CN115387633A - Robot is restoreed to outer wall heat preservation and waterproof layer - Google Patents
Robot is restoreed to outer wall heat preservation and waterproof layer Download PDFInfo
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- CN115387633A CN115387633A CN202211032925.5A CN202211032925A CN115387633A CN 115387633 A CN115387633 A CN 115387633A CN 202211032925 A CN202211032925 A CN 202211032925A CN 115387633 A CN115387633 A CN 115387633A
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- 238000004321 preservation Methods 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 120
- 238000005553 drilling Methods 0.000 claims abstract description 75
- 238000007569 slipcasting Methods 0.000 claims abstract description 20
- 230000008439 repair process Effects 0.000 claims abstract description 17
- 238000010276 construction Methods 0.000 claims abstract description 7
- 238000003756 stirring Methods 0.000 claims description 80
- 239000002002 slurry Substances 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 10
- 238000009413 insulation Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 239000010410 layer Substances 0.000 description 37
- 238000001514 detection method Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 11
- 201000010099 disease Diseases 0.000 description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 244000309464 bull Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013517 stratification Methods 0.000 description 2
- 238000013019 agitation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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- 229920006395 saturated elastomer Polymers 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/24—Structural elements or technologies for improving thermal insulation
- Y02A30/244—Structural elements or technologies for improving thermal insulation using natural or recycled building materials, e.g. straw, wool, clay or used tires
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- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
Abstract
The invention discloses an outer wall heat-insulating layer and waterproof layer repairing robot which comprises a flying mechanism, a mounting frame, a traveling mechanism, a grouting mechanism and a drilling mechanism, wherein the flying mechanism is arranged on the mounting frame; the flight mechanism is arranged on the upper side of the mounting frame and is connected with the mounting frame through the adapter plate and the connecting piece; the travelling mechanism is arranged on the mounting frame; the mounting frame is of a frame structure, and the grouting mechanism and the drilling mechanism are arranged in the mounting frame and are matched with each other for use; this structure passes through flight mechanism, mounting bracket, running gear, slip casting mechanism and drilling mechanism's setting, can make this robot remove, detect, drilling and slip casting restoration wall body on the wall body automatically, has effectively improved the repair efficiency of wall body, has reduced the maintenance degree of difficulty of outer wall heat preservation waterproof layer simultaneously, can arrange the maintenance task according to the building condition is nimble, has convenient, the efficiency of construction height and simple nimble characteristics of using.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment for repairing the surface of an external wall of a building, in particular to an external wall heat-insulating layer and a waterproof layer repairing robot.
Background
In the high-rise building, due to the fact that the level of the operational skill of workers is uneven in the construction process, the construction process and the technical detail treatment are not in place, and the like, the leakage of the outer wall becomes a common fault of many high-rise buildings, and due to the fact that the outer wall skin has cracks, falls off and the like in different degrees, rainwater enters the interlayer of the outer wall heat-insulating layer through tiny cracks and cracks on the outer layer of the wall body, so that the heat-insulating layer material absorbs water until the material is saturated, and then the phenomena of water dripping and mildew in the wall are caused after the water is repeatedly permeated for a long time;
therefore, in the later maintenance process of the outer wall, the outer wall needs to be repaired and repaired, and in the existing repairing method, the outer wall is usually repaired by using a hanging basket lowering mode, so that the repairing mode has high safety risk and is greatly influenced by the environment; meanwhile, in the process of constructing the external wall, workers can only repair and maintain the external wall by depending on experience or observing the surface condition of the external wall by naked eyes, so that some wall bodies which are leaked out of the external surface cannot be repaired and treated in time;
therefore, in order to solve the above problems in the prior art, it is necessary to design an external wall insulation layer and a waterproof layer repair device capable of performing intelligent operation and automatic determination, so as to overcome the above problems in the prior art.
