CN114102619B - Intelligent curtain wall maintenance robot and control method thereof - Google Patents
Intelligent curtain wall maintenance robot and control method thereof Download PDFInfo
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- CN114102619B CN114102619B CN202111374872.0A CN202111374872A CN114102619B CN 114102619 B CN114102619 B CN 114102619B CN 202111374872 A CN202111374872 A CN 202111374872A CN 114102619 B CN114102619 B CN 114102619B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title abstract description 11
- 230000008439 repair process Effects 0.000 claims abstract description 47
- 238000003466 welding Methods 0.000 claims abstract description 32
- 238000007689 inspection Methods 0.000 claims abstract description 27
- 239000011521 glass Substances 0.000 claims abstract description 20
- 239000003292 glue Substances 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000001502 supplementing effect Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 16
- 239000000853 adhesive Substances 0.000 claims description 13
- 230000001070 adhesive effect Effects 0.000 claims description 12
- 230000009191 jumping Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000002950 deficient Effects 0.000 claims description 2
- 238000004026 adhesive bonding Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 229920000715 Mucilage Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/38—Concrete; Lime; Mortar; Gypsum; Bricks; Ceramics; Glass
- G01N33/386—Glass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Architecture (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Robotics (AREA)
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Abstract
The invention discloses an intelligent curtain wall maintenance robot and a control method thereof in the field of intelligent devices for curtain wall safety inspection and repair, wherein a rotating frame and a traveling device are controlled by a PLC control device, so that the intelligent curtain wall maintenance robot can realize positioning traveling on the surface of a curtain wall; and flaw detection is carried out on the curtain wall by utilizing a flaw detection device, a repair welding device, a scanning device and a glue repairing device which are arranged in the rotating frame, meanwhile, the adhesive bonding firmness degree of the glass and the frame is checked, and corresponding maintenance and repair measures are adopted. The walking device has the advantages of compact structure, small area, flexible and convenient use, high intelligent degree, and capability of automatically controlling programs on site, does not influence normal life and work of indoor personnel during construction operation, replaces the traditional manual overhaul and maintenance work, provides guarantee for personal safety of maintenance operators, and improves the operation efficiency of inspection and maintenance.
Description
Technical Field
The invention relates to the field of intelligent devices for safety inspection and repair of curtain walls, in particular to an intelligent robot for performing safety inspection and repair on a curtain wall frame, glass strength and whether connection between the frame and glass is firm or not and a control method thereof.
Background
Along with the continuous expansion of urban development scale and continuous increase of floor height, the floor outer wall is continuously expanded towards the environmental protection direction such as beautification, heat preservation, moisture preservation, and the like, and the technology of the outer wall surface of the floor is beautified by using glass as a curtain wall. The structural technology of curtain wall installation and fixation is that the frame is welded on the outer wall surface, and the glass glue is adhered and fixed on the frame, however, when the curtain wall of the outer wall surface is finished or used for a period of time, the strength of the frame and the strength of the glass meet the safety requirements, and the adhesion and the installation between the frame and the glass are firm, so that the safety inspection and the repair are required to be carried out regularly, otherwise, the danger of falling objects of a high building can occur. If personnel are arranged to conduct security inspection and repair, the safety inspection and repair device belongs to high-risk operation with high risk coefficient, and not only is a great deal of manpower and material resources required to be consumed, but also the working strength is high, so that casualties can be caused; some controllable robots for cleaning curtain walls mainly clean dust and dirt on curtain walls, improve the light transmission effect of the curtain walls, replace manual work by the robots, play roles in guaranteeing personal safety and improving cleaning efficiency, but do not have targeted intelligent operation mechanical devices for later use maintenance, inspection and repair of the curtain walls, and therefore the intelligent robot integrating automatic walking, inspection, maintenance and repair is needed.
Disclosure of Invention
The invention aims to provide an intelligent maintenance robot for a curtain wall and a control method thereof, which can automatically position and walk, carry out flaw detection on a curtain wall frame and glass, and simultaneously check the adhesive bonding firmness degree of the glass and the frame, and take corresponding maintenance and repair measures.
