CN117605245A - Intelligent wall climbing type outer wall robot - Google Patents
Intelligent wall climbing type outer wall robot Download PDFInfo
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- CN117605245A CN117605245A CN202311428040.1A CN202311428040A CN117605245A CN 117605245 A CN117605245 A CN 117605245A CN 202311428040 A CN202311428040 A CN 202311428040A CN 117605245 A CN117605245 A CN 117605245A
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- 230000009194 climbing Effects 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000005507 spraying Methods 0.000 claims abstract description 59
- 239000007921 spray Substances 0.000 claims abstract description 38
- 239000000463 material Substances 0.000 claims description 16
- 238000005086 pumping Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000003973 paint Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 21
- 230000009286 beneficial effect Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 3
- 238000010977 unit operation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
- E04F21/12—Mechanical implements acting by gas pressure, e.g. steam pressure
Abstract
The invention discloses an intelligent wall climbing type outer wall robot, which is characterized in that a trolley in a traction system is used for driving a spraying main body to transversely move, a winch is used for controlling the spraying main body to vertically move, the robot can rapidly and freely move on the surface of an outer wall, the arranged supporting feet are beneficial to being supported on the surface of the outer wall during moving or common wall surface operation, the supporting feet are matched with a supporting arm to be temporarily limited and supported at a window during construction on the outer side of the window, the whole structure is stable and difficult to shake in the spraying process of a spray gun, the spraying main body is driven to rotate to the lateral direction to be sprayed according to the required direction by a rotating disc, the spraying main body can automatically perform unit operation surface spraying construction under the action of a transverse moving track and a longitudinal telescopic mechanism, and each electric control device is used for remotely controlling a control chip through a remote control terminal, so that intelligent control on the outer wall spraying is realized, and the quality of the outer side wall spraying construction around the window is beneficial to be ensured.
Description
Technical Field
The invention relates to the technical field of construction of building outer walls. More particularly, the invention relates to an intelligent wall climbing type outer wall robot.
Background
At present, along with the increasing number of layers of a building, the overall height is greater and greater, a mode that a hanging basket is used for manually constructing an outer wall is adopted, so that great problems exist in construction efficiency and construction safety, the construction of the outer wall mainly comprises the spraying construction of the outer wall, the construction quality is not well known when the hanging basket is used for manually constructing the outer wall, the problems of uneven construction strength and speed and the like exist in dependence on the manual construction, the spraying quality of the outer wall is easily influenced, the robot is adopted for spraying the outer wall from top to bottom in part of projects, but the following problems still exist at present:
(1) The spraying mode of the robot is single, the robot can only be lowered from the top of the main body structure, spraying is carried out along a specific vertical straight line path, the top of the main body structure is fixed before the spraying of an operation area of a transverse unit is required to be removed after the spraying is finished, the position of the robot is reinstalled and adjusted, and then the robot is lowered, so that the construction efficiency is low;
(2) When the robot meets the window type wall surface, the non-differential spraying construction is adopted, the spraying is not stopped at the window when the robot passes through the window, so that a large amount of paint is wasted, the subsequent window construction is affected, and a shielding object is pasted on the window in advance for part of the construction, but the method is also troublesome;
(3) For the incomplete linear type determined path, especially the spraying operation of the periphery of a specific window cannot guarantee the spraying quality, and the stability of the spraying process cannot be guaranteed due to the influence of wind power, the running shaking of spraying equipment and the influence of the change of the spraying distance.
Disclosure of Invention
It is an object of the present invention to solve at least the above problems and to provide at least the advantages to be described later.