Disclosure of Invention
Aiming at the existing problems, the invention aims to provide the robot for repairing the outer wall heat-insulating layer and the waterproof layer, through the arrangement of the flying mechanism, the mounting frame, the traveling mechanism, the grouting mechanism and the drilling mechanism, the robot can automatically move, detect, drill and perform grouting on the wall body to repair the wall body, the repairing efficiency of the wall body is effectively improved, meanwhile, the overhauling difficulty of the outer wall heat-insulating waterproof layer is reduced, the overhauling task can be flexibly arranged according to the building condition, and the robot has the characteristics of simplicity and convenience in use, high construction efficiency, simplicity and flexibility.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a robot for repairing an outer wall heat-insulating layer and a waterproof layer comprises a flying mechanism, a mounting frame, a traveling mechanism, a grouting mechanism and a drilling mechanism; the flight mechanism is arranged on the upper side of the mounting frame and is connected with the mounting frame through the adapter plate and the connecting piece; the travelling mechanism is arranged on the mounting frame; the mounting bracket is of a frame structure, and the grouting mechanism and the drilling mechanism are both arranged in the mounting bracket and are matched with each other for use.
Preferably, running gear symmetry set up the dress in the mounting bracket outside, including flexible subassembly and the subassembly that turns to, flexible subassembly guide, first hydraulic pressure spare, extensible member and gyro wheel spare, flexible subassembly guide symmetry sets up on the mounting bracket, first hydraulic pressure spare is installed between two guides through the installation cross arm, and the piston rod end and the extensible member of first hydraulic pressure spare are connected, drive the extensible member through first hydraulic pressure spare and move along the flexible groove that sets up on the guide, the gyro wheel spare sets up the lower extreme at the extensible member through the subassembly that turns to.
Preferably, turn to the subassembly including turning to motor, first gear and second gear, turn to the fixed outside that sets up at the extensible member of motor, first gear setting turn to the drive end of motor, and with the meshing of second gear, the second gear sets up on the afterbody bull stick of roller spare, the bull stick rotates through first bearing and extensible member to be connected, rotates through turning to the motor and drives the rotation of roller spare.
Preferably, the roller piece is further provided with a driving motor, and a power output end of the driving motor is connected with the mounting shaft of the roller.
Preferably, the fixed slip casting mechanism installing zone that sets up in the mounting bracket of slip casting mechanism in, including thick liquid stirring subassembly, slip casting degree of depth adjustment subassembly and coupling hose, slip casting degree of depth adjustment subassembly sets up the front side at the thick liquid stirring subassembly, and is connected with the thick liquid stirring subassembly through coupling hose.
Preferably, the slurry stirring assembly comprises a stirring motor, a stirring cylinder, a rotating rack, stirring blades and a cam sleeve, wherein the stirring motor is arranged at the upper end of the stirring cylinder and is arranged in the mounting frame through a stirring motor mounting part, and a transmission rod of the stirring motor is rotatably connected with the stirring cylinder through a second bearing; the mixing drum is of a hollow cylindrical structure fixed on the second clamping table, and an installation rod is arranged at the center of the bottom of the mixing drum; the rotating rack is rotatably arranged on the mounting rod and is connected with the transmission rod through a connecting boss arranged at the upper end of the rotating rack; the cam sleeve is fixedly sleeved on the mounting rod and is positioned on the inner side of the rotating frame; and the stirring fan blades are rotatably arranged on the outer side of the rotating rack and are matched with the rotating rack and the cam sleeve for use.
Preferably, stirring fan blade include stirring vane and upset piece, the upset piece sets up the tail end at stirring fan blade, just be provided with spacing ball and rotation loop bar on the upset piece, wherein spacing ball sets up on the upset piece of keeping away from stirring vane one end, and uses with the guide way cooperation that sets up on the cam sleeve, the rotation loop bar sets up on the upset piece that is close to stirring vane one end, and uses with the rotation sleeve cooperation that sets up in the rotating rack.
Preferably, the grouting depth adjusting assembly comprises a threaded adjusting rod, a telescopic frame and a grouting pipe, wherein the threaded adjusting rod is horizontally arranged in the mounting frame, one end of the threaded adjusting rod is connected with the rotating motor, and the other end of the threaded adjusting rod is fixed through a bearing; the telescopic frame is connected with the threaded adjusting rod through a screwed piece, the grouting pipe is arranged at the lower end of the telescopic frame and connected with the telescopic frame through a grouting pipe connecting plate, a negative pressure pump is arranged on a pipeline of the grouting pipe, and the grouting pipe is connected with a connecting hose.
