CN113374220B - Wall surface processing equipment - Google Patents
Wall surface processing equipment Download PDFInfo
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- CN113374220B CN113374220B CN202010158174.6A CN202010158174A CN113374220B CN 113374220 B CN113374220 B CN 113374220B CN 202010158174 A CN202010158174 A CN 202010158174A CN 113374220 B CN113374220 B CN 113374220B
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- wall surface
- wall
- surface processing
- control module
- mobile platform
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Abstract
The application provides a wall surface treatment device. The wall surface processing device comprises at least one wall surface processing mechanism and a mobile platform. Each wall surface processing mechanism in at least one wall surface processing mechanism comprises a wall climbing device and a wall surface processing device. The mobile platform comprises a connecting device, and the wall surface processing mechanism is selectively connected with or disconnected from the connecting device. The wall surface treatment equipment that this application embodiment provided helps mobile platform to carry wall surface treatment mechanism to the wall surface of different wall surfaces, different rooms, the wall surface of the different rooms of same floor and the wall surface of different floors and carries out the wall surface treatment, helps swift more wall surface treatment demands of satisfying, promotes the treatment effeciency.
Description
Technical Field
The application relates to the technical field of construction machinery equipment, in particular to wall surface processing equipment.
Background
In the house decoration process, various mechanical devices are generally utilized to automatically carry out series of treatments such as cleaning, polishing and spraying on the wall surface, however, the range of the existing mechanical devices for treating the wall surface is limited, workers are often required to assist in moving the mechanical devices to expand the treatment range of the mechanical devices, and the improvement of the treatment efficiency of the mechanical devices is not facilitated.
Disclosure of Invention
The embodiment of the application provides a wall surface processing device to solve the technical problem.
The embodiment of the application realizes the aim through the following technical scheme.
The embodiment of the application provides wall surface processing equipment. The wall surface processing device comprises at least one wall surface processing mechanism and a mobile platform. Each wall surface processing mechanism in at least one wall surface processing mechanism comprises a wall climbing device and a wall surface processing device. The mobile platform comprises a connecting device, and the wall surface processing mechanism is selectively connected with or disconnected from the connecting device.
In some embodiments, the wall treating mechanism further comprises a frame, and the wall climbing device and the wall treating device are mounted to the frame. The connecting device comprises a telescopic connecting piece, and the rack is selectively connected with or separated from the telescopic connecting piece.
In some embodiments, the coupling device further comprises a coupling collet coupled to the telescoping connector, the coupling collet including opposing first and second gripping portions. The rack comprises a first connecting piece and a second connecting piece which are spaced from each other, the first connecting piece is suitable for being connected with the first clamping part in a matched mode, and the second connecting part is suitable for being connected with the second clamping part in a matched mode.
In some embodiments, the connection cartridge further comprises a connection rod connected to the telescopic connection, the first and second clamping portions slidably connected to the connection rod, the first and second clamping portions selectively sliding toward or away from each other.
In some embodiments, the wall climbing device includes a suction assembly and a crawling assembly, the suction assembly and the crawling assembly being mounted to the rack.
In some embodiments, the crawler assembly includes a first crawler and a second crawler, the first and second crawlers being mounted on opposite sides of the frame, the adsorption assembly being located between the first and second crawlers.
In some embodiments, the mobile platform further comprises a dust extraction device, and a duct of the dust extraction device is connected with the wall surface treatment device.
In some embodiments, the mobile platform further includes a body, a power source, a cable reel, and a cable, wherein the power source is installed in the body, the cable reel is connected to the body, and the cable is wound around the cable reel and electrically connected to the power source and the wall surface processing mechanism, respectively.
In some embodiments, the mobile platform further comprises a control device, the control device comprises a crawling control module and a wall surface processing control module, the crawling control module controls the movement of the wall surface processing mechanism, and the wall surface processing control module controls the wall surface processing device of the wall surface processing mechanism to perform wall surface processing on the target wall surface.