The purpose of the invention is realized in the following way: the intelligent curtain wall maintenance robot comprises a fixed plate, a rotating frame, a power supply group, a PLC control device and a traveling device, wherein the rotating frame, the power supply group, the PLC control device and the traveling device are arranged on the fixed plate, a ball is arranged between the rotating frame and the fixed plate, a concave groove cavity is formed in the center of the lower part of the rotating frame, a convex connecting block matched with the shape of the concave groove cavity is arranged in the center of the upper part of the fixed plate, a servo motor A is arranged in the connecting block, and the rotating frame is in matched rotation connection with the servo motor A through the connecting block of the fixed plate; the two sides of the rotating frame in the transverse direction are provided with a left C-shaped through groove and a right C-shaped through groove, a left ram is arranged in the left C-shaped through groove, a flaw detection device and a repair welding device are arranged in the left ram, a right ram is arranged in the right C-shaped through groove, and a scanning device and a glue repair device are arranged in the right ram; the four corner positions of the fixed plate are provided with self-propelled moving feet, each self-propelled moving foot comprises a positioner, an electric control hydraulic rod and a powerful sucker, each positioner consists of an arched bracket, a transverse screw rod, a moving sleeve, a servo motor III and a servo motor III-A, the center position of each arched bracket is connected with an output shaft of the servo motor III penetrating through the fixed plate in a matched manner, and the servo motor III is fixedly connected with the bottom of the fixed plate, so that the self-propelled moving feet and the fixed plate are connected into a whole to form a walking device; the PLC control device is used for controlling the rotating frame and the traveling device to move.
When the intelligent maintenance robot for the curtain wall works, the rotating frame and the traveling device are controlled by the PLC control device, so that the intelligent maintenance robot for the curtain wall can realize positioning traveling on the surface of the curtain wall, and the traveling device mainly completes stable traveling action through the matching connection of four groups of self-propelled moving feet arranged on the fixed plate and the servo motor, and has the advantages of compact structure, small area and flexible and convenient use; utilize the inside flaw detection device that sets up of rotating turret, repair welding device, scanning device, mend mucilage binding and put and carry out the inspection of detecting a flaw to the curtain, carry out the inspection to the gluey degree of firmness of glass and frame simultaneously, and take corresponding maintenance, repair measure, but intelligent degree is high, on-the-spot automatic control procedure, the normal life work of indoor personnel is not influenced in the construction operation, traditional manual overhaul, maintenance work has been replaced, personal safety to maintenance operation personnel provides the guarantee, the operating efficiency of inspection, maintenance has been improved, an album automatic walking has been realized, inspection, maintenance, repair in intelligent robot of an organic whole.
Further, the left ram is a sliding block with a square section, two bosses I are arranged below the left ram, and a servo motor II is arranged between the two bosses I; the left ram is provided with an upper layer cavity I and a lower layer cavity I in the longitudinal direction, the flaw detection device is fixedly arranged in the upper layer cavity I in a matching mode, the repair welding device is slidably arranged in the lower layer cavity I, a rack II is arranged below the repair welding device and is matched with a gear, and the repair welding device can stretch out and draw back along the longitudinal direction of the lower layer cavity I under the action of a servo motor II.
Further, two parallel guide grooves I are formed in the bottom of the left C-shaped through groove, racks I are arranged on the inner side of the left C-shaped through groove, the two parallel guide grooves I slide in a matched mode with two bosses I below the left ram, a servo motor I is arranged in the left ram, and the servo motor I is meshed with the racks I in a matched mode through gears; the output shaft of the servo motor II is vertical to the upper cavity I and the lower cavity I of the left ram longitudinally and is in matched engagement with the rack II through a gear.
Further, the right ram is a sliding block with a square section, two bosses I-A are arranged below the right ram, and a servo motor II-A is arranged between the two bosses I-A; the right ram is provided with an upper layer cavity I-A and a lower layer cavity I-A in the longitudinal direction, the scanning device is fixedly arranged in the upper layer cavity I-A in a matching manner, the glue supplementing device is arranged in the lower layer cavity I-A, a rack II-A is arranged below the glue supplementing device and is matched with a gear, and the glue supplementing device can stretch along the longitudinal direction of the lower layer cavity I-A under the action of a servo motor II-A.
Further, two parallel guide grooves I-A are formed in the bottom of the right C-shaped through groove, racks I-A are arranged on the inner side of the right C-shaped through groove, the two parallel guide grooves I-A slide in a matched mode with two bosses I-A below the right ram, a servo motor I-A is arranged on the inner side of the right ram, and the servo motor I-A is meshed with the racks I-A in a matched mode through gears; the output shaft of the servo motor II-A is vertical to the upper cavity I-A and the lower cavity I-A of the right ram longitudinally and is matched and meshed with the rack II-A through a gear.
Further, the rotating frame is of a square structure, a groove is formed in the middle of the upper side of the rotating frame along the transverse direction, and notches are formed in two sides of the groove, so that the weight of the device is reduced.
