CN113775162A - Outer facade construction robot - Google Patents
Outer facade construction robot Download PDFInfo
- Publication number
- CN113775162A CN113775162A CN202111077730.8A CN202111077730A CN113775162A CN 113775162 A CN113775162 A CN 113775162A CN 202111077730 A CN202111077730 A CN 202111077730A CN 113775162 A CN113775162 A CN 113775162A
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- hanging frame
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- 238000010276 construction Methods 0.000 title claims abstract description 90
- 239000000725 suspension Substances 0.000 claims abstract description 77
- 239000000463 material Substances 0.000 claims description 17
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 230000000087 stabilizing effect Effects 0.000 claims description 10
- 229910001294 Reinforcing steel Inorganic materials 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000009430 construction management Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000817 safety factor Toxicity 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G3/30—Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables
- E04G3/32—Hoisting devices; Safety devices
- E04G3/325—Safety devices for stabilising the mobile platform, e.g. to avoid it swinging in the wind
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G2003/283—Mobile scaffolds; Scaffolds with mobile platforms mobile horizontally
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G2003/286—Mobile scaffolds; Scaffolds with mobile platforms mobile vertically
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention provides an outer vertical surface construction robot which comprises a movable suspension mechanism, wherein the suspension mechanism is arranged on the roof, a hanging frame connected with the suspension mechanism through a hanging rope is arranged at the vertical surface of an outer wall, a control cabinet, a sensor assembly and a plurality of construction mechanical arms are arranged on the hanging frame, at least one stacking platform is arranged in the hanging frame, the control assembly in the control cabinet is connected with the sensor assembly and the construction mechanical arms, and is used for receiving information sent by the sensor assembly, and adjusting the levelness of the hanging frame and the action of the construction mechanical arms. According to the invention, the hoister is arranged at the counterweight position at the far end of the suspension arm, so that the negative load of the traditional hanging basket is reduced, the using amount of extra counterweight is reduced, the construction operation of the outer wall is full-automatic, the continuous operation can be realized, the wind resistance is high, the construction period is ensured, and the construction is free from danger to personnel.
Description
Technical Field
The invention relates to an outer vertical face construction robot, and belongs to the technical field of building robots.
Background
At present, construction of the outer vertical surface of a construction site is mainly manual, constructors take hanging baskets or use safety ropes to directly hang the hanging baskets or the safety ropes to construct the outer wall of the high-altitude building, the construction mode is low in efficiency, construction quality is easy to be unstable due to reasons such as worker fatigue operation, safety factors are low, and construction period is easy to be uncontrollable due to severe weather influences such as strong wind.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the outer vertical face construction robot which can improve the construction work efficiency, realize unmanned automatic high-altitude operation and improve the production safety.
In order to achieve the technical purpose, the invention provides an outer vertical surface construction robot which comprises a movable suspension mechanism, wherein the suspension mechanism is installed on a roof, a hanging frame is connected with the suspension mechanism through a hanging rope and is positioned at the outer vertical surface of the outer wall, a control cabinet, a sensor assembly and a plurality of construction mechanical arms are installed on the hanging frame, at least one material stacking platform is arranged in the hanging frame, the control assembly in the control cabinet is connected with the sensor assembly and the construction mechanical arms, and is used for receiving information sent by the sensor assembly and adjusting the levelness of the hanging frame and the action of the construction mechanical arms.
As a specific design of the suspension mechanism, the suspension mechanism comprises a suspension arm suspension frame and a lifting machine, wherein the lifting machine is installed at one end of the suspension arm suspension frame, the other end of the suspension arm suspension frame extends out of a suspension arm and is used for being connected with a suspension frame, a fulcrum power wheel is installed below the suspension arm suspension frame at one side of a suspension arm connection frame body, a lifting rope is installed on a rope reel, a rope reel is connected with an output shaft of the lifting machine, a counterweight bin is installed below the lifting machine, a counterweight side driven wheel is installed below the counterweight bin, the fulcrum power wheel is connected with a power wheel motor, and the power wheel motor drives the fulcrum power wheel to move according to instructions of a control component.
