is elastically connected with the mounting seat 8230 through the first elastic member 8230. Through setting up elasticity floating subassembly 8200 and drum assembly 8100 connection for when drum assembly 8100 and waiting for the face butt, drum assembly 8100 receives the resistance of waiting for the face and no longer moves, at this moment, adjusts the distance between elasticity floating subassembly 8200 and the drum assembly 8100 through first elastic component 8230, makes movable part 8220 can be for the radial motion of drum assembly 8100, and then makes drum assembly 8100 and waiting for the face flexible contact, and can adjust the pressure and the tight degree of adherence between drum assembly 8100 and the waiting for the face.
In some alternative embodiments, the roll coating mechanism 8000 of the present application further comprises: a detection element 8500, the detection element 8500 being provided to the elastic floating assembly 8200 and/or the drum assembly 8100, the detection element 8500 being configured to generate detection information reflecting a pressure between the drum assembly 8100 and a surface to be worked. The actuator 4000 controls the roll-coating mechanism 8000 to perform a job on the outer wall with a constant force by a preset control method based on the detection result of the detection element 8500. According to the embodiment, by arranging the detecting element 8500, the detecting information reflecting the pressure between the roller assembly 8100 and the surface to be worked is generated and then transmitted to the upper computer, and the upper computer can control the movement of the elastic floating assembly 8200 through the detecting information, so that the pressure between the roller assembly 8100 and the surface to be worked can be adjusted, the mechanical arm 4100 can drive the rolling coating mechanism 8000 to move under the control of a preset control method, and the problems that the wall surface is subjected to overall color difference and seam color difference after paint film formation, the paint consumption cannot be controlled stably and the like are avoided.
In some alternative embodiments, the detecting element 8500 is a force sensor, the detecting element 8500 is mounted on the mounting seat 8210 and is spaced from the movable member 8220 in the radial direction of the roller assembly 8100, one end of the first elastic member 8230 is abutted against the detecting element 8500, the other end of the first elastic member 8230 is connected with the movable member 8220, and the first elastic member 8230 transmits the pressure between the roller assembly 8100 and the surface to be worked to the detecting element 8500. When the detecting element 8500 is a force sensor, the detecting element 8500 is mounted on the mounting seat 8210 and is spaced apart from the movable member 8220 in the radial direction of the drum assembly 8100, and one end of the first elastic member 8230 abuts against the detecting element 8500, and the other end is connected with the movable member 8220, so that the first elastic member 8230 can transmit the pressure between the drum assembly 8100 and the surface to be worked to the detecting element 8500. In this way, the force sensor detects the pressure of the first elastic member 8230 and keeps the wall pressing force of the roller constant through real-time feedback control, so that the pressure of the roller assembly 8100 pressed on the surface to be worked is always within a range suitable for the roll coating process.
Further, the elastic floating assembly 8200 further comprises: the linear bearing 8240, the linear bearing 8240 is connected with the mount pad 8210, and the movable part 8220 is the loose axle of wearing to locate in the linear bearing 8240, and the movable part 8220 slides relative linear bearing 8240 makes drum assembly 8100 be close to or keep away from the mount pad 8210 along radial. According to the embodiment, the linear bearing 8240 is arranged, so that the linear bearing 8240 is arranged on the mounting seat 8210 and used for guiding the movable piece 8220, the movable piece 8220 and the linear bearing 8240 are in sliding fit, so that the roller assembly 8100 is radially close to or far away from the mounting seat 8210, the linear bearing 8240 is small in friction and stable, the linear bearing 8240 is free from change along with the bearing speed, stable linear motion with high sensitivity and high precision can be obtained, and the roller coating mechanism 8000 applied to the embodiment of the application can realize accurate and real-time control of roller wall pressing force, ensure that the compactness and thickness of a coating on a wall are the same, avoid visual chromatic aberration of a finished wall surface and ensure the quality of a roller coating operation.