Further, the fixed plate is box-shaped, the size of the fixed plate is matched with that of the rotating frame, and probes are further arranged at four corner positions of the fixed plate to detect walking path tracks in real time.
Further, powerful sucking disc sets up in self-propelled removal foot bottom, powerful sucking disc is connected with automatically controlled hydraulic stem, and automatically controlled hydraulic stem's height can be adjusted, and automatically controlled hydraulic stem's telescopic link top is equipped with the removal cover, removes the cover and is connected with the horizontal lead screw match of locator, and horizontal lead screw both ends are connected with bow-shaped support both ends match rotation, and the one end and the servo motor III-A match of horizontal lead screw are connected, and servo motor III-A control horizontal lead screw rotates, drives the removal cover and removes, makes the powerful sucking disc in bottom reach required position.
A control method of an intelligent curtain wall maintenance robot comprises the following steps:
setting a corner-located block in a plurality of blocks formed by curtain wall frames as an initial block, and starting a PLC control device to control a traveling device to move to the central position of the initial block; preparing for the next edge inspection;
step (2), the PLC control device controls the starting servo motor I to work, the left ram moves along the guide groove I under the meshing effect of the gear and the rack I, the flaw detection device performs edge inspection on two parallel edges of the square frame, if a curtain wall frame has welding damage, the servo motor II is started to work, and the repair welding device stretches out of the lower cavity I to repair welding under the meshing effect of the gear and the rack II, and retracts after the repair welding is completed;
meanwhile, the PLC control device controls the servo motor I-A to start to work, the right ram moves along the guide groove I-A under the meshing action of the gear and the rack I-A, the scanning device checks the curtain wall frame, if the curtain wall frame and the adhesive of glass are defective, the servo motor II-A is started to work, and the adhesive supplementing device stretches out of the lower cavity I-A to carry out adhesive supplementing work under the meshing action of the gear and the rack II-A, and retracts after finishing the adhesive supplementing work;
starting a PLC control device to control a servo motor A to enable a rotating frame to rotate 90 degrees, checking the other two edge edges of a square frame formed by a curtain wall frame, and repeating the step (2) until the four edge edges of the square frame are checked;
step (4), the PLC control device adjusts and moves four self-propelled moving feet of the walking device according to program control:
1) The program controls the telescopic rod in the electric control hydraulic rod to retract, so that the powerful sucker loses suction, and the self-propelled moving foot is separated from the curtain wall glass;
2) The program controls the servo motor III and the servo motor III-A to work, controls the transverse screw rod in the positioner to rotate, and drives the movable sleeve in the positioner to a proper position, so that the self-propelled movable foot moves to a proper position;
3) The program controls the extension rod of the electric control hydraulic rod to extend out, and the program controls the powerful sucker to generate suction force, so that the self-propelled moving foot is fixed on the curtain wall glass;
step (5), moving the positions to enable the intelligent curtain wall maintenance robot to move to the center position of the next frame one by one in a roundabout manner from the center position of the initial frame according to the set track, after each movement, executing the step (4) until the track is moved to the center position of the final frame, executing the steps (2) and (3) at the center position of each frame until the edge inspection of four edges of all frames is completed, and jumping to the next step;
and (6) the running gear is controlled by a program to carry out adjustment movement, so that the intelligent maintenance robot of the curtain wall continuously moves from the central position of the final square frame to the central position of the initial square frame until the intelligent maintenance robot moves to the central position of the initial square frame, returns to the starting point, and finishes the work.
The invention has the beneficial effects that:
firstly, the size of the fixed plate is matched with that of the rotating frame, the self-propelled moving feet are respectively arranged at four corners of the fixed plate and are correspondingly and matched and connected with the servo motor respectively to finish stable walking action, and the whole structure of the device is compact, safe and reliable;
secondly, a left ram and a right ram are respectively arranged in the rotating frame, a flaw detection device and a repair welding device are arranged in the left ram, a scanning device and a repair glue device are arranged in the right ram and are respectively correspondingly and matched and connected with a servo motor, the repair welding device is controlled by a PLC control device, flaw detection and inspection of curtain walls are performed, meanwhile, the adhesive bonding firmness degree of glass and a frame is inspected, corresponding maintenance and repair measures are adopted to replace the traditional manual maintenance and maintenance work, the personal safety of maintenance operators is ensured, the operation efficiency of the inspection and maintenance is improved, and an intelligent curtain wall maintenance robot integrating automatic walking, inspection, maintenance and repair is realized;
thirdly, the curtain wall intelligent maintenance robot can automatically generate a control program on site when working, has high intelligent degree and strong universality, is convenient to use, does not influence other people during operation, and ensures the personal safety of constructors.
