CN112727115A - Separated wall construction device and construction method - Google Patents
Separated wall construction device and construction method Download PDFInfo
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- CN112727115A CN112727115A CN202011635092.2A CN202011635092A CN112727115A CN 112727115 A CN112727115 A CN 112727115A CN 202011635092 A CN202011635092 A CN 202011635092A CN 112727115 A CN112727115 A CN 112727115A
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- wall
- climbing robot
- station
- supply station
- lifting rope
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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
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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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
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
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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
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G3/30—Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables
Abstract
The invention relates to a separated wall surface construction device and a construction method, comprising the following steps: the lifting mechanism is arranged on the roof and is connected with a lifting rope; the upper end of the lifting rope is connected with the lifting mechanism, and the lower end of the lifting rope is connected with the operation supply station; the operation replenishing station is connected with the lower end of the lifting rope, and a grabbing mechanical arm for grabbing the wall-climbing robot is mounted on the operation replenishing station; the wall climbing robot, the wall climbing robot with the operation supply station is connected through the supply passage, be equipped with the executor installation tip that is used for installing different executor on the wall climbing robot. According to the wall-climbing robot, the operation supply station is separated from the wall-climbing robot, materials, electric energy and the like are supplied from the operation supply station, and waste water, dust and the like can be timely recycled to the operation supply station, so that the wall-climbing robot is small in load and large in moving range; therefore, the operation on the outer wall of the high-rise building is realized, and the high-flexibility, high-precision, high-working efficiency and high safety coefficient are realized.
Description
Technical Field
The invention relates to the field of building construction, in particular to a separated wall surface construction device and a construction method.
Background
The existing high-altitude wall surface operation robots comprise the following five types: hanging basket type, kite type, unmanned aerial vehicle type, wall climbing type and guide rail type. According to the research, the five types of high-altitude wall surface operation robots have different defects, and are explained one by one.
(1) A hanging basket type: the hoisting mechanism placed on the roof is connected with a 'hanging basket' through a rope, batteries, a controller, a storage bin, a pump, an air compressor, a spray gun, a polishing head, other actuators and the like required by construction operation are all arranged on the 'hanging basket', and the mode has the following defects: 1) the hanging basket is provided with various devices and materials, so that the weight of the hanging basket is large, and potential safety hazards are easily caused. In addition, the operation radius of the 'hanging basket' type actuator is not too large usually, so that the 'hanging basket' needs to be lifted frequently during construction operation, a lifting mechanism needs to be displaced frequently to switch the vertical position and the horizontal position of the operation, the construction efficiency is low, the energy consumption is large, and the potential safety hazard caused by frequent lifting of the heavy hanging basket is increased. In addition, when the 'hanging basket' meets wind, the operation has recoil force or the operation position is switched, the 'hanging basket' can swing, an actuator arranged on the 'hanging basket' also swings along with the swinging of the 'hanging basket', and the operation quality is difficult to guarantee. In the prior art, an anti-swing balance fan, a pressing rope and fan negative pressure can be arranged on a hanging basket to prevent the hanging basket from swinging, but the anti-swing effects of the modes are not good, and the construction efficiency is reduced.
(2) Kite type: the working equipment moves along the rope by pulling the traction rope along the opposite angles of the wall surface through the top floor and the ground so as to reach different working positions. The defects of the mode are low position precision and poor work impact resistance; the higher the floor is, the longer the diagonal traction rope is, the more obvious the defects are exposed, and the scheme is difficult to be used for the high-floor external wall surface and operations with certain impact force, such as spraying, grinding, repairing and the like.
(3) Unmanned aerial vehicle formula: the unmanned aerial vehicle carries the working device to realize the construction operation of the outer wall surface of the high-rise building, and the method is greatly restricted by the load bearing and the cruising ability of the unmanned aerial vehicle. If a heavy-duty unmanned aerial vehicle is adopted, the cost is too high, and even if the heavy-duty unmanned aerial vehicle is adopted, the posture adjustment, the operation impact resistance and the suspension position stability of the heavy-duty unmanned aerial vehicle are obviously insufficient, and in order to prevent falling from hurting people, the heavy-duty unmanned aerial vehicle still needs to hang a rope; in addition, the spraying operation is influenced by the airflow caused by the propeller of the unmanned aerial vehicle, and the heavy-load unmanned aerial vehicle is more obvious.