In other alternative embodiments, the detection element 8500 is a distance sensor, the detection element 8500 is mounted to the mount 8210 or the movable member 8220, and the detection element 8500 is capable of detecting the distance of the movable member 8220 from the mount 8210. When the detecting element 8500 is a distance sensor, the detecting element 8500 can be installed on the installation seat 8210, and the distance from the movable element 8220 to the installation seat 8210 is detected from the installation seat 8210 as a starting point, so that each time of rolling coating movement is ensured, the distance from the movable element 8220 to the installation seat 8210 is consistent, so that the pressure of the roller assembly 8100 and the surface to be operated is ensured to be consistent, and the compactness and the thickness of the paint on the wall are ensured to be the same; similarly, the detecting element 8500 may also be mounted on the movable member 8220, and the movable member 8220 is used as a reference to detect the distance between the mounting seat 8210 and the movable member 8220, so as to ensure that the distance between the movable member 8220 and the mounting seat 8210 is consistent each time of the rolling coating motion, so as to ensure that the pressure of the roller assembly 8100 is consistent with the pressure of the surface to be worked, and further ensure that the compactness and the thickness of the paint on the wall are the same.
Referring to fig. 12, the roll coating mechanism 8000 according to the embodiment of the present application further includes: the flexible swing assembly 8300, the flexible swing assembly 8300 includes a rotating shaft member 8310, a swing arm 8320 and a second elastic member 8330, the swing arm 8320 extends parallel to the axial direction of the drum assembly 8100, the drum assembly 8100 is mounted on the swing arm 8320, the swing arm 8320 is rotationally connected with the movable member 8220 through the rotating shaft member 8310, and the second elastic member 8330 elastically connects the swing arm 8320 with the rotating shaft member 8310. Preferably, the swing arm 8320 is rotationally connected with the movable part 8220 through the rotating shaft part 8310, the axial direction of the rotating shaft part 8310 is orthogonal to the movement direction of the movable part 8220, the rotating connection of the swing arm 8320 and the movable part 8220 is enabled to be more stable through the arrangement, the operation is simpler and more convenient, the rotation direction and the rotation angle are convenient to control, the roller assembly 8100 and the wall surface are guaranteed to be tightly attached, and when the roller coating is carried out, the rotating connection of the swing arm 8320 and the movable part 8220 can ensure that the roller assembly 8100 and the roller assembly 8100 are completely attached even if a certain included angle exists between the surface to be operated and the robot clamping the roller assembly 8100.
Further, in other alternative embodiments, the flexible swing assembly 8300 further comprises: the connecting arm 8340, the connecting arm 8340 is connected with the movable part 8220, the pivot piece 8310 rotates the middle part of connecting arm 8340 of being connected, and second elastic component 8330 is extension spring or compression spring, and the quantity of second elastic component 8330 is two, and two second elastic components 8330 symmetry set up in the both ends of connecting arm 8340, and every second elastic component 8330 is with swing arm 8320 and connecting arm 8340 elastic connection. The two second elastic members 8330 are symmetrically disposed at two ends of the connecting arm 8340, and can provide a centrally reset spring force for the swing arm 8320 to reset the swing arm 8320, so that the drum assembly 8100 resets after swinging. The two second elastic members 8330 are extension springs or compression springs, and are symmetrically arranged at two ends of the connecting arm 8340, so that the flexible swing assembly 8300 realizes more accurate centering reset of the swing arm 8320 by means of the two second elastic members 8330 which are identical in attribute and symmetrically arranged under the condition of no external force influence. When the mechanical arm 4100 clamping the rolling coating mechanism 8000 does not keep a correct angle with the surface to be operated during the rolling coating operation, the flexible swinging mechanism of the embodiment of the application can still enable the roller to be tightly pressed against the wall surface, namely, the automatic deviation correction of the tail end is realized.
Optionally, the elastic floating assembly 8200 of the present application illustrated in the drawings includes two movable members 8220 disposed in parallel and spaced apart, the two movable members 8220 are located on the same side of the drum assembly 8100 and are connected to the swing arm 8320, the two first elastic members 8230 are symmetrically disposed, one end of each first elastic member 8230 abuts against the mounting seat 8210, the other end abuts against the movable member 8220, the two movable members 8220 are respectively sleeved in the two linear bearings 8240, and the extension directions of the connecting arm 8340 and the swing arm 8320 are the same, and are disposed above the two movable members 8220. The first elastic member 8230 is a pressure spring, the tail ends of the two movable members 8220 are respectively provided with a pressure spring, the pressure springs are pressed on a pressure sensor pressing plate, the pressure plates are fixedly connected with the pressure sensor, when the roller is contacted with and pressed against a wall surface, the movable members 8220 move along the direction deviating from the wall surface and compress the pressure springs, the pressure springs transmit force to the pressure sensor through the pressure plates, when the pressure sensor receives a signal, an analog value is fed back to an upper computer, and then the upper computer gives an adjusted coordinate and gives an instruction to the mechanical arm 4100, whether the mechanical arm continuously moves forwards or backwards is guaranteed, so that the size of the roll-coated wall is guaranteed, and the process is completed in millisecond time, so that the force of the roller pressing against the wall surface can be considered to be always kept in a proper range under the closed loop control. Preferably, the surface to be acted upon is orthogonal to the axis of the resilient float assembly 8200 to ensure uniform force, facilitating control of the roll coating mechanism 8000 of this embodiment by the robotic arm 4100.
