CN112443135A - Outer wall surface construction robot operation system and use method thereof - Google Patents
Outer wall surface construction robot operation system and use method thereof Download PDFInfo
- Publication number
- CN112443135A CN112443135A CN201910824260.3A CN201910824260A CN112443135A CN 112443135 A CN112443135 A CN 112443135A CN 201910824260 A CN201910824260 A CN 201910824260A CN 112443135 A CN112443135 A CN 112443135A
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- wall surface
- tower
- jacking
- moving track
- exterior wall
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
Abstract
The invention provides an operation system of an outer wall surface construction robot and a using method thereof, relating to the technical field of buildings. The outer wall surface construction robot operation system comprises an actuating mechanism, a moving track mechanism and a jacking mechanism. The actuating mechanism is configured to be capable of constructing an outer wall surface; the actuating mechanism is arranged on the motion track mechanism and can move on the motion track mechanism; the jacking mechanism is configured to be capable of jacking the moving track mechanism to a preset working height so as to improve the stability of the moving track mechanism. The outer wall surface construction robot operating system provided by the invention can stably carry out automatic construction on the outer wall surface.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to an outer wall surface construction robot operating system and a using method thereof.
Background
The construction outer wall operation at the present stage is manual operation, and workers complete various working procedures of the outer wall surface on the climbing frame. The construction operation of outer wall face, along with climbing the frame and rising, workman's operation risk can increase gradually, and the young is reluctant to engage in heavy physical power and high-risk work gradually, and along with time lapse, the workman that the building trade can be recruited can be less and less to it is imperative that automatic, intelligent robot replaces artifical construction operation to the outer wall face.
However, the current climbing frame adopts a mode that an electric hoist is lifted, so that the weight of the installation and construction executing device is hard to bear, the stability of the climbing frame is insufficient, the construction precision of the construction executing device is finally influenced, and the potential safety hazard is caused.
Disclosure of Invention
The invention aims to provide an outer wall surface construction robot operating system and a using method thereof, which can stably carry out automatic construction on the outer wall surface.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an operation system of an outer wall surface construction robot, which comprises:
an actuator configured to enable construction of an exterior wall surface;
the actuating mechanism is arranged on the motion track mechanism and can move on the motion track mechanism;
a jacking mechanism configured to be capable of jacking the moving track mechanism to a preset working height.
Preferably, the jacking mechanism comprises:
the lifting-up base is arranged on the base,
the top end of the tower is connected with or abutted against the bottom end of the moving track mechanism, the bottom end of the tower is connected with or abutted against the jacking base, and the moving track mechanism is arranged on the tower;
and the jacking piece is arranged on the jacking base and is configured to be capable of jacking the whole of the tower and the moving track mechanism in the vertical direction.
Preferably, the tower comprises a single tower standard or is formed by stacking and assembling a plurality of tower standards.
Preferably, the jacking mechanism further comprises:
the anti-deflection device is arranged on the tower frame and is configured to apply acting force to the tower frame along the horizontal plane direction.
Preferably, the moving track mechanism includes:
the climbing frame is arranged along the vertical direction and is parallel to the outer wall surface;
the moving plate surface is arranged on the climbing frame and can move along the vertical direction relative to the climbing frame;
the actuating mechanism is arranged on the motion board surface and can move along the horizontal direction relative to the motion board surface.
Preferably, a slide way extending along the horizontal direction is arranged on the moving plate surface, and the actuating mechanism can slide along the slide way.
Preferably, the method further comprises the following steps:
the guide piece is fixedly arranged on the ground along the vertical direction, and the climbing frame can move towards the vertical direction along the guide piece.
Preferably, the actuator comprises:
the mounting platform is connected with the moving track mechanism;
and the execution device is arranged on the mounting platform and used for constructing the outer wall surface.
Preferably, the execution device is a plastering device, a wall surface polishing device, a putty coating device, a putty polishing device, an insulating layer coating device, a primer and finish coating device or a wall tile paving device.