It is still another object of the present invention to provide an intelligent wall climbing type exterior wall robot to improve the stability of the exterior wall painting operation at the window.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided an intelligent wall climbing type outer wall robot, comprising:
the frame is arranged parallel to the outer wall surface, supporting feet are symmetrically arranged at the vertex angle towards the outer wall surface, a supporting rail is connected to one side of the frame facing the outer wall surface along the horizontal direction, a rotating motor is arranged on one side of the frame facing away from the outer wall surface, a rotary table is connected to the output end of the rotating motor, the rotary table is driven to rotate in a vertical surface parallel to the outer wall surface through the rotating motor, and a storage box, a material sucking pump and a distribution box are arranged at the lower end of the frame;
the inner supporting arms are oppositely arranged on the supporting rails, the inner supporting arms comprise limiting frames, the limiting frames are sleeved on the supporting rails in a sliding mode, the lower ends of the limiting frames are connected with travelling mechanisms for driving the limiting frames to move along the extending direction of the supporting rails, the upper ends of the limiting frames are connected with front-back telescopic mechanisms along the direction perpendicular to the outer wall surface, the telescopic ends of the front-back telescopic mechanisms are connected with supporting plates, and the supporting plates on two sides are used for being abutted to the left wall surface and the right wall surface of the window in a fitting mode;
the spraying main body comprises a bracket, the bracket is connected to the turntable, a longitudinal telescopic mechanism is arranged on the bracket and parallel to the radial direction of the turntable, a transverse moving rail is connected to the telescopic end of the longitudinal telescopic mechanism, a spray gun is connected to the transverse moving rail, the spray gun is driven to move along the extending direction of the transverse moving rail by arranging the transverse moving mechanism between the spray gun and the transverse moving rail, the spraying end of the spray gun is arranged towards the outer wall surface, and a material sucking pump is connected with the spray gun through a pump pipe and used for pumping the paint in a storage box to the spray gun;
the traction system comprises a trolley arranged at the top of the main body structure, a guide wheel is arranged in the extending direction of the top of the outer wall of the main body structure, a winch is arranged on the trolley, a traction rope is wound on the winch, and the outer end of the traction rope is downwards connected with the frame after bypassing the guide wheel;
the control system comprises a remote control terminal and a control chip which are in communication connection with each other, wherein the control chip and the distribution box are respectively connected with the rotating motor, the material pumping pump, the travelling mechanism, the front-back telescopic mechanism, the longitudinal telescopic mechanism and the winch, and the remote control terminal controls the rotating motor, the material pumping pump, the travelling mechanism, the front-back telescopic mechanism, the longitudinal telescopic mechanism and the winch to operate through the control chip.
Preferably, the support is symmetrically provided with two groups of longitudinal telescopic mechanisms, two groups of transverse moving tracks and two groups of spray guns, each group of longitudinal telescopic mechanism comprises a pair of longitudinal top oil cylinders which are parallel to the radial direction of the turntable, the telescopic ends of the pair of longitudinal top oil cylinders are jointly connected with one transverse moving track, the two transverse moving tracks are arranged in parallel and are positioned on the outer side of the support, and the longitudinal top oil cylinders are electrically connected with the control chip.
Preferably, the side of sideslip track dorsad the carousel is provided with first rack along length direction, sideslip mechanism includes and follows sideslip track cross section direction cover is established C shape frame on the sideslip track, the bottom of C shape frame sets up and is connected with first gear towards first rack through the bearing, first gear and first rack meshing transmission, first gear coaxial coupling has first motor, the both ends sliding connection of C shape frame is in sideslip track face one side and both ends interval formation transverse groove of carousel, the flexible end of indulging the top hydro-cylinder with sideslip track face one side of carousel is connected through setting up the connecting block, the connecting block is in the width of transverse groove is less than to the size of sideslip track width direction, first motor with the control chip electricity is connected.
Preferably, the second rack is arranged on the support rail along the length direction, the travelling mechanism comprises a second gear connected with the lower end of the limiting frame through a bearing, the second gear is meshed with the second rack for transmission, the second gear is coaxially connected with a second motor, and the second motor is electrically connected with the control chip.
Preferably, the supporting plate is a C-shaped plate structure arranged vertically, and comprises a transverse plate arranged vertically along the horizontal direction and a vertical plate connected between a pair of transverse plates, wherein the vertical plate is used for being abutted against the wall surfaces of the left side and the right side of the window, the transverse plate on the upper side is positioned above the top of the front-rear telescopic mechanism, and the transverse plate on the lower side is positioned below the bottom of the limiting frame.
Preferably, the length of the traversing rail is greater than the vertical height of the window.
Preferably, the top of the outer wall of the main body structure is connected with a track plate along the extending direction, a traction track is arranged on the track plate, the extending direction of the traction track is parallel to the plane where the outer wall is located, a movable trolley is connected to the traction track in a sliding mode, and the guide wheels are arranged on the movable trolley.
