CN113123634B - Full-automatic intelligent roof maintenance system - Google Patents
Full-automatic intelligent roof maintenance system Download PDFInfo
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- CN113123634B CN113123634B CN202110355536.5A CN202110355536A CN113123634B CN 113123634 B CN113123634 B CN 113123634B CN 202110355536 A CN202110355536 A CN 202110355536A CN 113123634 B CN113123634 B CN 113123634B
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- barrel
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0281—Repairing or restoring roofing or roof covering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
Abstract
The invention discloses a full-automatic intelligent roof maintenance system, which belongs to the technical field of roof construction, and comprises main control equipment, investigation equipment, lifting equipment, rust removal and paint spraying equipment and material transportation equipment, wherein the investigation equipment is connected with the main control equipment and is used for scanning, photographing, investigating and checking, and data transmission is carried out between the investigation equipment and the main control equipment; the lifting equipment, the rust removing and paint spraying equipment and the material conveying equipment are respectively connected with the main control equipment, and the rust removing and paint spraying equipment is provided with a power generation device and a moving device; the main control equipment receives the information sent by the investigation equipment and performs data processing, the rust removal and paint spraying equipment is lifted to the roof or falls back to the ground by controlling the lifting equipment, and the rust removal and paint spraying equipment and the material transportation equipment are controlled to perform rust removal, paint spraying, material supply and dust recovery. The invention can realize the full-flow autonomous construction, intelligent operation and cooperative construction, saves manpower and resources and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of roof construction, in particular to a full-automatic intelligent roof maintenance system.
Background
Steel construction factory building uses more extensively in production life, and its iron roofing is owing to expose for a long time in natural environment, and the rust problem can be produced to inevitable, if rusty roofing maintains in time, then can further increase the corrosion degree, finally influences normal use. The rust removal and the paint spraying are mainly performed for the maintenance of the rusty iron roof, at present, the rust removal and the paint spraying of the iron roof are mostly performed manually, the labor intensity is high, the operation risk is high, and the safety of operators cannot be guaranteed. With the development of the technology, equipment for spraying the roof rust remover also appears on the market, but manual operation is still needed, the synergistic effect among the equipment is poor, and the use efficiency is not high.
Disclosure of Invention
The technical task of the invention is to provide a full-automatic intelligent roof maintenance system aiming at the defects, which can realize full-flow autonomous construction, intelligent operation and high construction efficiency.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a full-automatic intelligent roof maintenance system is characterized by comprising a main control device, an exploration device, a lifting device, a rust removal and paint spraying device and a material transportation device,
the reconnaissance equipment is connected with the main control equipment and is used for scanning, photographing, reconnaissance and acceptance, and data transmission is carried out between the reconnaissance equipment and the main control equipment;
the lifting equipment, the rust removing and paint spraying equipment and the material conveying equipment are respectively connected with the main control equipment, and the rust removing and paint spraying equipment is provided with a power generation device and a moving device; the main control equipment receives the information sent by the investigation equipment and performs data processing, the derusting and paint spraying equipment is lifted to a roof or falls back to the ground by controlling the lifting equipment, and the derusting and paint spraying equipment and the material transportation equipment are controlled to perform derusting, paint spraying, material supply and dust recovery;
be provided with storage bucket and dust collecting vessel on the rust cleaning paint spraying apparatus to and rotatory davit and leading multi-angle arm, rotatory davit is used for the change of storage bucket and dust collecting box, installs supplementary rust cleaning and/or paint spraying apparatus and mechanical tongs on the leading multi-angle arm, mechanical tongs is used for the supplementary change of storage bucket and dust collecting box.
The method comprises the steps that a roof is scanned through reconnaissance equipment and input into main control equipment, the main control equipment is provided with a processor, a maintenance operation route is calculated according to a set program, and after confirmation, the program is locked and sent to rust removal and paint spraying equipment and material transportation equipment to enter a working state;
and selecting one corner of the sloping roof, conveying the rust removing and paint spraying equipment to the roof through lifting equipment, automatically running the rust removing and paint spraying equipment to a design position-a construction starting point, and starting construction according to a planned path.
The system can complete: independently rust cleaning, spray paint by oneself, the dust adsorbs retrieves, realizes through material transportation equipment that independently the feed is retrieved and independently loads and unloads add the material like paint, petrol, dust bag etc to and the material lacks to awaken suggestion, function and lacks to awaken suggestion, independently shut down and report to the police etc. but the leading multi-angle arm of manual operation accomplishes special position processing function.
By arranging the dust collecting barrel, dust adsorption and recovery are realized, and the pollution of dust generated by rust removal to the environment is reduced; when the collected dust reaches a certain amount, the self-service alarm is carried out, the transport vehicle is communicated, the parking space complete machine is selected for parking, the dust collecting barrel is replaced through rotating the suspension arm after the material transport vehicle is in place, the operation can be completed by self, and the manual operation can be completed.
Through setting up the storage bucket, realize the feed of petrol and paint, the interpolation of petrol oil and paint is supplementary to be accomplished through rotatory davit and leading multi-angle arm jointly.
Preferably, the material transportation equipment is provided with a power generation device and a moving device, the main control equipment receives information sent by the surveying equipment and processes the data, and the material transportation equipment is lifted to a roof or falls back to the ground by controlling the lifting equipment. Realize independent and full-automatic feed recovery, independently load and unload the interpolation material (paint, petrol and dust bag).
Preferably, the rust removing and paint spraying equipment comprises rust removing equipment and paint spraying equipment, the rust removing equipment and the paint spraying equipment are respectively provided with a rotary suspension arm and a front multi-angle mechanical arm,
because the working efficiency of rust removal is low, when the rust removal of the rust removal equipment reaches a certain amount, a notice is sent to the main control equipment, and at the moment, the paint spraying equipment in a roof standby state starts to work again;
the derusting equipment is provided with a dust collecting barrel, a derusting wheel and an auxiliary derusting angle grinder, wherein a dust hood is arranged above the derusting wheel and is connected with the dust collecting barrel through a dust collection hose; an auxiliary derusting angle grinder is installed on the front multi-angle mechanical arm; the rotary suspension arm is arranged on one side of the dust collecting barrel;
a charging bucket is arranged on the paint spraying equipment, a paint spraying rod is arranged on a front multi-angle mechanical arm of the paint spraying equipment, and the paint spraying rod is connected with the charging bucket; the rotary suspension arm is arranged at one side of the charging basket.
The split arrangement of the rust removal equipment and the paint spraying equipment is favorable for reducing the weight of the equipment, improving the working efficiency of the equipment and reducing the energy consumption. The derusting equipment/paint spraying equipment can be fixed on the door-shaped frame, and the lifting and falling of the equipment are realized through the door-shaped frame lifting device.