Referring to fig. 12 and 13, the drum assembly 8100 includes a pair of drum mounts 8130, an inner feed drum 8110, and a pair of rotary feed joints 8120. The paired roller mounting frames 8130 are separately provided at both ends of the swing arm 8320, and each roller mounting frame 8130 extends from the swing arm 8320 in a direction away from the mount 8210. The inner feed rolls 8110 are mounted between a pair of roll mounts 8130, the inner feed rolls 8110 being rotatably connected to the roll mounts 8130. Each rotary feed joint 8120 is located on a side of the corresponding drum mounting frame 8130 remote from the inner feed drum 8110, and the rotary feed joints 8120 are in dynamic sealing connection with the inner feed drum 8110, the rotary feed joints 8120 being adapted to feed the interior of the inner feed drum 8110.
The roller mounting frame 8130 is located at two ends of the swing arm 8320, and the rotary feeding connector 8120 is located at one side, away from the inner feeding roller 8110, of the corresponding roller mounting frame 8130, that is, located at the outer sides of the inner feeding roller 8110 and the swing arm 8320, so that interference between the rotary feeding connector 8120 and the flexible swing assembly 8300 in the swing process of the swing arm 8320 can be avoided. The above embodiment can avoid the problem of uneven dip by feeding the inner feed cylinder 8110 from both ends of the inner feed cylinder 8110 through the pair of rotary feed joints 8120, and the inner feed design makes the feed stable and uniform, and can reduce the possibility of dripping. For example, more dip can cause dripping and dripping, and dripping can pollute other wall surfaces which do not need to be operated, such as wall surfaces which are already rolled or are not required to be rolled, and insufficient dip can cause uneven rolling, so that visual color difference exists in finished product operation walls. The spin coating mechanism 8000 according to embodiments of the present application can ensure dip uniformity.
Further, the roll coating mechanism 8000 according to the embodiment of the present application further includes: the visual detection assembly 8400, the visual detection assembly 8400 is installed on the installation seat 8210 and is located above the roller assembly 8100, the visual detection assembly 8400 is used for acquiring an image of a surface to be worked and processing the image to obtain characteristic information of the surface to be worked, the visual detection assembly 8400 can feed back the image of the surface to be worked and the characteristic information of the surface to be worked to an upper computer, and the upper computer can generate a displacement deviation rectifying signal aiming at the rolling mechanism based on the image of the surface to be worked and the characteristic information of the surface to be worked.
The roll coating mechanism 8000 may be disposed on an outer wall construction robot, and the outer wall construction robot may perform a roll coating operation simultaneously when running down along an outer wall, in the above embodiment, the visual detection assembly 8400 is located above the roller assembly 8100, so that the roll coating operation on the outer wall is more conveniently and smoothly performed when the roll coating mechanism 8000 runs down along the outer wall. The visual detection component 8400 is used for acquiring and processing an image of a surface to be worked to obtain characteristic information of the surface to be worked, and can feed the image of the surface to be worked and the characteristic information of the surface to be worked back to the upper computer, and the upper computer can generate a displacement deviation correcting signal aiming at the rolling and coating mechanism 8000 based on the image of the surface to be worked and the characteristic information of the surface to be worked, so that accuracy of self working position of the rolling and coating mechanism 8000 when the rolling and coating operation is implemented is improved, and the working range of the rolling and coating mechanism 8000 is convenient to precisely control. The visual detection assembly 8400 can ensure that the initial position of the roll coating is aligned to the existing edge line when the roll coating mechanism 8000 of the embodiment of the application performs color separation roll coating on the surface to be processed, thereby ensuring the straightness of the color separation line. The complex process that the beautiful line paper is stuck to ensure the color separation line to be neat when the color separation is rolled and coated in the prior art and then torn off after the construction is finished is simplified. The roll coating mechanism 8000 of the embodiment of the application can ensure accurate and tidy color separation lines, and compared with the prior art, the roll coating mechanism 8000 has the advantages of simple process, effective shortening of working hours and improvement of construction efficiency.