In some embodiments, the control device further comprises a navigation module and a platform movement control module, wherein the navigation module plans a platform movement route according to the environment where the wall surface processing device is located, and the platform movement control module controls the movement of the mobile platform according to the platform movement route.
According to the wall surface processing equipment provided by the embodiment of the application, at least one wall surface processing mechanism can be selectively connected with or separated from a connecting device arranged on a mobile platform, after the wall surface processing mechanism is connected with the connecting device, the mobile platform can carry the wall surface processing mechanism to move, the wall surface processing mechanism is separated from the connecting device when processing the wall surface, and the mobile platform is separated from the mobile platform, so that the mobile platform can carry the wall surface processing mechanism to different wall surfaces, the wall surfaces of different rooms on the same floor and the wall surfaces of different floors for wall surface processing, more wall surface processing requirements can be met quickly, and the processing efficiency is improved; the wall surface processing mechanism separated from the mobile platform can utilize the wall climbing device to move on a target wall surface, and utilizes the wall surface processing device to perform series of wall surface processing such as cleaning, polishing, spraying and the like on the target wall surface.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a working scene of a wall surface processing device according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a wall surface treatment device according to an embodiment of the present application.
Fig. 3 is a schematic structural view of a wall surface treating mechanism of the wall surface treating apparatus of fig. 2.
Fig. 4 is a schematic structural view of a mobile platform of the wall treatment apparatus of fig. 2.
Fig. 5 is a schematic structural view from another perspective of the wall surface treating apparatus of fig. 2.
Fig. 6 is a schematic block diagram of a wall surface treatment device according to an embodiment of the present application.
Fig. 7 is a schematic view of a working scene of a wall surface processing device according to another embodiment of the present application.
Fig. 8 is a schematic diagram of a result of scanning a wall surface by a wall surface scanner of a mobile platform of a wall surface processing device according to an embodiment of the present application.
Fig. 9 to 12 are schematic views illustrating a scene in which the wall surface processing device according to another embodiment of the present application operates.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1 and 2, a wall surface processing apparatus 1000 is provided according to an embodiment of the present disclosure. The wall surface treatment apparatus 1000 is used to perform a series of treatments such as cleaning, polishing, spraying, etc. on a wall surface. The wall treatment apparatus 1000 includes at least one wall treatment mechanism 100 and a mobile platform 200, the wall treatment mechanism 100 being removably attachable to the mobile platform 200. In the embodiment shown in fig. 1, the wall surface treating apparatus 1000 includes, for example, 1 wall surface treating mechanism 100. In the embodiment shown in fig. 2, the number of the wall surface treating mechanisms 100 is 2. After the wall surface processing mechanism 100 is connected to the mobile platform 200 (as shown in fig. 2), the mobile platform 200 can carry the wall surface processing mechanism 100 to move and can move to the target wall surface 300, and after the wall surface processing mechanism 100 is separated from the mobile platform 200 (as shown in fig. 1), the wall surface processing mechanism 100 can perform wall surface processing on the target wall surface 300. In other embodiments, the number of wall treating mechanisms 100 may be greater than 2. More than 2 wall processing mechanisms 100 can simultaneously perform different wall processing operations, and can perform the wall processing operations on different walls, thereby contributing to satisfying the processing requirements of various walls and contributing to improving the wall processing efficiency of the wall processing device 1000.
Referring to fig. 2 and 3, the wall surface processing mechanism 100 includes a frame 160, a wall climbing device 120, and a wall surface processing device 140, and the wall climbing device 120 and the wall surface processing device 140 are mounted on the frame 160.