Furthermore, a support arm is arranged at the lower part of the front side of the derusting equipment, a derusting wheel is installed at the front end of the support arm, and an obstacle avoidance sensor and a tile ridge rust removing angle grinder are installed on the dust collection cover and in front of the derusting wheel; the supporting arm is also provided with an auxiliary supporting wheel;
the lower part of the front side of the paint spraying equipment is provided with a supporting arm, and the front end of the supporting arm is provided with an auxiliary supporting wheel;
and a horizontal adjusting lifting platform is arranged below the dust collecting barrel/charging barrel, the rotary suspension arm and the dust collecting barrel/charging barrel are fixed on the horizontal adjusting lifting platform, and one side of the horizontal adjusting lifting platform is lifted up to enable the platform to be always in a horizontal position.
Because the roof tile is designed with a wide groove and a narrow bulge, the wide groove is derusted by a derusting wheel (a steel wire roller, etc.), and the narrow bulge is polished by a tile ridge derusting angle grinder in front of the derusting wheel, the design can realize the derusting function of the operation surface at one time.
The obstacle avoidance sensor can realize autonomous obstacle avoidance in the working process of the rust removing equipment, and the tile ridge removing embroidery angle grinder can complete the rust removing function of places which cannot be touched by the lower rust removing wheel, such as suspended edges, roof raised parts, non-flat special-shaped parts and the like.
When the equipment climbs over the sloping roof ridge, the front end of the equipment is tilted, and at the moment, the supporting arm at the front end drives the auxiliary supporting wheel to descend to be supported on the sloping roof on the other side of the ridge, so that the equipment can descend slowly and stably cross the ridge to avoid the impact of the equipment on the roof; through adjusting horizontal lift platform, make storage bucket and dust collecting vessel be in the level all the time, avoid the oil paint that equipment carried, the spilling of petrol.
Meanwhile, the working area of the suspension arm is designed to be a workbench which can be adjusted to be horizontal in a lifting mode, so that the equipment and the material transport vehicle can be conveniently jointed and butted, and the normal operation of loading and unloading is facilitated.
Preferably, the rust removing and paint spraying equipment is integrated, a rust removing wheel, a paint spraying rod, a dust collecting barrel, a charging basket, a rotary suspension arm and a front multi-angle mechanical arm are arranged on the rust removing and paint spraying equipment,
the device is characterized in that a supporting arm is arranged at the lower part of the front side of the device, a derusting wheel is installed at the front end of the supporting arm, a dust hood is arranged above the derusting wheel and connected with a dust collecting barrel through a dust collecting hose, and an obstacle avoidance sensor and a tile ridge rust removing angle grinder are installed on the dust hood and in front of the derusting wheel;
the front multi-angle mechanical arm is arranged at the upper part of the front side of the equipment, a paint spraying rod is arranged on the front multi-angle mechanical arm, and the paint spraying rod is connected with the charging bucket;
the rotary suspension arm is arranged at the rear part of the device and at one side of the dust collecting barrel and the charging barrel.
Preferably, the rotary suspension arm is a tower crane type rotary suspension arm and is fixed on equipment through a liftable rotary tower crane; the rotary suspension arm is connected with an electromagnet through a suspension rope, and correspondingly, the top of the charging bucket and/or the dust collecting bucket is provided with an electromagnet block.
The lifting of the dust collection barrel to a designated position after the dust collection barrel is fully collected can be completed by lifting the rotary suspension arm on the rotary tower crane and the electromagnetic suspension rope thereof, and the empty barrel is placed into a dust collection box with a dust collection device; the paint can be added into the paint bucket after the oil filling paint pipe is placed in the paint bucket, or the paint bucket is replaced, so that the operation is convenient, simple and easy.
Preferably, the front multi-angle mechanical arm is fixed on the equipment through a turntable base, and the turntable base is horizontally arranged and rotatably and adjustably fixed on the equipment platform; the turntable base is also provided with a rotatable probe;
the front multi-angle mechanical arm is a multi-shaft mechanical arm and is provided with a plurality of movable arms hinged with each other, and two adjacent movable arms are fixed with each other through a pneumatic cylinder or a hydraulic support rod.
The auxiliary rust removal and spraying device at the front end of the front multi-angle mechanical arm can complete rust removal and spraying maintenance functions of places which cannot be touched by the caterpillar track, such as suspended edges, roof protruding parts, uneven special-shaped parts and the like. The mechanical gripper installed at the front end of the front multi-angle mechanical arm realizes the gripping function, grips and clears away small movable barriers on a roof, and can be matched with material transportation equipment to finish the filling and recycling of a dust collecting box and grip the retraction function of an oil conveying pipe.
Preferably, the dust collecting bucket sets up in the dust collecting box, the dust collecting bucket is the toper to be connected with the dust catcher motor, the aim at makes the dust of inspiration fall the barrel head easily, and simultaneously, its bottom is provided with electromagnetic vibration device, because of the dust adsorbs on the filter screen of collecting bucket wall, the gas pocket forms the jam easily, thereby reduce the dust absorbing capacity, set up electromagnetic vibration device, it falls the collecting bucket bottom through the vibration of regularly electromagnetic vibrator, be favorable to increasing the permeability of gas pocket, strengthen the suction, and reduce the overload injury to the dust catcher motor.
The bottom of the paint bucket is provided with an electric stirrer to prevent the paint from precipitating to block a paint pipe filter head, and the upper part of the paint bucket is provided with an electromagnetic oil suction and filling pipe;
the rust removal paint spraying equipment is further provided with a spare dust collecting barrel and a spare paint bucket, and the spare dust collecting barrel and the spare paint bucket are arranged on the other side of the rotary suspension arm. When the empty barrel needs to be replaced, the rotary suspension arm is used for lifting and exchanging the barrels on the two sides of the rotary suspension arm, so that the replacement of the dust collecting barrel/charging barrel is realized.
Preferably, the moving device is a rubber caterpillar track, an electromagnetic adsorption device is arranged on the rubber caterpillar track, and the electromagnetic adsorption device is connected with a power supply device.
The rubber caterpillar track is utilized to increase the contact area between the equipment and the roof and reduce the risk of damage to the roof caused by the equipment pressure;
through the electromagnetism absorption, when the roofing was too precipitous wet and slippery, equipment was in non-autonomic or non-manual operation and when forming the gliding risk, the electromagnetism intelligence on rubber caterpillar track and the roofing contact surface was adsorbed and is started to increase frictional force, reduce the gliding risk.
When the equipment moves forward or backward under the control, when the electromagnet on the rubber caterpillar track moves to contact with a roof, the sliding magnetic attraction brush on the electromagnet is connected with a power supply to generate magnetic force and is adsorbed on the iron roof, and when the electromagnet moves to leave the roof, the sliding magnetic attraction brush on the electromagnet is disconnected with the power supply to lose attraction, so that the resistance of the electromagnetic attraction force to the operation of the equipment is avoided.
The electromagnet on the contact surface of the rubber caterpillar and the roof can be selectively adsorbed and started or removed, namely, the power supply can be switched on when needed, and the power supply can be switched off when not used, so that unnecessary loss of electric power is avoided.
The design can keep partial electromagnetic adsorption to increase friction force, and meanwhile, the moving opposite end electromagnetism (namely the electromagnetism of the contact point of the caterpillar track to be separated from the roof) is powered off and contacts with the adsorption, so that the resistance brought by the electromagnetic adsorption to mechanical movement is overcome.