In some embodiments, the visual detection component 8400 is configured to perform a color contrast process and/or a depth contrast process to obtain surface characteristic information from the surface image to be worked. The to-be-worked face characteristic information comprises at least one of the following: edge line characteristics of a rolled coating area, corner point characteristics of the rolled coating area, existing separation seam edge line characteristics, window frame corner point characteristics and window frame edge line characteristics. Because the visual detection component 8400 can generate some surface characteristic information to be operated corresponding to the edge lines and the corner points through color contrast processing and/or depth contrast processing, the edge lines generated by subsequent roll coating are overlapped and leveled with the edge lines of the rolled coating area, the edge lines of the window frame and the like, and the occurrence of edge line overlapping dislocation phenomenon is reduced.
Fig. 14 is a schematic view of a scene of a roll-coating application of a roll-coating mechanism 8000 according to an embodiment of the present invention. The working surface WP is a building outer wall, the top of the working surface WP is a parapet wall top PA, a plurality of window frames CA2 are distributed on the working surface WP, and windows are installed in the window frames CA 2. The roll coating mechanism 8000 may be provided to an exterior wall construction robot, which may include a robotic arm capable of driving the roll coating mechanism 8000 to move. The exterior wall construction robot may run down from the parapet wall PA along the work surface WP while performing a roll coating work by the roll coating mechanism 8000. The wall surface DA after the previous step has a roll-coated area CA1, and the roll-coated area CA1 is an area obtained by roll-coating the work surface WP by the roll-coating means 8000 in the present step. When the outer wall construction robot descends to a first point position P1 in the figure and is adsorbed on the working surface WP, the outer wall construction robot can drive (for example, drive through a mechanical arm) the roll coating mechanism 8000 to respectively move to the first point position P1, a second point position P2 and a third point position P3 for image acquisition, and the image acquisition is carried out, and the characteristic information of the working surface is processed and obtained. In the embodiment illustrated in fig. 14, the first point P1 and the second point P2 are corner features of two rolled areas of the rolled area CA1, that is, the to-be-operated surface feature information corresponding to the corner at the lower edge of the rolled area CA1, and the third point P3 is the corner feature of the window frame corresponding to the window frame CA2 under the rolled area CA1 in the rolling operation direction. The boundary of the next area TA to be rolled in the present process corresponds to the boundary defined by the first point P1, the second point P2, and the third point P3. The visual detection component 8400 acquires the image of the surface to be worked and processes the image of the surface to be worked to obtain the characteristic information of the surface to be worked including the first point position P1, the second point position P2 and the third point position P3, the image of the surface to be worked and the characteristic information of the surface to be worked are fed back to the upper computer, the upper computer can generate a displacement deviation correcting signal aiming at the rolling and coating mechanism 8000 based on the image of the surface to be worked and the characteristic information of the surface to be worked, the displacement deviation correcting signal can specifically comprise a transverse deviation difference value, a longitudinal deviation difference value and an angle deviation difference value, and the mechanical arm is driven to move through the displacement deviation correcting signal, so that the accuracy of the working position of the rolling and coating mechanism 8000 is improved when the rolling and coating mechanism 8000 implements the rolling and coating operation on the next TA of the area to be rolled and coated.