In a further design, a telescopic boom is arranged on the suspension arm suspension frame and used for being connected with a lifting machine, a reinforcing rope supporting rod is arranged on a frame body at the top of the suspension arm suspension frame, a pulley is arranged on the reinforcing rope supporting rod, a suspension arm reinforcing steel wire rope is pressed on the pulley, one end of the suspension arm reinforcing steel wire rope is fixed on a suspension arm side frame body of the suspension arm suspension frame, and the other end of the suspension arm reinforcing steel wire rope is fixed at the end part of the telescopic boom to form a triangular reinforcing structure.
As an optimal design, the frame body on one side, close to the working face, of the hanging frame is provided with two stabilizing arms, and the hanging frame is stably supported between two framework stand columns under the working condition of an outer wall framework.
As a specific design, at least two construction mechanical arms are arranged, a guide rail cross beam corresponding to the construction mechanical arms is arranged on the inner top surface of the hanging frame, the construction mechanical arms are arranged on a guide rail of the corresponding guide rail cross beam, a screw gun is arranged at the tail end of one construction mechanical arm for fixing, an electric sucking disc or an electric clamping jaw is arranged at the tail end of the other construction mechanical arm for grabbing or sucking an outer wall material, and the two construction mechanical arms are matched to complete installation; the stacking platform is provided with a plurality of stacking limiting columns, the distance between the stacking limiting columns is adjusted according to the size of the material, the material is uniformly limited in a vertical position, and the construction mechanical arm can accurately grab the material.
Furthermore, the guide rail sets up the slide in one side towards the construction face, and the steady arm is connected with the slide is articulated for the steady arm can follow the slide and move about on the crossbeam, and but luffing motion is in order to adapt to the distance between hanging frame and the outer wall skeleton, and the steady arm free end sets up rubber pad or PU pad, prevents with the framework skid and destroy skeleton surface coating.
Furthermore, a control cabinet is installed on the outer side face of the top of the hanging frame, and the sensor assembly comprises a wind direction sensor, a position sensor, an accelerometer, an inclination angle sensor and a visual identification system, wherein the wind direction sensor is installed on the outer side face of the top of the control cabinet; the lower part of the hanging frame is provided with a plurality of servo fans, the control assembly controls a servo swing mechanism for hoisting the fans in real time according to data of the wind direction sensor, so that the air exhaust direction of the fans is always consistent with the wind direction, and the rotating speed of the fans is adjusted in real time according to feedback data of the accelerometer, the position sensor and the inclination angle sensor, so that the acting force of the air exhausted by the fans on the hanging frame is counteracted, and the stability of the hanging frame is kept. For the building outer wall with the inverted inclination angle in the windless environment, the servo turbofan can push the hanging frame to be tightly attached to the outer wall; the construction mechanical arm is used for positioning, installing and constructing areas according to the visual recognition system.
Further, the telescoping device is installed to the one side that is close to the construction face on the hanger frame body, and the telescoping device includes the flexible driving piece that electric putter or cylinder constitute to and connect the stable sucking disc on flexible driving piece telescopic link, when smooth wall construction such as glass curtain wall, the sucking disc top that will stretch out the end is on the wall of having installed, stabilizes whole hanger frame.
Furthermore, a plurality of Mikana mother wheels are arranged on one side, close to the construction surface, of the hanging frame, and therefore the hanging frame can move up and down and left and right conveniently.
Furthermore, a remote communication module is arranged in the control assembly, so that construction records, videos and working progress are transmitted back in real time, and construction management is facilitated.
The beneficial technical effects of the invention are as follows: the lifting machine is arranged at the counterweight position at the far end of the lifting arm, so that the negative load of the traditional hanging basket is reduced, the using amount of additional counterweight is reduced, the construction operation of the outer wall is full-automatic, continuous operation can be realized, the wind resistance is high, the construction period is guaranteed, and the construction is free from danger to personnel.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of the present invention;
in the figure: 1. servo turbofan, 2, servo slewing mechanism, 3, windrow platform, 4, telescoping device, 5, windrow spacing post, 6, stable sucker, 7, Mikana mother wheel, 8, construction mechanical arm, 9, hanging frame, 10, crossbeam, 11, wind direction sensor, 12, stable arm, 13, switch board, 14, lifting rope, 15, fulcrum power wheel, 16, power wheel motor, 17, suspension arm suspension, 18, telescopic arm, 19, suspension arm reinforcing steel wire rope, 20, lifting machine, 21, balance weight side driven wheel, 22, balance weight cabin.