(4) Climbing wall type: the wall climbing robot is different from magnetic wall climbing robots used on metal wall surfaces such as ships, metal storage tanks and the like, the load is low, a battery is required to be borne, operation can be performed in a small area by one charging, and the whole electric energy and the cruising ability of construction consumed materials are low. In addition, if a heavy-load wall-climbing robot is used, the wall surface is easy to be damaged by pulling due to the fact that heavy load is borne by the pulling force between the wall surface and the robot, and curtain walls are easy to pull and peel off.
(5) Guide rail type: the guide rail is arranged on the scaffold or on the wall, and the construction working device moves along the guide rail to complete construction operation. The device has the advantages that the device can bear heavy load and has high precision, but the cost for installing the guide rail on the wall is high, and the guide rail needs to be dismantled after construction; the guide rails are arranged on the scaffold, construction operation is limited by the structure of the scaffold, flexibility is poor, and the scaffold can not be used in occasions without the scaffold; in addition, the guide rail construction operation device can only move along the guide rail, and the flexibility is poor.
Therefore, it is necessary to provide a separate wall surface construction device and a construction method, so as to solve the problems of low flexibility, low precision, low working efficiency and low safety factor of the existing wall surface construction.
Disclosure of Invention
The invention aims to provide a separated wall surface construction device and a construction method, which can operate the outer wall of a high-rise building with high flexibility, high precision, high working efficiency and high safety coefficient.
In order to solve the problems in the prior art, the invention provides a separated wall surface construction device, which comprises:
the lifting mechanism is arranged on the roof and is connected with a lifting rope;
the upper end of the lifting rope is connected with the lifting mechanism, and the lower end of the lifting rope is connected with the operation supply station;
the operation replenishing station is connected with the lower end of the lifting rope, and a grabbing mechanical arm for grabbing the wall-climbing robot is mounted on the operation replenishing station;
the wall climbing robot, the wall climbing robot with the operation supply station is connected through the supply passage, be equipped with the executor installation tip that is used for installing different executor on the wall climbing robot.
Optionally, in the separated wall construction device, the work supply station includes: the device comprises an actuator library, a battery, a generator, an air compressor, a welding machine, a water tank, a storage tank, a sewage treatment device and a dust collection device, wherein an actuator replacing mechanism is arranged in the actuator library.
Optionally, in the separated wall construction device, the actuator in the actuator library includes: the device comprises a spray gun, a polishing head, a dust collector, a welding gun and a mechanical arm.
Optionally, in the separated wall construction device, a sensor is further installed on the operation supply station to monitor and measure the operation condition of the operation wall and the operation condition of the wall-climbing robot; the sensor comprises a camera, a laser radar, wind power, an inclination angle and/or acceleration.
Alternatively, in the divided wall-covering construction device,
the wall climbing robot is provided with a travelling mechanism and a wall suction device, wherein the travelling mechanism comprises wheels, tracks or multiple feet; the wall suction device comprises a suction cup, an electromagnet or a reverse thrust fan.
Alternatively, in the divided wall-covering construction device,
a rope pulley and a power device are arranged in the lifting mechanism to adjust the vertical position of the operation supply station; wheels are installed at the bottom of the lifting mechanism to adjust the horizontal position of the operation supply station.
Alternatively, in the divided wall-covering construction device,
the lifting mechanism is further provided with a falling prevention device, the lifting rope penetrates through the falling prevention device, and when the speed of the lifting rope changes abnormally and/or the tension of the lifting rope changes abnormally, the lifting rope is automatically locked.
Optionally, in the disconnect-type wall construction device, the supply passage comprises cable, hose and rope, the supply passage transmits electric energy, highly-compressed air and the working material of operation supply station for climbing wall robot to the last dust, waste material and the sewage transmission operation supply station that produces of wall robot will climb.