The frame 160 includes a first connector 1620 and a second connector 1640, the first connector 1620 and the second connector 1640 being spaced apart. In this embodiment, the first connector 1620 and the second connector 1640 are substantially in the form of long rods, and the second connector 1640 is parallel to the first connector 1620. In this embodiment, the second connector 1640 has the same structure as the first connector 1620. The second connector 1640 and the first connector 1620 are configured to mate with the mobile platform 200 to enable a removable connection of the wall treating mechanism 100 and the mobile platform 200. In other embodiments, the second connector 1640 and the first connector 1620 can have the same or different structures.
The wall climbing device 120 includes a suction assembly 122 and a crawling assembly 124, and the suction assembly 122 and the crawling assembly 124 are mounted to the rack 160.
The adsorption component 122 can include a vacuum pump and a suction cup housing, the vacuum pump is connected with the suction cup housing, the vacuum pump enables the suction cup housing to form stronger negative pressure through sucking air in the suction cup housing so as to be attached to the wall surface, and therefore the wall surface processing mechanism 100 can be adsorbed on the wall surface and does not fall off.
The crawler assembly 124 includes a first crawler 126 and a second crawler 128, the first crawler 126 and the second crawler 128 being mounted on opposite sides of the frame 160, and the adsorbent assembly 122 being located between the first crawler 126 and the second crawler 128.
The first crawler 126 may include a first roller 1262 and a first track 1264, the first roller 1262 and the first track 1264 being connected. The first roller 1262 is mounted to the first link 1620. The number of the first rollers 1262 may be two, each first roller 1262 is connected to a corresponding first driving motor 1266, each first roller 1262 is driven by a corresponding first driving motor 1266 to rotate, and the two first rollers 1262 drive the first tracks 1264 together to move on the wall surface, so that the wall surface processing mechanism 100 can move on the wall surface.
The structure of the second crawler 128 is the same or different than the structure of the first crawler 126. In this embodiment, the structure of the second crawler 128 is substantially the same as the structure of the first crawler 126, the second crawler 128 may include a second roller 1282 and a second crawler 1284, and the second roller 1282 and the second crawler 1284 are connected. The second roller 1282 is mounted to the second connector 1640. The number of second gyro wheel 1282 can be two, and every second gyro wheel 1282 rotates under the drive of a corresponding second driving motor 1286, and two second gyro wheels 1282 drive second track 1284 jointly and remove at the wall to realize the removal of wall processing mechanism 100 at the wall.
The wall treatment apparatus 140 is removably mounted to the frame 160 to facilitate different treatments of the wall by replacing different types of wall treatment apparatus 140. For example, the wall surface processing device 140 may be a polishing head for polishing and polishing wall surfaces, and may also be a nozzle for spraying and cleaning wall surfaces. In other embodiments, the wall surface treating device 140 may be integrated with different functions such as a polishing head and a spray head.
The wall treating mechanism 100 may also include a lidar 180, with the lidar 180 mounted to the frame 160. The laser radar 180 calculates the relative distance to the target from the turn-back time of the laser light after encountering the obstacle, and can thereby navigate the wall surface processing mechanism 100.
Referring to fig. 2 and 4, the mobile platform 200 includes a body 230 and a connecting device 210 disposed on the body 230. The body 230 is provided with wheels 2320, and the mobile platform 200 can move by using the wheels 2320.
The connection device 210 is adapted to cooperate with the frame 160 of the wall treating mechanism 100 to selectively connect and disconnect the wall treating mechanism 100 from the connection device 210 to enable removable connection of the wall treating mechanism 100 to the mobile platform 200.
The coupling device 210 may include a telescoping connector 212 and a coupling clip 214, the coupling clip 214 being coupled to the telescoping connector 212. The telescoping connectors 212 provide for extension and retraction and corresponding actuation of the connector clips 214, which facilitates the mobile platform 200 to adjust the length of the telescoping connectors 212 based on the actual distance between the connection device 210 and the wall treating mechanism 100 to selectively connect and disconnect the frame 160 to and from the telescoping connectors 212 to facilitate connection and disconnection of the connection device 210 to and from the wall treating mechanism 100.
