CN117646531B - Ancient building tile roof maintenance robot and maintenance method - Google Patents
Ancient building tile roof maintenance robot and maintenance method Download PDFInfo
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- CN117646531B CN117646531B CN202410116669.0A CN202410116669A CN117646531B CN 117646531 B CN117646531 B CN 117646531B CN 202410116669 A CN202410116669 A CN 202410116669A CN 117646531 B CN117646531 B CN 117646531B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012423 maintenance Methods 0.000 title abstract description 12
- 230000000670 limiting effect Effects 0.000 claims description 30
- 230000007306 turnover Effects 0.000 claims description 25
- 238000012546 transfer Methods 0.000 claims description 17
- 238000003780 insertion Methods 0.000 claims description 14
- 230000037431 insertion Effects 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000008439 repair process Effects 0.000 abstract description 12
- 238000010276 construction Methods 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04D—ROOF COVERINGS; SKY-LIGHTS; GUTTERS; ROOF-WORKING TOOLS
- E04D15/00—Apparatus or tools for roof working
- E04D15/02—Apparatus or tools for roof working for roof coverings comprising tiles, shingles, or like roofing elements
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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
- E04G23/0281—Repairing or restoring roofing or roof covering
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of ancient building repair equipment, and particularly discloses an ancient building tile roof maintenance robot and a maintenance method, wherein the ancient building tile roof maintenance robot comprises a moving structure, a carrying structure and a carrying structure, the carrying structure is fixedly arranged on the moving structure, and the carrying structure is fixedly arranged on the carrying structure; the equipment can avoid the danger of manually climbing the roof, reduce the risk of workers working at high places and ensure the safety of constructors; the device can remotely control walking and automatically collect and replace tiles, so that the construction efficiency can be greatly improved, and the labor cost is saved; the equipment can be adjusted according to the gradient of the roof, and is suitable for various inclined roofs of different types, so that comprehensive maintenance and tile replacement are realized; damaged tiles can be accurately collected and new tiles can be put in through carrying structural equipment, and risks of damaging other tiles are reduced.
Description
Technical Field
The invention relates to the technical field of ancient building repair equipment, in particular to an ancient building tile roof maintenance robot and a maintenance method.
Background
The ancient architecture mostly adopts the structural design of the inclined roof, and tiles are sequentially overlapped and placed so as to facilitate the rainwater to flow down for drainage and prevent the roof from leaking rain; however, the ancient architecture remains until now, the age is long, and the roof tiles are damaged by long-term repair and natural aging, so that loopholes and rain leakage can be generated; therefore, the roof is required to be manually climbed, so that the tiles are replaced and overhauled; however, as the roof is inclined, the tile is subjected to long-time sun and rain to cause the hardness and strength to be reduced, the walking of people is more easily damaged, and the foot of the people is extremely easily injured when falling down, the tile roof maintenance robot for the ancient building is designed.
Disclosure of Invention
The invention aims to provide an ancient building tile roof overhauling robot and an overhauling method, which are used for solving the problems in the background technology.
In order to solve the problems, the invention provides the following technical scheme: the utility model provides an ancient building tile roof overhauls robot, includes moving structure, carrying structure and carries and repair the structure, moving structure can be at the roof removal of flat top or oblique top, carrying structure is fixed to be set up on moving structure, carrying structure can store and collect new tile and old tile to can drive and carry and repair the structure back and forth movement and change roofing position, carry and repair the structure and fix and set up on carrying structure, carry and repair the structure and be used for carrying to the tile.
Preferably, the moving structure comprises a main body frame, a pair of wheel frames, a transfer rod, a pair of first electric push rods, a first rotating motor and two pairs of transfer units; the main body frame is of a rectangular structure, a pair of wheel frames are of H-shaped structures, a cross beam is arranged in the middle of the main body frame, two ends of the wheel frames are respectively movably arranged on the lower wall of the main body frame and are respectively located at four corners, the transfer rod is of a T-shaped structure, one end of the transfer rod is fixedly arranged on the middle of the lower wall of the main body frame, one end of the transfer rod is symmetrically and movably connected to the other two ends of the transfer rod, the telescopic ends of the first electric push rod are movably connected to the cross beam in the middle of the wheel frames, the first rotary motor is fixedly arranged on the middle of the upper wall of the main body frame, and the two pairs of transfer units are symmetrically and fixedly arranged on the other two ends of the wheel frames.
Preferably, the turning unit comprises a first chassis, a first motor, a first stand, a second chassis, a second motor and wheels; the first machine case is fixedly arranged at one end of the wheel frame, the first machine case is of a rectangular structure, the first motor is fixedly arranged in the first machine case, the first motor driving end movably penetrates through the lower wall of the first machine case, one end of the first frame seat is fixedly connected to the first motor driving end, the second machine case is fixedly arranged at the other end of the first frame seat, the second machine case is of a rectangular box body, the second motor is fixedly arranged in the second machine case, the second motor driving end movably penetrates through the front side wall of the second motor, and the wheel is fixedly arranged at the second motor driving end.