Optionally, among the disconnect-type wall construction device, disconnect-type wall construction device includes that the operation is supplied to the station and is climbed the wall robot, the operation is supplied to the station and is set up moving mechanism and make the operation is supplied to the station and can be removed on ground to carry out the construction operation to the interior wall.
The invention also provides a separated wall construction method, and the separated wall construction device comprises the following steps:
adjusting the position of the operation supply station by moving the lifting mechanism and retracting the lifting rope;
a grabbing mechanical arm on the operation replenishment station grabs the wall-climbing robot and places the wall-climbing robot on an operation wall surface;
the wall-climbing robot takes the operation supply station as the center of a circle and the supply channel as the radius to operate;
when the current operation is finished;
if the actuator needs to be replaced for other operations, the wall-climbing robot is grabbed by the grabbing mechanical arm, the actuator on the wall-climbing robot is replaced by the actuator replacing mechanism, and finally the grabbing mechanical arm puts the wall-climbing robot back to the wall surface for operation and the wall-climbing robot performs the operations;
and if the operation is finished, the grabbing mechanical arm grabs back to the wall-climbing robot.
Compared with the prior art, the invention has the following advantages:
(1) the wall-climbing robot has the advantages that the power is sufficient, the operation supply station can provide sufficient energy for the wall-climbing robot, and the wall-climbing robot can generate large adhesive force, so that the wall-climbing robot is more stable in adsorption, has good wind resistance and operation impact resistance, and achieves the aims of higher operation precision and more stable operation quality;
(2) the cruising ability is strong, the electric energy, materials and the like on the operation supply station can meet large-area operation, the equipment does not need to be frequently recovered to supplement energy and materials, the operation efficiency is greatly improved, and the cost is reduced; meanwhile, frequent lifting operation of a supply station is not needed, so that the energy consumption is greatly reduced, and the safety factor is also improved;
(3) the wall-climbing robot is tightly attached to a wall and flexibly moves, can carry a multi-degree-of-freedom mechanical arm to operate, and has better operation flexibility on irregular parts such as window holes, internal and external corners and the like;
(4) the weight of main materials and equipment is borne by the operation supply station, the load of the wall-climbing robot is small, the pulling force borne by the operation wall surface is small, and the operation wall surface can be prevented from being damaged;
(5) the operation supply station is provided with a grabbing mechanical arm for grabbing the wall-climbing robot, so that an actuator on the wall-climbing robot is automatically replaced, and the separated wall construction device is more automatic;
(6) when the wall climbing robot meets an obstacle which is difficult to surmount, the wall climbing robot can be grabbed by the grabbing mechanical arm to leave the wall board, so that the obstacle can be freely surmounted.
Drawings
Fig. 1 is a schematic structural view of a separated wall surface construction apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a job replenishment station according to an embodiment of the present invention;
fig. 3 is a schematic operation diagram of a wall-climbing robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a wall-climbing robot according to an embodiment of the present invention.
Wherein, 1-a lifting mechanism; 2-hoisting ropes; 3-job supply station; 4-a supply channel; 5-a wall climbing robot; 6-actuator library; 7-an actuator replacement mechanism; 8-an actuator; 9-a grabbing mechanical arm; 10-building.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The existing high-altitude wall surface operation robots comprise the following five types: hanging basket type, kite type, unmanned aerial vehicle type, wall climbing type and guide rail type. According to research, the five types of high-altitude wall surface operation robots have different defects, such as low wall surface construction flexibility, low precision, low working efficiency, low safety coefficient and the like.