In some embodiments, the connection clamp 214 may be hingedly connected to the telescoping connector 212 such that the connection clamp 214 may rotate relative to the telescoping connector 212, thereby increasing the flexibility of the connection device 210 and further facilitating the connection of the connection device 210 to the wall treating mechanism 100. In other embodiments, the connection clamp 214 may be fixedly connected to the telescopic connection member 212 by a fastener such as a screw, so as to simplify the structure of the connection device 210.
The connector clip 214 may include a connecting rod 219, a first clip portion 216, and a second clip portion 218, the connecting rod 219 being connected to the telescopic link 212, the first clip portion 216 and the second clip portion 218 being connected to the connecting rod 219, respectively.
The first clamping portion 216 is adapted to be cooperatively connected with a first connector 1620. The first clamping portion 216 may include a first clamping member 2162 and a second clamping member 2164, the first clamping member 2162 and the second clamping member 2164 being connected. The first clamping member 2162 is connected to the connection rod 219. The second clamping member 2164 may be perpendicular to the first clamping member 2162 and parallel to the connection rod 219, the second clamping member 2164 being connected to the first clamping member 2162 and extending toward the second clamping portion 218.
The second clip 218 is adapted to matingly engage the second connector 1640. The second clamping portion 218 and the first clamping portion 216 are disposed opposite to each other, and the second clamping portion 218 and the first clamping portion 216 may be symmetrically disposed on the connection rod 219 with respect to the telescopic link 212. The second clip portion 218 and the first clip portion 216 may be of the same or different configurations. The second clamping portion 218 may include a third clamping member 2182 and a fourth clamping member 2184 connected, and the third clamping member 2182 and the fourth clamping member 2184 are connected. The third clamp 2182 is connected with the connection rod 219. The fourth clamping member 2184 is perpendicular to the third clamping member 2182, and the fourth clamping member 2184 is connected to the third clamping member 2182 and extends toward the first clamping portion 216.
In some embodiments, first and second clamp portions 216, 218 are secured to connecting rod 219, i.e., first and third clamps 2162, 2182 are secured to connecting rod 219, respectively. The first clamping portion 216, the second clamping portion 218 and the connecting rod 219 may be integrally formed, and the connecting clip 214 may be integrally formed by using a mold.
In other embodiments, the first and second clamping portions 216, 218 are slidably connected to the connecting rod 219, i.e., the first and third clamping members 2162, 2182 are slidably connected to the connecting rod 219. The first clamping portion 216 and the second clamping portion 218 selectively slide toward or away from each other, so that the distance between the first clamping portion 216 and the second clamping portion 218 can be adjusted. For example, when the first clamping portion 216 and the second clamping portion 218 slide back to back, the distance between the first clamping portion 216 and the second clamping portion 218 increases, which is beneficial for the connecting clamp 214 to form a larger clamping space to accommodate the wall surface processing mechanism 100; when the first clamping portion 216 and the second clamping portion 218 slide toward each other, the distance between the first clamping portion 216 and the second clamping portion 218 is reduced, which is beneficial for the connection chuck 214 to clamp the wall processing mechanism 100 by reducing the clamping space.
The number of the connecting devices 210 can be one or more, for example, the number of the connecting devices 210 can be two, and two connecting devices 210 are matched with each other and connected with one wall surface processing mechanism 100, so that the wall surface processing mechanism 100 can move along with the moving platform 200 more stably. When the number of the wall surface treating mechanisms 100 is plural, the number of the connecting devices 210 may be twice the number of the wall surface treating mechanisms 100.