Preferably, the bottom of the rust removing and paint spraying equipment is provided with a translation device. The obstacle avoidance or parallel route construction transfer of the equipment is realized, the trouble that the equipment turns around is reduced through the translation device, and the working efficiency is improved.
Compared with the prior art, the full-automatic intelligent roof maintenance system has the following beneficial effects:
the device can realize roofing construction equipment, jacking equipment, reconnaissance equipment and main control center's information intercommunication, through work such as reconnaissance equipment sight scanning such as unmanned aerial vehicle, shoot, reconnaissance and acceptance, directly reaches main control center with data, realizes the collaborative work of whole set of system, and the manual work is saved in reasonable dispatch, and resources are saved improves work efficiency.
Drawings
FIG. 1 is a schematic structural view of a rust removing apparatus provided by an embodiment of the present invention;
FIG. 2 is a schematic view of a derusting apparatus crossing a ridge provided by an embodiment of the invention;
FIG. 3 is a schematic view of a paint spraying apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view of a painting apparatus according to an embodiment of the present invention turning over a roof ridge;
fig. 5 is a schematic structural diagram of a lifting device provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a lifting basket of the lifting device.
In the figure, 1, a derusting wheel, 2, an angle grinder for removing tile ridge rust, 3, an obstacle avoidance sensor, 4, a dust hood, 5, a dust collection hose, 6, a rotary table base, 7, a front multi-angle mechanical arm, 8, a mechanical gripper, 9, an auxiliary derusting angle grinder, 10, a lifting rod, 11, a rotatable probe, 12, a power generation device, 13, a dust collection barrel, 14, a dust collection box, 15, an electromagnet lifting rope, 16, a rotary lifting arm, 17, a spare dust collection barrel, 18, a dust collector motor, 19, an electromagnetic vibration device, 20, a rubber chain rail, 21, an electromagnet, 22, a supporting arm, 23, an auxiliary supporting wheel, 24, an adjusting horizontal lifting platform, 25, a metal roof, 26, a paint spraying rod, 27, paint, an air conveying pipe, 28, a material barrel, 29, an electromagnetic oil suction pipe, 30, an electromagnetic iron suction block, 31, an electric stirrer, 32 and a spare material barrel;
3-1 parts of vertical supporting frames, 3-2 parts of transverse supporting frames, 3-3 parts of oblique supporting frames, 3-4 parts of lifting cross beams, 3-5 parts of door-shaped frame lifting plates, 3-6 parts of lifting equipment, 3-7 parts of movable pulleys, 3-8 parts of lifting wires, 3-9 parts of elastic attachment wheels, 3-10 parts of rapid downward sliding holding devices, 3-11 parts of integral stable reinforcing connecting plates, 3-12 parts of connecting bolts, 3-13 parts of carrying movable wheels, 3-14 parts of door-shaped frames, 3-15 parts of side guardrail lapping plates, 3-16 parts of lifting hanging baskets, 3-17 parts of elevators, 3-18 parts of pulleys, 3-19 parts of lifting ropes.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example one
The utility model provides a full-automatic intelligent roofing maintenance system which characterized in that includes master control equipment, reconnaissance equipment, jacking equipment, rust cleaning paint spraying apparatus and material transportation equipment.
The surveying equipment is connected with the main control equipment and is used for scanning, photographing, surveying and acceptance and carrying out data transmission with the main control equipment. The lifting equipment, the rust removing and paint spraying equipment and the material conveying equipment are respectively connected with the main control equipment, and the rust removing and paint spraying equipment is provided with a power generation device 12 and a moving device; the main control equipment receives the information sent by the investigation equipment and performs data processing, the rust removal and paint spraying equipment is lifted to the roof or falls back to the ground by controlling the lifting equipment, and the rust removal and paint spraying equipment and the material transportation equipment are controlled to perform rust removal, paint spraying, material supply and dust recovery.
The rust removing and paint spraying equipment comprises rust removing equipment and paint spraying equipment, and due to the low rust removing efficiency, when the rust removing of the rust removing equipment reaches a certain amount, a notice is sent to the main control equipment, and at the moment, the paint spraying equipment in a roof standby state starts to work again.
The split arrangement of the rust removal equipment and the paint spraying equipment is favorable for reducing the weight of the equipment, improving the working efficiency of the equipment and reducing the energy consumption. The derusting equipment/paint spraying equipment can be fixed on the door-shaped frame, and the lifting and falling of the equipment are realized through the door-shaped frame lifting device.
The derusting device is provided with a derusting wheel 1 and an auxiliary derusting angle grinder 9, is provided with a dust collecting barrel 13, and is further provided with a rotary suspension arm 16 and a front multi-angle mechanical arm 7, wherein the rotary suspension arm 16 is used for replacing the dust collecting barrel 13, the front multi-angle mechanical arm 7 is provided with the auxiliary derusting angle grinder 9 and a mechanical gripper 8, and the mechanical gripper 8 is used for auxiliary replacement of the dust collecting barrel 13.
A supporting arm 22 is arranged at the lower part of the front side of the derusting equipment, a derusting wheel 1 is arranged at the front end of the supporting arm 22, a dust hood 4 is arranged above the derusting wheel 1, and the dust hood 4 is connected with the dust collecting barrel 13 through a dust collecting hose 5; an auxiliary derusting angle grinder 9 is installed on the front multi-angle mechanical arm 7.
And an obstacle avoidance sensor 3 and a tile ridge rust removing angle grinder 2 are arranged on the dust hood 4 and in front of the rust removing wheel 1. Because the roof tile is designed with a wide groove and a narrow bulge, the wide groove is derusted by a derusting wheel 1 (a steel wire roller, etc.), and the narrow bulge is polished by a tile ridge derusting angle grinder 2 in front of the derusting wheel 1, the design can realize the derusting function of the operation surface at one time.
The obstacle avoidance sensor 3 can realize autonomous obstacle avoidance in the working process of the rust removing equipment, and the tile ridge removing embroidery angle grinder 2 can complete the rust removing function of places which can not be touched by the lower rust removing wheel, such as suspended edges, roof raised parts, uneven special-shaped parts and the like.
Still install auxiliary stay wheel 23 on the support arm 22, dust collecting vessel 13 below is provided with adjusts horizontal lift platform 24, and rotatory davit 16 and dust collecting vessel 13 are fixed in adjust horizontal lift platform 24, adjust one side jacking of horizontal lift platform 24 and make the platform be in the level all the time.
When the rust removing equipment crosses over a metal roof 25, the front end of the equipment is tilted, and at the moment, the supporting arm 22 at the front end drives the auxiliary supporting wheel 23 to descend and support on a sloping roof on the other side of the roof ridge, so that the equipment can descend slowly and stably cross the roof ridge to avoid the impact of the equipment on the roof; through adjusting horizontal lift platform 24, make dust collecting vessel 13 be in the horizontal position all the time.