Optionally, the visual detection assembly 8400 includes a protective cover 8410, a driving member 8420 and a three-dimensional camera 8430, one end of the protective cover 8410 is rotatably mounted on the mounting seat 8210, the protective cover 8410 is openably and closably covered outside the three-dimensional camera 8430, one end of the driving member 8420 is connected with the mounting seat 8210, the other end of the driving member 8420 is connected with the protective cover 8410, and the driving member 8420 can control the protective cover 8410 to rotate relative to the mounting seat 8210 under the control of an upper computer, so that the three-dimensional camera 8430 can photograph a working surface to be treated. By covering the protective cover 8410 outside the three-dimensional camera 8430 in an openable and closable manner, the three-dimensional camera 8430 can be effectively protected from being damaged by environmental influences, one end of the driving member 8420 is connected with the mounting seat 8210, the other end of the driving member 8420 is connected with the protective cover 8410, the driving member 8420 controls the protective cover 8410 to rotate relative to the mounting seat 8210 under the control of the upper computer so as to open or close the three-dimensional camera 8430, and the three-dimensional camera 8430 can photograph a surface to be worked under the open state of the protective cover 8410. In actual operation, the mechanical arm 4100 of the roll coating mechanism 8000 of the embodiment of the application is clamped to be positioned to the surface to be operated for the first time, the three-dimensional camera 8430 shoots the edge position and feeds data back to the upper computer, so that the mechanical arm 4100 can be positioned for the second time, the accurate roll coating of the surface to be operated is ensured, and the straightness of the color separation lines can be ensured during color separation roll coating. Preferably, the driving member 8420 is an air cylinder, the three-dimensional camera 8430 is a 3D camera, and when the color separation is rolled, the protective cover 8410 of the 3D camera is opened under the action of the air cylinder, the 3D camera performs photographing analysis on the existing edge line and transmits data to the upper computer, and after comparing the data with the target track data, the upper computer sends a deviation rectifying instruction to the mechanical arm 4100, so that the roller can start to roll coating at a correct position, the initial position of the roll coating is ensured to be aligned to the existing edge line, and the straightness of the color separation line is ensured, so that the lapped edge line is tidy.
In the working state, the roller assembly 8100 extends along the y-axis, the elastic floating assembly 8200 is connected with the mechanical arm 4100 through the mounting seat 8210, the elastic floating assembly 8200 is located at one side of the roller assembly 8100, which is away from the working surface, so that the elastic direction of the first elastic member 8230 extends along the x-axis, and the rotating shaft member 8310 of the flexible swinging assembly 8300 is arranged along the z-axis, so that the roller assembly 8100 swings relative to the z-axis. When the roller assembly 8100 contacts and presses against the wall, the movable member 8220 moves in a direction away from the wall and compresses the first elastic member 8230, the detecting element 8500 is a pressure sensor, the first elastic member 8230 transmits force to the force sensor through the pressure plate, when the force sensor receives a signal, an analog value is fed back to the upper computer, and then the upper computer gives an adjusted coordinate and gives an instruction to the mechanical arm 4100, whether the roller is continuously moved forward or backward along the negative x-axis direction, so that the size of the roller coating pressed wall is ensured, and the process is completed in millisecond-level time, so that the force of the roller pressing the wall can be considered to be always kept in a proper range under the closed-loop control. By the arrangement, the pressure of the roller on the surface to be worked and the contact angle of the roller and the surface to be worked are consistent. The swing arm 8320 is connected to the elastic float assembly 8200 by a rotation shaft member 8310. The swing arm 8320 can flexibly swing around the rotating shaft member 8310 by the second elastic members 8330 at both ends. When in roller coating, the swing can ensure that the roller and the wall surface are completely attached even if a certain included angle exists between the wall surface and the outer wall construction robot. In addition, the elastic floating assembly 8200 can ensure that a 'soft landing' is realized when the roller touches a wall, and a force sensor arranged at the end part of the first elastic element 8230 of the elastic floating assembly 8230 is used for detecting the pressure of the first elastic element 8230 and keeps the wall pressing force of the roller constant through real-time feedback control, so that the pressure pressed on the wall is always in a range suitable for a roll coating process.
Referring to fig. 15, an embodiment of the present application provides an exterior wall construction system, including: the system comprises a suspension mechanism 9000, an outer wall construction robot and a traction member, wherein the suspension mechanism 9000 is fixed at the top of an outer wall; for the specific structure of the outer wall construction robot, reference may be made to the above embodiments, and the outer wall construction robot is used to perform operations on an outer wall; one end of the traction piece is connected with the outer wall construction robot, the other end of the traction piece is connected with the suspension mechanism 9000, and the outer wall construction robot can climb or descend along the outer wall through the traction piece.
