CN111173242B - Robot for filling foam rod in building curtain wall seam - Google Patents
Robot for filling foam rod in building curtain wall seam Download PDFInfo
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- CN111173242B CN111173242B CN201911377267.1A CN201911377267A CN111173242B CN 111173242 B CN111173242 B CN 111173242B CN 201911377267 A CN201911377267 A CN 201911377267A CN 111173242 B CN111173242 B CN 111173242B
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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
- E04F21/165—Implements for finishing work on buildings for finishing joints, e.g. implements for raking or filling joints, jointers
- E04F21/1657—Implements for finishing work on buildings for finishing joints, e.g. implements for raking or filling joints, jointers for applying tape to joints, e.g. drywall taper tools
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B2/00—Walls, e.g. partitions, for buildings; Wall construction with regard to insulation; Connections specially adapted to walls
- E04B2/88—Curtain walls
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- Engineering & Computer Science (AREA)
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- Structural Engineering (AREA)
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Abstract
The invention discloses a robot for filling a foam rod in a building curtain wall seam, which comprises a substrate frame, a hub motor, a foam rod reel, a foam rod filling guide piece, a storage battery and a controller, wherein the middle part of the substrate frame is provided with three jointing hanging buckle mounting openings, and each jointing hanging buckle mounting opening is internally provided with a set of jointing hanging buckle devices; the foam bar filling device comprises a base plate frame, a foam bar winding drum, a foam bar filling guide piece, a foam bar winding drum and a foam bar winding drum frame, wherein four corners of the inner side surface of the base plate frame are respectively provided with a hub motor; the wheel disc motor and the wheel disc motor are respectively connected with the storage battery through the controller, and the pressure sensor is also connected with the controller. The robot can be hung on the vertical stone curtain wall board to walk, and foam bars are automatically and continuously filled into the pointing, so that the problems of low efficiency and unsafety caused by manually filling the foam bars on the stone curtain wall board are solved.
Description
Technical Field
The invention relates to the technical field of building decoration equipment, in particular to a robot for filling a foam rod in a building curtain wall seam.
Background
Hang stone material curtain board futilely, the curtain is connected with close seam and two kinds of processing methods of pointing with being connected with of curtain, and the pointing is handled and is generally stayed the seam width 6-8 millimeters, in the stone material curtain board is leaked into in for pleasing to the eye and prevent that rainwater, need do waterproof filling in the pointing and handle, and the filling processing method that generally adopts is: firstly, filling a foam rod in the pointing joint, and then sealing the outer layer of the foam rod by using a sealant.
The existing foam filling rod is completely filled through manual operation, the foam filling rod is filled on a curtain wall with a large corresponding area, workers fill the foam filling rod, and each pointing needs to move back and forth for dozens of meters.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a robot for filling foam bars in curtain wall seams of buildings, and solves the problems that the existing foam bars are filled by workers through manual operation, the foam bars are filled in curtain walls with large areas, each pointing needs to move back and forth for dozens of meters when the workers fill the foam bars, the filling efficiency is low and the workers are dangerous in high-altitude operation due to high-altitude operation.