Meanwhile, the working area of the suspension arm is designed to be a workbench which can be adjusted to be horizontal in a lifting mode, so that the equipment and the material transport vehicle can be conveniently jointed and butted, and the normal operation of loading and unloading is facilitated.
The rotary suspension arm 16 is a tower crane type rotary suspension arm and is fixed on equipment through a liftable rotary tower crane; the rotary suspension arm 16 is connected with an electromagnet through a suspension rope, namely an electromagnet suspension rope 15, and correspondingly, an electromagnet absorption iron block is arranged at the top of the dust collection barrel 13.
Through the rotatory davit 16 on the liftable rotatory tower crane and its electro-magnet lifting rope 15, can accomplish and hoist the assigned position with dust collecting vessel 13 after filling to put into dust collecting vessel 14 that has dust extraction to empty bucket, convenient simple easy operation.
The rotary suspension arm 16 is arranged on one side of the dust collection box 14, the derusting equipment is further provided with a spare dust collection barrel 17, and the spare dust collection barrel 17 is arranged on the other side of the rotary suspension arm 16. When the empty barrel needs to be replaced, the rotary suspension arm 16 lifts the barrels on the two sides of the rotary suspension arm to exchange, so that the dust collecting barrel is replaced.
The front multi-angle mechanical arm 7 is fixed on the equipment through the turntable base 6, and the turntable base 6 is horizontally arranged and rotatably and adjustably fixed on the equipment platform; the front multi-angle mechanical arm 7 is a multi-shaft mechanical arm and is provided with a plurality of movable arms which are hinged with each other, and two adjacent movable arms are fixed with each other through a pneumatic cylinder or a hydraulic support rod. The turntable base 6 is also provided with a rotatable probe 11 through a lifting rod 10.
The auxiliary rust removing device at the front end of the front multi-angle mechanical arm 7 can complete rust removing and spraying maintenance functions of places which cannot be touched by the caterpillar track, such as suspended edges, roof protruding parts, uneven special-shaped parts and the like. The mechanical gripper 8 installed at the front end of the front multi-angle mechanical arm 7 realizes the grabbing function, grabs and clears away small movable barriers on the roof, and can be matched with material transportation equipment to finish the loading and recovery of the dust collecting barrel 13.
As shown in fig. 1-2, the moving device at the bottom of the rust removing device is a rubber caterpillar track 20, and an electromagnetic adsorption device, i.e. an electromagnet 21, is arranged on the rubber caterpillar track 20 and is connected with a power supply device.
The rubber caterpillar track 20 is used for increasing the contact area between the equipment and the metal roof 25, and the risk of damage to the roof caused by equipment pressure is reduced; through electromagnetic adsorption, when the roofing is too precipitous wet and slippery, equipment is in non-autonomic or non-manual operation and when forming the gliding risk, and the electromagnetism intelligence on rubber caterpillar track 20 and the metal roofing 25 contact surface adsorbs the start-up to increase frictional force, reduce the gliding risk.
When the device moves forward or backward under the control, when the electromagnet 21 on the rubber caterpillar track 20 moves to contact with the metal roof 25, the sliding magnetic suction electric brush on the electromagnet 21 is connected with the power supply to generate magnetic force and is adsorbed on the metal roof 25, and when the electromagnet 21 moves and is about to leave the roof, the sliding magnetic suction electric brush on the electromagnet 21 is disconnected with the power supply to lose the suction force, so that the resistance of the electromagnetic suction force to the operation of the device is avoided.
The electromagnet 21 on the contact surface of the rubber caterpillar 20 and the roof can be selectively adsorbed and started or released, namely, the power supply can be switched on when needed, and the power supply can be switched off when not used, so that unnecessary loss of electric power is avoided.
The design can keep part of electromagnetic adsorption to increase friction force, and meanwhile, the moving opposite end electromagnetism (namely the electromagnetism of the contact point of the caterpillar track to be separated from the roof) is powered off and contacts with the adsorption, so that the resistance brought by the electromagnetic adsorption to mechanical motion is overcome.
The bottom of the rust removing equipment is also provided with a translation device. The obstacle avoidance or parallel route construction transfer of the equipment is realized, the trouble that the equipment turns around is reduced through the translation device, and the working efficiency is improved.
The dust adsorption and recovery system is used for reducing the pollution of dust generated by rust removal to the environment, when the collected dust reaches a certain amount, the dust is self-alarmed and communicated with the transport vehicle, the parking space complete machine is selected for parking, after the transport vehicle is in place, the transport vehicle is automatically guided, the dust collection box is automatically separated from the transport vehicle, the transport vehicle is conveyed to the collection box, and meanwhile, the collection box is updated, so that the process can be completely and autonomously operated, and manual operation can be also completed.
The paint spraying equipment is provided with a paint spraying rod 26 and a charging basket 28, and the paint spraying rod 26 is connected with the charging basket 28 through a paint and air conveying pipe 27; the paint spraying equipment is further provided with a rotary suspension arm 16 and a front multi-angle mechanical arm 7, wherein the rotary suspension arm 16 is used for replacing the material barrel 28, a paint spraying rod 26 and a mechanical hand grip 8 are installed on the front multi-angle mechanical arm 7, and the mechanical hand grip 8 is used for auxiliary replacement of the material barrel 28.
The bottom of the charging basket 28 is provided with an electric stirrer 31 to avoid the blockage of a paint pipe filter head caused by paint precipitation, the upper part of the charging basket 28 is provided with an electromagnetic suction oil filling pipe 29, and the top of the charging basket 28 is provided with an electromagnetic suction iron block 30.
The lower part of the front side of the paint spraying equipment is provided with a supporting arm, and the front end of the supporting arm is provided with an auxiliary supporting wheel; and a horizontal adjusting lifting platform is arranged below the charging bucket, the rotary lifting arm and the charging bucket are fixed on the horizontal adjusting lifting platform, and one side of the horizontal adjusting lifting platform is lifted up to enable the platform to be always in a horizontal position.
When the paint spraying equipment crosses the ridge of the sloping roof, the front end of the equipment is raised, and at the moment, the supporting arm at the front end drives the auxiliary supporting wheel to descend to be supported on the sloping roof on the other side of the ridge, so that the equipment can descend slowly and stably cross the ridge to avoid the impact of the equipment on the roof; through adjusting horizontal lift platform, make the storage bucket be in the level all the time, avoid the tipping of paint, the petrol that equipment carried.
Meanwhile, the working area of the suspension arm is designed to be a workbench which can be adjusted horizontally in a lifting mode, so that the equipment and the material transport vehicle can be conveniently butted in a meeting mode, and the normal operation of loading and unloading is facilitated.
The rotary suspension arm 16 is a tower crane type rotary suspension arm and is fixed on the paint spraying equipment through a liftable rotary tower crane; the rotary arm 16 is connected with an electromagnet through a lifting rope, and correspondingly, the top of the charging bucket 28 is provided with an electromagnet attracting iron block 30.
Through the rotatory davit 16 on the rotatory tower crane of liftable and its electro-magnet lifting rope 15, can accomplish and put into the paint kettle with the paint filling pipe and carry out the interpolation of paint, or change the paint kettle, convenient simple easy operation.