Drawings
Fig. 1 is a schematic diagram of the front view structure of the intelligent curtain wall maintenance robot.
Fig. 2 is a schematic top view of the turret.
FIG. 3 is a schematic cross-sectional view of A-A of FIG. 2.
Fig. 4 is a schematic front view of the turret.
Fig. 5 is a schematic structural view of the left ram.
Fig. 6 is a schematic structural view of the right ram.
Fig. 7 is a schematic front view of the self-propelled moving foot.
Fig. 8 is a schematic view of the intelligent maintenance robot for curtain wall according to the present invention in the curtain wall frame.
FIG. 9 is a schematic view of the inspection track of the intelligent curtain wall inspection robot.
FIG. 10 is a flow chart of a control method of the intelligent curtain wall maintenance robot of the invention.
The device comprises a walking device 1, a self-propelled moving foot 2, a probe 3, a fixed plate 4, a ball 5, a guide groove I6, a servo motor II 7, a flaw detection device 8, a repair welding device 9, a rack II 10, a left ram 11, a lower cavity I12, an upper cavity I13, a servo motor I14, a left C-shaped through groove 15, a rack I16, a groove 17, a rotating frame 18, a servo motor A19, a groove cavity 20, a rack I-A21, a connecting block 22, a power supply group 23, a servo motor I-A24, a right C-shaped through groove 25, an upper cavity I-A26, a PLC control device 27, a lower cavity I-A28, a right ram 29, a rack II-A30, a glue repair device 31, a servo motor II-A32, a scanning device 33, a guide groove I-A34, a boss I-A35, a servo motor III 36, a boss I38, a notch 39, a telescopic rod 40, a 41 bow-shaped bracket 42, a transverse screw rod 43 locator, a 44 electric control hydraulic rod, a 45 and a powerful sleeve 46.
Detailed Description
The intelligent curtain wall maintenance robot shown in fig. 1-3 comprises a fixed plate 4, a rotating frame 18 arranged on the fixed plate 4, a power supply group 23, a PLC control device 27 and a traveling device 1, wherein balls 5 are arranged between the rotating frame 18 and the fixed plate 4, a concave groove cavity 20 is arranged in the center of the lower part of the rotating frame 18, a convex connecting block 22 matched with the shape of the concave groove cavity 20 is arranged in the center of the upper part of the fixed plate 4, a servo motor A19 is arranged in the connecting block 22, and the rotating frame 18 is in matched rotary connection with the servo motor A19 through the connecting block 22 of the fixed plate 4; the two sides of the rotating frame 18 in the transverse direction are provided with a left C-shaped through groove 15 and a right C-shaped through groove 25, a left ram 11 is arranged in the left C-shaped through groove 15, a flaw detection device 8 and a repair welding device 9 are arranged in the left ram 11, a right ram 29 is arranged in the right C-shaped through groove 25, and a scanning device 33 and a glue repairing device 31 are arranged in the right ram 29; the four corner positions of the fixed plate 4 are provided with self-propelled moving feet 2, each self-propelled moving foot 2 comprises a positioner 43, an electric control hydraulic rod 44 and a powerful sucker 45, each positioner 43 comprises an arc-shaped bracket 41, a transverse screw rod 42, a moving sleeve 46, a servo motor III 37 and a servo motor III-A36, the central position of each arc-shaped bracket 41 is in matched connection with an output shaft of the corresponding servo motor III 37 penetrating through the fixed plate 4, the corresponding servo motor III 37 is fixedly connected with the bottom of the fixed plate 4, and the self-propelled moving feet 2 and the fixed plate 4 are connected into a whole to form the walking device 1; the PLC control device 27 controls the movement of the turret 18 and the running gear 1.
As shown in fig. 5, the left ram 11 is a slider with a square section, two bosses i 38 are arranged below the left ram 11, and a servo motor ii 7 is arranged between the two bosses i 38; the left ram 11 is provided with an upper layer cavity I13 and a lower layer cavity I12 in the longitudinal direction, the flaw detection device 8 is fixedly arranged in the upper layer cavity I13 in a matching manner, the repair welding device 9 is slidably arranged in the lower layer cavity I12, a rack II 10 is arranged below the repair welding device 9 and is matched with a gear, and the repair welding device 9 can stretch out and draw back along the longitudinal direction of the lower layer cavity I12 under the action of the servo motor II 7.