Therefore, it is necessary to provide a separated wall surface constructing apparatus, as shown in fig. 1 and 2, fig. 1 is a schematic structural view of the separated wall surface constructing apparatus according to an embodiment of the present invention, and fig. 2 is a schematic structural view of a work supply station according to an embodiment of the present invention, the separated wall surface constructing apparatus including:
the lifting mechanism 1 is arranged on a roof and is connected with a lifting rope 2;
the upper end of the lifting rope 2 is connected with the lifting mechanism 1, and the lower end of the lifting rope 2 is connected with the operation supply station 3;
the operation replenishing station 3 is connected with the lower end of the lifting rope 2, and a grabbing mechanical arm 9 for grabbing the wall-climbing robot 5 is mounted on the operation replenishing station 3;
the wall climbing robot 5, wall climbing robot 5 with operation replenishing station 3 is connected through supply passage 4, be equipped with the executor installation tip that is used for installing different executor 8 on the wall climbing robot 5.
According to the invention, the operation supply station 3 is separated from the wall-climbing robot 5, the supply of materials, electric energy and the like is carried out by the operation supply station 3, and wastewater and the like are recovered to the operation supply station 3 in time, so that the wall-climbing robot 5 has small load and large moving range; therefore, the operation on the outer wall of the high-rise building is realized, and the high-flexibility, high-precision, high-working efficiency and high safety coefficient are realized.
Further, in the separated wall construction apparatus, a rope pulley and a power device are installed in the lifting mechanism 1 to adjust the vertical position of the work replenishment station 3, and the power device may be, for example, a winch or the like, and the rope pulley is rolled by the winch to receive and release the lifting rope 2 to lift and drop the work replenishment station 3; wheels are installed at the bottom of the lifting mechanism 1, and the horizontal position of the operation supply station 3 is adjusted by moving the lifting mechanism 1.
Preferably, the lifting mechanism 1 is further provided with a falling prevention device, the lifting rope 2 passes through the falling prevention device, and when the speed of the lifting rope 2 changes abnormally and/or the tension changes abnormally, the lifting rope 2 is locked automatically, so that the falling prevention safety protection effect is achieved. In one embodiment, when the rope pulley of the lifting mechanism 1 fails to cause the lifting rope 2 to suddenly drop, when the wall-climbing robot 5 falls down to cause the lifting rope 2 to be suddenly tightened, or when the work supply station 3 collides with an air conditioner board or the like to cause the tension of the lifting rope 2 to be reduced, the anti-falling device locks the lifting rope 2, so as to prevent people from being injured by falling of the work supply station 3, the wall-climbing robot 5 and the like.
With continued reference to fig. 2, the job replenishment station 3 includes thereon: the actuator magazine 6, the battery, the generator, the air compressor, the welder, the water tank, the storage tank, the sewage treatment plant and the dust collection device, if any other tools and materials for operation not described, can be placed or mounted on the operation supply station 3. Preferably, the actuator replacing mechanism 7 is arranged in the actuator library 6, when the actuator 8 needs to be replaced to perform other operations, the grabbing mechanical arm 9 grabs the wall-climbing robot 5, the actuator 8 on the wall-climbing robot 5 is automatically replaced by the actuator replacing mechanism 7, finally the grabbing mechanical arm 9 puts the wall-climbing robot 5 back to the operation wall surface of the building 10, and the wall-climbing robot 5 continues to perform the operations. Further, the actuators 8 in the actuator library 6 include: the device comprises a spray gun, a polishing head, a dust collector, a welding gun and a mechanical arm.
Preferably, one operation supply station 3 can simultaneously support a plurality of wall-climbing robots 5 to operate, so that the working efficiency is greatly improved, or the construction operation of complex actions can be completed by cooperation of a plurality of machines.
In one embodiment, job-replenishment station 3 provides power to wall-climbing robot 5, such as electrical energy, compressed air, and pump power; construction consumables such as water, mortar, paint and the like can also be provided; but also can collect the wastes such as construction dust, sewage and the like of the wall-climbing robot 5; different materials are placed in the supply workstation through installing different electromechanical devices, so that different requirements of construction operation of the wall-climbing robot 5, such as requirements of construction operation of spraying, cleaning, polishing, repairing, detecting, installing, welding and the like, are met.