The invention is realized by the following technical scheme:
a robot for filling a foam rod in a building curtain wall seam comprises a base plate frame, a hub motor, a foam rod winding drum, a foam rod filling guide piece, a storage battery and a controller, wherein three jointing hanging buckle mounting openings are formed in the middle of the base plate frame, and a set of jointing hanging buckle devices are arranged in each jointing hanging buckle mounting opening;
the pointing and buckling device comprises a three-star wheel disc, a wheel disc motor, a telescopic wheel shaft, a buckling wheel and a pressure sensor, wherein three star plate strips are uniformly distributed and surrounded on the three-star wheel disc, a buckling wheel groove is formed in one side of the outer end part of each star plate strip, a telescopic wheel shaft sliding strip opening is formed in the bottom of the buckling wheel groove, a wheel shaft sliding block is sleeved at the bottom end of the telescopic wheel shaft and arranged in the telescopic wheel shaft sliding strip opening to slide, a reset tension spring connected with the wheel shaft sliding block is arranged in the star plate strip at the inner end of the telescopic wheel shaft sliding strip opening, a telescopic spring is arranged in the telescopic wheel shaft, and a buckling wheel is arranged at; the fixed setting of rim plate motor is hung on every pointing and is detained the base plate frame medial surface that the installing port corresponds the position, and the cover is equipped with the backstop reel on the pivot inner end of rim plate motor, and backstop reel inner is connected with the friction laminating of rim plate motor body, the centre bore of three-star rim plate is installed on the pivot middle part of rim plate motor through the backstop, and the backstop reel is reverse locking with the backstop, is equipped with the threading passageway in star slab, and threading passageway one end UNICOM is in telescopic wheel axle slip strip, and threading passageway other end UNICOM wears to be equipped with the stay cord on three-star rim plate inner face in the threading passageway, stay cord one end is worn in telescopic wheel axle and is connected with hanging the knot wheel, and the stay cord other end is connected on the backstop reel, pressure sensor sets up in the pivot rear side.
The foam bar filling device comprises a base plate frame, a foam bar winding drum, a foam bar filling guide piece, a foam bar winding drum and a foam bar winding drum frame, wherein four corners of the inner side surface of the base plate frame are respectively provided with a hub motor;
the wheel disc motor and the hub motor are respectively connected with the storage battery through the controller, and the pressure sensor is also connected with the controller.
The invention relates to a robot for filling foam rods in a building curtain wall seam, which is characterized in that three sets of pointing and buckling devices are arranged on the robot; the robot can be hung on the vertical stone curtain wall board to walk, and foam bars are automatically and continuously filled into the pointing, so that the problems of low efficiency and unsafety caused by manually filling the foam bars on the stone curtain wall board are solved.
Furthermore, wedge-shaped blocks are symmetrically arranged at the positions, corresponding to the pointing, of the two sides of the star slab.
Furthermore, the hanging buckle wheel is of a dish-shaped structure.
Further, the foam rod filling guide piece comprises a U-shaped support, a guide pipe and a filling pulley, the upper end of the guide pipe is fixed on the foam rod reel frame through a plurality of U-shaped supports, and the upper port of the guide pipe corresponds to the middle position of the rear side of the foam rod reel; the filling pulley is arranged at the lower end of the guide pipe, the foam rod discharged from the foam rod winding drum is guided into the pointing through the guide pipe, and then the filling pulley rolls to fill the pointing to the bottom of the pointing.
Furthermore, the controller is connected with a remote controller in a wireless mode.