Preferably, the carrying structure comprises a sleeve, a second frame seat, a carrying box, a first camera, a pair of limiting units, a control box, a storage battery, a control panel group, a pair of first moving components and a second moving component; the sleeve is protruding tubular structure, and inlays in the upper wall middle part and is equipped with the bearing, the sleeve can dismantle the spiral-lock in main part frame upper wall, and the drive end of first rotating electrical machines is fixed to be run through in the bearing, fixed suit in first rotating electrical machines drive end of second frame seat one end, and be located the sleeve top, the transport case is rectangular structure, and its upper wall middle part is equipped with the case groove, transport case front wall middle part is provided with a pair of throwing groove, and is located the case groove below, the slot has all been seted up at the upper wall middle part in throwing groove, the transport case is fixed to be set up in the second frame seat on the other end, and the transport case is close to top left and right sides wall and all is provided with the handle, first camera is fixed to be inlayed in transport case front wall, and is located throwing groove top, a pair of spacing unit can dismantle and settle in throwing groove, and be located slot position department, the control box is fixed to settle in transport case front wall bottom, and the control box right side wall is provided with the charge mouth, the fixed setting is in control box inner left end, the control panel is fixed to be set up in the control motor set, the control panel sets is fixed to be set up in the control panel, and is first and is located two sets of electric motor sets up in the first symmetry, first and second symmetry, on the first camera module, the first phase-change assembly, the first phase-change camera sets up in the first, the symmetry and the first camera assembly sets up on the first movable assembly.
Preferably, a wireless module, a control module, an identification module, an analysis module, an imaging module and the like are arranged in the control panel group, so that better remote control equipment and equipment can automatically replace tiles according to imaging of the first camera and the second camera.
Preferably, the limiting unit comprises a cannula, a spring, a telescopic column and a roller; the inserting tube is a T-shaped tube body, one end of the inserting tube is detachably inserted into the inserting slot, the spring is movably embedded into the inserting tube, one end of the telescopic column movably penetrates through the other end of the inserting tube and cannot be separated from the inserting tube, one end of the telescopic column is attached to the spring, and the roller is movably embedded into the other end of the telescopic column.
Preferably, the first moving assembly comprises a first moving frame, a first driving motor, a first screw rod, a first moving seat and a first fixing frame; the first driving motor is fixedly arranged at one end of the first moving frame, two ends of the first spiral rod are respectively movably embedded in the first moving frame, one end of the first driving motor is fixedly connected with the driving end of the first driving motor, one end of the first moving seat is movably embedded in the first moving frame, one end of the first moving seat is movably screwed on the first spiral rod, the first moving seat is of a concave structure, the first moving seat can move back and forth in the first moving frame by means of the first spiral rod, the first fixing frame is of an L-shaped structure, one end of the first fixing frame is fixedly arranged on the lower wall of one end of the first moving frame, and the other end of the first fixing frame is fixedly arranged on the control box.
Preferably, the second moving assembly comprises a second moving frame, a pair of second fixed frames, a pair of second driving motors, a pair of second screw rods and a pair of second moving seats; the second movable frame is of a concave structure, the upper walls at the two ends are respectively provided with a movable groove, a pair of second fixed frames are identical to the first fixed frames in structure, one ends of the second fixed frames are respectively fixedly arranged on the lower walls at the two ends of the second movable frame, the other ends of the second fixed frames are respectively fixedly arranged on the other ends of the first movable frames, a pair of second driving motors are respectively symmetrically arranged on the rear side walls at the two ends of the second movable frames, a pair of second spiral rods are respectively movably arranged in the movable grooves of the second movable frames, one ends of the second spiral rods are respectively fixedly connected with the driving ends of the second driving motors, the second movable frames are identical to the first movable frames in structure, and one ends of the second movable frames are respectively movably embedded in the movable grooves of the second movable frames and are respectively connected with the second spiral rods in a rotating mode.
Preferably, the carrying and repairing structure comprises a mounting seat, a turning seat, a second electric push rod, a second rotating motor, a limiting frame, a lifting arm, a servo motor, a gear, a third rotating motor, a clamping unit and a second camera; the mounting seat is rectangular structure, and the middle part front side is provided with the roll-over mouth, the mounting seat middle part lower wall is provided with a pair of upset arm, and is located the roll-over mouth rear side, the mounting seat both ends are fixed respectively and are set up on the second movable seat, the roll-over seat is T type structure, roll-over seat one end activity sets up in the roll-over mouth, and the roll-over seat other end is cavity structure, second electric putter one end activity sets up between a pair of upset arm, second electric putter flexible end slope swing joint is close to on the middle part lower wall in the roll-over seat, the fixed setting of second rotating electrical machines is in the roll-over seat other end, and the second rotating electrical machines drive end activity runs through in roll-over seat other end front wall, the limiting frame is rectangular frame structure, limiting frame one end fixed set up in the second rotating electrical machines drive end, the lifting arm is rectangular rod body structure, and lifting arm front wall middle part is provided with the drive slot, the left side is provided with a plurality of tooth, the lifting arm activity runs through in the limiting frame other end, the fixed setting in the limiting frame one end is located the gear wheel motor, the fixed end is located the fixed gear wheel drive unit, the fixed gear drive unit sets up in the drive slot, the fixed gear drive unit sets up in the fixed gear drive unit in the fixed gear drive slot, the fixed gear drive unit sets up in the fixed gear drive unit, the fixed gear drive unit sets is located the three clamping unit in the fixed gear drive unit, the fixed gear drive unit sets is located the drive slot, the fixed lower clamping unit, the fixed drive unit is located the drive unit, and the fixed drive unit is located the drive unit and the lower drive unit.