The invention at least comprises the following beneficial effects: according to the intelligent wall climbing type outer wall robot, the trolley in the traction system drives the spraying main body to transversely move, the winch controls the spraying main body to vertically move, the robot can quickly and freely move on the outer wall surface, the arranged supporting feet are beneficial to being supported on the outer wall surface during moving or common wall surface operation, the supporting feet are matched with the supporting arms to be temporarily limited and supported on the window during outer side construction of the window, the whole structure is stable and difficult to shake in the spraying process of the spray gun, the spraying main body is driven to rotate around the rotating plate in the required direction to the side direction to be sprayed through the arranged turntable, the spraying main body can automatically spray the unit operation surface under the action of the transverse moving track and the longitudinal telescopic mechanism, and each electronic control device can remotely control through the arranged remote control terminal and the control chip, so that intelligent control of outer wall spraying is achieved, and the quality of outer side wall spraying construction around the window is beneficial to be guaranteed.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a front view structural diagram of an intelligent wall climbing type outer wall robot of the present invention;
FIG. 2 is a side view of the A-A direction of the intelligent wall climbing type outer wall robot;
FIG. 3 is a front view block diagram of an intelligent wall climbing type outer wall robot according to an embodiment of the present invention after rotating a rotor;
reference numerals in the specification: 1. the device comprises an outer wall surface, 2, a window, 3, a rack, 4, a supporting leg, 5, a supporting rail, 6, a rotating motor, 7, a turntable, 8, a pumping pump, 9, an inner supporting arm, 10, a limiting frame, 11, a front-back telescopic mechanism, 12, a supporting plate, 13, a bracket, 14, a longitudinal telescopic mechanism, 15, a transverse moving rail, 16, a spray gun, 17, a pump pipe, 18, a trolley, 19, a guide wheel, 20, a winch, 21, a traction rope, 22, a first rack, 23, a C-shaped frame, 24, a first gear, 25, a first motor, 26, a transverse slot, 27, a connecting block, 28, a second rack, 29, a second gear, 30, a second motor, 31, a track plate, 32 and a movable trolley.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It should be noted that the experimental methods described in the following embodiments, unless otherwise specified, are all conventional methods, and the reagents and materials, unless otherwise specified, are all commercially available; in the description of the present invention, the terms "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present invention.
As shown in fig. 1-3, the present invention provides an intelligent wall climbing type outer wall robot, comprising:
the frame 3 is arranged parallel to the outer wall surface 1, the vertex angle positions of the frame 3 are symmetrically provided with supporting feet 4 towards the outer wall surface 1, one side of the frame 3 facing the outer wall surface 1 is connected with a supporting track 5 along the horizontal direction, one side of the frame 3 facing away from the outer wall surface 1 is provided with a rotating motor 6, the output end of the rotating motor 6 is connected with a rotary table 7, the rotary table 7 is driven to rotate in a vertical plane parallel to the outer wall surface 1 through the rotating motor 6, and the lower end of the frame 3 is provided with a storage box, a material sucking pump 8 and a distribution box;
the inner supporting arms 9 are oppositely arranged on the supporting rails 5, the inner supporting arms 9 comprise limiting frames 10, the limiting frames 10 are slidably sleeved on the supporting rails 5, the lower ends of the limiting frames 10 are connected with travelling mechanisms for driving the limiting frames 10 to move along the extending direction of the supporting rails 5, the upper ends of the limiting frames 10 are connected with front and rear telescopic mechanisms 11 along the direction vertical to the outer wall surface 1, the telescopic ends of the front and rear telescopic mechanisms 11 are connected with supporting plates 12, and the supporting plates 12 on two sides are used for being abutted against the wall surfaces on the left side and the right side of the window 2;
the spraying main body comprises a bracket 13, the bracket 13 is connected to the turntable 7, a longitudinal telescopic mechanism 14 is arranged on the bracket 13 parallel to the radial direction of the turntable 7, a transverse moving rail 15 is connected to the telescopic end of the longitudinal telescopic mechanism 14, a spray gun 16 is connected to the transverse moving rail 15, the spray gun 16 is driven to move along the extending direction of the transverse moving rail 15 by arranging the transverse moving mechanism between the spray gun 16 and the transverse moving rail 15, the spraying end of the spray gun 16 is arranged towards the outer wall surface 1, and a material sucking pump 8 is connected with the spray gun 16 through a pump pipe 17 and is used for pumping paint in a storage box to the spray gun 16;
the traction system comprises a trolley 18 arranged at the top of the main structure, a guide wheel 19 is arranged in the extending direction of the top of the outer wall of the main structure, a winch 20 is arranged on the trolley 18, a traction rope 21 is wound on the winch 20, and the outer end of the traction rope 21 is connected with the frame 3 downwards after bypassing the guide wheel 19;
the control system comprises a remote control terminal and a control chip which are in communication connection with each other, wherein the control chip and the distribution box are respectively and electrically connected with the rotating motor 6, the material pumping pump 8, the travelling mechanism, the front-back telescopic mechanism 11, the longitudinal telescopic mechanism 14 and the winch 20, and the remote control terminal controls the running of the rotating motor 6, the material pumping pump 8, the travelling mechanism, the front-back telescopic mechanism 11, the longitudinal telescopic mechanism 14 and the winch 20 through the control chip.