The rotary boom 16 is arranged on one side of the charging basket 28, the painting equipment is further provided with a spare charging basket 32, and the spare charging basket 32 is arranged on the other side of the rotary boom 16. When the empty barrel needs to be replaced, the rotary suspension arm 16 lifts and exchanges the charging barrels on the two sides of the empty barrel, and the charging barrels are replaced.
Leading multi-angle arm 7 is fixed in on the equipment through turntable base 6, and turntable base 6 level sets up and rotates to be fixed in paint spraying apparatus platform with adjustable, and leading multi-angle arm 7 is the multiaxis arm, has a plurality of articulated digging arms each other, and two adjacent digging arms pass through pneumatic cylinder or hydraulic pressure vaulting pole reciprocal anchorage. The turntable base 6 is also provided with a rotatable probe 11 through a lifting rod 10.
The spraying device at the front end of the front multi-angle mechanical arm 7 can complete the spraying maintenance function of places where the caterpillar cannot touch, the grabbing function is achieved through the mechanical gripper 8 arranged at the front end of the front multi-angle mechanical arm 7, small movable barriers on a roof are grabbed and cleared, and the electromagnetic oil sucking and filling pipe 29 is grabbed and retracted.
As shown in fig. 3-4, the moving device at the bottom of the paint spraying apparatus is a rubber caterpillar 20, and an electromagnetic adsorption device, i.e. an electromagnet 21, is arranged on the rubber caterpillar 20 and is connected with the power supply apparatus.
The rubber caterpillar track 20 is used for increasing the contact area between the equipment and the roof, and reducing the risk of damage to the roof caused by equipment pressure;
through the electromagnetism absorption, when the roofing is too precipitous wet and slippery, equipment is in non-autonomic or non-manual operation and when forming the gliding risk, the electromagnetism intelligence on rubber caterpillar track 20 and the roofing contact surface adsorbs the start to increase frictional force, reduce the gliding risk.
When equipment advances or retreats under control, when electro-magnet 21 on the rubber caterpillar track 20 moved to contact with the roofing, the slip magnetism on electro-magnet 21 was inhaled the brush and is switched on with the power, produced magnetic force, adsorbs on metal roofing 25, when it will leave metal roofing 25 that electro-magnet 21 moved, the slip magnetism on electro-magnet 21 was inhaled the brush and is disconnected with the power, lost the suction to the resistance that the electromagnetism suction caused to equipment operation has been avoided.
The electromagnet 21 on the contact surface of the rubber caterpillar 20 and the metal roof 25 can be selectively adsorbed and started or released, namely, the power supply can be switched on when needed and can be switched off when not used, and unnecessary loss of electric power is avoided.
The design can keep part of electromagnetic adsorption to increase friction force, and meanwhile, the moving opposite end electromagnetism (namely the electromagnetism of the contact point of the caterpillar track to be separated from the roof) is powered off and contacts with the adsorption, so that the resistance brought by the electromagnetic adsorption to mechanical motion is overcome.
The bottom of the paint spraying equipment is also provided with a translation device. The obstacle avoidance or parallel route construction transfer of the equipment is realized, the trouble that the equipment turns around is reduced through the translation device, and the working efficiency is improved.
Scanning the roof through the reconnaissance equipment, inputting the roof into the main control equipment, wherein the main control equipment is provided with a processor, calculating a maintenance operation route according to a set program, locking the program after confirmation, sending the program to the derusting equipment, the paint spraying equipment and the material transportation equipment, and entering a working state;
and selecting one corner of the sloping roof, conveying the rust removing equipment and the paint spraying equipment to the roof through the lifting equipment, automatically moving the rust removing equipment and the paint spraying equipment to a design position, namely a construction starting point, and starting construction according to a planned path.
The system can accomplish: independently rust cleaning, spray paint by oneself, the dust adsorbs retrieves, realizes through material transportation equipment that independently the feed is retrieved and independently loads and unloads the interpolation material such as paint, petrol, dust bag etc to and the material lacks to awaken suggestion, function and lacks to awaken suggestion, independently shut down and report to the police etc. can the leading multi-angle arm 7 of manual operation accomplish special position processing function.
By arranging the dust collecting barrel 13, dust adsorption and recovery are realized, and the pollution of dust generated by rust removal to the environment is reduced; when the collected dust reaches a certain amount, the self-service alarm is carried out, the transport vehicle is communicated, the parking space complete machine is selected for parking, the dust collecting barrel is replaced through rotating the suspension arm after the material transport vehicle is in place, the operation can be completed by self, and the manual operation can be completed.
Through setting up storage bucket 28, realize the feed of petrol and paint, the interpolation of petrol oil and paint is assisted the completion jointly through rotatory davit 16 and leading multi-angle arm 7.
When the dust collecting barrel 13 of the rust removing device is completely filled or paint of the paint spraying device is completely used up, the operation system can be automatically communicated with the main control device and operates to a proper position or a general control designated position, after the lifting device arrives, the lapping platform is stretched out, the rust removing device or the paint spraying device automatically operates to the platform, the lifting device recovers to drop the rust removing device or the paint spraying device to the ground, and the work of material adding, supplying, overhauling and the like is manually completed, such as replacing an empty dust collecting barrel, a full paint barrel, filling fuel oil, replacing a steel wire wheel, detecting and checking and the like.
The lifting device comprises a supporting frame body, lifting cross beams 3-4 and a lifting assembly.
The supporting frame body comprises a vertical supporting frame 3-1, a transverse supporting frame 3-2 and an oblique support 3-3, wherein the vertical supporting frame 3-1, the transverse supporting frame 3-2 and the oblique support 3-3 are mutually fixed to form a supporting frame body; the horizontal support frame 3-2 comprises a bottom horizontal support and an upper gravity beam, and the vertical support frames 3-1 are positioned on two sides of the horizontal support frame 3-2 and are vertical to the horizontal support frame 3-2. The inclined support 3-3 has a reinforcing effect, and two ends of the inclined support are respectively fixed on the vertical support frame 3-1 and the transverse support frame 3-2, so that the inclined pull support is realized. The support frame body is provided with a portal frame inlet for putting the portal frame into the support frame body for building operation.
The lifting cross beam 3-4 is horizontally arranged and vertically arranged on the vertical support frame 3-1 in a sliding manner; an adjustable door-shaped frame lifting plate 3-5 is arranged on the lifting beam 4.
The door-shaped frame lifting plate 3-5 is a foldable plate. When the portal frame lifting plate 3-5 lifts the portal frame to rise, the portal frame lifting plate is in an unfolded state and supports the portal frame to rise; after the gantry is lifted to a designated height and the lower gantry is installed, the lifting device drives the lifting beam 3-4 and the gantry lifting plate 3-5 to descend, the gantry lifting plate 3-5 is folded at the moment, the gantry lifting plate 3-5 is prevented from being rubbed by the lower gantry, the gantry lifting plate 3-5 is unfolded after falling to the bottom, and the next round of gantry lifting and lapping are carried out.