An overhauling method of an ancient building tile roof overhauling robot comprises the following steps of:
firstly, placing rectangular tiles or arched tiles in a throwing groove of a carrying box in a carrying structure, and carrying out downward pressing limiting by a limiting unit to prevent detachment;
placing the equipment on a roof, wherein the roof is mostly of a pitched roof structure and is inclined to two sides so as to drain water; thus, the wheels of the turning units on the two wheel frames are positioned on the roofs at two sides;
thirdly, driving the equipment to transversely move along the roof through remote control, and finding a position to be repaired according to imaging of the first camera and the second camera;
and fourthly, driving the clamping unit to move back and forth, rotate left and right and turn up and down through the carrying and repairing structure, so that the clamping unit can be contacted and clamped with damaged tiles to be collected in the tank, and taking out new tiles from the carrying tank and throwing the new tiles to corresponding positions to complete repairing.
The invention provides an old building tile roof overhauling robot and an overhauling method, which have the beneficial effects that:
1. the invention can improve the construction safety and the construction efficiency; the equipment can avoid the danger of manually climbing the roof, reduce the risk of workers working at high places and ensure the safety of constructors; the device can walk in a remote control manner and automatically collect and replace tiles, so that the construction efficiency can be greatly improved, and the labor cost is saved.
2. The invention has the characteristics of strong adaptability and reduction of the damage of the original building; the equipment can be adjusted according to the gradient of the roof, and is suitable for various inclined roofs of different types, so that comprehensive maintenance and tile replacement are realized; through the transport structure, equipment can accurately collect the tile of damage and put in new tile, has reduced the risk of destroying other tiles, has guaranteed roof structure's integrality.
3. The invention has the characteristics of environmental protection and energy conservation; mechanical equipment is adopted to replace manual operation, so that energy consumption is reduced, tiles can be recycled, and resource waste is reduced.
Drawings
FIG. 1 is a schematic view of an assembled structure of the present invention;
FIG. 2 is a schematic diagram of an assembled structure of the present invention;
FIG. 3 is a schematic diagram of a split structure of a mobile structure according to the present invention;
FIG. 4 is a schematic view of a split structure of the carrying structure of the present invention;
FIG. 5 is a schematic diagram of a disassembly structure of the repairing structure of the present invention;
FIG. 6 is a schematic view of a partial enlarged structure at A in FIG. 3 according to the present invention;
FIG. 7 is a schematic view of a partial enlarged structure at B in FIG. 4 according to the present invention;
FIG. 8 is a schematic view of a partially enlarged structure of the present invention at C in FIG. 5;
FIG. 9 is a schematic view of a partially enlarged structure of the present invention at D in FIG. 2;
fig. 10 is a schematic view of a partial enlarged structure at E in fig. 2 according to the present invention.
In the figure: 1. a moving structure; 10. a main body frame; 11. a wheel carrier; 12. a transfer rod; 13. a first electric push rod; 14. a first rotating electric machine; 15. a transfer unit; 151. a first chassis; 152. a first motor; 153. a first mount; 154. a second chassis; 155. a second motor; 156. a wheel; 2. a carrying structure; 20. a sleeve; 21. a second mount; 22. a tote box; 23. a first camera; 24. a limit unit; 25. a control box; 26. a storage battery; 27. a control panel group; 28. a first moving assembly; 29. a second moving assembly; 241. a cannula; 242. a spring; 243. a telescopic column; 244. a roller; 281. a first moving frame; 282. a first driving motor; 283. a first screw rod; 284. a first movable seat; 285. a first fixing frame; 291. a second moving frame; 292. the second fixing frame; 293. a second driving motor; 294. a second screw rod; 295. a second movable seat; 3. carrying and repairing the structure; 30. a mounting base; 31. turning over the seat; 32. a second electric push rod; 33. a second rotating electric machine; 34. a limit frame; 35. a lifting arm; 36. a servo motor; 37. a gear; 38. a third rotary electric machine; 39. a clamping unit; 40. a second camera; 5. a turnover port; 6. a driving groove; 7. a tank; 8. a throwing groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, the present invention provides a technical solution: the utility model provides an ancient building tile roof overhauls robot, includes moving structure 1, carrying structure 2 and carries and repair structure 3, and carrying structure 2 is fixed to be set up on moving structure 1, carries and repair structure 3 fixed to be set up on carrying structure 2; the equipment can be stably placed and moved on a flat-topped or inclined roof through the moving structure 1; new tiles and old tiles can be placed and stored by the carrying structure 2; the new tile and the old tile can be clamped and carried by the carrying and repairing structure 3.