Furthermore, a bearing seat is installed at the outer end of the rotating shaft of the wheel disc motor, and the bearing seat is fixedly installed on the inner side face of the substrate frame.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention relates to a robot for filling foam rods in a building curtain wall seam, which is characterized in that three sets of pointing and buckling devices are arranged on the robot; the robot can be hung on a vertical stone curtain wall plate surface to travel, when one set of pointing buckle device touches a dry hook, the set of pointing buckle device senses through a pressure sensor, the pressure sensor transmits a pressure sensing signal to a controller, the controller controls a wheel disc motor to rotate forward (the advancing direction of the robot), the wheel disc motor drives a three-star wheel disc to rotate 120 degrees each time, star slabs originally hooked in pointing joints withdraw in the process of rotating the three-star wheel disc by 120 degrees, adjacent star slabs are inserted into the pointing joints after crossing the dry hook in the rotating process, and the set of pointing buckle device is hooked in the pointing joints again; in the process that the set of pointing buckling device completes crossing the dry hook, other two sets of pointing buckling devices are always buckled in the pointing, so that one set of pointing buckling device can still enable a robot for plugging the foam rod to stably walk on the vertical stone curtain wall plate surface and continuously plug the foam rod into the pointing in the process of crossing the dry hook, and the problems of low efficiency and unsafety of manually plugging the foam rod on the stone curtain wall plate surface are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural view of a stone curtain wall;
FIG. 2 is a schematic front view of a robot for stuffing foam rods into curtain wall seams of a building according to the present invention;
FIG. 3 is a schematic top view of a robot for stuffing foam rods into curtain wall seams of a building according to the present invention;
FIG. 4 is a schematic structural view of the pointing buckle device of the present invention;
FIG. 5 is a schematic structural view of the three-star wheel of the present invention;
FIG. 6 is a schematic view of the construction of the foam rod filling guide of the present invention;
FIG. 7 is a schematic structural diagram of a control principle of the present invention;
reference numbers and corresponding part names in the drawings:
1-substrate holder, 2-hub motor, 3-foam rod reel, 4-foam rod filling guide, 5-storage battery, 6-controller, 7-pointing buckle mounting port, 8-pointing buckle device, 9-three star wheel disc, 10-wheel disc motor, 11-telescopic wheel shaft, 12-buckle wheel, 13-pressure sensor, 14-star plate strip, 15-buckle wheel groove, 16-telescopic wheel shaft sliding strip port, 17-wheel shaft sliding block, 18-reset tension spring, 19-telescopic spring, 20-rotating shaft, 21-backstop reel, 22-backstop, 23-threading channel, 24-pulling rope, 25-foam rod reel holder, 26-pointing, 27-wedge block, 28-U-shaped holder, 29-guide tube, 30-filling pulley, 31-remote controller, 32-bearing seat, 33-stone curtain wall plate, 34-dry hook and 35-wheel disc motor body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
As shown in figures 1-7, the robot for filling the foam rod in the curtain wall seam of the building comprises a base plate frame 1, a hub motor 2, a foam rod reel 3, a foam rod filling guide 4, a storage battery 5 and a controller 6, wherein the base plate frame 1 is of a flat plate structure and made of light alloy materials, and the robot for filling the foam rod is hung on the curtain wall seam and walks on the vertical surface of a stone curtain wall plate, so that the whole device is made of the light materials as much as possible.
Three jointing hanging buckle mounting openings 7 are formed in the middle of the substrate frame 1, in order to reduce the size of the substrate frame 1, the jointing hanging buckle mounting openings 7 at the two end parts of the substrate frame 1 are half mounting openings, as long as mounting space of the jointing hanging buckle devices 8 can be provided, and a set of jointing hanging buckle devices 8 are arranged in each jointing hanging buckle mounting opening 7; it should be noted that in this embodiment, three pointing hanging buckle devices 8 are correspondingly installed at the three pointing hanging buckle installation ports 7, the direction of the middle pointing hanging buckle device 8 is opposite to that of the other two pointing hanging buckle devices, namely, the directions of the pointing hanging buckle wheels 12 on the two pointing hanging buckle devices 8 are opposite, which is convenient for the robot for filling the foam rod to walk and increase the stability.
