CN113494194A - Screen remote control manipulator is inlayed in outer wall crack - Google Patents
Screen remote control manipulator is inlayed in outer wall crack Download PDFInfo
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- CN113494194A CN113494194A CN202110643808.1A CN202110643808A CN113494194A CN 113494194 A CN113494194 A CN 113494194A CN 202110643808 A CN202110643808 A CN 202110643808A CN 113494194 A CN113494194 A CN 113494194A
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- rack
- translation
- wall
- spray gun
- plate
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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
- E04G23/0203—Arrangements for filling cracks or cavities in building constructions
- E04G23/0211—Arrangements for filling cracks or cavities in building constructions using injection
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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
- E04G23/0296—Repairing or restoring facades
Abstract
The invention discloses a screen remote control manipulator for repairing cracks on an outer wall, which comprises a controller, a display and a bottom plate, and is characterized in that: a sliding rail and a base rack are connected below the bottom plate in a sliding manner, and a base translation power box is arranged between the base rack and the bottom plate; the bottom plate top is connected with camera shooting mechanism and storage mechanism, the bottom plate top is rotated and is connected with the revolving stage, revolving stage top fixedly connected with electric lift rod and a plurality of guiding axle, the electric lift rod stretches out the end and is connected with the rack mounting panel, rack mounting panel and guiding axle sliding connection, double rack is installed to the rack mounting panel, double rack top is connected with translation mechanism, translation mechanism top is rotated and is connected with rotary mechanism, rotary mechanism is connected with spray gun and spray gun end electric telescopic handle, spray gun end electric telescopic handle stretches out end and spray gun fixed connection. The method has higher degree of freedom, can repair cracks on a flat wall surface, can repair a slightly complex wall surface, and has a large repair range.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a screen remote control manipulator for embedding and repairing external wall cracks.
Background
The outer wall cracks are caused by different expansion and contraction rates of building bodies and concrete and are one of common diseases of building decoration engineering, and the outer wall cracks are specifically divided into temperature cracks, shrinkage cracks, hollowing cracks and structural cracks. Common crack mode of repairing, build scaffold frame or hanging flower basket usually, adopt artificial mode to repair the crack, in addition, also there are some outer wall repair equipment, however these outer wall repair equipment are many to repairing to smooth wall, when facing the slightly complicated wall of structure, these repair equipment can be usually because the degree of freedom is not enough, and unable adaptation complex wall, if adopt the mode of artifical repair, then can be because the wall structure, lead to repairing the degree of difficulty and rise, and increase the potential danger when the workman repairs, sometimes, for repairing the wall of long distance, the workman can be with the health spy out hanging flower basket or scaffold frame, the risk of falling has been increased, consequently, need a crack repair equipment to replace artifical repair, take place danger during avoiding the operation.
Disclosure of Invention
In view of the problems raised by the above background art, the present invention is directed to: aims to provide a screen remote control manipulator for repairing cracks of an outer wall.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a screen remote control manipulator for repairing cracks on an outer wall comprises a controller, a display and a bottom plate, wherein a slide rail and a base rack are connected below the bottom plate in a sliding mode, and a base translation power box is installed between the base rack and the bottom plate;
the automatic feeding device is characterized in that a camera mechanism and a material storage mechanism are connected above the bottom plate, a rotary table is rotatably connected above the bottom plate, an electric lifting rod and a plurality of guide shafts are fixedly connected above the rotary table, the extending end of the electric lifting rod is connected with a rack mounting plate, the rack mounting plate is slidably connected with the guide shafts, double rows of racks are mounted on the rack mounting plate, a translation mechanism is connected above the double rows of racks, a rotating mechanism is rotatably connected above the translation mechanism, the rotating mechanism is connected with a spray gun and a spray gun end electric telescopic rod, and the extending end of the spray gun end electric telescopic rod is fixedly connected with the spray gun;
the base translation power box comprises an L-shaped box body, one end of the L-shaped box body is fixedly connected with the bottom plate, a base motor is installed inside the L-shaped box body, and the output end of the base motor is connected with a base gear which can be matched with a base rack;
the base plate is provided with a boss, a base rotating motor is installed in the boss, the boss is provided with an annular groove, and the rotary table can be matched with the annular groove and is provided with a plurality of thickened ball bearings along the track of the annular groove;
the rack mounting plate comprises a square plate, the square plate is provided with a guide shaft through hole and a rack placing groove, the rack placing groove is provided with a limiting through hole, rack limiting grooves are formed in two sides of the rack placing groove, a roller motor is mounted in the rack placing groove, a straight-tooth cylindrical gear is connected to the outer ring of the roller motor, and an electric limiting mechanism is arranged below the square plate;