The transverse support frame 3-2 and the lifting beam 3-4 are both transversely telescopic structures. The specifications of the door-shaped frames on the market are different, and in order to adapt to the door-shaped frames with various specifications for use, the transverse support and the transverse beam are designed into a telescopic structure and can be stretched out and drawn back according to the actual requirements of the door-shaped frames so as to adapt to the door-shaped frames with different models, and the door-shaped frames are reinforced through fastening screws.
The lifting assembly comprises lifting equipment 3-6 and movable pulleys 3-7, the lifting equipment 3-6 is fixed to the lower portion of the supporting frame body, the movable pulleys 3-7 are fixed to the upper portion of the supporting frame body, lifting lines 3-8 of the lifting equipment 3-6 pass around the movable pulleys 3-7 and are fixedly connected with the lifting cross beams 3-4, and the lifting equipment 3-6 is started to drive the lifting cross beams 3-4 to ascend or descend.
In this embodiment, the lifting device is a winch, the winch rotates forward to drive the lifting beam 3-4 and the gantry on the lifting beam to ascend, and the winch rotates backward to drive the lifting beam 3-4 to descend.
Elastic attachment wheels 3-9 are symmetrically arranged at the top or the upper part of the vertical support frames 3-1 at two sides, the distance between the elastic attachment wheels 3-9 at two sides is the same as the width of the portal frame, and the portal frame is stabilized by the elastic attachment wheels 3-9 at two sides by adjusting the transverse support frame 3-2 and the lifting cross beam 3-4. The elastic attachment wheels 3-9 on both sides can clamp the lifting gate-shaped frame to keep the lifting gate-shaped frame stably lifted, and meanwhile, the lifting gate-shaped frame cannot cause resistance to the lifting. The elastic attachment wheels 3-9 on the two sides can stabilize the portal frame between the elastic attachment wheels, stability and safety of the portal frame in the lifting process are enhanced, and hard obstacle resistance of the portal frame in the lifting process can be reduced due to local elasticity of the elastic attachment wheels 3-9.
The rapid gliding and clasping device 3-10 is arranged on two sides of the lifting beam 3-4, such as clasping wheels and the like, when the lifting beam 3-4 ascends, the rapid gliding and clasping device 3-10 plays a role in stability and safety, and when the lifting beam 3-4 rapidly glides under special conditions, the rapid gliding and clasping device 3-10 can enter an emergency braking state to clasp a supporting frame body, so that damage caused by large errors is avoided.
The lifting device 3-6 pulls the lifting beam 3-4 to ascend through the movable pulley 3-7, at the moment, the portal frame lifting plate 3-5 on the lifting beam 3-4 is flatly placed below a beam at the bottom of the portal frame 3-14, the lifting device 3-6 is started to drive the lifting beam 3-4 to lift the portal frame 3-14 to ascend, and when the lifting beam reaches a proper position, the lifting device 3-6 stops working; at the moment, the lower parts of the portal frames 3-14 are in a suspended state, a group of portal frames 3-14 are built below the portal frames 3-14, then lifting equipment 3-6 is started to perform reverse rotation work, the lifting beam 3-4 is driven to reversely fall back, so that the upper portal frame 3-14 falls back, and the upper portal frame 3-14 is clamped into pins of the lower portal frame 3-14; the lifting device 3-6 continues to drive the lifting cross beam 3-4 to fall back downwards, and at the moment, the portal frame lifting plate 3-5 is folded and retracted inwards to avoid rubbing with the lower portal frame 3-14; after the door frame falls to the bottom, the door frame lifting plate 3-5 is unfolded to extend to the lower part of the cross beam at the bottom of the lower door frame 3-14; and when the lifting equipment 3-6 is started again to drive the lifting cross beam 3-4 to ascend, the next portal frame can enter the lifting process, and the process is repeated so as to realize the construction of the portal frame.
The door-shaped frame 3-14 is provided with a lifting basket 3-16, and the lifting basket 3-16 is provided with a movable side guardrail lapping plate 3-15. The lifting hanging basket 3-16 is arranged on a door-shaped frame 3-14 in a lifting way through a lifter 3-17 and a pulley 3-18, one side of the lifting hanging basket 3-16 is provided with a movable side guardrail lapping plate 3-15, and the bottom of the movable side guardrail 3-15 is hinged with the lifting hanging basket 3-16 to realize the turnover from vertical to horizontal.
The lifting hanging baskets 3-16 are pulled by lifting ropes 3-19, the lifting height of the construction equipment is adjusted by the lifting hanging baskets 3-16, when the lifting hanging baskets are adjusted to be horizontal to the working surface, the movable side guardrail lapping plates 3-15 are opened to be lapped with the working surface to form a horizontal transportation platform, and a downhill transportation platform can be formed above the working surface.
Example two
The utility model provides a full-automatic intelligent roofing maintenance system which characterized in that includes master control equipment, reconnaissance equipment, jacking equipment, rust cleaning paint spraying apparatus and material transportation equipment.
The rust removing and paint spraying equipment is the same as the rust removing equipment and the paint spraying equipment described in the first embodiment.
The reconnaissance equipment is connected with the main control equipment and used for scanning, photographing, reconnaissance and acceptance, and data transmission is carried out between the reconnaissance equipment and the main control equipment. The lifting equipment, the rust removing and paint spraying equipment and the material conveying equipment are respectively connected with the main control equipment, and the rust removing and paint spraying equipment is provided with a power generation device 12 and a moving device; the main control equipment receives the information sent by the investigation equipment and performs data processing, the rust removal and paint spraying equipment is lifted to the roof or falls back to the ground by controlling the lifting equipment, and the rust removal and paint spraying equipment and the material transportation equipment are controlled to perform rust removal, paint spraying, material supply and dust recovery.
The material transportation equipment is provided with a power generation device and a mobile device, the main control equipment receives information sent by the survey equipment and processes the data, and the material transportation equipment is lifted to a roof or falls back to the ground by controlling the lifting equipment. Realize independent and full-automatic feed recovery, independently load and unload the interpolation material (paint, petrol and dust bag).
When the dust collecting barrel 13 of the rust removing device is completely filled or the paint of the paint spraying device is completely used up, the operation system of the rust removing device is automatically communicated with the main control device and operates to a proper position or a total control designated position, the lifting device lifts the material transporting device to the roof to perform material adding, supplying and other work, including replacing an empty dust collecting barrel, a full paint barrel, filling fuel oil and the like. After feeding is finished, the material conveying equipment returns to the lifting equipment, the lifting equipment recovers to drop the material conveying equipment to the ground, and the paint spraying equipment and the rust removing equipment are prevented from being conveyed up and down in the working period.
EXAMPLE III
The utility model provides a full-automatic intelligent roofing maintenance system which characterized in that includes master control equipment, reconnaissance equipment, jacking equipment, rust cleaning paint spraying apparatus and material transportation equipment.