The invention provides a use method of the operation system of the outer wall surface construction robot, which comprises the following steps:
installing a moving track mechanism;
the jacking mechanism jacks the moving track mechanism to an operation height;
and installing an actuating mechanism to the moving track mechanism, and constructing the outer wall surface by the actuating mechanism.
Preferably, the mounting movement track mechanism comprises the steps of:
arranging a sitting pier on the outer side of the outer wall surface, erecting a climbing frame on the sitting pier, and connecting a plurality of climbing frame standard parts to form a climbing frame;
and installing the sports board surface on the climbing frame.
Preferably, the mounting actuator comprises the steps of:
mounting a mounting platform on the motion track mechanism;
and mounting the required execution device on the mounting platform.
Preferably, the jacking mechanism jacks the moving track mechanism to the working position, and comprises the following steps:
installing a jacking piece and a tower standard piece, and installing the moving track mechanism on the top end of the tower standard piece;
jacking the tower standard parts and the moving track mechanism by a jacking part along the vertical direction, so that a tower accommodating space capable of accommodating the height of one tower standard part is at least reserved below the tower standard parts;
placing another one of the tower modules at the tower receiving space and connecting two adjacent tower modules.
Preferably, the method further comprises the following steps:
and arranging the deviation preventing device on the tower, lifting along with the tower, and fixedly connecting the deviation preventing device with the outer wall surface after the tower is lifted to a preset operation height.
Preferably, the construction of the outer wall surface by the actuating mechanism comprises the following steps:
and the executing device moves in the range of the moving track mechanism to perform first process operation on the outer wall surface.
Preferably, the executing mechanism further comprises the following steps:
replacing the executing device at least once, and performing at least two working procedures on the outer wall surface within the range of the moving track mechanism;
after each process operation is completed, judging whether all the process operations required to be executed in the range are completed or not;
if not all the working procedures are finished:
and replacing the executing device to finish the unfinished process operation.
Preferably, after the execution mechanism completes the construction of the outer wall surface within the range, the method further comprises the following steps:
judging whether the construction of the whole outer wall surface is completely finished;
if the external wall surface which is not constructed exists, the following steps:
the jacking mechanism drives the moving track mechanism to move along the vertical direction, so that the moving track mechanism reaches the position of the non-constructed outer wall surface to complete required working procedure operation.
Preferably, after each process operation is completed, the effect of the process operation is checked;
if the effect of the operation in the procedure does not meet the acceptance criteria, the following steps are carried out:
and repeatedly executing the working procedure operation until the effect of the working procedure operation reaches the acceptance standard.
The invention has the beneficial effects that:
1. the invention provides an outer wall surface construction robot operating system which comprises an actuating mechanism, a moving track mechanism and a jacking mechanism. The actuating mechanism is arranged on the moving track mechanism and can move on the moving track mechanism so as to carry out multi-process construction on the outer wall surface within a certain range; the top of the jacking mechanism is connected with or abutted against the moving track mechanism and is used for jacking the moving track mechanism to a preset height. The moving track mechanism is jacked in a jacking mode, so that the moving track mechanism can be supported by more stable supporting force to support the actuating mechanism arranged in the mechanism, and the actuating mechanism can stably carry out automatic construction on the outer wall surface.
2. The jacking mechanism of the outer wall surface construction robot operation system comprises the tower frame formed by stacking and assembling a plurality of tower frame standard components, so that the height of the tower frame can be obtained by arranging different numbers of tower frame standard components to be stacked and assembled with each other, and the effect of jacking the climbing frame to a preset operation position is realized.
3. The working system of the outer wall surface construction robot comprises an anti-tilting device for preventing the tower from tilting, and thrust in the horizontal plane direction is applied to the tower through the anti-tilting device, so that the tower can be restored to a vertical state from a tilting state under the acting force of the anti-tilting device.
4. The executing mechanism of the operation system of the outer wall surface construction robot comprises the mounting platform, and all types of executing devices can be mounted on the climbing frame through the mounting platform, so that the executing mechanism can be replaced from the climbing frame more easily, and the operation system of the outer wall surface construction robot can perform multi-process operation on the outer wall surface.