Specifically, the outer wall construction robot in the outer wall construction system of the embodiment of the application comprises a hanging basket mechanism 1000, a wall leaning mechanism 2000, a feeding mechanism 3000, an executing device 4000, a first detection mechanism 5000 and a second detection mechanism 6000; the wall-leaning mechanism 2000 is connected with the hanging basket mechanism 1000, and the wall-leaning mechanism 2000 is used for leaning against the outer wall so that the hanging basket mechanism 1000 and the outer wall are arranged at intervals; the side of the basket mechanism 1000, which is close to the outer wall, is also provided with a vacuum chuck 1500, the side opposite to the vacuum chuck 1500 is also provided with a rotor mechanism 1400, and the feeding mechanism 3000 is arranged in the basket mechanism 1000; the actuator 4000 includes a robot arm 4100, an additional shaft 4200, and an actuator 4300, the additional shaft 4200 is mounted on the basket mechanism 1000 and extends in the horizontal direction, the robot arm 4100 is movably mounted on the additional shaft 4200 and is capable of reciprocating along the extending direction of the additional shaft 4200, and the actuator 4300 is detachably mounted on the robot arm 4100; the feeding mechanism 3000 is connected to the executing mechanism 4300 and feeds the executing mechanism 4300, and the executing mechanism 4300 is used for executing a job on an outer wall, and preferably, the first detecting mechanism 5000 and the second detecting mechanism 6000 are both laser radars or 3D vision cameras.
The operation flow of the external wall construction system of the embodiment of the application is as follows: firstly, a suspension mechanism 9000 is erected on the top floor, a steel wire rope is penetrated into a lifting assembly 1300 of an outer wall construction robot (hereinafter referred to as a robot) and is communicated with an intelligent pipe winding machine, the robot is powered and supplied with air through a composite cable, and a certain amount of paint is added into a storage barrel according to a spraying/rolling area. The robot climbs up from the ground to the top layer under the traction of the lifting assembly 1300, and the rotor mechanism 1400 is started during lifting, so that the robot is tightly attached to the wall surface, and the first detection mechanism 5000 continuously scans and recognizes the wall surface and automatically generates a 3D point cloud image of continuous features. The six-axis mechanical arm 4100 and the additional axis 4200 are guided to be linked by an automatic track algorithm, and automatic spraying/rolling construction is performed in the descending process of the robot. During the descending period of the robot, the first detection mechanism 5000 scans the wall surface in real time to perform secondary positioning, so that the position accuracy of the robot can be improved, and the robot can cope with complex characteristics such as internal corners, air conditioner cantilever plates C, structure connecting plates, concave surfaces and the like. The second detecting mechanism 6000 scans downwards at a position close to the wall surface, if the window is found to be opened or other objects extend out, the alarm is given, the automatic operation is stopped, the lower obstacle is detected in real time, and after the obstacle is removed, the robot continues the automatic operation. When the robot continues to descend to the ground detected by the second detecting mechanism 6000, the telescopic wall leaning assembly 2220 of the wall leaning mechanism 2000 is retracted, and the robot steadily falls to the ground to complete the whole operation flow. Actuator 4300 at the end of arm 4100: the spraying mechanism 7000 and the spin coating mechanism 8000 switch the gas circuit and the circuit through the quick-change component 4400, so that the color separation spin coating function of the emulsion paint on the continuous surface is realized. The vacuum chuck 1500 in front of the robot is adsorbed on the wall surface during operation of the executing mechanism 4300, so that stability of the hanging basket posture during operation of the mechanical arm 4100 is improved, and straightness of the color separation roll coating boundary is ensured. The roller coating mechanism 8000 is provided with a visual detection component 8400, when the robot finishes roller coating at one height, the robot descends at one height, the visual detection component 8400 photographs and searches for the roller coating edge line at the previous height, and the mechanical arm 4100 is guided to operate the roller accurately as a roller, so that the roller coating edge line can be connected smoothly. The force sensor is arranged on the roll coating mechanism 8000 to sense the pressure of the roller on the wall surface, and the running track of the roll coating device at the tail end of the mechanical arm 4100 is controlled by the sensor pressure and a preset control method, so that the mechanical arm 4100 can perform constant force roll coating construction on the wall surface according to the set force, and uneven roll coating pressure and even roll separation from the wall surface are avoided. In the outer wall construction system of the embodiment of the application, the outer wall construction robot of the embodiment of the application is suspended outside the outer wall through the traction piece and the suspension mechanism 9000 to execute the aerial work, the execution device 4000 executes various kinds of work, and in actual work, the execution mechanism 4300 can be replaced according to actual requirements to realize aerial work such as rolling coating, spraying, cleaning and the like, so that one machine is multipurpose. In addition, the mechanical arm 4100 is movably installed on the additional shaft 4200, which can expand the working range and solve the problem of inconvenient working of the corner small space of the outer wall of the feature spraying such as the internal corner, the concave surface, the balcony, the window, the air conditioner cantilever board C, the structure connecting board and the like.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (15)
1. An exterior wall construction robot, comprising:
a basket mechanism;
the wall leaning mechanism is connected with the hanging basket mechanism and is used for leaning against the outer wall so as to enable the hanging basket mechanism to be arranged at intervals with the outer wall;
the feeding mechanism is arranged in the hanging basket mechanism;
the actuating device comprises a mechanical arm, an additional shaft and an actuating mechanism, wherein the additional shaft is arranged on the hanging basket mechanism and extends in the horizontal direction, the mechanical arm is movably arranged on the additional shaft and can reciprocate along the extending direction of the additional shaft, and the actuating mechanism is detachably arranged on the mechanical arm; the feeding mechanism is connected with the executing mechanism and feeds the executing mechanism, and the executing mechanism is used for executing operation on the outer wall.