As shown in fig. 3, two parallel guide grooves i 6 are formed in the bottom of the left C-shaped through groove 15, a rack i 16 is arranged on the inner side of the left C-shaped through groove, the two parallel guide grooves i 6 slide in a matched manner with two bosses i 38 below the left ram 11, a servo motor i 14 is arranged in the left ram 11, and the servo motor i 14 is engaged with the rack i 16 in a matched manner through a gear; the output shaft of the servo motor II 7 is vertical to the upper layer cavity I13 and the lower layer cavity I12 of the left ram 11 in a longitudinal direction and is matched and meshed with the rack II 10 through a gear.
As shown in fig. 6, the right ram 29 is a slider with a square cross section, two bosses i-a 35 are arranged below the right ram 29, and a servo motor ii-a 32 is arranged between the two bosses i-a 35; the right ram 29 is provided with an upper layer cavity I-A26 and a lower layer cavity I-A28 in the longitudinal direction, the scanning device 33 is fixedly arranged in the upper layer cavity I-A26 in a matching manner, the glue supplementing device 31 is arranged in the lower layer cavity I-A28, a rack II-A30 is arranged below the glue supplementing device 31 and is matched with a gear, and the glue supplementing device 31 can stretch and retract along the longitudinal direction of the lower layer cavity I-A28 under the action of the servo motor II-A32.
As shown in FIG. 3, two parallel guide grooves I-A34 are formed in the bottom of the right C-shaped through groove 25, racks I-A21 are arranged on the inner side of the right C-shaped through groove, the two parallel guide grooves I-A34 slide in a matched mode with two bosses I-A35 below the right ram 29, a servo motor I-A24 is arranged on the inner side of the right ram 29, and the servo motor I-A24 is meshed with the racks I-A21 in a matched mode through gears; the output shaft of the servo motor II-A32 is vertical to the upper layer cavity I-A26 and the lower layer cavity I-A28 of the right ram 29 in a longitudinal direction and is matched and meshed with the rack II-A30 through a gear.
Continuing with fig. 1 and 2, the rotating frame 18 has a square structure, a groove 17 is arranged in the middle of the upper part of the rotating frame 18 along the transverse direction, and notches 39 are arranged at two sides of the groove 17, so that the purpose of reducing the weight of the device is achieved.
The fixed plate 4 is box-shaped, the size of the fixed plate 4 is matched with the rotating frame 18, and the probe 3 is further arranged at four angular positions of the fixed plate 4 to detect the walking path track in real time.
As shown in fig. 7, the powerful suction cup 45 is disposed at the bottom of the self-walking moving foot 2, the powerful suction cup 45 is connected with the electric control hydraulic rod 44, the height of the electric control hydraulic rod 44 can be adjusted, a moving sleeve 46 is disposed above the telescopic rod of the electric control hydraulic rod 44, the moving sleeve 46 is connected with the transverse screw rod 42 of the positioner 43 in a matching manner, two ends of the transverse screw rod 42 are connected with two ends of the arched bracket 41 in a matching manner in a rotating manner, one end of the transverse screw rod 42 is connected with the servo motor iii-a 36 in a matching manner, the servo motor iii-a 36 controls the transverse screw rod 42 to rotate to drive the moving sleeve 46 to move, and the powerful suction cup 45 at the bottom of the self-walking moving foot 2 reaches a required position.
The control method of the intelligent curtain wall maintenance robot of the embodiment is that the PLC control device 27 is used for setting: h=curtain wall height (X direction), l=curtain wall width (Z direction), g=curtain wall frame side length, g '=ram (X direction) length, h=curtain wall frame height (X direction) number of blocks, H' =curtain wall frame width (Z direction) number of blocks.
The PLC control device 27 uses the center point a of the square frame at the lower left corner of the curtain wall surface as the working zero point, which is one of them for clarity of description, but is not limited thereto.