As a further aspect of the present invention, the moving structure 1 includes a main body frame 10, a pair of wheel frames 11, a transfer lever 12, a pair of first electric push rods 13, a first rotating motor 14, and two pairs of transfer units 15;
the main body frame 10 is of a rectangular structure, the middle part of the main body frame 10 is provided with a cross beam, two ends of the pair of wheel frames 11 are respectively movably arranged on the lower wall of the main body frame 10 and are respectively positioned at four corners, the transfer rod 12 is of a T-shaped structure, one end of the transfer rod 12 is fixedly arranged on the middle part of the lower wall of the main body frame 10, one end of the pair of first electric push rods 13 is respectively and symmetrically movably connected to the other two ends of the transfer rod 12, the telescopic ends of the first electric push rods 13 are respectively and movably connected to the cross beam in the middle part of the wheel frames 11, the first rotary motor 14 is fixedly arranged in the middle part of the upper wall of the main body frame 10, and the two transfer units 15 are respectively and symmetrically fixedly arranged on the other two ends of the wheel frames 11; the first electric push rod 13 can adjust the inclination angle of the two wheel frames 11 on the main body frame 10, so as to change the angle of the wheels 156 in the turning unit 15, and the main body frame 10 can be adjusted according to the roof inclination, so that the main body frame 10 can be stably supported and moved on the roof.
As a further aspect of the present invention, the steering unit 15 includes a first casing 151, a first motor 152, a first mount 153, a second casing 154, a second motor 155, and wheels 156;
the first chassis 151 is fixedly arranged at one end of the wheel frame 11, the first chassis 151 is of a rectangular structure, the first motor 152 is fixedly arranged in the first chassis 151, the driving end of the first motor 152 movably penetrates through the lower wall of the first chassis 151, one end of the first frame 153 is fixedly connected to the driving end of the first motor 152, the second chassis 154 is fixedly arranged at the other end of the first frame 153, the second chassis 154 is of a rectangular box body, the second motor 155 is fixedly arranged in the second chassis 154, the driving end of the second motor 155 movably penetrates through the front side wall of the second motor 155, and the wheels 156 are fixedly arranged at the driving end of the second motor 155; the second motor 155 can drive the wheel 156 to rotate to move the equipment, and the first motor 152 can change the orientation of the wheel 156 to enable the wheel to be better matched with the wheel frame 11 to adjust and move in contact with the roof or the ground.
As a further aspect of the present invention, the carrying structure 2 includes a sleeve 20, a second frame 21, a carrying case 22, a first camera 23, a pair of limit units 24, a control box 25, a battery 26, a control board set 27, a pair of first moving assemblies 28, and a second moving assembly 29;
the sleeve 20 is of a convex cylindrical structure, a bearing is embedded in the middle of the upper wall, the sleeve 20 is detachably buckled on the upper wall of the main body frame 10, the driving end of the first rotary motor 14 is fixedly penetrated through the bearing, one end of the second frame seat 21 is fixedly sleeved on the driving end of the first rotary motor 14 and positioned above the sleeve 20, the carrying box 22 is of a rectangular structure, the middle of the upper wall of the carrying box 22 is provided with a box groove 7, the middle of the front side wall of the carrying box 22 is provided with a pair of throwing grooves 8 and positioned below the box groove 7, slots are formed in the middle of the upper wall in the throwing grooves 8, the carrying box 22 is fixedly arranged on the other end of the second frame seat 21, the left side wall and the right side wall of the carrying box 22 close to the top end are provided with handles, the first camera 23 is fixedly embedded in the front side wall of the carrying box 22, the pair of limiting units 24 are detachably arranged in the throwing groove 8 and are positioned at the slot position, the control box 25 is fixedly arranged at the bottom of the front side wall of the carrying box 22, the right side wall of the control box 25 is provided with a charging port, the storage battery 26 is fixedly arranged at the left end in the control box 25, the control panel group 27 is fixedly arranged at the right end in the control box 25, the control panel group 27 is respectively connected with the storage battery 26, the first camera 23, the first motor 152, the second motor 155, the first rotating motor 14 and the first electric push rod 13, the pair of first moving assemblies 28 are respectively symmetrically arranged on the upper wall of the control box 25 and are symmetrically positioned at the left end and the right end, and the second moving assemblies 29 are fixedly arranged on the first moving assemblies 28; the driving end of the first rotating motor 14 is limited and protected through the sleeve 20, so that the second frame 21 can bear force to drive the carrying box 22 to rotate, the direction of the putting groove 8 and the direction of the carrying and repairing structure 3 are adjusted, and the position of adjustment and repair and the selection of a roof are realized; the new tile that drops into can be spacing through spacing unit 24, and can make it put in and inject common tile such as rectangle, arch, can translate second remove the subassembly 29 through first remove the subassembly 28, can carry out the regulation removal in a large scale around to removing repair structure 3 through the second remove the subassembly 29, make its repair scope enlarge.
As a further aspect of the present invention, the limiting unit 24 includes a cannula 241, a spring 242, a telescopic column 243, and a roller 244; the insertion tube 241 is a T-shaped tube body, one end of the insertion tube 241 is detachably inserted in the slot, the spring 242 is movably embedded in the insertion tube 241, one end of the telescopic column 243 movably penetrates through the other end of the insertion tube 241, the telescopic column 243 cannot be separated from the insertion tube 241, one end of the telescopic column 243 is attached to the spring 242, and the roller 244 is movably embedded in the other end of the telescopic column 243.