The pointing and buckling device 8 comprises a three-star wheel disc 9, a wheel disc motor 10, a telescopic wheel shaft 11, a buckling wheel 12 and a pressure sensor 13, wherein three star plate strips 14 are uniformly distributed and arranged on the three-star wheel disc 9 in a surrounding mode, the star plate strips 14 need to be inserted into the pointing seam 26, under the condition that the structural performance of the star plate strips 14 is met, the thickness of the star plate strips 14 needs to be at least 2mm smaller than the width of the pointing seam 26 to guarantee that the star plate strips 14 can smoothly enter and exit from the pointing seam 26, a buckling wheel groove 15 is formed in one side of the outer end portion of the star plate strips 14, the buckling wheel groove 15 is mainly used for storing the buckling wheel 12 after the buckling wheel 12 retracts, and therefore when the star plate strips 14 enter and exit from the pointing seam 26, the buckling wheel 12 does not occupy extra space. The bottom of the hanging buckle wheel groove 15 is provided with a telescopic wheel shaft sliding strip opening 16, the telescopic wheel shaft sliding strip opening 16 is of a strip opening structure and is mainly used for sliding the telescopic wheel shaft 11 and the hanging buckle wheel 12 in the telescopic wheel shaft sliding strip opening 16, a wheel shaft sliding block 17 is sleeved at the bottom end of the telescopic wheel shaft 11, the wheel shaft sliding block 17 is arranged in the telescopic wheel shaft sliding strip opening 16 to slide, a reset tension spring 18 connected with the wheel shaft sliding block 17 is arranged in a star plate strip 14 at the inner end of the telescopic wheel shaft sliding strip opening 16, a telescopic spring 19 is arranged in the telescopic wheel shaft 11, and the head end of the telescopic wheel shaft 11 is; the disc motor 10 is fixedly arranged on the inner side surface of the substrate frame 1 at the position corresponding to each pointing buckle mounting opening 7, the disc motor 10 adopts a servo motor, a backstop reel 21 is sleeved at the inner end of a rotating shaft 20 of the disc motor 10, the inner end of the backstop reel 21 is connected with a disc motor body 35 in a friction fit mode, a central hole of the three-star disc 9 is arranged in the middle of the rotating shaft 20 of the disc motor 10 through a backstop 22, the backstop reel 21 and the backstop 22 are in reverse stop, the main structure of the backstop 22 is an inner sleeve and an outer sleeve, and a pawl is arranged between the two sleeves, so that when the inner sleeve rotates, the outer sleeve synchronously rotates or does not rotate, and the backstop reel 21 is based on the backstop 22, and the outer sleeve is provided with a take-up reel; a threading channel 23 is arranged in the star plate strip 14, one end of the threading channel 23 is communicated with the sliding strip opening 16 of the telescopic wheel shaft, the other end of the threading channel 23 is communicated with the inner surface of the three-star wheel disc 9, a pull rope 24 is arranged in the threading channel 23 in a penetrating manner, one end of the pull rope 24 is arranged in the telescopic wheel shaft 11 and movably connected with the hanging buckle wheel 12, when the hanging buckle wheel 12 rotates, the pull rope 24 is still connected with the hanging buckle wheel 12, the other end of the pull rope 24 is connected to the backstop winding drum 21, and the pressure sensor 13 is arranged on the rear side of the rotating shaft 20.
The invention relates to a robot for filling foam rods in a building curtain wall seam, which is characterized in that three sets of pointing and buckling devices 8 are arranged on the robot; the robot can be hung on the vertical stone curtain wall board to walk, when the robot for filling the foam rod walks on the vertical surface of the stone curtain wall board to fill the foam rod, when one of the hooking and fastening devices 8 touches the dry hook 34, the dry hook 34 generates a reverse thrust to the star slat 14, the set of pointing and hanging buckle device 8 senses through a pressure sensor 13 arranged at the rear side of the rotating shaft 20, the pressure sensor 13 transmits a pressure sensing signal to the controller 6, the controller 6 controls the wheel disc motor 10 to rotate forward (the advancing direction of the robot), the wheel disc motor 10 drives the three-star wheel disc 9 to rotate 120 degrees each time, in the process of rotating the three-star wheel disc 9 by 120 degrees, the star plate strips 14 which are hooked in the pointing seams 26 originally exit, and the adjacent star plate strips 14 are inserted into the pointing seams 26 after crossing the dry hooks 34 in the rotating process, so that the set of pointing and buckling devices 8 are hooked in the pointing seams 26 again; in the process that the set of pointing buckling device 8 completes the crossing of the dry hook 34, the other two sets of pointing buckling devices 8 are always buckled in the pointing 26, so that in the process that one set of pointing buckling device 8 crosses the dry hook 34, the other two sets of pointing buckling devices 8 still enable the robot for plugging the foam rod to stably walk on the vertical stone curtain wall panel and continuously plug the foam rod into the pointing 26, and the problems of low efficiency and unsafety of manual plugging of the foam rod on the stone curtain wall panel are solved.