Preferably, the telescopic rod on one side of the tail of the telescopic frame is hinged to a telescopic connecting plate arranged on the lower side of the screw connector, the telescopic rod on the other side of the telescopic frame is hinged to an adjusting plate arranged on one side of the telescopic connecting plate, the telescopic connecting plate is connected with the adjusting plate through a second hydraulic part, and the length of the telescopic frame is adjusted through the extension of a piston rod of the second hydraulic part.
Preferably, drilling mechanism include drilling rod, drilling turbine and drilling motor, drilling motor fixed mounting is in the mounting bracket, the drilling turbine sets up the power take off end at the drilling motor, and with set up the worm section intermeshing on the drilling rod, the drilling rod is installed in drilling mechanism installing zone through two deflectors that the symmetry set up, and is provided with the drilling rod handle at the tail end of drilling rod, has the drill bit at the front end demountable installation of drilling rod, drives the drill bit through the drilling motor and rotates.
The invention has the beneficial effects that: the invention discloses an external wall heat-insulating layer and waterproof layer repairing robot, which is improved in that:
(1) The invention designs an external wall heat-insulating layer and waterproof layer repairing robot which comprises a flying mechanism, a mounting frame, a walking mechanism, a grouting mechanism, a drilling mechanism, a detection mechanism, a lighting mechanism, a central control mechanism, a power supply and the like, wherein when the robot is used, the detection mechanism is used for detecting the external wall heat-insulating layer and the waterproof layer, the walking mechanism is used for moving the position, and meanwhile, the grouting mechanism and the drilling mechanism are used for drilling and grouting repairing the wall, so that the repairing efficiency of the wall is effectively improved, the repairing difficulty of the external wall heat-insulating waterproof layer is reduced, the repairing task can be flexibly arranged according to the condition of a building, and the robot has the advantages of simplicity and convenience in use, high construction efficiency, simplicity and flexibility; the quality defects of invisibility and small range can be accurately detected, and the omission caused by artificial vision errors is avoided;
(2) The robot can control the driving motor, the steering motor and the first hydraulic part to act through the central control mechanism when in use through the arrangement of the walking mechanism, so as to realize the contraction and expansion of the walking mechanism and simultaneously realize the movement and steering of the robot on a working wall surface, and has simple structure and convenient use;
(3) The robot can fully stir the repair slurry through the slurry stirring component when in use through the arrangement of the grouting mechanism, can effectively prevent the repair slurry from chromatographic stratification, and ensures the use effect of the repair slurry; meanwhile, the position and the elongation of the grouting pipe are adjusted through the grouting depth adjusting assembly, so that the grouting pipe meets the requirements of grouting position and depth, the grouting quality is ensured, and the repair quality of the wall body is further effectively ensured;
(4) This robot passes through drilling mechanism's setting, can rotate through drilling motor when using and drive the drilling turbine, the drilling turbine through with the worm section between the engaging force adjust the height of drilling rod, drive the drilling rod simultaneously and rotate, utilize the drill bit to drill the wall body, expose the interior disease of wall body, make things convenient for grouting mechanism to carry out the slip casting and restore, and then effectively guarantee the restoration quality of wall body.
Drawings
Fig. 1 is a schematic structural view of the robot for repairing the heat-insulating layer and the waterproof layer of the outer wall.
Fig. 2 is a front view of the exterior wall insulation layer and waterproof layer repairing robot of the present invention.
Fig. 3 is a schematic structural diagram of the flight mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the interposer of the present invention.
Fig. 5 is a schematic structural diagram of the mounting bracket of the present invention.
Fig. 6 is a schematic structural diagram of the traveling mechanism of the present invention.
Fig. 7 is a front view of the telescoping member of the present invention.
Fig. 8 is a front view of the grouting mechanism of the invention.
Fig. 9 is a cross-sectional view of a slurry agitation assembly of the present invention.
Fig. 10 is a schematic structural view of the rotating frame of the present invention.
Fig. 11 is a schematic view of the cam sleeve of the present invention after installation.
Fig. 12 is a schematic view of the cam sleeve of the present invention after deployment.
FIG. 13 is a schematic view of a structure of a stirring blade according to the present invention.
Fig. 14 is a schematic structural view of the screw member of the present invention.