(1) The PLC control device 27 inputs the start point coordinates x=0, z=0, the end point coordinates x=h, z=l, h=n, H '=n' (n is a natural number) specifically programmed as follows:
n001 r10=h=n the number of frames in the curtain wall frame height direction (X);
r11=h '=n' the number of frames in the curtain wall frame width direction (Z);
r12=l curtain wall width;
r13=h curtain wall height;
setting N003G 17G 90G 71G 94G 54G 40G 80 technological parameters;
setting compensation data, namely the telescopic length and the moving speed of the self-propelled moving foot by N005F 50Z 50H 01;
N007G 00X 0Z 0M 07 moves to the curtain wall origin A;
N009T 1D 1 selects the working state of checking and maintaining the strength of the curtain wall frame;
a counter set-off initial value of N011 r0=0;
n013g01=g' right ram 29 is moved and the scanning device 33 checks for curtain wall glue;
the N015G 01 glue supplementing device 31 extends out to supplement glue;
N015-1G01 = G' left ram 11 is moved, flaw detector 8 checks the curtain wall frame;
the N015-2G 01 repair welding device 9 extends out to perform repair welding;
N016T 1D 2 adjusts the operating state (rotation by 90 degrees);
repeating the steps of N011-N016;
N017 MARKE1；G09 G42 G01X=-R12 Z=-R13 F150 D= h’+1
IFR0﹤h+1=L/g G0 T0B N009～ N016；
starting the walking device 1 by right compensation, moving a square frame to the direction of the point B (Z direction), and jumping to the programs N009-N016 until R0 is smaller than L/g;
N019 MARKE2；G09 G42 G01X=-R12 Z=-R13 F150 D= h+1
IFR0﹤h’+1=H/g G0 T0B N009～ N016；
all (Z direction) square frames are checked, one square frame is moved to the direction of the point C (X direction), and the process is jumped to the procedures N009-N016 until R0 is smaller than H/g;
N019-1 MARKE3；G09 G42 G01X=-R12 Z=-R13 F150 D= h+1
IFR0﹤h+1=L/g G0 T0B N009～ N016；
moving a square frame to the direction of the point D (Z direction), and jumping to the programs N009-N016 until R0 is smaller than H/g;
N019-2 MARKE2；G09 G42 G01X=-R12 Z=-R13 F150 D= h+1
IFR0﹤h’+1=H/g G0 T0B N009～ N016；
moving a square frame to the E point direction (X direction), and jumping to the programs N009-N016 until R0 is smaller than H/g;
………………………………………
N019 -3 MARKE3；G09 G42 G01X=-R12 Z=-R13 F150 D= h+1
IFR0﹤h+1=L/g G0 T0B N009～ N016；
moving a square frame to the F point direction (Z direction), and jumping to the programs N009-N016 until R0 is smaller than L/g;
………………………………………
and so on until the S point is finished;
N021 IFR0≥h+1=L/g R0≥h’+1=H/g G0 T0B N023；
N023 G90 G40 G00X=-R12 Z=-R13；
the running gear 1 is started to quickly move to the point A.
As shown in fig. 8, 9 and 10, the specific implementation steps are as follows:
step (1), setting a block positioned at the lower left corner of a plurality of blocks formed by curtain wall frames as an initial block, marking the initial block as the central position of a point A block, and starting a PLC control device 27 to control the running gear 1 to move to the central position of the point A block; preparing for the next edge inspection;
step (2), the PLC control device 27 controls the starting servo motor I14 to work, the left ram 11 moves along the guide groove I6 under the meshing action of the gear and the rack I16, the flaw detection device 8 performs edge inspection on two parallel edges of a square frame, the flaw detection device 8 performs edge inspection on a curtain wall frame (Z direction), if the curtain wall frame has welding damage, the servo motor II 7 is started to work, the repair welding device 9 stretches out of the lower cavity I12 to perform repair welding under the meshing action of the gear and the rack II 10, and the repair welding device retracts after the repair welding is completed;
meanwhile, the PLC control device 27 can control the servo motor I-A24 to start to work, the right ram 29 moves along the guide groove I-A34 under the meshing action of the gear and the rack I-A21, the scanning device 33 checks the curtain wall frame (Z direction), if the curtain wall frame and the glass have defects in adhesive, the servo motor II-A32 is started to work, the adhesive supplementing device 31 stretches out of the lower cavity I-A28 to supplement adhesive under the meshing action of the gear and the rack II-A30, and the lower cavity I-A28 is retracted after the completion of the adhesive supplementing operation;
step (3), starting a PLC control device 27 to control a servo motor A19 to enable a rotating frame to rotate 90 degrees, checking the other two edge edges of a square frame formed by a curtain wall frame, and repeating the step (2) until the four edge edges of the square frame are checked;
step (4), the PLC control device 27 adjusts and moves the four self-propelled moving legs 2 of the traveling device 1 according to program control:
1) The telescopic rod 40 in the program control electric control hydraulic rod 44 is retracted, so that the strong suction disc 45 loses suction, and the self-propelled moving foot 2 is separated from the curtain wall glass;
2) The program controls the servo motor III 37 and the servo motor III-A36 to work, controls the transverse screw rod 42 in the positioner 43 to rotate, and drives the movable sleeve 46 in the positioner 43 to a proper position, so that the self-propelled movable foot 2 moves to a proper position;
3) The telescopic rod 40 of the program control electric control hydraulic rod 44 extends out, and the program control powerful sucker 45 generates suction force to fix the self-propelled moving foot 2 on curtain wall glass;
step (5), moving the position, namely enabling the intelligent curtain wall maintenance robot to move one block from the central position of the block A to the central position of the block B one by one (Z direction) according to a set track, executing the step (4) until the central position of the block B is reached after each movement, and executing the steps (2) and (3) at the central position of the block;
step (6), executing step (4), moving a box towards the central position direction (X direction) of the C point box, and executing steps (2) and (3);
step (7), moving one frame one by one from the central position of the C point frame to the central position direction (Z direction) of the D point frame, executing step (4) until the central position of the D point frame is reached after each movement, and then executing steps (2) and (3) at the central position of the frame;
(8) Executing the step (4), namely moving a box to the central position direction (X direction) of the E point box, and executing the steps (2) and (3) at the central position of the box;
(9) And so on until the mobile station moves to the central position of the S point square frame, executing the steps (2) and (3);
(10) The running gear 1 receives program control to adjust and move, and continuously executes the step (4) to enable the intelligent curtain wall maintenance robot to continuously move in the direction (X direction) from the central position of the square frame at the S point to the central position of the square frame at the A point until the intelligent curtain wall maintenance robot moves to the central position of the square frame at the A point, returns to the starting point, and ends the work.