The trolley 18 in the traction system moves to the top of the vertical position where the working surface to be sprayed is located, the traction rope 21 is connected with the frame 3, the traction rope 21 is released at a constant speed through the winch 20, the frame 3 moves downwards, when facing the outer wall surface 1 of the construction to be sprayed, the frame 3 can be abutted to the outer wall surface 1 through the arranged supporting feet 4, so that the frame 3 is ensured to be stably suspended when being suspended in the air, the supporting feet 4 are generally made of flexible materials with certain elasticity, such as rubber materials, the damage to the outer wall surface is avoided, the inner supporting arms 9 are arranged on the supporting rails 5 on the frame 3, can move relatively or reversely along the supporting rails 5, the bracket 13 is connected to the turntable 7, so that the spraying main body is driven to rotate in the vertical plane, the fixed rotation angle of the turntable 7 is set to 90 degrees, and all equipment sends instructions to the corresponding control chip from a remote control terminal, so that the rotating motor 6, the pumping pump 8, the travelling mechanism, the front-back telescopic mechanism 11, the longitudinal telescopic mechanism 14 and the winch 20 are started or stopped to operate, and power is supplied through the arranged distribution box.
When the spraying operation is to be performed on the outer wall around the window 2, the spraying main body is lowered to the front side of the window 2 through the winch 20 on the trolley 18, the supporting plate 12 is driven to extend towards the inside of the window 2 through the front-rear telescopic mechanism 11, then the supporting plate 12 is moved towards the wall surface on the corresponding side of the window 2 through the travelling mechanism until the supporting plate 12 is abutted against the wall surface, the traversing rail 15 is positioned vertically through the rotation of the rotating motor 6 and the traversing mechanism on the traversing rail 15 drives the spray gun 16 to vertically move, the material sucking pump 8 is started in the moving process, the spraying main body is conveyed to the spray gun 16 to spray paint, the longitudinal telescopic mechanism 14 is started in a matched manner, the traversing rail 15 is driven to horizontally move, the spraying operation of one unit working surface is completed, then the rotating disc 7 drives the spray gun 16 to move to the upper side or the lower side of the window 2 and the other side of the horizontal direction according to the operation requirement, after the spraying operation of the current window 2 is completed, the inner supporting arm 9 is driven to reversely move and recycle through the control system, the spraying main body is lowered to the next window 2, the spraying main body is repeatedly performed, the operation is completed through the winch 20, the operation is completed, the main body is moved to the top of the next window 2, and the spraying main body is driven to horizontally move along with the trolley 18 through the trolley 18 to horizontally move along with the trolley 18, and the horizontal direction is driven to the main body is moved along with the horizontal direction to the trolley 18.