FIG. 15 is a schematic view of the structure of the grouting pipe of the present invention.
Fig. 16 is a front view of the drilling mechanism of the present invention.
Wherein: 1. the flying mechanism, 11, a horizontal carrier plate, 12, a flying unit, 2, an adapter plate, 21, a first clamping table, 3, a mounting frame, 31, a second clamping table, 32, a partition plate, 33, a stirring motor mounting part, 4, a walking mechanism, 41, a guide part, 411, a telescopic groove, 412, a mounting cross arm, 42, a first hydraulic part, 43, a telescopic part, 44, a roller part, 441, a rotating rod, 45, a steering motor, 46, a first gear, 47, a second gear, 48, a first bearing, 49, a driving motor, 5, a connecting part, 6, a grouting mechanism, 61, a slurry stirring assembly, 611, a stirring motor, 612, a stirring cylinder, 613, a second bearing, 614, a rotating frame, 6141, a rotating sleeve 6142, a connecting boss 615, stirring blades 6151, stirring blades 6152, a turning part 6153, a limiting ball 6154, a rotating sleeve rod 616, a cam sleeve 6161, a guide groove 617, a mounting rod 62, a grouting depth adjusting component 621, a thread adjusting rod 622, a rotating motor 623, a screw connector 624, a grouting pipe 625, an expansion bracket 626, a grouting pipe connecting plate 627, an expansion connecting plate 628, an adjusting plate 629, a second hydraulic part 620, a negative pressure pump 7, a drilling mechanism 71, a drilling rod 711, a drilling rod handle 72, a drilling turbine 73, a drilling motor 74, a drill bit 75 and a guide plate.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
Example 1: referring to the attached figures 1-16, the robot for repairing the outer wall heat-insulating layer and the waterproof layer comprises a flying mechanism 1, a mounting frame 3, a walking mechanism 4, a grouting mechanism 6 and a drilling mechanism 7;
the flying mechanism 1 is arranged on the upper side of the mounting frame 3 and is connected with the mounting frame 3 through the adapter plate 2 and the connecting piece 5, and when the robot is used, downward pressure is provided for the mounting frame 3 through the flying mechanism 1, so that the robot can be pressed on a wall surface;
the walking mechanism 4 is arranged on the mounting frame 3 and used for driving the robot to walk on the wall surface to reach a designated repairing position;
Preferably, the repairing robot further comprises a detection mechanism, an illumination mechanism, a central control mechanism and a power supply, wherein the detection mechanism, the illumination mechanism, the central control mechanism and the power supply are arranged in the repairing robot
The detection mechanism comprises an infrared detection part and an ultrasonic detection part, wherein the infrared detection part is used for detecting the damage conditions of the outer wall heat-insulating layer and the waterproof layer through an infrared technology and feeding the detected conditions back to the central control mechanism; the ultrasonic detection part is used for detecting wall body dark diseases through ultrasonic detection and transmitting the detection condition to the central control mechanism;
the illumination mechanism is used for illuminating the robot in the traveling process, so that the traveling mechanism 4 can drive the robot to move on a wall body conveniently;
the central control mechanism is used for receiving detection information of the detection mechanism and the illumination mechanism, converting the information into control commands, transmitting the control commands to the flight mechanism 1, the travelling mechanism 4, the grouting mechanism 6 and the drilling mechanism 7, and controlling the flight mechanism 1, the travelling mechanism 4, the grouting mechanism 6 and the drilling mechanism 7 to execute corresponding commands;
the power supply is used for supplying power to the robot.
Preferably, the flying mechanism 1 includes a horizontal carrier plate 11 and 4 flying units 12, wherein the flying units 12 are symmetrically arranged at four corners of the horizontal carrier plate 11, and include a synchronous motor and wings, wherein the wings are arranged at a driving end of the synchronous motor, and when the flying mechanism is used, the wings are driven by the synchronous motor to rotate, so as to control the flying and moving of the robot, and the synchronous motor is controlled by the central control mechanism to act.
Preferably, the adapter plate 2 is a horizontal connecting plate, and the adapter plate 2 is provided with a plurality of connecting holes to be matched with mounting holes arranged on the mounting frame 3, so that the connection between the flight mechanism 1 and the mounting frame 3 is realized.