2. The exterior wall construction robot according to claim 1, further comprising a first detecting mechanism and a second detecting mechanism disposed up and down in a height direction of the basket mechanism, the first detecting mechanism being for recognizing exterior wall size and shape characteristics and constructing a three-dimensional model, the executing device executing a job based on the three-dimensional model, the second detecting mechanism being for detecting an environment under the basket mechanism.
3. The exterior wall construction robot according to claim 1, wherein the basket mechanism comprises:
a basket frame including a mounting part for mounting the executing device;
the hanging assembly comprises a traction piece connecting assembly and a telescopic assembly, wherein the traction piece connecting assembly is arranged above the telescopic assembly and is connected with the telescopic assembly, the traction piece connecting assembly is used for being connected with a traction piece, the telescopic assembly comprises a plurality of connecting parts connected with the hanging basket frame, the connecting parts are uniformly distributed along the periphery of the hanging basket frame, and each connecting part is provided with a degree of freedom stretching along the length direction of the connecting part;
the lifting assembly is arranged on the traction piece connecting assembly and is used for driving the hanging assembly and the hanging basket frame to ascend or descend along with the traction piece;
the installation part is positioned on one side of the suspension assembly, so that the execution device avoids the suspension assembly to execute the operation.
4. The outer wall construction robot according to claim 3, wherein the telescopic assembly comprises a plurality of telescopic adjusting members, the telescopic adjusting members can rigidly adjust the length of the telescopic adjusting members, one end of each telescopic adjusting member is the connecting portion, and the other end of each telescopic adjusting member is the hinge portion; the hinge parts are arranged close to the traction piece connecting component relative to the connecting parts, at least two hinge parts are hinged to each other to form hinge joints, the hinge joints are connected with each other, and the telescopic component is connected with the traction piece connecting component through the hinge joints.
5. The exterior wall construction robot according to claim 1, wherein the wall leaning mechanism comprises:
a connection unit extending in a horizontal direction; and
at least two lean on the wall unit, at least two lean on the wall unit along horizontal direction interval connect in connecting element, every lean on the wall unit along vertical direction extension setting, every lean on the wall unit includes:
the fixed wall-leaning assembly is fixedly connected with the connecting unit;
the telescopic wall leaning assembly is movably arranged on one side of the fixed wall leaning assembly and can reciprocate along the length direction of the fixed wall leaning assembly;
the upper guide piece is arranged at the upper end of the fixed wall leaning component; and
a lower guide piece which is arranged at the lower end of the telescopic wall leaning component,
the fixed wall-leaning assembly, the telescopic wall-leaning assembly, the upper guide piece and the lower guide piece are used for propping against the building outer wall.
6. The exterior wall construction robot according to claim 5, wherein the connection unit comprises:
the rack fixing rod is of a hollow structure and comprises two open ends which are oppositely arranged along the horizontal direction;
the adjusting rods are in clearance fit with the inner wall of the rack fixing rod, the two adjusting rods are respectively and symmetrically arranged on two sides of the rack fixing rod along the horizontal direction, one end of each adjusting rod extends into the opening end, the other end of each adjusting rod is connected with the wall leaning unit, each adjusting rod is provided with an exposed section exposed out of the rack fixing rod, and the distance between two adjacent wall leaning units can be adjusted by adjusting the length of the exposed section;
The locking piece is used for locking the position of the adjusting rod relative to the rack fixing rod;
and the clamp assembly is used for adjusting a gap between the adjusting rod and the rack fixing rod.