Detailed Description
Example 1
A kind of outer elevation construction robot, including the removable suspension mechanism, the suspension mechanism is installed on the roof, with suspending the frame 9 that the mechanism connects through the lifting rope in suspension, hang the frame 9 and locate at outer wall elevation, mount the control cabinet 13, sensor assembly and several construction mechanical arms 8 on hanging the frame 9, set up a windrow platform 3 in hanging the frame 9 at least, the control assembly in the control cabinet 13 connects sensor assembly and construction mechanical arm 8, receive the information that the sensor assembly sends, regulate and hang the frame 9 levelness and movement of the mechanical arm 8 of construction.
Through designing a mobilizable mechanism that suspends in midair, by the information of control assembly receiving sensor, make and hang the frame and remove the construction by one side toward the opposite side on the parallel face of outer wall construction face, construction arm 8 gets the material from windrow platform 3 and is under construction to wall or skeleton on, after the opposite side is arrived in the motion in proper order, promote or reduce a working face, then back construction to the initiating side, so reciprocal can accomplish the construction of whole wall. Set up a plurality of windrow spacing posts 5 on the windrow platform 3, the interval of windrow spacing post 5 is adjusted according to the material size, and is injectd the material in a vertical position in unison, makes the construction arm precision snatch.
The construction robot 8 has at least two, such as: during construction, one material grabbing manipulator grabs and pastes the material to the wall surface from the stacking platform, and the other manipulator screws the material.
Example 2
As shown in fig. 1, as a specific design of the suspension mechanism, the suspension mechanism includes a boom suspension 17, a hoist 20, one end of the boom suspension 17 is provided with the hoist 20, the other end of the boom suspension extends out of a boom for connecting with a suspension frame 9, a fulcrum power wheel 15 is arranged under the boom suspension 17 on one side of the boom connecting frame body, a lifting rope 14 is arranged on a rope reel, the rope reel is connected with an output shaft of the hoist 20, a counterweight cabin 22 is arranged under the hoist 20, a counterweight side driven wheel 21 is arranged under the counterweight cabin 22, the fulcrum power wheel 15 is connected with a power wheel motor 16, and the power wheel motor 16 drives the fulcrum power wheel 15 to move according to the instruction of a control component.
For stability, 2 extending cantilevers are arranged, pulleys are arranged below the extending cantilevers, and the lifting ropes 14 are divided into 2 strands and are respectively arranged below the two pulleys and are hung on connecting lugs on the tops of the two sides of the lifting frame.
The power wheel motor 16 drives the power wheel bracket to complete steering through gear meshing drive or synchronous belt and synchronous wheel drive, the fulcrum power wheel 15 sequentially moves a vertical working area according to a program pre-programmed by the control assembly, and when the power wheel reaches a roof corner, the fulcrum power wheel automatically turns around to adjust the working surface.
A telescopic arm 18 is arranged on the suspension arm suspension 17 and used for being connected with a lifter 20, a reinforcing rope supporting rod is arranged on a frame body at the top of the suspension arm suspension 17, a pulley is arranged on the reinforcing rope supporting rod, a suspension arm reinforcing steel wire rope 19 is pressed on the pulley, one end of the suspension arm reinforcing steel wire rope is fixed on a suspension arm side frame body of the suspension arm suspension 17, and the other end of the suspension arm reinforcing steel wire rope is fixed at the end part of the telescopic arm 18 to form a triangular reinforcing structure.
Example 3
As an optimal design for embodiment 1, two stabilizing arms 12 are arranged on the frame body on one side of the hanging frame 9 close to the working surface, and are used for stabilizing the hanging frame between two framework upright posts under the working condition of an external wall framework.