Drawings
Fig. 1 is a perspective view illustrating an operation system of an exterior wall surface construction robot according to an embodiment of the present invention;
fig. 2 is a perspective view illustrating a tower standard member of an exterior wall surface construction robot operating system according to an embodiment of the present invention;
fig. 3 is an assembly structure diagram between a jacking member and a tower standard member of an operation system of an exterior wall surface construction robot according to an embodiment of the invention;
FIG. 4 is an enlarged view at A of FIG. 1;
FIG. 5 is a flowchart illustrating the main steps of a method for using the exterior wall construction robot operating system according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating the detailed steps of a method for using the exterior wall construction robot operating system according to an embodiment of the present invention.
In the figure:
1. a jacking mechanism; 11. a tower; 111. a tower standard; 12. a jacking piece; 13. an anti-deflection device;
2. a motion track mechanism; 21. climbing a frame; 211. a climbing frame standard component; 212. a guide slide rail is arranged on the surface of the moving plate; 22. a sports board surface; 221. a slideway; 222. a limiting hole; 23. a guide member;
3. an actuator; 31. mounting a platform; 32. a limiting and fixing device; 321. limiting and fixing the driving piece; 322. spacing mounting.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Referring to fig. 1, the present invention provides an operation system of an exterior wall construction robot, including an actuator 3, a moving track mechanism 2 and a jacking mechanism 1. The actuating mechanism 3 is arranged on the moving track mechanism 2 and can move on the moving track mechanism 2 so as to carry out multi-process construction on the outer wall surface within a certain range; the top of the jacking mechanism 1 is connected with or abutted against the moving track mechanism 2 and is used for jacking the moving track mechanism 2 to a preset height. Adopt the mode of jacking to carry out the jacking to movement track mechanism 2 for movement track mechanism 2 can receive more stable holding power, installs the actuating mechanism 3 wherein with the support, realizes the automatic construction to the outer wall.
Preferably, referring to fig. 1-3, the jacking mechanism 1 comprises a jacking base, a tower 11 and a jacking member 12. The top end of the tower 11 is connected or abutted with the bottom end of the moving track mechanism 2, and the bottom end of the tower 11 is connected or abutted with the jacking base or abutted with the ground. Wherein, tower 11 includes tower standard 111, and a plurality of tower standard 111 can be piled up and assembled to form tower 11. Specifically, the number of the tower standard parts 111 can be determined according to a construction site, and generally, the number of the tower standard parts 111 forming the tower 11 is two or more, so that the tower 11 can obtain different heights under the stacking assembly of different numbers of the tower standard parts 111, and the moving track mechanism 2 can be jacked to different heights to construct the outer wall surfaces of different heights. The jacking piece 12 is arranged on the jacking base, when the tower 11 is assembled, the jacking piece 12 is used for jacking the moving track mechanism 2 and the existing tower 11 in the vertical direction, a new tower standard part 111 is placed below the existing tower 11, the jacking piece 12 drives the tower 11 and the moving track mechanism 2 to move downwards, the bottom of the existing tower 11 is in contact with and connected with the top of the new tower standard part 111, and a new tower 11 is formed to jack the moving track mechanism 2 at a higher position.
Preferably, in order to enable the matching between the tower 11 and the moving track mechanism 2 to be more stable, a top backup plate is arranged between the tower 11 and the moving track mechanism 2, and the stress of the moving track mechanism 2 is set to be more balanced by the arrangement of the top backup plate, so that the stability of the moving track mechanism 2 is further improved.
Preferably, the jacking mechanism 1 further comprises an anti-deflection device 13 installed on the tower 11, and the anti-deflection device 13 is configured to apply a force to the tower 11 along the horizontal plane. Specifically, the anti-deviation device 13 includes a frame sleeved on the tower 11 and a locking screw installed on the circumference of the frame through a thread, and the locking screw abuts against the tower 11 from different directions with the frame as a fulcrum, so that the tower 11 can be restored from a deviation state to a vertical state under the action of the locking screw. One end of the frame is fixed on the outer wall surface, so that the outer wall surface becomes a stress pivot of the frame.