Preferably, in order to install the traveling mechanism 4, the grouting mechanism 6 and the drilling mechanism 7, the mounting frame 3 is a frame-shaped structure formed by assembling a plurality of mounting rods, a second clamping table 31 is arranged on the inner side of the mounting rod at the bottom of the mounting frame 3, and the second clamping table 31 is matched with the first clamping table 21 arranged on the inner side of the adapter plate 2 for use and is used for installing and fixing the grouting mechanism 6; and still detachable installs division board 32 in the mounting bracket 3, cuts apart into slip casting mechanism installing zone and drilling mechanism installing zone with the inside installation space of mounting bracket 3 through division board 32.
Preferably, running gear 4 install in the outside of mounting bracket 3 symmetrically, including flexible subassembly and steering gear, flexible subassembly guide 41, first hydraulic part 42, extensible member 43 and roller piece 44, flexible subassembly guide 41 installs on mounting bracket 3 symmetrically, first hydraulic part 42 installs between two guide 41 through installation cross arm 412 spiro union, and the terminal and the extensible member 43 of piston rod of first hydraulic part 42 are connected, and during the use, the flexible piece 43 of drive along the flexible groove 411 motion that sets up on guide 41 through the flexible of first hydraulic part 42 piston rod, roller piece 44 sets up the lower extreme at extensible member 43 through steering gear.
Preferably, the steering assembly comprises a steering motor 45, a first gear 46 and a second gear 47, the steering motor 45 is fixedly mounted on the outer side of the telescopic member 43, the first gear 46 is arranged at the driving end of the steering motor 45 and is meshed with the second gear 47, the second gear 47 is arranged on a tail rotating rod 441 of the roller member 44, and the rotating rod 441 is rotatably connected with the telescopic member 43 through a first bearing 48, namely, when the steering assembly is used, the first gear 46 is driven to rotate through the rotation of the steering motor 45, and the roller member 44 is driven to rotate, so that the robot can steer when moving on a wall surface.
Preferably, in order to drive the roller to rotate, the roller member 44 of the present embodiment is further provided with a driving motor 49, a transmission end of the driving motor 49 is connected with the roller through a key shaft, and the driving motor 49 is controlled by a central control mechanism, and when in use, the central control mechanism controls the driving motor 49, the steering motor 45 and the first hydraulic member 42 to move, and thus, the traveling mechanism 4 is retracted, moved and steered.
This embodiment outer wall heat preservation and waterproof layer repair robot can realize through central control mechanism control driving motor 49, turn to motor 45 and the action of first hydraulic pressure piece 42 when using the shrink and the extension of running gear 4 realize this robot removal and turn to on the work wall simultaneously, simple structure, convenient to use.
Example 2: different from above-mentioned embodiment 1 is, for in the use, the outer wall heat preservation and the waterproof layer defect that utilize this robot to detect detection mechanism are repaired, slip casting mechanism 6 fixed mounting in the slip casting mechanism installing zone of mounting bracket 3, including thick liquid stirring subassembly 61, slip casting degree of depth adjustment subassembly 62 and coupling hose 63, slip casting degree of depth adjustment subassembly 62 sets up the front side at thick liquid stirring subassembly 61, and through coupling hose 63 and thick liquid stirring subassembly 61 intercommunication, repairs the outer wall heat preservation and the waterproof layer defect that detect out.
Preferably, the slurry stirring assembly 61 comprises a stirring motor 611, a stirring cylinder 612, a rotating frame 614, stirring blades 615 and a cam sleeve 616, wherein the stirring motor 611, the stirring cylinder 612, the rotating frame 614, the stirring blades 615 and the cam sleeve 616 are used for stirring the repair slurry during use
The stirring motor 611 is arranged at the upper end of the stirring drum 612 and is fixedly arranged in the mounting frame 3 through a stirring motor mounting piece 33, and a transmission rod of the stirring motor 611 is rotatably connected with the stirring drum 612 through a second bearing 613;
the mixing drum 612 is a hollow cylindrical structure fixed on the second clamping platform 31, and a mounting rod 617 is arranged at the center of the bottom of the mixing drum 612;
the rotating frame 614 is rotatably mounted on the mounting rod 617 and is connected with the transmission rod through a connecting boss 6142 arranged at the upper end of the rotating frame 614, that is, when the rotating frame 614 is used, the rotating frame 614 is driven to rotate through the stirring motor 611;
the cam sleeve 616 is fixedly sleeved on the mounting rod 617 and is located on the inner side of the rotating frame 614;
the stirrer blade 615 is rotatably mounted on the outer side of the rotating frame 614, and cooperates with the rotating frame 614 and the cam sleeve 616 to stir the repair slurry in the stirring cylinder 612.