The inner top surface of the hanging frame 9 is provided with a cross beam 10 with a guide rail, the construction mechanical arm 8 is installed on the guide rail of the cross beam 10, and the tail end of the construction mechanical arm 8 is provided with an electric suction disc or an electric clamping jaw for grabbing or sucking the outer wall materials such as glass, aluminum veneers and heat insulation plates.
The guide rail sets up the slide in one side towards the construction face, and stabilizing arm 12 is connected with the slide is articulated for stabilizing arm 12 can follow the slide and move about on the crossbeam, and but luffing motion is in order to adapt to the distance between hanging frame and the outer wall skeleton, and stabilizing arm 12 free end sets up rubber pad or PU pad, prevents with the skidding of skeleton and destroy skeleton surface coating.
A control cabinet 13 is arranged on the outer side surface of the top of the hanging frame 9, the sensor assembly comprises a wind direction sensor 11, a position sensor, an accelerometer, an inclination angle sensor and a visual identification system, wherein the wind direction sensor 11 is arranged on the outer side surface of the top of the control cabinet 13; the lower part of the hanging frame 9 is provided with a plurality of servo turbofan 1, the control assembly controls a servo rotating mechanism 2 for hoisting the turbofan in real time according to data of a wind direction sensor 11, so that the exhaust direction of the turbofan is always consistent with the wind direction, and the rotating speed of the turbofan is adjusted in real time according to feedback data of an accelerometer, a position sensor and an inclination sensor, so that the acting force of wind on the hanging frame 9 is counteracted by the exhaust of the turbofan, and the stability of the hanging frame 9 is kept. For the building outer wall with the inverted inclination angle in the windless environment, the servo turbofan can push the hanging frame to be tightly attached to the outer wall; the construction mechanical arm is used for positioning, installing and constructing areas according to the visual recognition system.
Hang and install telescoping device 4 on 9 support bodies of frame near one side of construction face, telescoping device 4 includes the flexible driving piece that electric putter or cylinder constitute to and connect the stable sucking disc 6 on flexible driving piece telescopic link, when smooth wall construction such as glass curtain wall, the sucking disc top that will stretch out the end is on the wall of having installed, stabilizes whole frame of hanging, the outer wall material of the construction machinery hand accurate positioning installation of being convenient for.
One side of the hanging frame 9 close to the construction surface is provided with a plurality of Mikana mother wheels 7, so that the hanging frame can move up and down and left and right conveniently.
The remote communication module is arranged in the control assembly, so that construction records, videos and working progress are transmitted back in real time, and construction management is facilitated.
According to the invention, the hoister is arranged at the counterweight position at the far end of the suspension arm, so that the negative load of the traditional hanging basket is reduced, the using amount of extra counterweight is reduced, the construction operation of the outer wall is full-automatic, the continuous operation can be realized, the wind resistance is high, the construction period is ensured, and the construction is free from danger to personnel.
The above embodiments are only used for explaining the technical solution of the present invention, and are not used for limiting the technical solution of the present invention, and all the simple modifications based on the present invention belong to the protection scope of the present invention.
Claims (10)
1. A facade construction robot which characterized in that: the system comprises a movable suspension mechanism, wherein the suspension mechanism is arranged on the roof, a suspension frame connected with the suspension mechanism through a suspension rope is arranged at the vertical face of an outer wall, a control cabinet, a sensor assembly and a plurality of construction mechanical arms are arranged on the suspension frame, at least one stacking platform is arranged in the suspension frame, the control assembly in the control cabinet is connected with the sensor assembly and the construction mechanical arms, information sent by the sensor assembly is received, and the levelness of the suspension frame and the action of the construction mechanical arms are adjusted.