the double rows of racks comprise a clip body, upper gear teeth which are uniformly distributed are arranged on the upper surface of the outer wall of the clip body, a plurality of positioning round holes which are uniformly distributed are arranged on the lower surface of the outer wall of the clip body, lower gear teeth which are uniformly distributed are arranged on the lower surface of the inner wall of the clip body, travel switches are arranged at the left end and the right end of the inner cavity of the clip body, and strip-shaped limiting blocks are connected with the two ends of the outer side of the clip body;
the translation mechanism comprises a translation sliding block, the translation sliding block is provided with a sliding groove, the sliding groove can be matched with a clip body, a translation end roller motor is arranged in the sliding groove, the outer ring of the translation end roller motor is connected with a translation end gear column, the translation end gear column can be matched with an upper gear, a lower round seat is arranged above the translation sliding block, a rotation motor hole is formed in the center of the lower round seat, a spray gun rotation motor is arranged in the rotation motor hole, the output end of the spray gun rotation motor is connected with a transmission rotating column, and the transmission rotating column is provided with a cross-shaped limiting block;
the rotary mechanism comprises a rotating plate, an upper round seat which can be matched with a lower round seat is arranged below the rotating plate, a transmission hole which can be matched with a transmission rotating column is formed in the center of the upper round seat, a plurality of symmetrically distributed round supports are arranged above the rotating plate, the round support on one side is connected with a linear bearing, a spray gun is connected inside the linear bearing, a camera support is arranged above the round support, a small camera is mounted on the camera support, and the round support on the other side is connected with a spray gun end electric telescopic rod;
the spray gun comprises a material storage pipe and a spray head, a light emitter is connected above the material storage pipe, and a slope is arranged at the port of the spray head.
Further inject, the slide rail left and right sides be equipped with can with bottom plate complex spacing, spacing is equipped with the chamfer, the slide rail top is equipped with the impartial square groove of a plurality of intervals, the roller is installed to the square groove, such structural design for when the bottom plate slides on the slide rail, can come sliding friction to change into rolling friction through the roller, reduce the gliding resistance of bottom plate, spacing then avoids the bottom plate to drop from the slide rail, the chamfer makes the bottom plate more easy with the slide rail assembly.
Further inject, the camera shooting mechanism comprises a rotatable camera and a camera end electric lifting rod, and due to the structural design, the camera shooting mechanism can acquire a better visual field through the rotation of the rotatable camera and the up-and-down movement of the camera end electric lifting rod, so that a user can conveniently carry out manual operation on the manipulator through a good camera shooting picture.
Further limiting, the material storage mechanism comprises a material storage barrel, a pressing plate is connected inside the material storage barrel in a sliding manner, a discharge port is arranged below the storage barrel, a sealing cover is connected above the storage barrel, a pressing plate guide rod is arranged below the sealing cover, the tail end of the pressure plate guide rod is provided with a limiting fixture block, a stirring motor and a pressure plate end telescopic rod are arranged above the sealing cover, the output end of the stirring motor penetrates through the pressing plate and is connected with the stirring blade, the stirring blade is close to the bottom of the material storage barrel, the telescopic end of the telescopic rod at the pressing plate end is connected with the pressing plate, and the structure design is that, the stirring motor drives the stirring blade to rotate so as to prevent the repairing materials from being condensed into blocks to influence the repairing effect, the telescopic rod at the end of the pressure plate drives the pressure plate to move, therefore, the repairing materials are extruded and enter the spray gun from the discharge hole, and the guide rod of the pressure plate provides a correct movement direction for the pressure plate.
Further inject, electronic stop gear includes the electro-magnet, the electro-magnet is connected with a plurality of springs, the spacing post of spring other end fixedly connected with, the diameter and spacing through-hole of spacing post, location round hole phase-match, such structural design for when spacing through-hole overlaps with the location round hole, after the different distances of double rack horizontal motion promptly, when spacing through-hole on the rack mounting panel and the location round hole of difference on the double rack are aligned, the electro-magnet can cut off the power supply, make the spring extension of originally compressed, ejecting spacing post, make spacing post get into in the middle of spacing through-hole and the location round hole, lock double rack, when double rack needs to remove, the electro-magnet is power-on unblock again can.
Further inject, rack mounting panel below fixedly connected with strengthens the mechanism, strengthen the bracing that the mechanism set up including the slope, be connected with the horizontal pole between the bracing, be connected with the stand between bracing and the square slab, the bracing end-to-end connection have can with the ring seat that the guiding axle matches, be equipped with the roller groove in the rack standing groove, roller groove internally mounted has the roller, such structural design increases the structural strength of rack mounting panel through strengthening the mechanism, reduces the frictional resistance when double rack moves through the roller.
Further inject, lower round seat outer lane among the translation mechanism is equipped with the spacing hole of arc, last round seat outer lane among the rotary mechanism is equipped with can with the spacing hole assorted arc strip of arc, such structural design, through the matching in arc strip and the spacing hole of arc, the rotation angle when accomplishing the relative round seat of going down of round seat and doing the circular motion is spacing.