Preferably, referring to fig. 1 and 4, the moving rail mechanism 2 includes a climbing frame 21 and a moving plate 22. The climbing frame 21 is arranged along the vertical direction and is parallel to the outer wall surface; the moving plate surface 22 is arranged on the climbing frame 21 and can move along the vertical direction relative to the climbing frame 21; the actuator 3 is mounted on the moving plate 22 and can move in the horizontal direction with respect to the moving plate 22.
Alternatively, the motion plate 22 may be driven by a motor-screw assembly to effect movement in the vertical direction. Preferably, the climbing frame 21 is provided with a vertically arranged moving board guide sliding rail 212, and the moving board 22 slides along the moving board guide sliding rail 212, so as to ensure that the moving board 22 does not deflect when moving in the vertical direction, and ensure the stability of the moving board 22 when moving in the vertical direction.
Specifically, the moving plate 22 is provided with a slide rail 221 extending in the horizontal direction, and the actuator 3 slides along the slide rail 221 to realize linear movement of the actuator 3 in the lateral direction.
By providing the moving rail mechanism 2, the actuator 3 mounted on the moving rail mechanism 2 can be constructed at any position of the outer wall surface within the range of the climbing frame 21.
Preferably, the moving track mechanism 2 further includes a guide 23, the guide 23 is a slide rail vertically disposed and fixed on the ground, the guide 23 is slidably connected to the climbing frame 21, and the climbing frame 21 moves along the slide rail, so that the climbing frame 21 can stably move in a straight line in the vertical direction, and the climbing frame 21 is prevented from deflecting when moving in the vertical direction.
Preferably, in order to facilitate the erection of the creel 21, the creel 21 includes a plurality of creel standards 211, and the plurality of creel standards 211 are connected to form the creel 21. Specifically, the creeper standard 211 includes a plurality of support rods and support plates.
Preferably, the actuator 3 comprises a mounting platform 31, a spacing fixture 32 and an actuator. The mounting platform 31 is connected with the moving plate surface 22 of the moving track mechanism 2 and can slide along the slide way 221; the execution device is detachably arranged on the mounting platform 31 and is used for constructing the outer wall surface; the limiting fixing device 32 is installed on the installation platform 31, and when the execution device is used for constructing the outer wall surface, the limiting fixing device 32 fixes the installation platform 31 on the moving plate surface 22, so as to avoid the problem that the execution device cannot stably construct the outer wall surface due to the fact that the installation platform 31 slides along the slide way 221.
Specifically, the limiting fixing device 32 includes a limiting fixing driving member 321 and a limiting fixing member 322, and the moving plate 22 is further provided with a limiting hole 222 corresponding to the limiting fixing member 322. When the actuator starts to operate, the driving member 321 drives the fixing member 322 to extend into the hole 222, so as to prevent the actuator from sliding along the sliding rail 221, thereby improving the stability of the actuator.
Preferably, the execution device is a plastering device, a wall surface polishing device, a putty coating device, a putty polishing device, an insulating layer coating device, a primer and finish coating device or a wall tile paving device, and the corresponding execution device is installed on the installation platform 31 according to construction requirements so as to realize different working procedure operations on the wall surface.
Preferably, a plurality of actuators may be disposed at different heights on the creeper 21 to improve the construction efficiency of the exterior wall construction robot operating system.
Referring to fig. 1 and 5, the present invention provides a method for using an exterior wall construction robot operating system, including the following steps:
installing a moving track mechanism 2;
the jacking mechanism 1 jacks the moving track mechanism 3 to an operation height;
and installing an actuating mechanism 3 to the moving track mechanism 3, and constructing an outer wall surface by the actuating mechanism 3.
Specifically, referring to fig. 1 and 6, the mounting of the moving rail mechanism 2 includes the steps of:
arranging a sitting pier on the outer side of the outer wall surface, erecting a climbing frame 21 on the sitting pier, specifically, erecting a plurality of support rods and support plates to form a climbing frame standard part 211, and connecting the plurality of climbing frame standard parts 211 to form the climbing frame 21;
the moving plate 22 is mounted on the climbing frame 21 in the horizontal direction.