In the process that the three-star wheel disc 9 rotates 120 degrees, the three-star wheel disc 9 is driven to rotate by a rotating shaft 20 which is rotated in the forward direction by a wheel disc motor 10, and because a backstop 22 connected between the rotating shaft 20 and the three-star wheel disc 9 stops in the forward direction, the rotating shaft 20 which rotates in the forward direction drives the three-star wheel disc 9 to rotate synchronously, because a backstop winding drum 21 on the rotating shaft 20 stops in the reverse direction, and the inner end of the backstop winding drum 21 is in friction fit connection with a wheel disc motor body 35, when the rotating shaft 20 rotates in the forward direction, an outer winding drum part of the backstop winding drum 21 and the wheel disc motor body 35 do not rotate under the action of friction force; when the three-star wheel disc 9 and the rotating shaft 20 rotate in the forward direction, the pulling rope 24 is driven to be wound on the backstop reel 21, the pulling rope 24 can pull the buckle pulley 12 to enable the telescopic wheel shaft 11 to contract, and synchronously, when the three-star wheel disc 9 rotates in the forward direction, the star board strips 14 in the hook seams 26 are pulled out outwards, so that the inner surface of the stone curtain wall board 33 can squeeze the buckle pulley 12 to move towards the outer end of the sliding strip opening 16 of the telescopic wheel shaft, the pulling rope 24 further contracts, the buckle pulley 12 is rapidly stored in the buckle pulley groove 15, the star board strips 14 can be smoothly pulled out from the hook seams 26, and when one star board strip 14 is pulled out from the hook seams 26, the other star board strip 14 crossing the dry hook 34 enters the hook seams 26; the wheel motor 10 drives the three-star wheel 9 to rotate for 120 degrees each time; then, the controller 6 controls the wheel disc motor 10 to rotate reversely (the robot retreats), at this time, the backstop reel 21 rotates reversely synchronously with the rotating shaft 20 to release the pull rope 24, the retractable wheel shaft 11 extends under the action of the retractable spring 19, so that the hanging and buckling wheel 12 also extends out of the hanging and buckling wheel groove 15 to be hung on the inner surface of the stone curtain wall plate 33, and the one-time crossing dry hook 34 of the three-star wheel disc 9 is completed.
The controller 6 controls the reverse rotation angle of the wheel disc motor 10 to be determined according to actual conditions, and is certainly less than 120 degrees and approximately 60 degrees in reverse rotation, because when the hanging and buckling wheel 12 is stored, the wheel disc motor 10 drives the three-star wheel disc 9 to rotate approximately 60 degrees, the hanging and buckling wheel 12 is stored, and it needs to be explained that when the wheel disc motor 10 drives the three-star wheel disc 9 to rotate approximately 60 degrees in forward direction, the hanging and buckling wheel 12 is stored, because the pull rope 24 is completely contracted, the hanging and buckling wheel 12 can be completely unfolded only by the action of the pull rope 24 when the three-star wheel disc 9 rotates for the remaining 60 degrees, the winding drum on the backstop winding drum 21 and the three-star wheel disc 9 are in synchronous action, the friction force between the backstop winding drum 21 and the wheel motor body 35 is invalid, and the hanging and buckling wheel 12 can be completely unfolded only by the specific number of reverse rotation, and mainly related to the length of unfolding when the hanging and buckling wheel 12.
Be equipped with in four angular position of 1 medial surface of base plate frame respectively in-wheel motor 2, four sets of in-wheel motor 2 are the rectangle setting, even two sets of in-wheel motor 2 in front touch the crack 26 like this, two sets of in-wheel motor 2 still can play the power effect at the back, foam stick reel 3 is through foam stick reel frame 25 movable mounting on 1 lateral surface of base plate frame, and after the foam stick on a roll of foam stick reel 3 used up, can in time change a roll of foam stick reel 3 through the swing joint position, is equipped with foam stick filling guide 4 in 1 rear side of base plate frame, and foam stick filling guide 4 upper end is fixed on foam stick reel frame 25. The robot that caulks the foam rod walks forward, and the foam rod filling guide 4 caulks the foam rod into the pointing 26 at the rear.