Preferably, in order to facilitate that when the stirring motor 611 drives the rotating frame 614 to rotate, the stirring fan blade 615 is driven to rotate by taking the cam sleeve 616 as an axis, so as to improve the stirring efficiency of the repair slurry in the stirring barrel 612, the stirring fan blade 615 comprises a stirring blade 6151 and an overturning part 6152, the overturning part 6152 is arranged at the tail end of the stirring fan blade 615, and a limiting ball 6153 and a rotating sleeve bar 6154 are arranged on the overturning part 6152, wherein the limiting ball 6153 is arranged at the tail end of the overturning part 6152 far away from one end of the stirring blade 6151 and is used in cooperation with a guide groove 6161 arranged on the cam sleeve 616, the rotating sleeve bar 6154 is arranged on the overturning part 6152 near one end of the stirring blade 6151 and is used in cooperation with the rotating sleeve 6141 arranged on the rotating frame 614, that in use, the rotating sleeve bar 6154 penetrates through the rotating sleeve 6141, and when the stirring motor 611 drives the rotating frame 614 to rotate, the guiding effect of the limiting ball 6161 on the limiting ball 6153 and the rotating sleeve 6141 are used, so that the rotating shaft 615 can improve the rotating efficiency of the stirring fan blade 615 when the rotating frame 614 rotates.
Preferably, in order to improve the contact surface between the stirring blade 6151 and the slurry in the stirring process and improve the stirring efficiency, the stirring blade 6151 is designed to be arranged obliquely.
Preferably, in order to facilitate fine adjustment of the position of the grouting pipe according to the detected damage condition of the outer wall insulation layer and the waterproof layer and guarantee the grouting depth in the grouting process, the grouting depth adjusting assembly 62 comprises a threaded adjusting rod 621, an expansion bracket 625 and a grouting pipe 624, wherein the threaded adjusting rod 621, the expansion bracket 625 and the grouting pipe 624 are arranged in the grouting process
The threaded adjusting rod 621 is horizontally installed in the mounting frame 3, one end of the threaded adjusting rod 621 is connected with the rotating motor 622, and the other end of the threaded adjusting rod 621 is fixed through a bearing;
the telescopic rack 625 is connected with the threaded adjusting rod 621 through a screw 623, that is, when in use, the position of the threaded adjusting rod 621 on the threaded adjusting rod 621 is adjusted through rotation of the rotating motor 622, so that the left and right positions of the telescopic rack 625 are adjusted;
the grouting pipe 624 is arranged at the lower end of the telescopic frame 625, is connected with the telescopic frame 625 through a grouting pipe connecting plate 626, and is provided with a negative pressure pump 620 on a pipeline of the grouting pipe 624, the grouting pipe 624 is connected with the connecting hose 63, namely when in use, the position of the grouting pipe 624 is adjusted through the telescopic adjusting function of the telescopic frame 625, so that the grouting pipe 624 meets the grouting requirements of wall body repairing parts with different grouting depths.
Preferably, in order to adjust the length of the telescopic frame 625, a telescopic rod at one side of the tail of the telescopic frame 625 is connected to a hinge seat on a telescopic connecting plate 627 disposed at the lower side of the screw 623, a telescopic rod at the other side is connected to an adjusting plate 628 disposed at one side of the telescopic connecting plate 627, and the telescopic connecting plate 627 and the adjusting plate 628 are connected by a second hydraulic component 629, that is, in use, the length of the telescopic frame 625 is adjusted by the extension and retraction of the piston rod of the second hydraulic component 629, so that the telescopic frame 625 meets the use requirements.