As a further aspect of the present invention, the first moving assembly 28 includes a first moving frame 281, a first driving motor 282, a first screw 283, a first moving seat 284, and a first fixing frame 285; the first driving motor 282 is fixedly disposed at one end of the first moving frame 281, two ends of the first spiral rod 283 are movably embedded in the first moving frame 281 respectively, one end of the first driving motor 282 is fixedly connected with the driving end of the first driving motor 282, one end of the first moving seat 284 is movably embedded in the first moving frame 281, one end of the first moving seat 284 is movably screwed on the first spiral rod 283, the first moving seat 284 is of a concave structure, the first moving seat 284 can move back and forth in the first moving frame 281 by means of the first spiral rod 283, the first fixing frame 285 is of an L-shaped structure, one end of the first fixing frame 285 is fixedly disposed on the lower wall of one end of the first moving frame 281, and the other end of the first fixing frame 285 is fixedly disposed on the control box 25.
As a further aspect of the present invention, the second moving assembly 29 includes a second moving frame 291, a pair of second fixing frames 292, a pair of second driving motors 293, a pair of second screw rods 294, and a pair of second moving seats 295; the second moving frame 291 is of a concave structure, moving grooves are formed in the upper walls of the two ends of the second moving frame 291, the pair of second fixing frames 292 are identical to the first fixing frames 285 in structure, one ends of the pair of second fixing frames 292 are fixedly arranged on the lower walls of the two ends of the second moving frame 291 respectively, the other ends of the second fixing frames 292 are fixedly arranged on the other ends of the first moving frames 284 respectively, the pair of second driving motors 293 are symmetrically arranged on the rear side walls of the two ends of the second moving frame 291 respectively, the pair of second spiral rods 294 are movably arranged in the moving grooves of the second moving frame 291 respectively, one ends of the pair of second spiral rods 294 are fixedly connected with the driving ends of the second driving motors 293 respectively, the pair of second moving frames 295 are identical to the first moving frames 284 in structure, and one ends of the pair of second moving frames 295 are movably embedded in the moving grooves of the second moving frame 291 respectively and are rotatably connected with the second spiral rods 294 respectively.
As a further scheme of the present invention, the carrying and repairing structure 3 includes a mounting base 30, a turnover base 31, a second electric push rod 32, a second rotating motor 33, a limiting frame 34, a lifting arm 35, a servo motor 36, a gear 37, a third rotating motor 38, a clamping unit 39 and a second camera 40;
the mounting seat 30 is of a rectangular structure, the front side of the middle part is provided with a turnover opening 5, the lower wall of the middle part of the mounting seat 30 is provided with a pair of turnover arms and is positioned at the rear side of the turnover opening 5, two ends of the mounting seat 30 are respectively and fixedly arranged on the second movable seat 295, the turnover seat 31 is of a T-shaped structure, one end of the turnover seat 31 is movably arranged in the turnover opening 5, the other end of the turnover seat 31 is of a cavity structure, one end of the second electric push rod 32 is movably arranged between the pair of turnover arms, the telescopic end of the second electric push rod 32 is obliquely and movably connected on the lower wall of the middle part, close to the turnover seat 31, the second rotary motor 33 is fixedly arranged in the other end of the turnover seat 31, the driving end of the second rotary motor 33 is movably penetrated through the front side wall of the other end of the turnover seat 31, the limiting frame 34 is of a rectangular frame structure, one end of the limiting frame 34 is fixedly arranged on the driving end of the second rotary motor 33, the lifting arm 35 is of a rectangular rod body structure, a driving groove 6 is arranged in the middle of the front side wall of the lifting arm 35, a plurality of teeth are arranged on the left side in the driving groove 6, the lifting arm 35 movably penetrates through the other end of the limiting frame 34, the servo motor 36 is fixedly arranged on the upper wall of one end of the limiting frame 34, the gear 37 is fixedly sleeved on the driving end of the servo motor 36, the gear 37 is movably embedded in the driving groove 6 of the lifting arm 35, the gear 37 is meshed with the teeth in the driving groove 6, the third rotating motor 38 is fixedly arranged on the lower wall in the driving groove 6 of the lifting arm 35, the driving end of the third rotating motor 38 movably penetrates through the lower wall of the driving groove 6, the clamping unit 39 is fixedly arranged on the driving end of the third rotating motor 38 and is positioned below the lifting arm 35, one end of the clamping jaw in the clamping unit 39 is of an L-shaped structure, the second camera 40 is fixedly arranged on the upper wall of the middle of the clamping unit 39, and is connected to the control board group 27; the clamping unit 39 can clamp damaged tiles and also clamp new tiles in the delivery groove 8; the gear 37 is driven to rotate through the servo motor 36, the lifting arm 35 can be lifted and moved under the limiting action of the limiting frame 34, the direction of the clamping unit 39 can be adjusted through the third rotating motor 38, the left-right swinging inclination angle and 360-degree rotation of the lifting arm 35 can be adjusted through the second rotating motor 33, the clamping unit 39 is a clamping mechanism in the prior art, one end of the clamping jaw is arranged to be L-shaped, and the clamping jaw is driven to move relatively by the aid of an existing lead screw to realize clamping.