7. The exterior wall construction robot according to claim 6, wherein the feeding mechanism comprises:
the charging basket assembly comprises a first charging basket and a second charging basket which are respectively arranged along the front-back direction of the outer wall construction robot, and the first charging basket and the second charging basket are symmetrically distributed relative to the center of gravity of the outer wall construction robot;
the feeding pump is respectively communicated with the first charging basket and the second charging basket through connecting pipelines with the same length and is used for sucking paint.
8. The exterior wall construction robot according to claim 7, wherein the feeding mechanism further comprises:
the feeding pump is respectively communicated with the first charging barrel and/or the second charging barrel through the damper, and the damper is used for reducing vibration of the connecting pipeline along the direction perpendicular to the flowing direction of the paint;
a gas storage tank; and
the pressure boosting valve is arranged in the air storage tank, and the feed pump can be respectively communicated with the first charging basket and/or the second charging basket through the pressure boosting valve.
9. The exterior wall construction robot according to claim 7, wherein the feeding mechanism further comprises:
a liquid flowmeter installed on the connecting pipeline for monitoring the flow of the paint;
the pump body air proportional valve is connected with the feed pump and used for controlling the pump pressure;
and the spray gun air proportional valve is connected with the feed pump and used for controlling the atomization degree of the coating.
10. The exterior wall construction robot according to claim 1, wherein the actuating device further comprises a quick-change assembly, the actuating mechanism comprises a spraying mechanism and/or a roll-coating mechanism, and the spraying mechanism or the roll-coating mechanism is detachably connected with the tail end of the mechanical arm through the quick-change assembly.
11. The exterior wall construction robot according to claim 10, wherein the roll coating mechanism comprises:
the roller assembly is used for rolling and coating the outer wall;
the elastic floating assembly comprises a mounting seat, a movable piece and a first elastic piece, wherein the movable piece is connected with the roller assembly, the movable piece can move along the radial direction of the roller assembly relative to the mounting seat, and the movable piece is elastically connected with the mounting seat through the first elastic piece.
12. The exterior wall construction robot according to claim 11, wherein the roll coating mechanism further comprises:
the flexible swing assembly comprises a rotating shaft piece, a swing arm and a second elastic piece, wherein the swing arm extends in the axial direction of the roller assembly in parallel, the roller assembly is installed on the swing arm, the swing arm is rotationally connected with the movable piece through the rotating shaft piece, and the second elastic piece is elastically connected with the swing arm.
13. The exterior wall construction robot according to claim 11, wherein the roll coating mechanism further comprises:
the visual detection assembly is arranged on the mounting seat and is positioned above the roller assembly, the visual detection assembly is used for acquiring an image of an outer wall to be processed to obtain characteristic information of a surface to be processed, the visual detection assembly can feed back the image of the surface to be processed and the characteristic information of the surface to be processed to an upper computer, and the upper computer can generate a displacement deviation rectifying signal aiming at the rolling mechanism based on the image of the surface to be processed and the characteristic information of the surface to be processed.
14. The exterior wall construction robot according to claim 11, wherein the roll coating mechanism further comprises a detecting element for generating detection information reflecting a pressure between the drum assembly and the exterior wall, and the executing means controls the roll coating mechanism to execute a job to the exterior wall with a constant force by a preset control method based on a detection result of the detecting element.
15. An exterior wall construction system, comprising:
the suspension mechanism is fixed at the top of the outer wall;
the exterior wall construction robot according to any one of claims 1 to 14, which is for performing a work on an exterior wall, and
and one end of the traction piece is connected with the outer wall construction robot, the other end of the traction piece is connected with the suspension mechanism, and the traction piece is used for enabling the outer wall construction robot to climb or descend along an outer wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211159887.XA CN116696002A (en) | 2022-09-22 | 2022-09-22 | Outer wall construction robot and outer wall construction system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211159887.XA CN116696002A (en) | 2022-09-22 | 2022-09-22 | Outer wall construction robot and outer wall construction system |
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| CN116696002A true CN116696002A (en) | 2023-09-05 |
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| CN202211159887.XA Pending CN116696002A (en) | 2022-09-22 | 2022-09-22 | Outer wall construction robot and outer wall construction system |
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- 2022-09-22 CN CN202211159887.XA patent/CN116696002A/en active Pending
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