Preferably, a sensor is further installed on the work supply station 3 to monitor and measure the condition of the work wall surface and the work condition of the wall-climbing robot 5, so as to monitor and guide the work of the wall-climbing robot 5; the sensors include cameras, lidar, wind, inclination and/or acceleration, etc. A plurality of sensors in the separated wall construction device are fused, building BIM information is used for assisting, and unmanned operation and remote control operation can be achieved.
In one embodiment, sensors such as a camera, a laser radar, wind power, an inclination angle and/or acceleration are provided on the work replenishment station 3, and are used for detecting and feeding back the environment of the work, the motion state of the work replenishment station 3 and the like, so as to prevent risks such as collision and overturn with obstacles; the equipment such as the camera and the laser radar can acquire information of an operation wall surface, working state information of the wall-climbing robot 5 and distance information of the operation supply station 3 from the operation wall surface, dynamic real-time detection and operation planning are achieved, for example, when the camera and the laser radar detect that the wall-climbing robot 5 encounters a large obstacle which is difficult to cross, the wall-climbing robot 5 is grabbed by the grabbing mechanical arm 9 of the operation supply station 3, and the wall-climbing robot 5 is placed on the operation wall surface to continue operation after the obstacle crossing is achieved. Preferably, the operation supply station 3 is further provided with one or more fans, the adjustment of the distance from the wall of the operation supply station 3 and the working posture of the operation supply station 3 when the wall-climbing robot 5 is grabbed by the operation supply station 3 can be realized through the reverse thrust of the fans, and the adjustment can also be used for preventing the operation supply station 3 from swinging; for example, the attitude of the work replenishment station 3 may be determined by sensors such as an inclination angle and acceleration, and the power may be supplied by a fan to adjust the attitude of the work replenishment station 3 and to prevent collision.
Further, the supply channel 4 is composed of cables, hoses and ropes, and of course, the supply channel 4 also includes other detailed components not described in the present invention, and the supply channel 4 is used for transferring electric energy, high-pressure air, working materials and the like of the working supply station 3 to the wall-climbing robot 5, and transferring dust, waste materials, sewage and the like generated on the wall-climbing robot 5 to the working supply station 3. One end of the supply passage 4 is connected with the operation supply station 3, and the other end is connected with the wall-climbing robot 5. Preferably, the supply passage 4 can bear a certain weight, so that the wall-climbing robot 5 can be prevented from falling to hurt people when the wall-climbing robot 5 is accidentally separated from the working wall of the building 10.
As shown in fig. 3 and 4, fig. 3 is a schematic operation diagram of a wall-climbing robot according to an embodiment of the present invention, fig. 4 is a schematic structural diagram of the wall-climbing robot according to the embodiment of the present invention, the wall-climbing robot 5 is provided with a traveling mechanism and a wall suction device, and the traveling mechanism includes wheels, a track, or multiple feet; the wall suction device comprises a suction disc, an electromagnet or a reverse-thrust fan, and the wall suction device enables the wall climbing robot 5 to be attached to the wall and has certain load capacity. In the separated wall construction device of the invention, one end of the wall-climbing robot 5 is connected with the supply passage 4, and the other end is attached to the operation wall of the building 10.
In one embodiment, the operation supply station 3 and the wall-climbing robot 5 can adopt both the integrated operation and the separated operation, and the specific mode can be determined according to specific working conditions.
Preferably, the wall-climbing robot 5 can be provided with one or more actuators 8 for construction work, such as a spray gun, a polishing head, a dust collector, a welding gun or a mechanical arm, so as to realize the functions of different construction works; an actuator mounting end part is arranged between different actuators 8 and the wall climbing robot 5, and the actuators 8 at the actuator mounting end part can be replaced manually or automatically by equipment. Preferably, the wall-climbing robot 5 can also carry energy according to actual conditions, and the requirements of small electric quantity such as movement and sensors are met.
In one embodiment, the separated wall construction device can only comprise a work supply station 3 and a wall-climbing robot 5, the work supply station 3 is provided with a moving mechanism to enable the work supply station 3 to move on the ground, and the separated wall construction device is suitable for construction of building outer walls with low height and inner wall construction, especially for construction of indoor walls with large height, and wall surfaces of areas where the ground moving robot cannot reach due to uneven ground or obstacles, such as staircases and wall surfaces of rooms with sundries on the ground. In addition, the method can be extended to the operation of the scenes such as ship walls, storage tank walls, large aircraft walls and the like.