Further inject, arc strip below is equipped with the screw thread cylinder, the spacing hole of screw thread cylinder accessible arc, the screw thread cylinder is connected with the baffle, the baffle is located the spacing hole below of arc, and such structural design accomplishes down the position restriction of circle seat and last circle seat in the direction of height through the baffle.
Further inject, shower nozzle and material storage pipe are threaded connection, are equipped with the sealing washer between shower nozzle and the material storage pipe, such structural design for when facing different radians, when the wall of different shapes, can adapt to actual outer wall shape through changing the shower nozzle.
Further inject, guiding axle via hole and ring seat inside all are connected with the bush, such structural design for when the rack mounting panel passes through the bush and removes, resistance when having reduced the motion has also protected guiding axle and rack mounting panel through the bush simultaneously, makes the wearing and tearing that sliding friction produced take place on the bush.
The invention has the beneficial effects that:
1. the freedom degree is high, not only can crack repair be carried out on a flat wall surface, but also a slightly complex wall surface can be repaired;
2. the traditional manual wall repairing is replaced, and the safety during operation is improved;
3. the repair range is large, and the outer wall crack in a large range can be repaired by one-time installation.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic structural diagram of an embodiment of a screen remote-control manipulator for repairing cracks on an exterior wall of the invention;
FIG. 2 is a schematic view of a position A of an embodiment of a crack-mending screen remote-control manipulator for an exterior wall according to the present invention;
FIG. 3 is a schematic view of a position B of an embodiment of a crack-mending screen remote-control manipulator for an exterior wall according to the present invention;
FIG. 4 is a schematic structural diagram of a base translation power box in an embodiment of an exterior wall crack patching screen remote control manipulator of the present invention;
FIG. 5 is a cross-sectional view of the bottom plate and the boss of an embodiment of a remote-control manipulator for screen patching of cracks of an exterior wall according to the invention;
FIG. 6 is a schematic structural diagram of a rack mounting plate in an embodiment of an exterior wall crack patching screen remote control manipulator of the present invention;
FIG. 7 is a schematic structural diagram of a double-row rack in an embodiment of a screen remote-control manipulator for mending external cracks according to the present invention;
FIG. 8 is a schematic structural diagram of a translation mechanism in an embodiment of a remote-control manipulator for repairing cracks in an exterior wall according to the present invention;
FIG. 9 is a cross-sectional view of a translation mechanism in an embodiment of a crack-infill screen remote manipulator of the present invention;
FIG. 10 is a schematic structural view of a rotary mechanism in an embodiment of a crack patching screen remote-control manipulator for an exterior wall according to the present invention;
FIG. 11 is a schematic structural view of a storage mechanism in an embodiment of a remote-control manipulator for an exterior wall crack patching screen according to the invention;
FIG. 12 is a schematic structural view of an electric limiting mechanism in an embodiment of a remote-control manipulator for an exterior wall crack patching screen according to the invention;
the main element symbols are as follows:
the device comprises a bottom plate 1, a boss 101, an annular groove 102, a rotary table 2, a thickened ball bearing 201, a guide shaft 3, an electric lifting rod 4, a rack mounting plate 5, a square plate 51, a guide shaft through hole 5101, a rack placing groove 5102, a rack limiting groove 5103, a roller groove 5104, a limiting through hole 5105, a roller motor 52, a straight-tooth cylindrical gear 5201, a reinforcing mechanism 53, a ring base 5301, an inclined strut 5302, a cross rod 5303, an upright post 5304, an electric limiting mechanism 54, an electromagnet 541, a spring 542, a limiting column 543, a double-row rack 6, a square body 61, an upper gear tooth 62, a lower gear tooth 63, a travel switch 64, a strip-shaped limiting block 65, a positioning round hole 66, a translation mechanism 7, a translation sliding block 71, a sliding groove 72, a lower round base 73, a rotation motor hole 74, a spray gun rotation motor 75, a transmission rotary column 76, an arc-shaped limiting hole 77, a translation end roller motor 78, a translation end gear column 7801, a rotation mechanism 8, a rotation plate 81, a round support 82, The device comprises a linear bearing 83, a camera support 84, an upper round seat 85, a transmission hole 86, an arc-shaped strip 87, a spray gun end electric telescopic rod 9, a spray gun 10, a material storage pipe 1001, a spray head 1002, a small-sized camera 11, a material storage mechanism 12, a material storage barrel 121, a material outlet 122, a sealing cover 123, a pressing plate guide rod 1231, a limiting clamping block 1232, a stirring motor 124, a stirring blade 125, a pressing plate 126, a pressing plate end telescopic rod 127, a camera shooting mechanism 13, a camera shooting end electric lifting rod 131, a rotatable camera 132, a base translation power box 14, a base motor 141, a base gear 142, an L-shaped box body 143, a base rack 15, a sliding rail 16, a limiting strip 161, a square groove 162, a roller 163 and a base rotation motor 17.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1-12, the remote control manipulator for the screen with the crack-mending external wall comprises a controller, a display and a bottom plate 1, wherein a slide rail 16 and a base rack 15 are connected below the bottom plate 1 in a sliding manner, and a base translation power box 14 is arranged between the base rack 15 and the bottom plate 1;