2. The facade construction robot according to claim 1, wherein: the suspension mechanism comprises a suspension arm suspension frame and a lifting machine, wherein the lifting machine is installed at one end of the suspension arm suspension frame, the other end of the suspension arm suspension frame extends out of a suspension arm and is used for being connected with a suspension frame, a fulcrum power wheel is installed below the suspension arm suspension frame at one side of a suspension arm connection frame body, a lifting rope is installed on a rope coil, a rope reel is connected with an output shaft of the lifting machine, a balance weight bin is installed below the lifting machine, a balance weight side driven wheel is installed below the balance weight bin, the fulcrum power wheel is connected with a power wheel motor, and the power wheel motor drives the fulcrum power wheel to move according to instructions of a control assembly.
3. A facade construction robot according to claim 2, wherein: the lifting arm suspension is provided with a telescopic arm for connecting a lifter, a reinforcing rope supporting rod is arranged on a top frame body of the lifting arm suspension, a pulley is arranged on the reinforcing rope supporting rod, a lifting arm reinforcing steel wire rope is pressed on the pulley, one end of the reinforcing rope is fixed on a side frame body of the lifting arm suspension, and the other end of the reinforcing rope is fixed at the end part of the telescopic arm, so that a triangular reinforcing structure is formed.
4. The facade construction robot according to claim 1, wherein: the frame body on one side, close to the working face, of the hanging frame is provided with two stabilizing arms, and the hanging frame is stably supported between the two framework stand columns under the working condition of an outer wall framework.
5. The facade construction robot according to claim 1, wherein: the construction machine comprises at least two construction mechanical arms, wherein the inner top surface of a hanging frame is provided with a guide rail cross beam corresponding to the construction mechanical arms, the construction mechanical arms are arranged on the guide rails of the corresponding guide rail cross beams, the tail end of one construction mechanical arm is provided with a screw gun for fixing, the tail end of the other construction mechanical arm is provided with an electric suction cup or an electric clamping jaw for grabbing or sucking an outer wall material, and the two construction mechanical arms are matched to complete installation; the stacking platform is provided with a plurality of stacking limiting columns, the distance between the stacking limiting columns is adjusted according to the size of the material, the material is uniformly limited in a vertical position, and the construction mechanical arm can accurately grab the material.
6. The facade construction robot according to claim 1, wherein: the guide rail sets up the slide in one side towards the construction face, and the stabilizing arm is connected with the slide is articulated for the stabilizing arm can follow the slide and move about on the crossbeam, and can the luffing motion in order to adapt to the distance between hanging frame and the outer wall skeleton, and the stabilizing arm free end sets up rubber pad or PU pad, prevents with the framework skid and destroy skeleton surface coating.
7. The facade construction robot according to claim 1, wherein: the outer side surface of the top of the hanging frame is provided with a control cabinet, and the sensor assembly comprises a wind direction sensor, a position sensor, an accelerometer, an inclination angle sensor and a visual identification system, wherein the wind direction sensor is arranged on the outer side surface of the top of the control cabinet; the lower part of the hanging frame is provided with a plurality of servo fans, the control assembly controls a servo rotating mechanism for hanging the fans in real time according to data of the wind direction sensor, so that the air exhaust direction of the fans is always consistent with the wind direction, and the rotating speed of the fans is adjusted in real time according to feedback data of the accelerometer, the position sensor and the inclination angle sensor, so that the acting force of the air exhausted by the fans on the hanging frame is eliminated, the hanging frame is kept stable, and the servo fans can push the hanging frame to be tightly attached to the outer wall of a building with an inverted inclination angle in a windless environment; the construction mechanical arm is used for positioning, installing and constructing areas according to the visual recognition system.
8. The facade construction robot according to claim 1, wherein: the telescopic device is installed to the last one side that is close to the construction face of hanger frame body, and the telescopic device includes the flexible driving piece that electric putter or cylinder constitute to and connect the stable sucking disc on flexible driving piece telescopic link, when smooth wall construction such as glass curtain wall, the sucking disc top that will stretch out the end is on the wall of having installed, stabilizes whole hanger frame.
9. The facade construction robot according to claim 1, wherein: one side of the hanging frame close to the construction surface is provided with a plurality of Mikana mother wheels, so that the hanging frame can move up and down and left and right conveniently.