The wheel motor 10 and the hub motor 2 are respectively connected with the storage battery 5 through the controller 6, and the pressure sensor 13 is also connected with the controller 6. The storage battery 5 is a lithium battery. The heaviest piece of the robot for filling the foam rod is the battery, and in actual use, according to the firmness degree of the stone curtain wall plate 33, if the robot can bear larger weight, the robot can adopt a mode of carrying the battery, and if the robot cannot bear larger weight, the robot can adopt a mode of connecting a power supply by adopting a traction line.
The hanging buckle wheel 12 is a dish-shaped structure. The dish-shaped structural design can ensure that the hanging buckle wheel 12 is buckled in the hanging buckle wheel groove 15 and is not interfered by the telescopic wheel shaft 11, the bottom of the hanging buckle wheel 12 is thickened, the end head of the telescopic wheel shaft 11 can be embedded in the center of the hanging buckle wheel 12, the connection firmness is increased, the hanging buckle wheel 12 can rotate independently, and the telescopic wheel shaft 11 does not rotate; the hanging buckle wheel 12 can also be fixedly connected with the first section sleeve of the telescopic wheel shaft 11, so that when the hanging buckle wheel 12 rotates, the first section sleeve of the telescopic wheel shaft 11 rotates in the second section sleeve, the tail section sleeve of the telescopic wheel shaft 11 cannot rotate, the telescopic wheel shaft 11 is generally formed by the three sections of sleeves, and it is noted that the stretching rope 24 cannot influence the stretching of the telescopic wheel shaft 11.
The foam rod filling guide 4 comprises a U-shaped bracket 28, a guide pipe 29 and a stuffing pulley 30, wherein the upper end part of the guide pipe 29 is fixed on the foam rod reel frame 25 through a plurality of U-shaped brackets 28, and the upper end opening of the guide pipe 29 corresponds to the middle position of the rear side of the foam rod reel 3; the stuffing pulley 30 is arranged at the lower end part of the guide pipe 29, the stuffing pulley 30 is arranged at the lower end part of the guide pipe 29 through a U-shaped frame, the stuffing pulley 30 only rotates, the foam rod discharged from the foam rod winding drum 3 is guided into the pointing seam 26 through the guide pipe 29, and then the stuffing pulley 30 rolls to stuff into the bottom position of the pointing seam 26.
The controller 6 is wirelessly connected with a remote controller 31. The robot for filling the foam rod can be remotely controlled in time through the remote controller 31, and comprises the steps of controlling the robot for filling the foam rod to pause, start, advance and retreat, setting parameters in the controller 6, and independently controlling any wheel motor 10 to rotate in any direction.
The disc motor 10 includes a disc motor body 35 and a rotation shaft 20 rotating within the disc motor body 35. The outer end of the rotating shaft 20 of the disc motor 10 is provided with a bearing seat 32, and the bearing seat 32 is fixedly arranged on the inner side surface of the substrate frame 1. The two ends of the rotating shaft 20 are respectively and stably supported by a wheel motor body 35 and a bearing seat 32. Here, it should be noted that: the wheel motor body 35 and the rear side (the reverse direction of the robot walking) of the bearing seat 32 are provided with installation movable allowance, the allowance can be supported through a spring pad or springs in other forms, and the pressure sensor 13 is mainly arranged, so that when the robot runs into the dry hook 34 in the advancing direction, the pressure can be sensed in time.
The invention is mainly used for automatically filling foam bars in pointing seams on stone curtain walls, can save manpower and improve efficiency, because the stone curtain wall boards 33 are fixedly hung on a keel frame arranged on the surface of a wall body through the dry hanging hooks 34, the pointing seams 26 between one row of stone curtain wall boards 33 and the other row of stone curtain wall boards 33 are not through, thus the robot is difficult to hang in the pointing seams 26 for walking, the invention is perfectly solved by arranging three sets of pointing and buckling devices 8, each set of pointing and buckling device 8 can stride over the dry hanging hooks 34 to be continuously hung in the pointing seams 26 when encountering the dry hanging hooks 34, and the other two sets of pointing and buckling devices 8 are not interfered.