the upper part of the bottom plate 1 is connected with a camera mechanism 13 and a material storage mechanism 12, the upper part of the bottom plate 1 is rotatably connected with a rotary table 2, the upper part of the rotary table 2 is fixedly connected with an electric lifting rod 4 and a plurality of guide shafts 3, the extending end of the electric lifting rod 4 is connected with a rack mounting plate 5, the rack mounting plate 5 is in sliding connection with the guide shafts 3, the rack mounting plate 5 is provided with a double-row rack 6, the upper part of the double-row rack 6 is connected with a translation mechanism 7, the upper part of the translation mechanism 7 is rotatably connected with a rotating mechanism 8, the rotating mechanism 8 is connected with a spray gun 10 and a spray gun end electric telescopic rod 9, and the extending end of the spray gun end electric telescopic rod 9 is fixedly connected with the spray gun 10;
the base translation power box 14 comprises an L-shaped box body 143, one end of the L-shaped box body 143 is fixedly connected with the bottom plate 1, a base motor 141 is installed inside the L-shaped box body 143, and the output end of the base motor 141 is connected with a base gear 142 which can be matched with the base rack 15;
the base plate 1 is provided with a boss 101, a base rotating motor 17 is installed in the boss 101, the boss 101 is provided with an annular groove 102, and the rotary table 2 can be matched with the annular groove 102 and is provided with a plurality of thickened ball bearings 201 along the track of the annular groove 102;
the rack mounting plate 5 comprises a square plate 51, the square plate 51 is provided with a guide shaft through hole 5101 and a rack placing groove 5102, the rack placing groove 5102 is provided with a limiting through hole 5105, rack limiting grooves 5103 are arranged on two sides of the rack placing groove 5102, a roller motor 52 is mounted on the rack placing groove 5102, the outer ring of the roller motor 52 is connected with a straight-tooth cylindrical gear 5201, and an electric limiting mechanism 54 is arranged below the square plate 51;
the double-row rack 6 comprises a clip body 61, the upper surface of the outer wall of the clip body 61 is provided with upper gear teeth 62 which are uniformly distributed, the lower surface of the outer wall of the clip body 61 is provided with a plurality of positioning round holes 66 which are uniformly distributed, the lower surface of the inner wall of the clip body 61 is provided with lower gear teeth 63 which are uniformly distributed, the left end and the right end of the inner cavity of the clip body 61 are provided with travel switches 64, and the two ends of the outer side of the clip body 61 are connected with strip-shaped limiting blocks 65;
the translation mechanism 7 comprises a translation sliding block 71, the translation sliding block 71 is provided with a sliding chute 72, the sliding chute 72 can be matched with the clip body 61, a translation end roller motor 78 is installed inside the sliding chute 72, a translation end gear column 7801 is connected to the outer ring of the translation end roller motor 78, the translation end gear column 7801 can be matched with the upper gear 62, a lower circular seat 73 is arranged above the translation sliding block 71, a rotation motor hole 74 is formed in the center of the lower circular seat 73, a spray gun rotation motor 75 is installed in the rotation motor hole 74, the output end of the spray gun rotation motor 75 is connected with a transmission rotation column 76, and the transmission rotation column 76 is provided with a cross-shaped limiting block;
the rotating mechanism 8 comprises a rotating plate 81, an upper round seat 85 which can be matched with the lower round seat 73 is arranged below the rotating plate 81, a transmission hole 86 which can be matched with the transmission rotating column 76 is arranged at the center of the upper round seat 85, a plurality of symmetrically distributed round supports 82 are arranged above the rotating plate 81, the round support 82 at one side is connected with a linear bearing 83, a spray gun 10 is connected inside the linear bearing 83, a camera support 84 is arranged above the round support 82, a small camera 11 is installed on the camera support 84, and the round support 82 at the other side is connected with a spray gun end electric telescopic rod 9;
the spray gun 10 comprises a material storage pipe 1001 and a spray head 1002, a light emitter is connected above the material storage pipe 1001, and a slope is arranged at the port of the spray head 1002.