10. The facade construction robot according to claim 1, wherein: the remote communication module is arranged in the control assembly, so that construction records, videos and working progress are transmitted back in real time, and construction management is facilitated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077730.8A CN113775162A (en) | 2021-09-15 | 2021-09-15 | Outer facade construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077730.8A CN113775162A (en) | 2021-09-15 | 2021-09-15 | Outer facade construction robot |
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| Publication Number | Publication Date |
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| CN113775162A true CN113775162A (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111077730.8A Pending CN113775162A (en) | 2021-09-15 | 2021-09-15 | Outer facade construction robot |
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| CN (1) | CN113775162A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114197850A (en) * | 2022-01-25 | 2022-03-18 | 中建八局天津建设工程有限公司 | Rail type sliding hanging basket equipment |
| CN116022098A (en) * | 2023-01-13 | 2023-04-28 | 深圳精智机器有限公司 | Front-mounted battery swapping equipment and swapping stations |
| CN116290721A (en) * | 2023-05-17 | 2023-06-23 | 河北盛威建筑机械有限公司 | Telescopic hanging basket convenient for construction |
| CN117605255A (en) * | 2023-11-29 | 2024-02-27 | 佛山云未机器人科技有限公司 | A kind of high-altitude exterior wall construction ring rail suspension |
| CN119527491A (en) * | 2024-11-05 | 2025-02-28 | 武汉理工大学 | Offshore supply platform, self-service supply system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110331858A (en) * | 2019-07-15 | 2019-10-15 | 筑橙科技(深圳)有限公司 | A kind of skyscraper painting assembling platform |
| CN111358386A (en) * | 2020-03-18 | 2020-07-03 | 杭州电子科技大学 | Adjustable trackless suspension tractor and operation method thereof |
| CN111648587A (en) * | 2020-07-03 | 2020-09-11 | 东莞兴成超越实业有限公司 | Telescopic elevator frock work platform |
| US20210040757A1 (en) * | 2018-02-08 | 2021-02-11 | Skyline Robotics Ltd. | Device and method for use in cleaning a facade |
| CN112832490A (en) * | 2021-02-09 | 2021-05-25 | 邯郸市永年区华翼机械科技有限公司 | High-rise spraying robot |
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2021
- 2021-09-15 CN CN202111077730.8A patent/CN113775162A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210040757A1 (en) * | 2018-02-08 | 2021-02-11 | Skyline Robotics Ltd. | Device and method for use in cleaning a facade |
| CN110331858A (en) * | 2019-07-15 | 2019-10-15 | 筑橙科技(深圳)有限公司 | A kind of skyscraper painting assembling platform |
| CN111358386A (en) * | 2020-03-18 | 2020-07-03 | 杭州电子科技大学 | Adjustable trackless suspension tractor and operation method thereof |
| CN111648587A (en) * | 2020-07-03 | 2020-09-11 | 东莞兴成超越实业有限公司 | Telescopic elevator frock work platform |
| CN112832490A (en) * | 2021-02-09 | 2021-05-25 | 邯郸市永年区华翼机械科技有限公司 | High-rise spraying robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114197850A (en) * | 2022-01-25 | 2022-03-18 | 中建八局天津建设工程有限公司 | Rail type sliding hanging basket equipment |
| CN116022098A (en) * | 2023-01-13 | 2023-04-28 | 深圳精智机器有限公司 | Front-mounted battery swapping equipment and swapping stations |
| CN116290721A (en) * | 2023-05-17 | 2023-06-23 | 河北盛威建筑机械有限公司 | Telescopic hanging basket convenient for construction |
| CN116290721B (en) * | 2023-05-17 | 2023-09-19 | 河北盛威建筑机械有限公司 | Telescopic hanging basket convenient for construction |
| CN117605255A (en) * | 2023-11-29 | 2024-02-27 | 佛山云未机器人科技有限公司 | A kind of high-altitude exterior wall construction ring rail suspension |
| CN119527491A (en) * | 2024-11-05 | 2025-02-28 | 武汉理工大学 | Offshore supply platform, self-service supply system and method |
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Application publication date: 20211210 |
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