The reconnaissance equipment is connected with the main control equipment and used for scanning, photographing, reconnaissance and acceptance, and data transmission is carried out between the reconnaissance equipment and the main control equipment. The lifting equipment, the rust removing and paint spraying equipment and the material conveying equipment are respectively connected with the main control equipment, and the rust removing and paint spraying equipment is provided with a power generation device 12 and a moving device; the main control equipment receives the information sent by the survey equipment and carries out data processing, the rust removing and paint spraying equipment is lifted to a roof or falls back to the ground by controlling the lifting equipment, and the rust removing and paint spraying equipment and the material transportation equipment are controlled to carry out rust removing, paint spraying, material supplying and dust recycling.
The rust removing and paint spraying equipment is integrated, a rust removing wheel, a paint spraying rod, a dust collecting barrel, a charging basket, a rotary suspension arm and a front multi-angle mechanical arm are arranged on the rust removing and paint spraying equipment,
the device is characterized in that a support arm is arranged at the lower part of the front side of the device, a derusting wheel is installed at the front end of the support arm, a dust hood is arranged above the derusting wheel and connected with a dust collecting barrel through a dust collecting hose, and an obstacle avoidance sensor and a tile removing ridge rust angle grinder are installed on the dust hood and in front of the derusting wheel;
the front multi-angle mechanical arm is arranged at the upper part of the front side of the equipment, a paint spraying rod is arranged on the front multi-angle mechanical arm, and the paint spraying rod is connected with the charging bucket;
the rotary suspension arm is arranged at the rear part of the device and at one side of the dust collecting barrel and the charging barrel.
Preferably, the rotary suspension arm is a tower crane type rotary suspension arm and is fixed on equipment through a liftable rotary tower crane; the rotary suspension arm is connected with an electromagnet through a suspension rope, and correspondingly, an electromagnet block is arranged at the top of the charging bucket and/or the dust collecting bucket.
The lifting of the dust collection barrel to a designated position after the dust collection barrel is fully collected can be completed by lifting the rotary suspension arm on the rotary tower crane and the electromagnetic suspension rope thereof, and the empty barrel is placed into a dust collection box with a dust collection device; the paint can be added into the paint bucket by placing the oiling paint pipe into the paint bucket or the paint bucket is replaced, and the device is convenient, simple and easy to operate.
The front multi-angle mechanical arm is fixed on equipment through a rotary table base, and the rotary table base is horizontally arranged and rotatably and adjustably fixed on an equipment platform; the turntable base is also provided with a rotatable probe;
the front multi-angle mechanical arm is a multi-shaft mechanical arm and is provided with a plurality of movable arms which are hinged with each other, and two adjacent movable arms are fixed with each other through a pneumatic cylinder or a hydraulic support rod.
The auxiliary rust removal and spraying device at the front end of the front multi-angle mechanical arm can complete rust removal and spraying maintenance functions of places which cannot be touched by the caterpillar track, such as suspended edges, roof protruding parts, uneven special-shaped parts and the like. The mechanical gripper installed at the front end of the front multi-angle mechanical arm realizes the grabbing function, grabs and clears away small movable barriers on the roof, and can be matched with material transportation equipment to finish the loading and recovery of a dust collecting box and grab the collecting and releasing function of an oil conveying pipe.
The dust collecting bucket sets up in the dust collecting box, the dust collecting bucket is the toper, and be connected with the dust catcher motor, the aim at makes the dust of inspiration fall the barrel head easily, and simultaneously, its bottom is provided with electromagnetic vibration device, because of the dust adsorbs on the filter screen of collecting bucket wall, the gas pocket forms the jam easily, thereby reduce the dust absorbing capacity, set up electromagnetic vibration device, it falls the collecting bucket bottom through the vibration of regularly electromagnetic vibrator, be favorable to increasing the permeability of gas pocket, strengthen the suction, and reduce the overload injury to the dust catcher motor.
The bottom of the paint bucket is provided with an electric stirrer to prevent the paint from precipitating to block a paint pipe filter head, and the upper part of the paint bucket is provided with an electromagnetic oil suction and filling pipe;
the rust removal paint spraying equipment is also provided with a spare dust collecting bucket and a spare paint bucket which are arranged on the other side of the rotary suspension arm. When the empty barrel needs to be replaced, the rotary suspension arm lifts the barrels on the two sides of the rotary suspension arm to exchange, so that the dust collection barrel/charging barrel is replaced.
The moving device is a rubber caterpillar track, an electromagnetic adsorption device is arranged on the rubber caterpillar track, and the electromagnetic adsorption device is connected with power supply equipment.
The rubber caterpillar track is utilized to increase the contact area between the equipment and the roof and reduce the risk of damage to the roof caused by the equipment pressure;
through the electromagnetism absorption, when the roofing was too precipitous wet and slippery, equipment was in non-autonomic or non-manual operation and when forming the gliding risk, the electromagnetism intelligence on rubber caterpillar track and the roofing contact surface was adsorbed and is started to increase frictional force, reduce the gliding risk.
When the equipment moves forward or backward under the control, when the electromagnet on the rubber caterpillar track moves to contact with a roof, the sliding magnetic attraction brush on the electromagnet is connected with a power supply to generate magnetic force and is adsorbed on the iron roof, and when the electromagnet moves to leave the roof, the sliding magnetic attraction brush on the electromagnet is disconnected with the power supply to lose attraction, so that the resistance of the electromagnetic attraction force to the operation of the equipment is avoided.
The electromagnet on the contact surface of the rubber caterpillar track and the roof can be selectively adsorbed and started or released, namely, the power supply can be switched on when needed, and the power supply can be switched off when not used, so that unnecessary loss of electric power is avoided.
The design can keep part of electromagnetic adsorption to increase friction force, and meanwhile, the moving opposite end electromagnetism (namely the electromagnetism of the contact point of the caterpillar track to be separated from the roof) is powered off and contacts with the adsorption, so that the resistance brought by the electromagnetic adsorption to mechanical motion is overcome.
The bottom of the rust removing and paint spraying equipment is provided with a translation device. The obstacle avoidance or parallel route construction transfer of the equipment is realized, the trouble that the equipment turns around is reduced through the translation device, and the working efficiency is improved.