The invention relates to a robot for filling foam rods in a building curtain wall seam, which is used for fully charging a storage battery 5 and checking whether enough foam rods are stored on a foam rod reel 3 or not, wherein a controller 6 is generally set in advance, and controls a wheel disc motor 10 to rotate forwards by 120 degrees and then rotate backwards by 60 degrees each time; three sets of pointing hooking devices 8 of a robot for filling foam bars are hung in pointing 26, four sets of hub motors 2 are attached to the outer side surface of a stone curtain wall plate 33, the head ends of the foam bars are led out from a foam bar winding drum 3 and led out through a foam bar filling guide piece 4, the head ends are fixed in the pointing 26, then the robot for filling the foam bars is started to automatically perform foam bar filling work, the foam bar filling of one pointing 26 is completed, a manual moving robot is replaced into the other pointing 26 to work, and therefore only watchmen are needed to be arranged at two ends of the curtain wall surface to move equipment without moving back and forth, or one worker follows the equipment to fill the place where the foam bars are filled at the rear to be filled with sealant, and the work of two people can be completed at one time.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The utility model provides a robot that foam stick is clogged to be used for building curtain seam, includes base plate frame (1), in-wheel motor (2), foam stick reel (3), foam stick filling guide (4), battery (5) and controller (6), its characterized in that:
three pointing hanging buckle mounting openings (7) are formed in the middle of the substrate frame (1), and a pointing hanging buckle device (8) is arranged in each pointing hanging buckle mounting opening (7);
the pointing and buckling device (8) comprises a three-star wheel disc (9), a wheel disc motor (10), a telescopic wheel shaft (11), a buckling wheel (12) and a pressure sensor (13), wherein three star plate bars (14) are uniformly distributed and surrounded on the three-star wheel disc (9), a buckling wheel groove (15) is formed in one side of the outer end portion of each star plate bar (14), a telescopic wheel shaft sliding strip opening (16) is formed in the bottom of the buckling wheel groove (15), a wheel shaft sliding block (17) is sleeved at the bottom end of the telescopic wheel shaft (11), the wheel shaft sliding block (17) is arranged in the telescopic wheel shaft sliding strip opening (16) to slide, a reset tension spring (18) connected with the wheel shaft sliding block (17) is arranged in the star plate bar (14) at the inner end of the telescopic wheel shaft sliding strip opening (16), a telescopic spring (19) is arranged in the telescopic wheel shaft (11), and the buckling wheel; the wheel disc motor (10) is fixedly arranged on the inner side face of the base plate frame (1) at the corresponding position of each hook hanging buckle mounting opening (7), a backstop reel (21) is sleeved at the inner end of a rotating shaft (20) of the wheel disc motor (10), the inner end of the backstop reel (21) is connected with a wheel disc motor body (35) in a friction fit mode, a center hole of the three-star wheel disc (9) is installed in the middle of the rotating shaft (20) of the wheel disc motor (10) through a backstop (22), the backstop reel (21) and the backstop (22) are in reverse locking, a threading channel (23) is arranged in the star plate strip (14), one end of the threading channel (23) is communicated with a sliding strip opening (16) of the telescopic wheel shaft, the other end of the threading channel (23) is communicated with the inner face of the three-star wheel disc (9), a pull rope (24) is arranged in the threading channel (23) in a penetrating mode, one end of the pull rope (24) is connected with a hanging buckle, the other end of the pull rope (24) is connected to the backstop winding drum (21), and the pressure sensor (13) is arranged on the rear side of the rotating shaft (20);
the foam bar packaging machine is characterized in that hub motors (2) are respectively arranged at four corners of the inner side surface of a base plate frame (1), a foam bar winding drum (3) is movably mounted on the outer side surface of the base plate frame (1) through a foam bar winding drum frame (25), a foam bar filling guide part (4) is arranged on the rear side of the base plate frame (1), and the upper end of the foam bar filling guide part (4) is fixed on the foam bar winding drum frame (25);
the wheel disc motor (10) and the hub motor (2) are respectively connected with the storage battery (5) through the controller (6), and the pressure sensor (13) is also connected with the controller (6).