According to the intelligent wall climbing type outer wall robot, the spraying main body is driven to transversely move through the trolley 18 in the traction system, the winch 20 controls the spraying main body to vertically move, the robot can rapidly and freely move on the outer wall surface, the arranged supporting feet 4 are beneficial to supporting on the outer wall surface during moving or common wall surface operation, the supporting arms are matched to be used for temporarily limiting and supporting on the window 2 during outer side construction of the window 2, the whole structure is stable and difficult to shake in the spraying process of the spray gun 16, the spraying main body is driven to rotate around the turntable 7 to the side direction to be sprayed according to the required direction through the turntable 7, the spraying main body can automatically perform spraying construction of a unit operation surface under the action of the transverse moving track 15 and the longitudinal telescopic mechanism 14, and each electric control device can remotely control through the arranged remote control terminal and the control chip, so that intelligent control of outer wall spraying is achieved, and the quality of outer side wall spraying construction around the window 2 is beneficial to be guaranteed.
In another technical scheme, as shown in fig. 1-2, two groups of longitudinal telescopic mechanisms 14, lateral sliding rails 15 and spray guns 16 are symmetrically arranged on the support 13, each group of longitudinal telescopic mechanisms 14 comprises a pair of longitudinal top cylinders which are parallel to the radial direction of the turntable 7, the telescopic ends of the pair of longitudinal top cylinders are commonly connected with one lateral sliding rail 15, the two lateral sliding rails 15 are arranged in parallel and are positioned on the outer side of the support 13, and the longitudinal top cylinders are electrically connected with the control chip.
Through setting up two sets of vertical telescopic machanism 14, sideslip track 15 and spray gun 16 on the spraying main part symmetry, the spray gun 16 of both sides can carry out the spraying operation simultaneously to window 2 department relative both sides outer wall, take the direction as shown in fig. 1 as an example, sideslip track 15 of both sides is located vertical direction, vertical top hydro-cylinder is used for adjusting sideslip track 15 left and right sides's position, spray gun 16 makes vertical removal along sideslip track 15, carry out the spraying operation, when need carry out the spraying to window 2 department upper and lower both sides's outer wall, also, firstly rotate support 13 through carousel 7, make both sides sideslip track 15 be located the horizontality respectively, utilize the place height of sideslip track 15 of vertical top hydro-cylinder adjustment upside and downside, in order to adapt to window 2 height, afterwards make spray gun 16 remove under total top hydro-cylinder and sideslip mechanism's effect, carry out the spraying operation.
In another technical scheme, as shown in fig. 1-2, a first rack 22 is arranged on one side of the traversing rail 15, which is opposite to the turntable 7, along the length direction, the traversing mechanism comprises a C-shaped frame 23 sleeved on the traversing rail 15 along the cross section direction of the traversing rail 15, the bottom of the C-shaped frame 23 is arranged facing the first rack 22 and is connected with a first gear 24 through a bearing, the first gear 24 is meshed with the first rack 22 for transmission, the first gear 24 is coaxially connected with a first motor 25, two ends of the C-shaped frame 23 are slidably connected to one side of the traversing rail 15, which faces the turntable 7, and two ends are spaced to form a transverse slot 26, the telescopic end of the longitudinal top cylinder is connected with one side of the traversing rail 15, which faces the turntable 7, through a connecting block 27, the dimension of the connecting block 27 in the width direction of the traversing rail 15 is smaller than the width of the transverse slot 26, and the first motor 25 is electrically connected with the control chip.
Referring to fig. 1, the first rack 22 is located on the left side of the left traversing rail 15, and is located on the right side of the right traversing rail 15, the C-shaped frame 23 is arranged on the traversing rail 15 towards the direction frame of the first rack 22, the back surface of the C-shaped frame 23 is structurally fixed with the spray gun 16, so that the spray gun 16 is located on the outer side of the traversing rail 15, the spraying range is enlarged, the spray gun 16 is convenient to move, the inner side of the C-shaped frame 23 is driven by the first gear 24 and the first rack 22 through the meshing transmission function of the first gear 24, walking on the traversing rail 15 is realized under the rotation function of the first gear 24 driven by the first motor 25, the operation of the first motor 25 is controlled through sending a signal to the control chip at the remote control terminal, the surface of the traversing rail 15 close to the turntable 7, namely the surface of the traversing rail 15, which is back to the first rack 22, is connected with the connecting block 27 at the end of the longitudinal top cylinder, and the transverse groove 26 is arranged, so that the C-shaped frame 23 can pass smoothly when moving on the traversing rail 15 through the connecting block 27.