When the outer wall heat-insulating layer and waterproof layer repairing robot is used, the repairing slurry can be fully stirred through the slurry stirring assembly 61, so that the chromatographic stratification of the repairing slurry can be effectively prevented, and the using effect of the repairing slurry is ensured; meanwhile, the position and the elongation of the grouting pipe 624 are adjusted through the grouting depth adjusting component 62, so that the grouting pipe can meet the grouting position and depth requirements, the grouting quality is guaranteed, and the repair quality of the wall is effectively guaranteed.
Example 3: different from the above embodiment, in order to drill a detected wall dark disease in the using process, so as to facilitate the exposure of the wall problem and facilitate the grouting repair of the grouting mechanism 6, the drilling mechanism 7 includes a drill rod 71, a drilling turbine 72 and a drilling motor 73, the drilling motor 73 is fixedly installed in the mounting frame 3, the drilling turbine 72 is arranged at the power output end of the drilling motor 73 and is meshed with a worm section 712 arranged on the drill rod 71, the drill rod 71 is installed in the drilling mechanism installation area through two symmetrically arranged guide plates 75, a drill rod handle 711 is arranged at the tail end of the drill rod 71, a drill bit 74 is detachably installed at the front end of the drill rod 71, the drilling turbine 72 is driven by the rotation of the drilling motor 73 in use, the height of the drill rod 71 is adjusted by the meshing force between the drilling turbine 72 and the worm section 712, the drill rod 71 is driven to rotate at the same time, the drill hole is drilled on the wall by the drill bit 74, the dark disease in the wall is exposed, and the wall is repaired; the robot is also provided with a detection device, real-time detection can be carried out in the action process of the robot so as to find the position and range with quality defects, meanwhile, the grouting effect can be dynamically detected in the grouting process, and grouting can be stopped after the grouting effect achieves the repair purpose.
When the outer wall heat-insulating layer and waterproof layer repairing robot is used, the drilling motor 73 can rotate to drive the drilling turbine 72, the drilling turbine 72 adjusts the height of the drill rod 71 through the meshing force between the drilling turbine 72 and the worm section 712, meanwhile, the drill rod 71 is driven to rotate, a drill bit 74 is used for drilling a wall body, hidden diseases in the wall body are exposed, a grouting mechanism 6 can conveniently perform grouting repairing, and the repairing quality of the wall body is effectively guaranteed; still be provided with camera and lighting device in this robot to increase the suitable scene of robot, and feedback to ground through camera device to the condition of slip casting in-process and control.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an outer wall heat preservation and waterproof layer repair machine people which characterized in that: the drilling machine comprises a flying mechanism, a mounting frame, a traveling mechanism, a grouting mechanism and a drilling mechanism; the flight mechanism is arranged on the upper side of the mounting frame and is connected with the mounting frame through the adapter plate and the connecting piece; the travelling mechanism is arranged on the mounting frame; the mounting bracket is frame construction, slip casting mechanism and drilling mechanism all set up in the mounting bracket, and use mutually supporting.
2. The exterior wall insulating layer and waterproof layer repairing robot as claimed in claim 1, wherein: running gear symmetry set up the dress in the mounting bracket outside, including flexible subassembly and steering assembly, flexible subassembly guide, first hydraulic part, extensible member and roller spare, flexible subassembly guide symmetry sets up on the mounting bracket, first hydraulic part is installed between two guides through the installation cross arm, and the piston rod end of first hydraulic part is connected with the extensible member, drives the extensible member through first hydraulic part and moves along the flexible groove that sets up on the guide, the roller spare sets up the lower extreme at the extensible member through steering assembly.
3. The exterior wall insulation layer and waterproof layer repairing robot of claim 2, wherein: the steering assembly comprises a steering motor, a first gear and a second gear, the steering motor is fixedly arranged on the outer side of the telescopic piece, the first gear is arranged at the driving end of the steering motor and meshed with the second gear, the second gear is arranged on a tail rotating rod of the roller piece, the rotating rod is connected with the telescopic piece through a first bearing in a rotating mode, and the roller piece is driven to rotate through the rotation of the steering motor.
4. The exterior wall insulation layer and waterproof layer repairing robot of claim 2, wherein: the roller piece is also provided with a driving motor, and the power output end of the driving motor is connected with the mounting shaft of the roller.