In the implementation of the scheme, when the mechanical arm is installed, the mechanical arm is matched with a hanging basket for use and is installed in the hanging basket to replace manual operation;
a controller obtains an outer wall image through the camera mechanism 13, so that the hanging basket stays at a position to be repaired, and the manipulator starts to position;
when repairing a flat outer wall, an operator finishes the acquisition of a visual field through the matching of the camera mechanism 13 and the small camera 11, the camera mechanism 13 acquires a global image, the small camera 11 acquires a local image in front of the spray gun 10, and the positioning of the spray gun 10 is finished through the light emitter, firstly, the light emitter works to emit light along the gun body direction of the spray gun 10 and form a light spot on the outer wall, the position of the light spot represents the spraying position of the spray gun 10, when the spraying position is different from the crack position, the operator firstly finishes the initial point positioning of the spray gun 10, namely, the spray gun 10 is moved to the initial end of the crack to be repaired, the horizontal movement can be realized through the operation of the translation end roller motor 78, so that the translation end gear column 7801 rotates along the upper gear 62 to drive the translation mechanism 7 to move horizontally, and the rotating mechanism 8 above the translation mechanism 7 and the spray gun 10 naturally move together with the translation mechanism 7, the vertical movement is completed by the lifting of the electric lifting rod 4;
after the positioning is finished, a light spot formed by the light emitter coincides with the end point of the crack, at the moment, the electric telescopic rod 9 at the end of the spray gun extends out to drive the spray gun 10 to move forwards along the linear bearing 83 until the spray head 1002 touches the outer wall, because the crack on the plane can be summarized into special curves which have a series of coordinate points on an X-Y coordinate system, the repair work can be finished only by enabling the spray head 1002 to sequentially pass through the coordinate points of the crack, when the repair is finished, the storage mechanism 12 extrudes repair materials to enter the spray gun 10, the repair materials are sprayed out from the spray head 1002 to enter the crack of the outer wall to fill the crack, the motion track control of the spray gun 10 can be automatically finished by a controller or manually finished by a worker, when the repair is finished by the controller, the small-sized camera 11 and the camera mechanism 13 can capture images of a plurality of spray guns during the positioning, the images are transmitted to a controller for analysis, and the length of the actual crack and the coordinate point of the crack are calculated in an equal ratio through the actual movement distance of the spray gun 10 and the distance between the front and the back of the light point in the images, so that the required coordinate information is provided for the controller;
if the distance of the horizontal movement is not enough, or the crack range is large, the base motor 141 can be driven to rotate the base gear 142 by starting the base translation power box 14, so that the whole bottom plate 1 moves along the slide rail 16, the movement distance of the bottom plate 1 depends on the length of the slide rail 16, in addition, the translation end roller motor 78 can be started to drive the translation end gear column 7801 and the lower gear 63 to rotate, so that the base rack 15 translates left and right, the movement range of the spray gun 10 is expanded, when the travel switch 64 on the base rack 15 is touched, the base rack 15 is indicated to reach the limit position, the translation end roller motor 78 is powered off, and can only rotate in the opposite direction, and the strip-shaped limiting block 65 is used as a supplement of a mechanical limiting structure;
when the crack repairing is needed to the outer wall with a slightly complex structure, such as a triangular wall surface, a polygonal wall surface, a cylindrical wall surface, an arc-shaped wall surface and the like, the positioning of the spray gun 10 is also completed firstly, the curved surface can be approximately summarized into the combination of a plurality of inclined planes, in addition, the curved surface can also be summarized into the function change of the plane along the third direction, therefore, the repairing of the curved surface outer wall can be completed only by adding a rotating structure or a moving structure along the third direction on the basis of the plane repairing function, taking the triangular wall surface as an example, the triangular wall surface is provided with two planes, therefore, the triangular wall surface can be summarized into the combination of two inclined planes, in addition, the triangular wall surface can also be summarized into the binary linear function change of the two planes along the third direction, when the crack repairing is performed to the outer wall by adopting the first summarizing method, the base is started to rotate the motor 17 and drive the rotary table 2 to rotate, the thickened ball bearing 201 enables the rotation of the rotary table 2 to be smoother, the rotation of the rotary table 2 enables the spray gun 10 to face the wall surface, so that an inclined wall surface object is converted into a flat wall surface object, the repair is completed according to the repair mode of the flat wall surface, in order to avoid the rotation of the rotary table 2 and cause the large movement of the parts above the rotary table 2, or the space does not allow the movement of the parts above the rotary table 2, the spray gun rotating motor 75 is started to drive the transmission rotary column 76 to rotate, the rotating mechanism 8 meshed with the transmission rotary column 76 is driven, when the crack of the outer wall is repaired by adopting the second induction method, the spray gun 10 always faces the wall body in a certain direction, the spray gun 10 is driven by the telescopic rod 9 driven by the spray gun end while moving along the track of the crack, and does the third direction movement according to the corresponding binary linear function of the triangular wall surface, thereby completing the crack repair and enabling the movement of the spray gun 10 to be smoother due to the groove at the spray head 1002;
when necessary, various sensors can be added on the mechanical arm to monitor the motion condition of each moving part, corresponding outer wall data needs to be input into the controller before the complex outer wall is automatically repaired, a corresponding motion program is written, if a manual remote control mode is adopted, preparation in advance is not needed, and a worker can control the mechanical arm to move along the crack track by himself.