Working principle:
firstly, rectangular tiles or arched tiles are placed in a throwing groove 8 of a carrying box 22 in a carrying structure 2, and are pressed down and limited by a limiting unit 24 to prevent separation; in the throwing process, the telescopic column 243 in the limiting unit 24 can be pushed upwards, so that the telescopic column 243 stretches and contracts in the insertion tube 241 to squeeze the spring 242, and the roller 244 moves upwards; the insertion tube 241 can be disassembled, then the roller 244 is pressed down after the tile is contacted, and when the insertion tube 241 descends to a certain extent, the insertion tube 241 and the slot of the carrying case 22 are oppositely inserted and arranged;
then the device is placed on the roof through the moving structure 1, the turning unit 15 on the wheel frame 11 is contacted with the inclined roof of the roof, and the wheel frame 11 is ridden on the roof; according to the inclined gradient of the roof, the storage battery 26 in the control box 25 is used for supplying power, the control panel group 27 is used for controlling the first electric push rods 13 at the two sides of the switching rod 12, and the two wheel frames 11 are turned over on the main body frame 10 to adjust the inclined angle, so that the equipment is placed more stably;
the second motor 155 in the second chassis 154 is controlled to drive the wheels 156 to rotate so as to realize the transverse movement of the equipment on the roof, and meanwhile, the first motor 152 in the first chassis 151 is controlled to drive the wheels 156 to rotate so as to change the walking route of the wheels 156 or be more matched with the roof according to the walking direction and the inclination angle adjustment of the wheel frame 11;
in the running process of the equipment, according to the overhauled roof, the first rotating motor 14 in the sleeve 20 in the carrying structure 2 is driven, the carrying box 22 and the control box 25 are driven to rotate by the aid of the first frame 153, the orientations of the first moving assembly 28, the second moving assembly 29 and the clamping unit 39 are adjusted, and one inclined roof is selected;
imaging is carried out through the first camera 23 and the second camera 40 in the moving process, the state of the roof tile is observed, and repairing points are searched and imaged to terminal equipment; after moving to the repairing position, the first driving motor 282 in the first moving assembly 28 is driven to rotate the first spiral rod 283, so that the first moving seat 284 is forced to move in the first moving frame 281 to drive the second moving frame 291 to move forwards; meanwhile, the second driving motor 293 can be driven according to the requirement to drive the second screw rod 294 to rotate, so that the second movable seat 295 is forced to move in the second movable frame 291, the mounting seat 30 in the carrying and repairing structure 3 is driven to translate, the range of the clamping unit 39 is adjusted, the clamping unit is positioned above the repairing position, the repairing position is imaged through the second camera 40, and the first camera 23 images the roof gradient;
the servo motor 36 is controlled to drive, and the gear 37 is engaged with teeth in the driving groove 6 of the lifting arm 35 to drive the lifting arm 35 to lift by means of the limiting frame 34, so that the height of the clamping unit 39 is adjusted; meanwhile, the second rotating motor 33 is driven to adjust the left-right swing or 360-degree rotation of the lifting arm 35, adjust the left-right inclination and overturning direction of the clamping unit 39, and promote the clamping unit 39 to better contact with the tile for clamping; the second electric push rod 32 can be driven to stretch and adjust the overturning seat 31 to overturn a certain angle in the overturning port 5 of the mounting seat 30, so that the front-back inclination angle of the clamping unit 39 is adjusted, and the clamping unit 39 can be disassembled by contacting with the tiles which are placed in a superposition manner;
after the waste tiles are clamped, the waste tiles are put into collection by driving the same and opposite directions, and positioning the clamping unit 39 above the tank 7; simultaneously, clamping claws in the clamping units 39 extend into the throwing grooves 8 to be positioned at two sides of the tiles, and new tiles are clamped and taken out to be replaced at original positions; the third rotating motor 38 is driven to drive the clamping unit 39 to horizontally rotate and turn in the tile conveying direction;
the whole steps are putting tiles into the putting equipment, adjusting equipment to stably support and move, imaging to select a repairing position, collecting old tiles by using the first moving assembly 28, the second moving assembly 29 and the third moving assembly and the clamping unit 39, and clamping and putting new tiles into the original position.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides an ancient building tile roof overhauls robot which characterized in that, including moving structure (1), carrying structure (2) and carrying and repairing structure (3), carrying structure (2) fixed set up on moving structure (1), carrying and repairing structure (3) fixed set up on carrying structure (2);
the moving structure (1) comprises a main body frame (10), a pair of wheel frames (11), a transfer rod (12), a pair of first electric push rods (13), a first rotating motor (14) and two pairs of transfer units (15);
the main body frame (10) is of a rectangular structure, a pair of wheel frames (11) are of H-shaped structures, a cross beam is arranged in the middle of each wheel frame, two ends of each wheel frame (11) are respectively movably arranged on the lower wall of the main body frame (10) and are respectively positioned at four corners, the switching rod (12) is of a T-shaped structure, one end of the switching rod (12) is fixedly arranged on the middle of the lower wall of the main body frame (10), one end of each first electric push rod (13) is respectively and symmetrically movably connected to the other two ends of the switching rod (12), the telescopic ends of each first electric push rod (13) are respectively and movably connected to the cross beam in the middle of the wheel frame (11), the first rotary motor (14) is fixedly arranged on the middle of the upper wall of the main body frame (10), and the two pairs of switching units (15) are respectively and symmetrically fixedly arranged on the other two ends of the wheel frames (11);