After the wall surface processing mechanism 100 is connected to the connecting device 210 of the above embodiment, the mobile platform 200 can carry the wall surface processing mechanism 100 to move, the wall surface processing mechanism 100 is separated from the connecting device 210 when processing a wall surface, and is separated from the mobile platform 200, so that the mobile platform 200 can carry the wall surface processing mechanism 100 to different wall surfaces, wall surfaces of different rooms on the same floor and wall surfaces on different floors, which is beneficial to rapidly meeting more wall surface processing requirements, improves the processing efficiency, and realizes that the wall surface processing mechanism 100 spans the mutually perpendicular wall surfaces to perform wall surface processing work and spans the mutually spaced wall surfaces to perform wall surface processing work; the wall surface processing mechanism 100 separated from the moving platform 200 can move on a target wall surface by using the wall climbing device 120, and can perform series of wall surface processing such as cleaning, polishing, spraying and the like on the target wall surface by using the wall surface processing device 140.
The mobile platform 200 may further include a dust suction device (not shown), and a pipe of the dust suction device may be connected to the wall surface processing device 140, so that the dust suction device may directly absorb dust generated when the wall surface processing device 140 performs wall surface processing, and excessive dust is prevented from being scattered indoors.
In addition, the mobile platform 200 may further include a power source (not shown), a cable reel 250 and a cable 260, wherein the power source is installed in the body 230, the cable reel 250 is connected to the body 230, and the cable 260 is wound around the cable reel 250. The cable 260 is electrically connected to the power supply and the wall surface treating mechanism 100, so that the power supply can simultaneously supply power to the body 230 and the wall surface treating mechanism 100, thereby solving the problem of power supply to the wall surface treating mechanism 100, and meanwhile, the power supply is not installed in the wall surface treating mechanism 100, which helps to reduce the weight of the wall surface treating mechanism 100, thereby facilitating the wall surface treating mechanism 100 to crawl on the wall surface. The cable reel 250 can be an automatic retractable reel, and the cable reel 250 can automatically tighten the cable 260, so that the situation that the movement of the wall surface processing mechanism 100 is limited due to the fact that the cable 260 winds the body 230 is avoided.
The mobile platform 200 may further include a laser measurer (not shown), the laser measurer may be disposed on the body 230, the wall surface processing device 1000 may measure an environment where the wall surface processing device 1000 is located by using the laser measurer, and the wall surface processing device 1000 may plan a platform moving route according to measurement data of the laser measurer so as to facilitate movement of the mobile platform 200.
The mobile platform 200 may further include a wall scanner (not shown), which may be disposed on the body 230. The wall scanner may be a three-dimensional laser scanner. The wall surface processing apparatus 1000 can detect the flatness of the wall surface by using the wall surface scanner.
Referring to fig. 5, the mobile platform 200 may further include a control device 290, wherein a plurality of functional modules are built in the control device 290, and different functional modules are mutually matched to realize the operation of the wall surface processing apparatus 1000. The functions of the control device 20 may be implemented by the controller or the electronic control board or the control board of the mobile platform 200 itself, or the control device 290 may be made as a separate device, equipment, etc. installed outside or inside the body 230. The control device 290 may communicate with the wall surface processing means 100 by a wired method or may communicate with the wall surface processing means by a wireless method. In this embodiment, the control device 290 is partially exposed from the body 230, and a user can switch the operation mode of the wall surface processing apparatus 1000, for example, the user can switch the full-automatic operation mode of the wall surface processing apparatus 1000 to the semi-automatic operation mode or the manual operation mode, which is helpful for the user to manually control the control device 290 to operate the wall surface processing apparatus 1000 according to actual conditions.