The invention also provides a separated wall construction method, which adopts the separated wall construction device, and comprises the following steps as shown in figures 1-4:
the position of the operation supply station 3 is adjusted by moving the lifting mechanism 1 and retracting the lifting rope 2;
a grabbing mechanical arm 9 on the operation replenishment station 3 grabs the wall-climbing robot 5, and the wall-climbing robot 5 is placed on an operation wall surface;
the wall-climbing robot 5 operates by taking the operation supply station 3 as a circle center and the supply channel 4 as a radius;
when the current operation is finished;
if the actuator 8 needs to be replaced for other operations, the wall-climbing robot 5 is grabbed by the grabbing mechanical arm 9, the actuator 8 on the wall-climbing robot 5 is replaced by the actuator replacing mechanism 7, finally the grabbing mechanical arm 9 puts the wall-climbing robot 5 back to the wall surface for operation, and the wall-climbing robot 5 continues to operate;
when the operation is finished, the gripping robot 9 grips the wall-climbing robot 5.
Compared with the prior art, the invention has the following advantages:
(1) the wall-climbing robot has the advantages that the power is sufficient, the operation supply station can provide sufficient energy for the wall-climbing robot, and the wall-climbing robot can generate large adhesive force, so that the wall-climbing robot is more stable in adsorption, has good wind resistance and operation impact resistance, and achieves the aims of higher operation precision and more stable operation quality;
(2) the cruising ability is strong, the electric energy, materials and the like on the operation supply station can meet large-area operation, the equipment does not need to be frequently recovered to supplement energy and materials, the operation efficiency is greatly improved, and the cost is reduced; meanwhile, frequent lifting operation of a supply station is not needed, so that the energy consumption is greatly reduced, and the safety factor is also improved;
(3) the wall-climbing robot is tightly attached to a wall and flexibly moves, can carry a multi-degree-of-freedom mechanical arm to operate, and has better operation flexibility on irregular parts such as window holes, internal and external corners and the like;
(4) the weight of main materials and equipment is borne by the operation supply station, the load of the wall-climbing robot is small, the pulling force borne by the operation wall surface is small, and the operation wall surface can be prevented from being damaged;
(5) the operation supply station is provided with a grabbing mechanical arm for grabbing the wall-climbing robot, so that an actuator on the wall-climbing robot is automatically replaced, and the separated wall construction device is more automatic;
(6) the operation supply station and the wall-climbing robot can adopt integrated operation and separated operation, and can adapt to more working conditions;
(7) the equipment such as a camera and a laser radar of the operation supply station can acquire information of an operation wall surface, working state information of the wall-climbing robot, distance information of the operation supply station from the operation wall surface and the like, and conditions are provided for dynamic planning of operation and dynamic monitoring of operation conditions;
(8) when the wall climbing robot meets an obstacle which is difficult to surmount, the wall climbing robot can be grabbed by the grabbing mechanical arm to leave the wall board, so that the obstacle can be freely surmounted.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A disconnect-type wall construction equipment which characterized in that includes:
the lifting mechanism is arranged on the roof and is connected with a lifting rope;
the upper end of the lifting rope is connected with the lifting mechanism, and the lower end of the lifting rope is connected with the operation supply station;
the operation replenishing station is connected with the lower end of the lifting rope, and a grabbing mechanical arm for grabbing the wall-climbing robot is mounted on the operation replenishing station;
the wall climbing robot, the wall climbing robot with the operation supply station is connected through the supply passage, be equipped with the executor installation tip that is used for installing different executor on the wall climbing robot.
2. A divided wall lining apparatus as claimed in claim 1 wherein said work replenishment station includes: the device comprises an actuator library, a battery, a generator, an air compressor, a welding machine, a water tank, a storage tank, a sewage treatment device and a dust collection device, wherein an actuator replacing mechanism is arranged in the actuator library.