the turning unit (15) comprises a first chassis (151), a first motor (152), a first frame base (153), a second chassis (154), a second motor (155) and wheels (156);
the first chassis (151) is fixedly arranged at one end of the wheel frame (11), the first chassis (151) is of a rectangular structure, the first motor (152) is fixedly arranged in the first chassis (151), the driving end of the first motor (152) movably penetrates through the lower wall of the first chassis (151), one end of the first chassis (153) is fixedly connected to the driving end of the first motor (152), the second chassis (154) is fixedly arranged at the other end of the first chassis (153), the second chassis (154) is of a rectangular box body, the second motor (155) is fixedly arranged in the second chassis (154), the driving end of the second motor (155) movably penetrates through the front side wall of the second motor (155), and the wheel (156) is fixedly arranged at the driving end of the second motor (155);
the carrying structure (2) comprises a sleeve (20), a second frame seat (21), a carrying box (22), a first camera (23), a pair of limiting units (24), a control box (25), a storage battery (26), a control panel group (27), a pair of first moving assemblies (28) and a second moving assembly (29);
the utility model discloses a charging control device, including a main body frame (10), a control panel (25) and a charging control panel (25), wherein sleeve (20) is of a convex cylindrical structure, a bearing is embedded in the middle of the upper wall, sleeve (20) can be detached and buckled on the upper wall of main body frame (10), the driving end of first rotating motor (14) is fixedly penetrated on the bearing, one end of second frame seat (21) is fixedly sleeved on the driving end of first rotating motor (14) and is positioned above sleeve (20), carrying box (22) is of a rectangular structure, a box groove (7) is arranged in the middle of the upper wall, a pair of throwing grooves (8) are arranged in the middle of the front side wall of carrying box (22), and are positioned below box groove (7), slots are formed in the middle of the upper wall in throwing grooves (8), carrying box (22) are fixedly arranged on the other end of second frame seat (21), the left side wall and the right side wall of carrying box (22) are respectively provided with a hand near the top, first camera (23) is fixedly embedded in the front side wall of carrying box (22), a pair of throwing grooves (8) are arranged above the throwing grooves (24) and can be detached and arranged in the control panel (25) at the front side wall (25) and the front side wall (25) of the control panel (25), the control panel group (27) is respectively connected with the storage battery (26), the first camera (23), the first motor (152), the second motor (155), the first rotating motor (14) and the first electric push rod (13), a pair of first moving assemblies (28) are respectively symmetrically arranged on the upper wall of the control box (25) and are symmetrically positioned at the left end and the right end, and the second moving assemblies (29) are fixedly arranged on the first moving assemblies (28);
the limiting unit (24) comprises a cannula (241), a spring (242), a telescopic column (243) and a roller (244);
the insertion tube (241) is a T-shaped tube body, one end of the insertion tube (241) is detachably inserted into the slot, the spring (242) is movably embedded into the insertion tube (241), one end of the telescopic column (243) movably penetrates through the other end of the insertion tube (241), the telescopic column (243) cannot be separated from the insertion tube (241), one end of the telescopic column (243) is attached to the spring (242), and the roller (244) is movably embedded into the other end of the telescopic column (243);
the first moving assembly (28) comprises a first moving frame (281), a first driving motor (282), a first screw rod (283), a first moving seat (284) and a first fixing frame (285);
the first driving motor (282) is fixedly arranged at one end of the first moving frame (281), two ends of the first spiral rod (283) are respectively and movably embedded in the first moving frame (281), one end of the first spiral rod is fixedly connected with the driving end of the first driving motor (282), one end of the first moving seat (284) is movably embedded in the first moving frame (281), one end of the first moving seat (284) is movably screwed on the first spiral rod (283), the first moving seat (284) is of a concave structure, the first moving seat (284) can move back and forth in the first moving frame (281) by means of the first spiral rod (283), the first fixing frame (285) is of an L-shaped structure, one end of the first fixing frame (285) is fixedly arranged on the lower wall of one end of the first moving frame (281), and the other end of the first fixing frame (285) is fixedly arranged on the control box (25);
the second moving assembly (29) comprises a second moving frame (291), a pair of second fixing frames (292), a pair of second driving motors (293), a pair of second screw rods (294) and a pair of second moving seats (295);
the second moving frame (291) is of a concave structure, the upper walls at the two ends are respectively provided with a moving groove, a pair of second fixing frames (292) are identical to the first fixing frames (285) in structure, one ends of the second fixing frames (292) are respectively fixedly arranged on the lower walls at the two ends of the second moving frame (291), the other ends of the second fixing frames (292) are respectively fixedly arranged on the other ends of the first moving frames (284), a pair of second driving motors (293) are respectively symmetrically arranged on the rear side walls at the two ends of the second moving frame (291), a pair of second spiral rods (294) are respectively movably arranged in the moving grooves of the second moving frame (291), one ends of the second spiral rods are respectively fixedly connected with the driving ends of the second driving motors (293), a pair of second moving seats (295) are respectively identical to the first moving seats (284) in structure, and one ends of the second moving seats (295) are respectively movably embedded in the moving grooves of the second moving frame (291) and are respectively connected with the second spiral rods (294) in a rotating mode;