Preferably, the slide rail 16 left and right sides is equipped with can with bottom plate 1 complex spacing 161, spacing 161 is equipped with the chamfer, slide rail 16 top is equipped with the impartial square groove 162 of a plurality of intervals, roller 163 is installed to square groove 162, such structural design, when making bottom plate 1 slide on slide rail 16, can change sliding friction into rolling friction through roller 163, reduce the gliding resistance of bottom plate 1, spacing 161 then avoids bottom plate 1 to drop from slide rail 16, the chamfer makes bottom plate 1 assemble with slide rail 16 more easily. In fact, other configurations of the slide rail 16 are also specifically contemplated, as the case may be.
Preferably, the camera mechanism 13 includes a rotatable camera 132 and a camera end electric lifting rod 131, and such a structural design enables the camera mechanism 13 to obtain a better visual field through the rotation of the rotatable camera 132 and the up-and-down movement of the camera end electric lifting rod 131, so that a user can conveniently perform manual operation on the manipulator through a good camera image. In fact, other configurations of the imaging mechanism 13 may be specifically considered according to the specific situation.
Preferably, the storage mechanism 12 includes a storage vat 121, a pressing plate 126 is slidably connected inside the storage vat 121, a discharge port 122 is arranged below the storage vat 121, a sealing cover 123 is connected above the storage vat 121, a pressing plate guide rod 1231 is arranged below the sealing cover 123, a limiting block 1232 is arranged at the tail end of the pressing plate guide rod 1231, a stirring motor 124 and a pressing plate end telescopic rod 127 are arranged above the sealing cover 123, the output end of the stirring motor 124 passes through the pressing plate 126 and is connected with a stirring blade 125, the stirring blade 125 is close to the bottom of the storage vat 121, and the telescopic end of the pressing plate end telescopic rod 127 is connected with the pressing plate 126, the stirring motor 124 drives the stirring blade 125 to rotate, so as to prevent the repairing material from being agglomerated and affecting the repairing effect, the telescopic rod 127 at the pressing plate end drives the pressing plate 126 to move, thereby squeezing the repair material from outlet 122 into gun 10 and providing the correct direction of movement for platen 126 by platen guide 1231. In fact, other configurations of the magazine 12 are specifically contemplated as the case may be.
Preferably, the electric limiting mechanism 54 includes an electromagnet 541, the electromagnet 541 is connected with a plurality of springs 542, the other end of the spring 542 is fixedly connected with a limiting column 543, the diameter of the limiting column 543 is matched with the limiting through hole 5105 and the positioning circular hole 66, such a structural design enables the electromagnet 541 to be powered off when the limiting through hole 5105 overlaps the positioning circular hole 66, that is, after the double-row rack 6 moves horizontally for different distances, the limiting through hole 5105 on the rack mounting plate 5 is aligned with the different positioning circular holes 66 on the double-row rack 6, so that the spring 542 which is originally compressed is extended to eject the limiting column 543, the limiting column 543 enters the middle of the limiting through hole 5105 and the positioning circular hole 66 to lock the double-row rack 6, and when the double-row rack 6 needs to move, the electromagnet 541 is then locked by an electrolytic lock. In fact, other structural shapes of the electric limiting mechanism can be specifically considered according to specific situations.
Preferably, a reinforcing mechanism 53 is fixedly connected below the rack mounting plate 5, the reinforcing mechanism 53 comprises inclined struts 5302 which are obliquely arranged, cross rods 5303 are connected between the inclined struts 5302, vertical columns 5304 are connected between the inclined struts 5302 and the square plate 51, the tail ends of the inclined struts 5302 are connected with ring seats 5301 which can be matched with the guide shafts 3, roller grooves 5104 are formed in the rack placing grooves 5102, rollers 163 are mounted in the roller grooves 5104, and through the structural design, the structural strength of the rack mounting plate 5 is increased through the reinforcing mechanism 53, and the friction resistance of the double-row rack 6 during movement is reduced through the rollers 163. In fact, other structural shapes of the rack mounting plate can be specifically considered according to specific situations.