The present invention can be easily implemented by those skilled in the art from the above detailed description. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the basis of the embodiments disclosed, a person skilled in the art can combine different technical features at will, thereby implementing different technical solutions.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
Claims (9)
1. A full-automatic intelligent roof maintenance system is characterized by comprising a main control device, an investigation device, a lifting device, a rust removal and paint spraying device and a material transportation device,
the surveying equipment is connected with the main control equipment and is used for scanning, photographing, surveying and acceptance and carrying out data transmission with the main control equipment;
the lifting equipment, the rust removing and paint spraying equipment and the material conveying equipment are respectively connected with the main control equipment, and the rust removing and paint spraying equipment is provided with a power generation device and a moving device; the main control equipment receives the information sent by the investigation equipment and performs data processing, the derusting and paint spraying equipment is lifted to a roof or falls back to the ground by controlling the lifting equipment, and the derusting and paint spraying equipment and the material transportation equipment are controlled to perform derusting, paint spraying, material supply and dust recovery;
the rust removal and paint spraying equipment is provided with a charging bucket, a dust collecting bucket, a rotary suspension arm and a front multi-angle mechanical arm, wherein the rotary suspension arm is used for replacing the charging bucket and the dust collecting box; the front multi-angle mechanical arm is fixed on the equipment through a rotary table base, and the rotary table base is horizontally arranged and rotationally and adjustably fixed on an equipment platform; the front multi-angle mechanical arm is a multi-shaft mechanical arm and is provided with a plurality of movable arms which are hinged with each other;
the lower part of the front side of the rust removing and paint spraying equipment is provided with a supporting arm, and the front end of the supporting arm is provided with a rust removing wheel or an auxiliary supporting wheel; the moving device is a rubber caterpillar track, an electromagnetic adsorption device is arranged on the rubber caterpillar track, and the electromagnetic adsorption device is connected with power supply equipment; a horizontal adjusting lifting platform is arranged below the dust collecting barrel and/or the charging barrel, the rotary suspension arm and the dust collecting barrel and/or the charging barrel are fixed on the horizontal adjusting lifting platform, and one side of the horizontal adjusting lifting platform is lifted up to enable the platform to be always in a horizontal position;
the lifting equipment comprises a supporting frame body, a lifting beam and a lifting assembly, wherein the supporting frame body is provided with a door-shaped frame inlet and is used for putting a door-shaped frame into the supporting frame body for building operation; the lifting beam is provided with an adjustable door-shaped frame lifting plate; the lifting assembly is used for driving the lifting beam to ascend or descend.
2. The full-automatic intelligent roof maintenance system according to claim 1, wherein the material transportation equipment is provided with a power generation device and a moving device, the main control equipment receives information sent by the survey equipment and performs data processing, and the material transportation equipment is lifted to the roof or falls back to the ground by controlling the lifting equipment.
3. The full-automatic intelligent roof maintenance system according to claim 1, wherein the rust removing and paint spraying equipment comprises a rust removing equipment and a paint spraying equipment, the rust removing equipment and the paint spraying equipment are respectively provided with a rotary suspension arm and a front multi-angle mechanical arm,
the derusting equipment is provided with a dust collecting barrel, a derusting wheel and an auxiliary derusting angle grinder, wherein a dust hood is arranged above the derusting wheel and is connected with the dust collecting barrel through a dust collection hose; an auxiliary derusting angle grinder is installed on the front multi-angle mechanical arm; the rotary suspension arm is arranged on one side of the dust collecting barrel;
a charging bucket is arranged on the paint spraying equipment, a paint spraying rod is arranged on a front multi-angle mechanical arm of the paint spraying equipment, and the paint spraying rod is connected with the charging bucket; the rotary suspension arm is arranged at one side of the charging basket.
4. The full-automatic intelligent roof maintenance system according to claim 3, wherein a support arm is arranged at the lower part of the front side of the rust removal device, a rust removal wheel is installed at the front end of the support arm, and an obstacle avoidance sensor and a tile removing ridge rust angle grinder are installed on the dust collection cover and in front of the rust removal wheel; the supporting arm is also provided with an auxiliary supporting wheel;
the lower part of the front side of the paint spraying equipment is provided with a supporting arm, and the front end of the supporting arm is provided with an auxiliary supporting wheel.
5. The full-automatic intelligent roof maintenance system according to claim 1, wherein the rust removing and paint spraying equipment is an integrated rust removing and paint spraying equipment, and the rust removing and paint spraying equipment is provided with a rust removing wheel, a paint spraying rod, a dust collecting barrel, a charging basket, a rotary suspension arm and a front multi-angle mechanical arm,
the device is characterized in that a supporting arm is arranged at the lower part of the front side of the device, a derusting wheel is installed at the front end of the supporting arm, a dust hood is arranged above the derusting wheel and connected with a dust collecting barrel through a dust collecting hose, and an obstacle avoidance sensor and a tile ridge rust removing angle grinder are installed on the dust hood and in front of the derusting wheel;
the front multi-angle mechanical arm is arranged at the upper part of the front side of the equipment, and a paint spraying rod is arranged on the front multi-angle mechanical arm and connected with the charging basket;
the rotary suspension arm is arranged at the rear part of the device and at one side of the dust collecting barrel and the charging barrel.
6. The full-automatic intelligent roof maintenance system according to claim 1, 3, 4 or 5, wherein the rotating boom is a tower crane type rotating boom and is fixed to equipment through a liftable rotating tower crane; the rotary suspension arm is connected with an electromagnet through a suspension rope, and correspondingly, an electromagnet block is arranged at the top of the charging bucket and/or the dust collecting bucket.
7. The fully automatic intelligent roof maintenance system according to claim 1, 3 or 5, wherein the turntable base is further provided with a rotatable probe;
two adjacent movable arms of leading multi-angle arm pass through hydraulic pressure vaulting pole or cylinder reciprocal anchorage.
8. The full-automatic intelligent roof maintenance system according to any one of claims 1, 3, 4 or 5, wherein the dust collection barrel is arranged in the dust collection box, the dust collection barrel is conical, the bottom of the dust collection barrel is provided with an electromagnetic vibration device, and the dust collection barrel is connected with a dust collector motor; the bottom of the paint bucket is provided with an electric stirrer, and the upper part of the paint bucket is provided with an electromagnetic oil suction and filling pipe;
the rust removal paint spraying equipment is further provided with a spare dust collecting barrel and/or a spare material barrel, and the spare dust collecting barrel and/or the spare material barrel are/is arranged on the other side of the rotary suspension arm.
9. The full-automatic intelligent roof maintenance system according to claim 1, wherein a translation device is arranged at the bottom of the rust removing and paint spraying equipment.
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| CN206554487U (en) * | 2017-02-22 | 2017-10-13 | 中建八局第四建设有限公司 | A kind of roofing hanging basket |
| 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 |
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| KR101304107B1 (en) * | 2012-04-26 | 2013-09-05 | 영남대학교 산학협력단 | Robot for stairs climbing |
| CN105381902B (en) * | 2015-12-23 | 2017-11-10 | 烟台大学 | One kind climbs wall rust-cleaning spraying robot and its control method |
| CN107486356B (en) * | 2017-06-29 | 2020-01-21 | 深圳市招科华域科技有限公司 | Environment-friendly coating operation system for marine equipment and control method thereof |
| CN111519925A (en) * | 2020-04-20 | 2020-08-11 | 四川大学 | Robot is maintained to various steel tile in roof |
| CN111332991A (en) * | 2020-04-24 | 2020-06-26 | 乐山君联机电设备制造有限公司 | Intelligent multifunctional electric transfer crane |
| CN111745300A (en) * | 2020-06-01 | 2020-10-09 | 三峡大学 | Power transmission rod stay wire rust removal robot |
| CN111716371A (en) * | 2020-06-30 | 2020-09-29 | 盐城工学院 | Balanced type wind power column surface spraying automatic climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206554487U (en) * | 2017-02-22 | 2017-10-13 | 中建八局第四建设有限公司 | A kind of roofing hanging basket |
| 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 |
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