2. A robot for stuffing foam rods into curtain wall seams of buildings according to claim 1, wherein: wedge blocks (27) are symmetrically arranged at the positions of the two sides of the star batten (14) corresponding to the pointing seams (26).
3. A robot for stuffing foam rods into curtain wall seams of buildings according to claim 1, wherein: the hanging buckle wheel (12) is of a disc-shaped structure.
4. A robot for stuffing foam rods into curtain wall seams of buildings according to claim 1, wherein: the foam rod filling guide piece (4) comprises a U-shaped bracket (28), a guide pipe (29) and a filling pulley (30), the upper end part of the guide pipe (29) is fixed on the foam rod reel frame (25) through a plurality of U-shaped brackets (28), and the upper end opening of the guide pipe (29) corresponds to the middle position of the rear side of the foam rod reel (3); the filling pulley (30) is arranged at the lower end part of the guide pipe (29), and the foam rod released from the foam rod winding drum (3) is guided into the pointing seam (26) through the guide pipe (29) and then is rolled and filled into the bottom position of the pointing seam (26) through the filling pulley (30).
5. A robot for stuffing foam rods into curtain wall seams of buildings according to claim 1, wherein: the controller (6) is connected with a remote controller (31) in a wireless mode.
6. A robot for stuffing foam rods into curtain wall seams of buildings according to claim 1, wherein: a bearing seat (32) is installed at the outer end of a rotating shaft (20) of the wheel disc motor (10), and the bearing seat (32) is fixedly installed on the inner side face of the substrate frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911377267.1A CN111173242B (en) | 2019-12-27 | 2019-12-27 | Robot for filling foam rod in building curtain wall seam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911377267.1A CN111173242B (en) | 2019-12-27 | 2019-12-27 | Robot for filling foam rod in building curtain wall seam |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111173242A CN111173242A (en) | 2020-05-19 |
| CN111173242B true CN111173242B (en) | 2020-10-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201911377267.1A Active CN111173242B (en) | 2019-12-27 | 2019-12-27 | Robot for filling foam rod in building curtain wall seam |
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| CN115387580B (en) * | 2022-08-22 | 2024-04-02 | 上海建工五建集团有限公司 | PE rod stuffing device and method for assembly type outer wall joint |
| CN115387579B (en) * | 2022-08-22 | 2024-04-02 | 上海建工五建集团有限公司 | PE rod stuffing device and method for L-shaped horizontal seam of assembled outer wall |
| CN115234031B (en) * | 2022-08-23 | 2024-02-13 | 上海建工五建集团有限公司 | Automatic glue-applying device and method for assembly type building outer wall joint |
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| CN202214997U (en) * | 2011-08-25 | 2012-05-09 | 沈阳远大铝业工程有限公司 | Foam rod smoothing device |
| KR101356231B1 (en) * | 2011-10-11 | 2014-01-29 | 김종삼 | Masking tape holder for wrapping pannel of building |
| CN205314509U (en) * | 2015-12-28 | 2016-06-15 | 广州市白云化工实业有限公司 | Curtain foam stick's instrument of clogging |
| US10533326B2 (en) * | 2017-10-24 | 2020-01-14 | Phaanix Pty Ltd | Plaster taping apparatus and attachments |
| CN109098412B (en) * | 2018-09-10 | 2020-09-01 | 南京溧水高新创业投资管理有限公司 | A fill compaction wall decoration robot for hanging stone material futilely |
| CN110259053B (en) * | 2019-06-27 | 2021-03-16 | 广东博智林机器人有限公司 | Material pressing structure |
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