Preferably, with reference to fig. 1, 4 and 6, the installation of the actuator 3 comprises the following steps:
the mounting platform 31 is mounted on the motion plate 22, and then the required actuator is mounted on the mounting platform 31. Preferably, before the climbing mechanism 1 lifts the climbing frame 21, the mounting platform 31 and the corresponding executing device of the first working procedure operation construction to be performed on the outer wall surface are mounted on the mounting platform 31, and since the climbing frame 21 is still at a low position, the mounting operation is convenient for an operator.
Preferably, referring to fig. 1, 2, 3 and 6, the jacking of the moving rail mechanism 2 to the working position by the jacking mechanism 1 comprises the following steps:
installing a jacking part 12 and a tower standard part 111 at the vacant position of the sitting pier below the moving track mechanism 2;
the jacking piece 12 jacks the tower standard part 111 along the vertical direction, so that the top end of the tower standard part 111 abuts against the bottom end of the climbing frame 21, and at the moment, the tower standard part 111 becomes the tower 11 abutting against the climbing frame 21;
the jacking piece 12 jacks the tower 11 and the climbing frame 21 along the vertical direction at the same time, so that a tower accommodating space with the height capable of accommodating one tower standard piece 111 is at least reserved below the tower 11;
another tower standard 111 is placed at the tower accommodating space, and the jacking members 12 drop the tower 11 and the climbing frame 21, so that the bottom of the tower 11 and the top of the tower standard 111 are mutually assembled to form a new tower 11.
The tower 11 of a preset height is formed by stacking and assembling a preset number of tower standard members 111, so that the climbing frame 21 can be jacked up to a preset working position.
Preferably, referring to fig. 1 and 6, before the actuator 3 performs construction on the outer wall surface, the method further includes the following steps:
installing the deviation preventing device 13, specifically, sleeving the deviation preventing device 13 on the tower standard part 111, so that the deviation preventing device 13 can reach a preset position along with the gradual stacking of the jacking part 12 on the tower standard part 111, and then fixedly connecting the deviation preventing device 13 with the outer wall surface.
Preferably, referring to fig. 1 and 6, the performing device for constructing the outer wall surface includes the following steps:
the actuator moves within the range of the climbing frame 21 to perform the first process operation on the outer wall surface.
Preferably, referring to fig. 1, 4 and 6, the performing device further includes the following steps:
at least replacing the one-time execution device, and performing at least two processes on the outer wall surface within the range of the climbing frame 21;
after each process operation is completed, manually judging whether all the process operations to be executed on the outer wall surface within the range of the climbing frame 21 are completed;
if not all the working procedures are finished:
and replacing the corresponding executing device to finish the finished process operation until all the process operations are finished.
Specifically, in the actual outer wall surface work progress, can relate to the operation of multichannel process, consequently, the final controlling element includes and is not limited to plastering unit, wall grinding device, putty coating device, putty grinding device, heat preservation coating device, priming paint finish paint coating device or wall brick shop pastes the device. When the outer wall surface is constructed, different execution devices can be adopted and replaced in sequence according to different construction requirements, so that the construction of different procedures of the outer wall surface in sequence is realized.
When all the working procedures of the outer wall surface within the range of the climbing frame 21 are completed, the method also comprises the following steps:
manually judging whether the construction process of the whole outer wall surface is completely finished;
if the external wall surface which is not constructed exists, the following steps:
the jacking mechanism 1 drives the moving track mechanism 2 to move along the vertical direction, so that the moving track mechanism 2 reaches the position of an unfinished outer wall surface, and the executing devices are installed and replaced in sequence to complete required working procedure operation.
If the construction of the whole outer wall surface is completed, then:
the jacking piece 12 gradually descends the tower 11, lowers the climbing frame 21 to the ground, and removes the climbing frame 21, the executing device, the deviation preventing device 13 and the moving plate surface 22.
Specifically, before the tower 11 is gradually lowered, the deviation preventing device 13 needs to be detached from the outer wall surface so that the tower 11 can be smoothly lowered.