In another technical scheme, as shown in fig. 1-2, a second rack 28 is arranged on the support rail 5 along the length direction, the travelling mechanism comprises a second gear 29 connected to the lower end of the limiting frame 10 through a bearing, the second gear 29 is in meshed transmission with the second rack 28, a second motor 30 is coaxially connected to the second gear 29, and the second motor 30 is electrically connected with the control chip.
The support arm moves on the support track 5, and moves by utilizing the meshing transmission principle of the second rack 28 and the second gear 29, and a signal is sent to the control chip at the remote control terminal to control the operation of the second motor 30, so that the cooperation form of the rack and the gear can prevent slippage to a certain extent, and the stability of the support plate 12 abutting and supporting the lateral wall at the window 2 is ensured.
In another technical scheme, as shown in fig. 1-2, the supporting plate 12 is a C-shaped plate structure that is vertically arranged, and includes a transverse plate that is vertically arranged along a horizontal direction and a vertical plate that is connected between a pair of transverse plates, where the vertical plate is used to be abutted against the wall surfaces on the left and right sides of the window 2, the transverse plate on the upper side is located above the top of the front and rear telescopic mechanism 11, and the transverse plate on the lower side is located below the bottom of the limiting frame 10.
The supporting plate 12 is in a C-shaped plate structure, after the supporting plate 12 is recovered in the frame 3, the transverse plates are respectively positioned on the upper side and the lower side of the supporting arm, which are close to the outer wall surface 1, so that a certain protection effect is achieved in the whole moving process of the robot, and the splashing of the paint is reduced.
In another embodiment, as shown in fig. 1-2, the length of the traversing rail 15 is greater than the vertical height of the window 2, so that the spray gun 16 can have a larger unit spraying surface.
In another technical scheme, as shown in fig. 1-2, a track plate 31 is arranged and connected at the top of the outer wall of the main body structure along the extending direction, a traction track is arranged on the track plate 31, the extending direction of the traction track is parallel to the plane of the outer wall, a movable trolley 32 is slidably connected on the traction track, and the guide wheels 19 are arranged on the movable trolley 32.
Through setting up track board 31 to lay at the top of major structure and form the traction track, utilize travelling car 32 installation leading wheel 19, the circumference of leading wheel 19 is perpendicular with outer wall 1, and travelling car 32 can set up the cooperation structure with traction track between, makes traction track form and to travelling car 32 in vertical spacing, prevents that certain dolly from breaking away from traction track in vertical face direction, sets up travelling car 18 synchronous movement that travelling car 32 can be convenient, guarantees not produce the moment of torsion to haulage rope 21.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. An intelligent wall climbing type outer wall robot, which is characterized by comprising:
the frame is arranged parallel to the outer wall surface, supporting feet are symmetrically arranged at the vertex angle towards the outer wall surface, a supporting rail is connected to one side of the frame facing the outer wall surface along the horizontal direction, a rotating motor is arranged on one side of the frame facing away from the outer wall surface, a rotary table is connected to the output end of the rotating motor, the rotary table is driven to rotate in a vertical surface parallel to the outer wall surface through the rotating motor, and a storage box, a material sucking pump and a distribution box are arranged at the lower end of the frame;
the inner supporting arms are oppositely arranged on the supporting rails, the inner supporting arms comprise limiting frames, the limiting frames are sleeved on the supporting rails in a sliding mode, the lower ends of the limiting frames are connected with travelling mechanisms for driving the limiting frames to move along the extending direction of the supporting rails, the upper ends of the limiting frames are connected with front-back telescopic mechanisms along the direction perpendicular to the outer wall surface, the telescopic ends of the front-back telescopic mechanisms are connected with supporting plates, and the supporting plates on two sides are used for being abutted to the left wall surface and the right wall surface of the window in a fitting mode;
the spraying main body comprises a bracket, the bracket is connected to the turntable, a longitudinal telescopic mechanism is arranged on the bracket and parallel to the radial direction of the turntable, a transverse moving rail is connected to the telescopic end of the longitudinal telescopic mechanism, a spray gun is connected to the transverse moving rail, the spray gun is driven to move along the extending direction of the transverse moving rail by arranging the transverse moving mechanism between the spray gun and the transverse moving rail, the spraying end of the spray gun is arranged towards the outer wall surface, and a material sucking pump is connected with the spray gun through a pump pipe and used for pumping the paint in a storage box to the spray gun;
the traction system comprises a trolley arranged at the top of the main body structure, a guide wheel is arranged in the extending direction of the top of the outer wall of the main body structure, a winch is arranged on the trolley, a traction rope is wound on the winch, and the outer end of the traction rope is downwards connected with the frame after bypassing the guide wheel;
the control system comprises a remote control terminal and a control chip which are in communication connection with each other, wherein the control chip and the distribution box are respectively connected with the rotating motor, the material pumping pump, the travelling mechanism, the front-back telescopic mechanism, the longitudinal telescopic mechanism and the winch, and the remote control terminal controls the rotating motor, the material pumping pump, the travelling mechanism, the front-back telescopic mechanism, the longitudinal telescopic mechanism and the winch to operate through the control chip.