Referring to fig. 6, the control device 290 may include a crawling control module 2920, the crawling control module 2920 controlling the movement of the wall climbing device 120 of the wall treatment mechanism 100. The crawl control module 2920 may enable the wall treatment mechanism 100 to be selectively coupled to and decoupled from the coupling device 210 by controlling the movement of the wall climbing device 120 of the wall treatment mechanism 100 to approach or depart from the mobile platform 200. In this embodiment, the crawling control module 2920 controls the movement of the wall-climbing device 120 such that the first connector 1620 and the second connector 1640 of the rack 160 disengage from the first grip 216 and the second grip 218 of the connection device 210, thereby enabling the wall treatment mechanism 100 to disengage from the mobile platform 200; in addition, the crawl control module 2920 controls the movement of the wall climbing device 120 such that the first and second connectors 1620 and 1640 of the frame 160 are captured between the first and second grip portions 216 and 218 of the connection device 210, thereby enabling the wall treatment mechanism 100 to be connected to the mobile platform 200. The crawl control module 2920 controls the movement of the wall climbing device 120 of the wall treatment mechanism 100 to also enable the wall climbing device 120 of the wall treatment mechanism 100 to move on the target wall surface away from the connection device 210. The creep control module 2920 may also control the amount of negative pressure that the vacuum pump of the sorption assembly 122 creates within the chuck housing, and may also control the start, shut down, acceleration, deceleration, etc. of the first and second drive motors 1266, 1286 of the creep assembly 124.
The control device 290 may further include a wall-lining control module 2930, and the wall-lining control module 2930 controls the wall-lining device 140 of the wall-lining mechanism 100, which is separated from the connecting device 210, to perform wall lining on the target wall surface. For example, in the case where the wall surface treating device 140 is a sanding head, the wall surface treatment control module 2930 may control the torque, pressure, feed amount, and the like of the wall surface treating device 140; when the wall surface treatment device 140 is a shower head, the wall surface treatment control module 2930 may control the discharge amount, the discharge speed, and the like of the wall surface treatment device 140.
The control device 290 may further include a wall scanning module 2960, and the wall scanning module 2960 may control the wall scanner to detect the flatness of the wall surface, and may lock the target wall surface and each abnormal area of the target wall surface according to the detection result.
The control device 290 may further include a navigation module 2940, and the navigation module 2940 may control the laser measurer 270 to measure an environment where the wall processing apparatus 1000 is located, and plan a platform moving route according to measurement data of the laser measurer 270, where the platform moving route is used to assist movement of the mobile platform 200. The platform movement control module 2950 may also control the movement of the mobile platform 200 according to the platform movement route. The navigation module 2940 may also control the laser radar 180 to emit laser light, and plan a processing device movement route for assisting the movement of the wall surface processing mechanism 100 according to the laser turn-back time. The creep control module 2920 may also control the wall treatment mechanism 100 to move according to the treatment device movement path.
The control device 290 may also include a connection control module 2910. For example, the connection control module 2910 may control the telescoping of the telescoping connection 212; in the case where the connection chuck 214 is hinged to the telescopic connector 212, the connection control module 2910 may control the angle of rotation of the connection chuck 214 with respect to the telescopic connector 212; in a case where the first and second clamping portions 216 and 218 are slidably connected to the connection rod 219, the connection control module 2910 may control sliding of the first and second clamping portions 216 and 218 on the connection rod 219, and the like.
The control 290 may also include a dust control module 2970, and the dust control module 2970 may control the operation of the dust extraction device. For example, the dust suction control module 2970 may control the start, stop, switching of the suction mode, and the like of the dust suction apparatus.
During the operation of the wall surface processing apparatus 1000, the navigation module 2940 of the control device 290 may control the laser measurer 270 to measure the environment where the wall surface processing apparatus 1000 is located, and plan the platform moving route according to the measurement data of the laser measurer 270, as shown in fig. 7, the wall surface processing apparatus 1000 is located in the residential unit 1801, the navigation module 2940 has planned the platform moving route L1, and the platform moving route L1 is used to assist the moving platform 200 of the wall surface processing apparatus 1000 to move into the room 002. The platform movement control module 2950 may control the movement of the mobile platform 200 into the room 002 according to the platform movement route L1.
After the wall surface processing apparatus 1000 enters the room 002, the wall surface scanning module 2960 of the control device 290 may control the wall surface scanner 280 to detect the flatness of the wall surface of the room 002, and lock the target wall surface and the positions of the abnormal regions of the target wall surface according to the detection result. As shown in fig. 8, the result of the wall scanning module 2960 scanning the wall is shown, and each abnormal area 8080 shown in the figure represents a position to be processed. The wall scanning module 2960 locks the target wall according to the scanning result and records the position of each abnormal area 8080 on the target wall.