5. The exterior wall insulation layer and waterproof layer repairing robot of claim 1, wherein: the fixed slip casting mechanism installing zone that sets up in the mounting bracket of slip casting mechanism in, including thick liquid stirring subassembly, slip casting degree of depth adjustment subassembly and coupling hose, slip casting degree of depth adjustment subassembly sets up in the front side of thick liquid stirring subassembly, and is connected with the thick liquid stirring subassembly through coupling hose.
6. The exterior wall insulating layer and waterproof layer repairing robot as claimed in claim 5, wherein: the slurry stirring assembly comprises a stirring motor, a stirring cylinder, a rotating rack, stirring blades and a cam sleeve, wherein the stirring motor is arranged at the upper end of the stirring cylinder and is arranged in the mounting rack through a stirring motor mounting part, and a transmission rod of the stirring motor is rotationally connected with the stirring cylinder through a second bearing; the mixing drum is of a hollow cylindrical structure fixed on the second clamping table, and an installation rod is arranged at the center of the bottom of the mixing drum; the rotating rack is rotatably arranged on the mounting rod and is connected with the transmission rod through a connecting boss arranged at the upper end of the rotating rack; the cam sleeve is fixedly sleeved on the mounting rod and is positioned on the inner side of the rotating frame; the stirring fan blades are rotatably arranged on the outer side of the rotating rack and are matched with the rotating rack and the cam sleeve for use.
7. The exterior wall insulation layer and waterproof layer repairing robot of claim 6, wherein: stirring fan blade include stirring vane and upset piece, the upset piece sets up the tail end at stirring fan blade, just be provided with spacing ball and rotation loop bar on the upset piece, wherein spacing ball sets up on the upset piece of keeping away from stirring vane one end, and uses with the guide way cooperation that sets up on the cam sleeve, rotate the loop bar setting on the upset piece that is close to stirring vane one end, and use with the rotation sleeve cooperation that sets up in the rotation frame.
8. The exterior wall insulation layer and waterproof layer repairing robot of claim 5, wherein: the grouting depth adjusting assembly comprises a threaded adjusting rod, a telescopic frame and a grouting pipe, wherein the threaded adjusting rod is horizontally arranged in the mounting frame, one end of the threaded adjusting rod is connected with the rotating motor, and the other end of the threaded adjusting rod is fixed through a bearing; the telescopic frame is connected with the threaded adjusting rod through a screwed piece, the grouting pipe is arranged at the lower end of the telescopic frame and connected with the telescopic frame through a grouting pipe connecting plate, a negative pressure pump is arranged on a pipeline of the grouting pipe, and the grouting pipe is connected with a connecting hose.
9. The exterior wall insulating layer and waterproof layer repairing robot according to claim 8, characterized in that: the telescopic link of expansion bracket afterbody one side with set up the expansion joint plate articulated connection of screw joint spare downside, opposite side telescopic link is connected with the regulating plate articulated of setting in expansion joint plate one side, just expansion joint plate passes through the second hydraulic part with the regulating plate and is connected, through the length of the flexible adjustment expansion bracket of second hydraulic part piston rod.
10. The exterior wall insulation layer and waterproof layer repairing robot of claim 1, wherein: drilling mechanism include drilling rod, drilling turbine and drilling motor, drilling motor fixed mounting is in the mounting bracket, the drilling turbine sets up the power take off end at the drilling motor, and with set up worm section intermeshing on the drilling rod, the drilling rod is installed in drilling mechanism installing zone through two deflectors that the symmetry set up, and is provided with the drilling rod handle at the tail end of drilling rod, has the drill bit at the front end demountable installation of drilling rod, drives the drill bit through the drilling motor and rotates.
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| CN202211032925.5A CN115387633B (en) | 2022-08-26 | 2022-08-26 | Outer wall heat preservation and waterproof layer repairing robot |
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| CN202211032925.5A CN115387633B (en) | 2022-08-26 | 2022-08-26 | Outer wall heat preservation and waterproof layer repairing robot |
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| CN115387633A true CN115387633A (en) | 2022-11-25 |
| CN115387633B CN115387633B (en) | 2023-10-27 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115387633B (en) | 2023-10-27 |
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