Preferably, the outer ring of the lower circular seat 73 in the translation mechanism 7 is provided with an arc-shaped limiting hole 77, the outer ring of the upper circular seat 85 in the rotation mechanism 8 is provided with an arc-shaped strip 87 which can be matched with the arc-shaped limiting hole 77, and the structural design is such that the rotation angle limitation when the upper circular seat 85 performs circular motion relative to the lower circular seat 73 is completed through the matching of the arc-shaped strip 87 and the arc-shaped limiting hole 77. In fact, other ways of cooperating the translation mechanism and the rotation mechanism may be specifically considered according to the specific situation.
Preferably, arc 87 below is equipped with the screw thread cylinder, and screw thread cylinder accessible arc spacing hole 77, screw thread cylinder are connected with the baffle, and the baffle is located the spacing hole 77 below of arc, and such structural design accomplishes down round seat 73 and last round seat 85 through the baffle and in the position restriction of direction of height. In fact, other ways of cooperating the translation mechanism and the rotation mechanism may be specifically considered according to the specific situation.
Preferably, the spray head 1002 is in threaded connection with the storage pipe 1001, and a sealing ring is arranged between the spray head 1002 and the storage pipe 1001, so that the spray head 1002 can be replaced to adapt to the actual shape of the outer wall when facing the wall with different radians and different shapes. In fact, other connection modes of the spray head 1002 and the stock pipe 1001 can be considered according to specific situations.
Preferably, the guide shaft through hole 5101 and the ring base 5301 are internally connected with a bushing, and the structural design reduces resistance in movement when the rack mounting plate 5 moves through the bushing, and simultaneously protects the guide shaft 3 and the rack mounting plate 5 through the bushing, so that abrasion caused by sliding friction occurs on the bushing. In fact, other configurations that facilitate sliding of the rack mounting plate 5 are specifically contemplated as the case may be.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The utility model provides an outer wall crack inlays mends screen remote control manipulator, includes controller, display and bottom plate (1), its characterized in that: a sliding rail (16) and a base rack (15) are connected below the bottom plate (1) in a sliding manner, and a base translation power box (14) is installed between the base rack (15) and the bottom plate (1);
the automatic feeding device is characterized in that a camera shooting mechanism (13) and a material storage mechanism (12) are connected above the bottom plate (1), a rotary table (2) is rotatably connected above the bottom plate (1), an electric lifting rod (4) and a plurality of guide shafts (3) are fixedly connected above the rotary table (2), the extending end of the electric lifting rod (4) is connected with a rack mounting plate (5), the rack mounting plate (5) is slidably connected with the guide shafts (3), double rows of racks (6) are mounted on the rack mounting plate (5), a translation mechanism (7) is connected above the double rows of racks (6), a rotating mechanism (8) is rotatably connected above the translation mechanism (7), the rotating mechanism (8) is connected with a spray gun (10) and a spray gun end electric telescopic rod (9), and the extending end of the spray gun end electric telescopic rod (9) is fixedly connected with the spray gun (10);
the base translation power box (14) comprises an L-shaped box body (143), one end of the L-shaped box body (143) is fixedly connected with the bottom plate (1), a base motor (141) is installed inside the L-shaped box body (143), and the output end of the base motor (141) is connected with a base gear (142) which can be matched with the base rack (15);
the base plate (1) is provided with a boss (101), a base rotating motor (17) is installed inside the boss (101), the boss (101) is provided with an annular groove (102), and the rotary table (2) can be matched with the annular groove (102) and is provided with a plurality of thickened ball bearings (201) along the track of the annular groove (102);
the rack mounting plate (5) comprises a square plate (51), the square plate (51) is provided with a guide shaft through hole (5101) and a rack placing groove (5102), the rack placing groove (5102) is provided with a limiting through hole (5105), rack limiting grooves (5103) are arranged on two sides of the rack placing groove (5102), a roller motor (52) is installed on the rack placing groove (5102), the outer ring of the roller motor (52) is connected with a straight-tooth cylindrical gear (5201), and an electric limiting mechanism (54) is arranged below the square plate (51);
the double-row rack (6) comprises a shape returning body (61), upper gear teeth (62) which are uniformly distributed are arranged on the upper surface of the outer wall of the shape returning body (61), a plurality of positioning round holes (66) which are uniformly distributed are arranged on the lower surface of the outer wall of the shape returning body (61), lower gear teeth (63) which are uniformly distributed are arranged on the lower surface of the inner wall of the shape returning body (61), travel switches (64) are arranged at the left end and the right end of the inner cavity of the shape returning body (61), and strip-shaped limiting blocks (65) are connected with the two ends of the outer side of the shape returning body (61);
the translation mechanism (7) comprises a translation sliding block (71), the translation sliding block (71) is provided with a sliding groove (72), the sliding groove (72) can be matched with the shaping body (61), a translation end roller motor (78) is installed inside the sliding groove (72), the outer ring of the translation end roller motor (78) is connected with a translation end gear column (7801), the translation end gear column (7801) can be matched with the upper gear teeth (62), a lower round seat (73) is arranged above the translation sliding block (71), a rotation motor hole (74) is formed in the center of the lower round seat (73), a spray gun rotation motor (75) is installed in the rotation motor hole (74), the output end of the spray gun rotation motor (75) is connected with a transmission rotating column (76), and the transmission rotating column (76) is provided with a cross limiting block;
the rotating mechanism (8) comprises a rotating plate (81), an upper round seat (85) which can be matched with a lower round seat (73) is arranged below the rotating plate (81), a transmission hole (86) which can be matched with a transmission rotating column (76) is formed in the center of the upper round seat (85), a plurality of symmetrically distributed round supports (82) are arranged above the rotating plate (81), the round support (82) on one side is connected with a linear bearing (83), a spray gun (10) is connected inside the linear bearing (83), a camera support (84) is arranged above the round support (82), a small camera (11) is installed on the camera support (84), and the round support (82) on the other side is connected with a spray gun end electric telescopic rod (9);
spray gun (10) are including depositing material pipe (1001) and shower nozzle (1002), deposit material pipe (1001) top and be connected with light emitter, the port department of shower nozzle (1002) is equipped with domatic.
2. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 1, wherein: slide rail (16) left and right sides is equipped with can with bottom plate (1) complex spacing strip (161), spacing strip (161) are equipped with the chamfer, slide rail (16) top is equipped with a plurality of equidistant square groove (162), roller (163) are installed in square groove (162).
3. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 2, wherein: the camera shooting mechanism (13) comprises a rotatable camera (132) and a camera shooting end electric lifting rod (131).
4. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 3, wherein: storage mechanism (12) include storage vat (121), storage vat (121) inside sliding connection has clamp plate (126), storage vat (121) below is equipped with discharge gate (122), storage vat (121) top is connected with sealed lid (123), sealed lid (123) below is equipped with clamp plate guide bar (1231), clamp plate guide bar (1231) end is equipped with spacing fixture block (1232), agitator motor (124) and clamp plate end telescopic link (127) are installed to sealed lid (123) top, agitator motor (124) output passes clamp plate (126) and is connected with stirring leaf (125), stirring leaf (125) are close to storage vat (121) bottom, the flexible end and clamp plate (126) of clamp plate end telescopic link (127) are connected.
5. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 4, wherein: the electric limiting mechanism (54) comprises an electromagnet (541), the electromagnet (541) is connected with a plurality of springs (542), the other end of each spring (542) is fixedly connected with a limiting column (543), and the diameter of each limiting column (543) is matched with a limiting through hole (5105) and a positioning round hole (66).
6. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 5, wherein: the rack mounting plate (5) below fixedly connected with reinforcing mechanism (53), reinforcing mechanism (53) are including bracing (5302) that the slope set up, be connected with horizontal pole (5303) between bracing (5302), be connected with stand (5304) between bracing (5302) and square plate (51), bracing (5302) end-to-end connection has ring seat (5301) that can match with guiding axle (3), be equipped with roller way (5104) in rack placing groove (5102), roller way (5104) internally mounted has roller (163).
7. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 6, wherein: the lower round seat (73) outer ring in the translation mechanism (7) is provided with an arc-shaped limiting hole (77), and the upper round seat (85) outer ring in the rotation mechanism (8) is provided with an arc-shaped strip (87) which can be matched with the arc-shaped limiting hole (77).
8. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 7, wherein: arc strip (87) below is equipped with the screw thread cylinder, screw thread cylinder accessible arc spacing hole (77), the screw thread cylinder is connected with the baffle, the baffle is located arc spacing hole (77) below.
9. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 8, wherein: the spray head (1002) is in threaded connection with the material storage pipe (1001), and a sealing ring is arranged between the spray head (1002) and the material storage pipe (1001).
10. The remote-control manipulator for the screen embedded in the crack of the outer wall as claimed in claim 9, wherein: and bushings are connected inside the guide shaft through hole (5101) and the ring seat (5301).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110643808.1A CN113494194B (en) | 2021-09-02 | 2021-09-02 | Screen remote control manipulator is inlayed in outer wall crack |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110643808.1A CN113494194B (en) | 2021-09-02 | 2021-09-02 | Screen remote control manipulator is inlayed in outer wall crack |
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| CN113494194A true CN113494194A (en) | 2021-10-12 |
| CN113494194B CN113494194B (en) | 2022-06-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115354879A (en) * | 2022-09-21 | 2022-11-18 | 中国水电基础局有限公司 | Grouting equipment |
| CN115653258A (en) * | 2022-12-27 | 2023-01-31 | 中铁二十二局集团第四工程有限公司 | Waterproof construction equipment for joint sealing of external wall of prefabricated building |
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| Publication number | Publication date |
|---|---|
| CN113494194B (en) | 2022-06-21 |
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