As shown in fig. 9, the navigation module 2940 plans a platform moving route L2 according to the target wall surface 300 locked by the wall scanning module 2960, and the platform moving route L2 is used for assisting the mobile platform 200 to move to the target wall surface 300. The platform movement control module 2950 of the control device 290 controls the moving platform 200 to move to the target wall surface 300 according to the platform moving route L2.
As shown in fig. 10, after the mobile platform 200 moves to the target wall surface 300, the crawling control module 2920 of the control device 290 may control the adsorption component 122 of the wall surface processing mechanism 100 to adsorb on the target wall surface 300; after the suction assembly 122 is attached to the target wall surface 300, the connection control module 2910 of the control device 290 may control the connection device 210 to release the wall surface treatment mechanism 100; after the connection device 210 releases the wall treatment mechanism 100, the creep control module 2920 may control the creep assembly 124 of the wall treatment mechanism 100 to move on the target wall surface 300 and disengage the connection device 210.
After the wall processing mechanism 100 is disconnected from the connection device 210, the navigation module 2940 plans a processing device moving route to each abnormal area 8080 by controlling the laser radar 180, and the crawling control module 2920 controls the wall processing mechanism 100 to move to each abnormal area 8080 according to the processing device moving route.
After the wall surface processing mechanism 100 moves to the abnormal area 8080, the dust collection control module 2970 of the control device 290 can control the dust collection device 220 to start; after the dust suction apparatus 200 is started, the wall surface treatment control module 2930 of the control device 290 may control the wall surface treatment device 140 to perform wall surface treatment in the abnormal area 8080 until the detection result of the wall surface scanning module 2960 on the flatness of the target wall surface 300 by using the wall surface scanner 280 reaches a preset value.
In addition, in the case where the number of the wall surface processing mechanisms 100 is more than one, for example, the number of the wall surface processing mechanisms 100 is two, as shown in fig. 11, the mobile platform 200 can carry different wall surface processing mechanisms 100 to perform wall surface processing on different target wall surfaces 300, thereby contributing to improvement of wall surface processing efficiency of the wall surface processing apparatus 1000.
After the wall treatment apparatus 1000 has completed the wall treatment work for the room 002, as shown in fig. 12, the wall treatment apparatus 1000 is located in the room 002 of the dwelling unit 1801, the navigation module 2940 has planned the platform moving route L3, and the platform moving route L3 is used to assist the moving platform 200 of the wall treatment apparatus 1000 to move into the room 003. After the wall surface treatment apparatus 1000 enters the room 003, the wall surface treatment apparatus 1000 may perform the wall surface treatment on the wall surface of the room 003 according to the above-described embodiment.
According to the wall surface processing device 1000 provided by the embodiment of the application, at least one wall surface processing mechanism 100 can be selectively connected with or disconnected from the connecting device 210 arranged on the mobile platform 200, after the wall surface processing mechanism 100 is connected with the connecting device 210, the mobile platform 200 can carry the wall surface processing mechanism 100 to move, the wall surface processing mechanism 100 is disconnected from the connecting device 210 when processing the wall surface, and is separated from the mobile platform 200, so that the mobile platform 200 can carry the wall surface processing mechanism 100 to different wall surfaces, wall surfaces of different rooms on the same floor and wall surfaces of different floors for wall surface processing, more wall surface processing requirements can be met rapidly, and the processing efficiency is improved; the wall surface processing mechanism 100 separated from the moving platform can move on a target wall surface by using the wall climbing device 120, and can perform series of wall surface processing such as cleaning, polishing, spraying and the like on the target wall surface by using the wall surface processing device.