3. A divided wall lining apparatus as claimed in claim 2 wherein said actuators of said actuator bank comprise: the device comprises a spray gun, a polishing head, a dust collector, a welding gun and a mechanical arm.
4. A divided wall-lining apparatus as claimed in claim 1, wherein said work replenishment station is further provided with sensors for monitoring and measuring the condition of the work wall and the work condition of the wall-climbing robot; the sensor comprises a camera, a laser radar, wind power, an inclination angle and/or acceleration.
5. A divided wall lining device as claimed in claim 1,
the wall climbing robot is provided with a travelling mechanism and a wall suction device, wherein the travelling mechanism comprises wheels, tracks or multiple feet; the wall suction device comprises a suction cup, an electromagnet or a reverse thrust fan.
6. A divided wall lining device as claimed in claim 1,
a rope pulley and a power device are arranged in the lifting mechanism to adjust the vertical position of the operation supply station; wheels are installed at the bottom of the lifting mechanism to adjust the horizontal position of the operation supply station.
7. A divided wall lining device as claimed in claim 1,
the lifting mechanism is further provided with a falling prevention device, the lifting rope penetrates through the falling prevention device, and when the speed of the lifting rope changes abnormally and/or the tension of the lifting rope changes abnormally, the lifting rope is automatically locked.
8. The divided wall surface construction apparatus as claimed in claim 1, wherein the supply passage is composed of a cable, a hose and a rope, and transfers the electric power, the high pressure air and the working material of the working supply station to the wall-climbing robot and transfers the dust, the waste and the sewage generated from the wall-climbing robot to the working supply station.
9. A divided wall surface working apparatus according to any one of claims 1 to 8, wherein the divided wall surface working apparatus comprises a working replenishment station and a wall climbing robot, the working replenishment station being provided with a moving mechanism to enable the working replenishment station to move on the ground to perform a working operation on the inner wall surface.
10. A divided wall surface construction method using the divided wall surface construction apparatus according to any one of claims 1 to 8, comprising the steps of:
adjusting the position of the operation supply station by moving the lifting mechanism and retracting the lifting rope;
a grabbing mechanical arm on the operation replenishment station grabs the wall-climbing robot and places the wall-climbing robot on an operation wall surface;
the wall-climbing robot takes the operation supply station as the center of a circle and the supply channel as the radius to operate;
when the current operation is finished;
if the actuator needs to be replaced for other operations, the wall-climbing robot is grabbed by the grabbing mechanical arm, the actuator on the wall-climbing robot is replaced by the actuator replacing mechanism, and finally the grabbing mechanical arm puts the wall-climbing robot back to the wall surface for operation and the wall-climbing robot performs the operations;
and if the operation is finished, the grabbing mechanical arm grabs back to the wall-climbing robot.
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| CN202011635092.2A CN112727115A (en) | 2020-12-31 | 2020-12-31 | Separated wall construction device and construction method |
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| CN202011635092.2A CN112727115A (en) | 2020-12-31 | 2020-12-31 | Separated wall construction device and construction method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114059781A (en) * | 2021-12-16 | 2022-02-18 | 潍坊道工工程机械有限公司 | Waterproof engineering coiled material paving machine |
| CN114382299A (en) * | 2022-03-02 | 2022-04-22 | 广东博智林机器人有限公司 | Outer wall construction equipment |
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2020
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114059781A (en) * | 2021-12-16 | 2022-02-18 | 潍坊道工工程机械有限公司 | Waterproof engineering coiled material paving machine |
| CN114059781B (en) * | 2021-12-16 | 2023-10-20 | 潍坊道工工程机械有限公司 | Waterproof engineering coiled material paving machine |
| CN114382299A (en) * | 2022-03-02 | 2022-04-22 | 广东博智林机器人有限公司 | Outer wall construction equipment |
| WO2023165061A1 (en) * | 2022-03-02 | 2023-09-07 | 广东博智林机器人有限公司 | External wall construction device |
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