2. The intelligent wall climbing type outer wall robot according to claim 1, wherein two groups of longitudinal telescopic mechanisms, the transverse moving tracks and the spray gun are symmetrically arranged on the support, each group of longitudinal telescopic mechanisms comprises a pair of longitudinal top oil cylinders which are arranged in parallel with the radial direction of the turntable, the telescopic ends of the pair of longitudinal top oil cylinders are commonly connected with one transverse moving track, the two transverse moving tracks are arranged in parallel and are positioned on the outer side of the support, and the longitudinal top oil cylinders are electrically connected with the control chip.
3. The intelligent wall climbing type outer wall robot according to claim 2, wherein a first rack is arranged on one side of the transverse moving rail, which is opposite to the turntable, along the length direction, the transverse moving mechanism comprises a C-shaped frame sleeved on the transverse moving rail along the transverse moving rail cross section direction, the bottom of the C-shaped frame is arranged facing the first rack and is connected with a first gear through a bearing, the first gear is meshed with the first rack for transmission, the first gear is coaxially connected with a first motor, two ends of the C-shaped frame are slidably connected to one side of the transverse moving rail, which is opposite to the turntable, and two ends of the C-shaped frame are spaced to form a transverse groove, the telescopic end of the longitudinal top oil cylinder is connected with one side of the transverse moving rail, which is opposite to the turntable, through a connecting block, the dimension of the connecting block in the transverse moving rail along the width direction is smaller than the width of the transverse groove, and the first motor is electrically connected with the control chip.
4. The intelligent wall climbing type outer wall robot according to claim 1, wherein a second rack is arranged on the supporting rail along the length direction, the travelling mechanism comprises a second gear connected to the lower end of the limiting frame through a bearing, the second gear is in meshed transmission with the second rack, the second gear is coaxially connected with a second motor, and the second motor is electrically connected with the control chip.
5. The intelligent wall climbing type outer wall robot according to claim 4, wherein the supporting plate is of a vertically arranged C-shaped plate structure, and comprises a transverse plate arranged vertically along a horizontal direction and a vertical plate connected between a pair of transverse plates, wherein the vertical plate is used for being abutted against wall surfaces on the left side and the right side of the window, the transverse plate on the upper side is located above the top of the front-rear telescopic mechanism, and the transverse plate on the lower side is located below the bottom of the limiting frame.
6. The intelligent wall climbing exterior wall robot according to claim 1, wherein the traversing rail has a length greater than a vertical height of the window.
7. The intelligent wall climbing type outer wall robot according to claim 1, wherein a track plate is arranged and connected at the top of the outer wall of the main body structure along the extending direction, a traction track is arranged on the track plate, the extending direction of the traction track is parallel to the plane of the outer wall, a movable trolley is connected to the traction track in a sliding manner, and the guide wheels are arranged on the movable trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311428040.1A CN117605245A (en) | 2023-10-31 | 2023-10-31 | Intelligent wall climbing type outer wall robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311428040.1A CN117605245A (en) | 2023-10-31 | 2023-10-31 | Intelligent wall climbing type outer wall robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117605245A true CN117605245A (en) | 2024-02-27 |
Family
ID=89952424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311428040.1A Pending CN117605245A (en) | 2023-10-31 | 2023-10-31 | Intelligent wall climbing type outer wall robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117605245A (en) |
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2023
- 2023-10-31 CN CN202311428040.1A patent/CN117605245A/en active Pending
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