the carrying and repairing structure (3) comprises a mounting seat (30), a turnover seat (31), a second electric push rod (32), a second rotating motor (33), a limiting frame (34), a lifting arm (35), a servo motor (36), a gear (37), a third rotating motor (38), a clamping unit (39) and a second camera (40);
the mounting seat (30) is of a rectangular structure, the front side of the middle part is provided with a turnover opening (5), the lower wall of the middle part of the mounting seat (30) is provided with a pair of turnover arms and is positioned at the rear side of the turnover opening (5), two ends of the mounting seat (30) are respectively fixedly arranged on the second movable seat (295), the turnover seat (31) is of a T-shaped structure, one end of the turnover seat (31) is movably arranged in the turnover opening (5), the other end of the turnover seat (31) is of a cavity structure, one end of the second electric push rod (32) is movably arranged between the pair of turnover arms, the telescopic end of the second electric push rod (32) is obliquely and movably connected to the lower wall of the middle part of the turnover seat (31), the second rotating motor (33) is fixedly arranged in the other end of the turnover seat (31), the driving end of the second rotating motor (33) movably penetrates through the front side wall of the other end of the turnover seat (31), the limiting frame (34) is of a rectangular frame structure, one end of the limiting frame (34) is fixedly arranged on the driving end of the second rotating motor (33), the lifting arm (35) is of a rectangular rod body structure, the middle part of the front side wall of the lifting arm (35) is provided with a driving groove (6), the left side in the driving groove (6) is provided with a plurality of teeth, the lifting arm (35) movably penetrates through the other end of the limiting frame (34), the servo motor (36) is fixedly arranged on the upper wall of one end of the limiting frame (34), the gear (37) is fixedly sleeved on the driving end of the servo motor (36), the gear (37) is movably embedded in the driving groove (6) of the lifting arm (35), the gear (37) is meshed with teeth in the driving groove (6), the third rotating motor (38) is fixedly arranged on the inner lower wall of the driving groove (6) of the lifting arm (35), the driving end of the third rotating motor (38) movably penetrates through the lower wall of the driving groove (6), the clamping unit (39) is fixedly arranged on the driving end of the third rotating motor (38) and is located below the lifting arm (35), one end of a clamping jaw in the clamping unit (39) is of an L-shaped structure, and the second camera (40) is fixedly arranged on the middle upper wall of the clamping unit (39) and is connected with the control panel group (27).
2. The method for overhauling a tile rooftop overhauling robot of an ancient building of claim 1, comprising the steps of:
firstly, placing rectangular tiles or arched tiles in a throwing groove (8) of a carrying box (22) in a carrying structure (2), and carrying out downward-pressing limiting by a limiting unit (24) to prevent detachment;
placing the equipment on a roof, wherein the roof is mostly of a pitched roof structure and is inclined to two sides so as to drain water; thus, the wheels (156) of the turning units (15) on the two wheel frames (11) are positioned on the roof at two sides;
thirdly, driving the equipment to transversely move along the roof through remote control, and finding a position to be repaired according to imaging of the first camera (23) and the second camera (40);
and fourthly, driving the clamping unit (39) to move forwards and backwards, rotate left and right and turn up and down through the carrying and repairing structure (3), enabling the clamping unit (39) to be in contact with damaged tiles and clamped into the box groove (7) for collection, and taking out new tiles from the carrying box (22) and putting the new tiles into corresponding positions to finish repairing.
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| CN202410116669.0A CN117646531B (en) | 2024-01-29 | 2024-01-29 | Ancient building tile roof maintenance robot and maintenance method |
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| CN202410116669.0A CN117646531B (en) | 2024-01-29 | 2024-01-29 | Ancient building tile roof maintenance robot and maintenance method |
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| CN117646531B true CN117646531B (en) | 2024-04-02 |
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| CN118273551B (en) * | 2024-06-04 | 2024-08-02 | 山西建筑工程集团有限公司 | Detection prosthetic devices based on ancient building roof tile |
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| DE3317420A1 (en) * | 1983-05-13 | 1984-11-22 | Albert 4600 Dortmund Lobmeier | Erecting aid for saddle roofs |
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| CN114150890A (en) * | 2021-12-10 | 2022-03-08 | 崔译文 | Antique building repair system and repair method thereof |
| CN115596233A (en) * | 2022-08-23 | 2023-01-13 | 苏州百联节能科技股份有限公司（Cn） | Construction process for repairing outer wall of old building |
| CN116892303A (en) * | 2023-06-28 | 2023-10-17 | 中亿丰古建筑工程有限公司 | Ancient building crack repairing and fixing device and fixing method |
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| DE3317420A1 (en) * | 1983-05-13 | 1984-11-22 | Albert 4600 Dortmund Lobmeier | Erecting aid for saddle roofs |
| CN105672482A (en) * | 2016-01-29 | 2016-06-15 | 浙江水利水电学院 | Large-span historic building roof surface repair jacking device and construction method |
| CN112727133A (en) * | 2020-12-01 | 2021-04-30 | 单伟阳 | Ancient building roof brick and tile detects repair equipment |
| CN214330025U (en) * | 2020-12-23 | 2021-10-01 | 深圳鹏润建设工程有限公司 | Prosthetic roof mounting structure of ancient building |
| CN215254830U (en) * | 2021-02-02 | 2021-12-21 | 中国建筑一局(集团)有限公司 | A tile sticking tool for ancient building is repaired |
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| CN117646531A (en) | 2024-03-05 |
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Inventor after: Ji Dong Inventor after: Gu Feng Inventor after: Zhao Bingxin Inventor after: Li Mintian Inventor after: Wang Can Inventor before: Ji Dong Inventor before: Gu Feng Inventor before: Zhao Bingxin Inventor before: Li Mintian Inventor before: Wang Can |