Preferably, after each process operation is completed, the effect of the process operation is checked manually;
if the effect of the operation in the procedure does not meet the acceptance criteria, the following steps are carried out:
and repeatedly executing the working procedure operation until the effect of the working procedure operation reaches the acceptance standard.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (18)
1. The utility model provides an outer wall face construction robot operating system which characterized in that includes:
an actuator (3) configured to be capable of performing construction on an outer wall surface;
the actuating mechanism (3) is arranged on the moving track mechanism (2) and can move on the moving track mechanism (2);
a jacking mechanism (1) configured to be capable of jacking the moving track mechanism (2) to a preset working height.
2. The exterior wall surface construction robot working system according to claim 1, wherein the jacking mechanism (1) comprises:
the lifting-up base is arranged on the base,
the top end of the tower (11) is connected with or abutted against the bottom end of the moving track mechanism (2), the bottom end of the tower (11) is connected with or abutted against the jacking base, and the moving track mechanism (2) is arranged on the tower (11);
the jacking piece (12) is arranged on the jacking base and is configured to be capable of jacking the whole of the tower (11) and the moving track mechanism (2) along the vertical direction.
3. The exterior wall surface construction robot working system according to claim 2,
the tower (11) comprises a single tower standard (111) or is formed by stacking and assembling a plurality of tower standard (111).
4. The exterior wall surface construction robot working system according to claim 2, wherein the jacking mechanism (1) further comprises:
and an anti-deviation device (13) installed on the tower (11), wherein the anti-deviation device (13) is configured to apply an acting force along a horizontal plane direction to the tower (11).
5. The exterior wall surface construction robot working system according to claim 1, wherein the moving rail mechanism (2) comprises:
the climbing frame (21) is arranged along the vertical direction and is parallel to the outer wall surface;
the moving plate surface (22) is arranged on the climbing frame (21) and can move along the vertical direction relative to the climbing frame (21);
the actuating mechanism (3) is arranged on the moving plate surface (22) and can move along the horizontal direction relative to the moving plate surface (22).
6. The exterior wall surface construction robot working system according to claim 5, wherein a slide (221) extending in a horizontal direction is provided on the moving plate surface (22), and the actuator (3) is slidable along the slide (221).
7. The exterior wall surface construction robot working system according to claim 5, further comprising:
the guide piece (23) is fixedly arranged on the ground along the vertical direction, and the climbing frame (21) can move towards the vertical direction along the guide piece (23).
8. The exterior wall surface construction robot working system according to any one of claims 1 to 7, wherein the actuator (3) comprises:
the mounting platform (31) is connected with the moving track mechanism (2);
and the execution device is arranged on the installation platform (31) and is used for constructing the outer wall surface.
9. The exterior wall surface construction robot operating system of claim 8, wherein the performing device is a plastering device, a wall surface polishing device, a putty coating device, a putty polishing device, an insulation layer coating device, a primer and finish coating device, or a wall tile laying device.
10. A method of using the exterior wall surface construction robot working system as claimed in any one of claims 1 to 9, comprising the steps of:
a moving track mechanism (2) is installed;
the jacking mechanism (1) jacks the moving track mechanism (2) to an operation height;
and installing an actuating mechanism (3) to the moving track mechanism (2), and constructing the outer wall surface by the actuating mechanism (3).
11. The method for using an exterior wall surface construction robot working system according to claim 10, wherein the installing the moving rail mechanism (2) comprises the steps of:
arranging a sitting pier on the outer side of the outer wall surface, erecting a climbing frame (21) on the sitting pier, and connecting a plurality of climbing frame standard parts (211) to form the climbing frame (21);
and arranging the moving plate surface (22) on the climbing frame (21).
12. The method for using an exterior wall surface construction robot working system according to claim 10, wherein the installation actuator (3) comprises the steps of:
mounting a mounting platform (31) on the moving track mechanism (2);
and mounting the required actuating device on the mounting platform (31).