The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, a person skilled in the art may make some substitutions and modifications to some technical features thereof without creative effort according to the technical content disclosed, and all the substitutions and modifications are within the protection scope of the invention.
Claims (6)
1. An intelligent maintenance robot for curtain walls, which is characterized in that: the automatic control device comprises a fixed plate, a rotating frame arranged on the fixed plate, a power supply group, a PLC control device and a traveling device, wherein balls are arranged between the rotating frame and the fixed plate, a concave groove cavity is formed in the center position of the lower part of the rotating frame, a convex connecting block matched with the shape of the concave groove cavity is arranged in the center position of the upper part of the fixed plate, a servo motor A is arranged in the connecting block, and the rotating frame is in matched rotary connection with the servo motor A through the connecting block of the fixed plate; the two sides of the rotating frame in the transverse direction are provided with a left C-shaped through groove and a right C-shaped through groove, a left ram is arranged in the left C-shaped through groove, a flaw detection device and a repair welding device are arranged in the left ram, a right ram is arranged in the right C-shaped through groove, and a scanning device and a glue repair device are arranged in the right ram; the four corner positions of the fixed plate are provided with self-propelled moving feet, each self-propelled moving foot comprises a positioner, an electric control hydraulic rod and a powerful sucker, each positioner consists of an arched bracket, a transverse screw rod, a moving sleeve, a servo motor III and a servo motor III-A, the center position of each arched bracket is connected with an output shaft of the servo motor III penetrating through the fixed plate in a matched manner, and the servo motor III is fixedly connected with the bottom of the fixed plate, so that the self-propelled moving feet and the fixed plate are connected into a whole to form a walking device; the PLC control device is used for controlling the rotating frame and the traveling device to move;
the powerful sucking disc is arranged at the bottom of the self-propelled movable foot, the powerful sucking disc is connected with an electric control hydraulic rod, the height of the electric control hydraulic rod can be adjusted, a movable sleeve is arranged above a telescopic rod of the electric control hydraulic rod, the movable sleeve is connected with a transverse screw rod of the positioner in a matching way, two ends of the transverse screw rod are in matched rotation connection with two ends of the arch-shaped support, one end of the transverse screw rod is in matched connection with a servo motor III-A, the servo motor III-A controls the transverse screw rod to rotate and drives the movable sleeve to move, and the bottom powerful sucker reaches a required position;
the left ram is a sliding block with a square section, two bosses I are arranged below the left ram, and a servo motor II is arranged between the two bosses I; an upper layer cavity I and a lower layer cavity I are arranged in the longitudinal direction of the left ram, the flaw detection device is fixedly arranged in the upper layer cavity I in a matching manner, the repair welding device is slidably arranged in the lower layer cavity I, a rack II is arranged below the repair welding device and is matched with a gear, and the repair welding device can stretch out and draw back along the longitudinal direction of the lower layer cavity I under the action of a servo motor II;
the right ram is a sliding block with a square section, two bosses I-A are arranged below the right ram, and a servo motor II-A is arranged between the two bosses I-A; the right ram is provided with an upper layer cavity I-A and a lower layer cavity I-A in the longitudinal direction, the scanning device is fixedly arranged in the upper layer cavity I-A in a matching manner, the glue supplementing device is arranged in the lower layer cavity I-A, a rack II-A is arranged below the glue supplementing device and is matched with a gear, and the glue supplementing device can stretch along the longitudinal direction of the lower layer cavity I-A under the action of a servo motor II-A.