In this application, the terms "mounted," "connected," "secured," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through the inside of two elements, or they may be connected only through surface contact or through surface contact of an intermediate member. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like are used merely for distinguishing between descriptions and not intended to imply or imply a particular structure. The description of the terms "some embodiments," "other embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this application, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this application can be combined and combined by those skilled in the art without contradiction.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A wall surface treating apparatus, comprising:
each wall surface processing mechanism in the at least one wall surface processing mechanism comprises a rack, a wall climbing device and a wall surface processing device, the wall climbing device and the wall surface processing device are mounted on the rack, and the rack comprises a first connecting piece and a second connecting piece which are spaced; and
moving platform, moving platform includes connecting device, connecting device includes telescopic connection spare and connection chuck, the frame is connected or breaks away from selectively telescopic connection spare, connection chuck connect in telescopic connection spare, connection chuck includes relative first clamping part and second clamping part, first connecting piece be suitable for with first clamping part cooperation is connected, second connecting portion be suitable for with the cooperation of second clamping part is connected.
2. The wall treatment apparatus of claim 1, wherein the connection clip further comprises a connection rod connected to the telescoping connection member, the first and second clamping portions slidably connected to the connection rod, the first and second clamping portions selectively sliding toward or away from each other.
3. The wall surface treatment apparatus according to claim 1, wherein the wall climbing device includes an adsorption component and a crawling component, and the adsorption component and the crawling component are mounted to the frame.
4. The wall treatment apparatus of claim 3, wherein the crawler assembly includes a first crawler and a second crawler, the first crawler and the second crawler being mounted on opposite sides of the frame, the suction assembly being located between the first crawler and the second crawler.
5. The wall treatment apparatus of claim 1, wherein the mobile platform further comprises a dust extraction device, the duct of the dust extraction device being connected to the wall treatment apparatus.
6. The wall surface treatment device of claim 1, wherein the mobile platform further comprises a body, a power source, a cable reel and a cable, wherein the power source is installed on the body, the cable reel is connected to the body, and the cable is wound on the cable reel and is electrically connected to the power source and the wall surface treatment mechanism respectively.
7. The wall surface processing apparatus according to claim 1, wherein the moving platform further includes a control device, the control device includes a crawling control module and a wall surface processing control module, the crawling control module controls movement of the wall surface processing mechanism, and the wall surface processing control module controls the wall surface processing device of the wall surface processing mechanism to perform wall surface processing on a target wall surface.
8. The wall surface treatment device of claim 7, wherein the control device further comprises a navigation module and a platform movement control module, the navigation module plans a platform movement route according to an environment where the wall surface treatment device is located, and the platform movement control module controls the movement of the mobile platform according to the platform movement route.
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| US7339340B2 (en) * | 2005-03-23 | 2008-03-04 | Harris Corporation | Control system and related method for multi-limbed, multi-legged robot |
| CN2813227Y (en) * | 2005-05-21 | 2006-09-06 | 夏斌 | Wall-climbing multipurpose robot |
| CN107126156B (en) * | 2017-06-08 | 2021-11-19 | 合肥荣事达电子电器集团有限公司 | Intelligent household cleaning environment-friendly robot and working method thereof |
| CN208342423U (en) * | 2018-04-16 | 2019-01-08 | 丁佐琳 | A kind of construction wall automated processing equipment |
| CN108420368B (en) * | 2018-05-10 | 2021-03-30 | 西京学院 | All-terrain cleaning robot |
| CN109305241B (en) * | 2018-10-15 | 2020-11-24 | 苏州睿澎诚科技有限公司 | Use method of freely-rotating wall-climbing moving device |
| CN110089973A (en) * | 2019-06-14 | 2019-08-06 | 陕西中建建乐智能机器人有限公司 | A kind of robot for glass curtain wall cleaning |
| CN110469089B (en) * | 2019-08-21 | 2021-07-09 | 广东博智林机器人有限公司 | Construction robot and lifting translation device thereof |
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