13. The method for using the working system of the exterior wall surface construction robot as claimed in claim 10, wherein the jacking mechanism (1) jacking the moving rail mechanism (2) to a working position comprises the following steps:
installing a jacking piece (12) and a tower standard piece (111), and installing the moving track mechanism (2) at the top end of the tower standard piece (111);
the jacking piece (12) jacks the tower standard pieces (111) and the moving track mechanism (2) along the vertical direction, so that a tower accommodating space capable of accommodating the height of one tower standard piece (111) is at least reserved below the tower standard piece (111);
-placing another one of said tower modules (111) at said tower receiving space and connecting two adjacent ones of said tower modules (111).
14. The method for using an exterior wall surface construction robot working system according to claim 13, further comprising the steps of:
and arranging an anti-deviation device (13) on the tower (11), lifting along with the tower (11), and fixedly connecting the anti-deviation device (13) with the outer wall surface after the tower (11) is lifted to a preset operation height.
15. The method for using the exterior wall surface construction robot working system according to claim 10, wherein the actuator (3) performs the exterior wall surface construction by the steps of:
the actuating mechanism (3) moves in the range of the moving track mechanism (2) to perform first process operation on the outer wall surface.
16. The method for using the exterior wall surface construction robot working system according to claim 15, wherein the performing of the exterior wall surface by the actuator (3) further comprises the steps of:
at least replacing the executing device once, and performing at least two working procedures on the outer wall surface within the range of the moving track mechanism (2);
after each process operation is completed, judging whether all the process operations required to be executed in the range are completed or not;
if not all the working procedures are finished:
and replacing the execution device to finish the unfinished process operation.
17. The method for using the working system of the exterior wall construction robot in accordance with claim 16, wherein when the execution mechanism (3) completes the construction of the exterior wall within the range, the method further comprises the following steps:
judging whether the construction of the whole outer wall surface is completely finished;
if the external wall surface which is not constructed exists, the following steps:
the jacking mechanism (1) drives the moving track mechanism (2) to move along the vertical direction, so that the moving track mechanism (2) reaches the position of the unfinished outer wall surface, and required working procedure operation is completed.
18. The method for using an exterior wall construction robot working system according to claim 16, wherein after each process operation is completed, the effect of the process operation is checked;
if the effect of the operation in the procedure does not meet the acceptance criteria, the following steps are carried out:
and repeatedly executing the working procedure operation until the effect of the working procedure operation reaches the acceptance standard.
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| CN201910824260.3A CN112443135A (en) | 2019-09-02 | 2019-09-02 | Outer wall surface construction robot operation system and use method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108797992A (en) * | 2017-05-02 | 2018-11-13 | 深圳市特辰科技股份有限公司 | A kind of climbing frame for assembled architecture |
| CN209011528U (en) * | 2018-08-14 | 2019-06-21 | 湖南龙架施工设备有限责任公司 | A kind of all steel attachment type raise scaffold |
| CN109967991A (en) * | 2018-11-22 | 2019-07-05 | 河北卓达建材研究院有限公司 | A kind of Intelligent Frame Standard device |
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| KR20120109960A (en) * | 2011-03-25 | 2012-10-09 | 풍림산업 주식회사 | Sway prevention apparatus of working equipment for building exterior wall |
| CN108797992A (en) * | 2017-05-02 | 2018-11-13 | 深圳市特辰科技股份有限公司 | A kind of climbing frame for assembled architecture |
| CN107178213A (en) * | 2017-06-05 | 2017-09-19 | 中国建筑第八工程局有限公司 | The safeguard protection screen system of Steel Structure Installation |
| CN107829555A (en) * | 2017-10-14 | 2018-03-23 | 长沙万工机器人科技有限公司 | A kind of Intelligent outer wall nacelle construction robot system |
| CN209011528U (en) * | 2018-08-14 | 2019-06-21 | 湖南龙架施工设备有限责任公司 | A kind of all steel attachment type raise scaffold |
| CN109967991A (en) * | 2018-11-22 | 2019-07-05 | 河北卓达建材研究院有限公司 | A kind of Intelligent Frame Standard device |
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