2. The intelligent curtain wall maintenance robot according to claim 1, wherein: the bottom of the left C-shaped through groove is provided with two parallel guide grooves I, the inner side of the left C-shaped through groove is provided with a rack I, the two parallel guide grooves I slide in a matched mode with two bosses I below the left ram, the inner side of the left ram is provided with a servo motor I, and the servo motor I is in matched engagement with the rack I through a gear; the output shaft of the servo motor II is vertical to the upper cavity I and the lower cavity I of the left ram longitudinally and is in matched engagement with the rack II through a gear.
3. The intelligent curtain wall maintenance robot according to claim 1, wherein: the bottom of the right C-shaped through groove is provided with two parallel guide grooves I-A, the inner side of the right C-shaped through groove is provided with a rack I-A, the two parallel guide grooves I-A slide in a matched mode with two bosses I-A below the right ram, the inner side of the right ram is provided with a servo motor I-A, and the servo motor I-A is in matched engagement with the rack I-A through a gear; the output shaft of the servo motor II-A is vertical to the upper cavity I-A and the lower cavity I-A of the right ram longitudinally and is matched and meshed with the rack II-A through a gear.
4. The intelligent curtain wall maintenance robot according to claim 1, wherein: the rotating frame is of a square structure, a groove is formed in the middle of the upper side of the rotating frame along the transverse direction, and notches are formed in two sides of the groove.
5. The intelligent curtain wall maintenance robot according to claim 1, wherein: the fixed plate is box-shaped, the size of the fixed plate is matched with that of the rotating frame, and probes are arranged at four corner positions of the fixed plate.
6. The intelligent curtain wall maintenance robot according to any one of claims 1 to 5, comprising the following steps:
setting a corner-located block in a plurality of blocks formed by curtain wall frames as an initial block, and starting a PLC control device to control a traveling device to move to the central position of the initial block; preparing for the next edge inspection;
step (2), the PLC control device controls the starting servo motor I to work, the left ram moves along the guide groove I under the meshing effect of the gear and the rack I, the flaw detection device performs edge inspection on two parallel edges of the square frame, if a curtain wall frame has welding damage, the servo motor II is started to work, and the repair welding device stretches out of the lower cavity I to repair welding under the meshing effect of the gear and the rack II, and retracts after the repair welding is completed;
meanwhile, the PLC control device controls the servo motor I-A to start to work, the right ram moves along the guide groove I-A under the meshing action of the gear and the rack I-A, the scanning device checks the curtain wall frame, if the curtain wall frame and the adhesive of glass are defective, the servo motor II-A is started to work, and the adhesive supplementing device stretches out of the lower cavity I-A to carry out adhesive supplementing work under the meshing action of the gear and the rack II-A, and retracts after finishing the adhesive supplementing work;
starting a PLC control device to control a servo motor A to enable a rotating frame to rotate 90 degrees, checking the other two edge edges of a square frame formed by a curtain wall frame, and repeating the step (2) until the four edge edges of the square frame are checked;
step (4), the PLC control device adjusts and moves four self-propelled moving feet of the walking device according to program control:
1) The program controls the telescopic rod in the electric control hydraulic rod to retract, so that the powerful sucker loses suction, and the self-propelled moving foot is separated from the curtain wall glass;
2) The program controls the servo motor III and the servo motor III-A to work, controls the transverse screw rod in the positioner to rotate, and drives the movable sleeve in the positioner to a proper position, so that the self-propelled movable foot moves to a proper position;
3) The program controls the extension rod of the electric control hydraulic rod to extend out, and the program controls the powerful sucker to generate suction force, so that the self-propelled moving foot is fixed on the curtain wall glass;
step (5), moving the positions to enable the intelligent curtain wall maintenance robot to move to the center position of the next frame one by one in a roundabout manner from the center position of the initial frame according to the set track, after each movement, executing the step (4) until the track is moved to the center position of the final frame, executing the steps (2) and (3) at the center position of each frame until the edge inspection of four edges of all frames is completed, and jumping to the next step;
and (6) the running gear is controlled by a program to carry out adjustment movement, so that the intelligent maintenance robot of the curtain wall continuously moves from the central position of the final square frame to the central position of the initial square frame until the intelligent maintenance robot moves to the central position of the initial square frame, returns to the starting point, and finishes the work.
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