CN212346380U - Robot for automatically spraying outer wall door and window - Google Patents
Robot for automatically spraying outer wall door and window Download PDFInfo
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- CN212346380U CN212346380U CN202020101333.4U CN202020101333U CN212346380U CN 212346380 U CN212346380 U CN 212346380U CN 202020101333 U CN202020101333 U CN 202020101333U CN 212346380 U CN212346380 U CN 212346380U
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Abstract
The utility model discloses an automatic spray outer wall door and window's robot, including frame, hoist and mount subassembly, control module, spray assembly and adsorption component, adsorption component includes: the inner sliding guide rail is vertically fixed on the inner side of the rack, and an inner sliding block is movably arranged on the inner sliding guide rail; the outer sliding guide rail is vertically fixed on the outer side of the rack, and an outer sliding block is movably arranged on the outer sliding guide rail; the first push rod is arranged on the outer sliding block through a connecting piece and can move up and down along the outer sliding guide rail; the first vacuum sucker is connected with the shaft end of the first push rod; the vacuum generator is connected with the first vacuum chuck; the balancing weight is hooked and connected with the connecting piece through a rope body, one side of the balancing weight is fixed on the inner sliding block, and the balancing weight moves to the bottom end along the inner sliding guide rail in a natural state; and the power component is connected with the balancing weight and is used for driving the balancing weight to move upwards along the inner sliding guide rail. The utility model discloses when wholly rising or descending, the frame is adsorbed through adsorption component and wall all the time, and stability is high.
Description
Technical Field
The utility model belongs to the technical field of the building outer wall cleaning technique and specifically relates to an automatic spray outer wall door and window's robot.
Background
When existing external wall doors and windows spray, the external wall doors and windows are hung on a building through an electric hanging basket, a spraying worker stands on the hanging basket, holds a spray gun by hand, and cleans the external wall doors and windows through the spray gun for the spraying worker while controlling the electric hanging basket to descend. Spray the operation through the manual work, the human cost is high, and electronic hanging flower basket is unstable when hanging, rocks easily, has the potential safety hazard.
The patent with publication number CN 2542350Y discloses an "adsorption type external wall cleaning device", which adsorbs on the wall surface through an airflow suction cup, when the cleaning device stops washing, the airflow suction cup releases, the cleaning device is in a natural suspension state and no longer adsorbs on the wall surface, and is pulled by a traction rope to move up and down.
Disclosure of Invention
An object of the utility model is to provide an automatic spray outer wall door and window's robot realizes automatic spray, and stability is high. In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot for automatically spraying outer wall doors and windows comprises a rack, a hoisting assembly, a control module, a spraying assembly and an adsorption assembly, wherein one end of the hoisting assembly is connected with the rack, the other end of the hoisting assembly is hung above a building, and the control module is in control connection with the hoisting assembly, the spraying assembly and the adsorption assembly; the spraying assembly is arranged on the inner side of the frame; the adsorption component comprises: the inner sliding guide rail is vertically fixed on the inner side of the rack, and an inner sliding block is movably arranged on the inner sliding guide rail; the outer sliding guide rail is vertically fixed on the outer side of the rack, and an outer sliding block is movably arranged on the outer sliding guide rail; the first push rod is arranged on the outer sliding block through a connecting piece and can move up and down along the outer sliding guide rail; the first vacuum sucker is connected with the shaft end of the first push rod; the vacuum generator is connected with the first vacuum chuck; the counterweight block is hooked and connected with the connecting piece through a rope body, one side of the counterweight block is fixed on the inner sliding block, and the counterweight block naturally moves to the bottom end along the inner sliding guide rail; and the power component is connected with the balancing weight and is used for driving the balancing weight to move upwards along the inner sliding guide rail.
Furthermore, a plurality of pulleys are arranged above the frame, one end of the rope body is hooked on the balancing weight, and the other end of the rope body is turned to the outer side of the frame through the pulleys and is hooked with the connecting piece.
The power assembly comprises a motor, a linear screw rod and a supporting plate, the motor controls the linear screw rod to rotate, one end of the supporting plate is installed on the linear screw rod, and the other end of the supporting plate supports the balancing weight.
In one embodiment, the first vacuum chuck is a sliding chuck.
Preferably, the adsorption assembly further comprises a plurality of second push rods and second vacuum chucks connected with the shaft ends of the second push rods, the second push rods are fixed at the bottom end of the rack, and the second vacuum chucks are connected with the vacuum generator.
The spraying assembly comprises a second motor, a second screw rod, a spraying support, a water pipe and a spray gun, the second motor is fixed on the rack, the second motor controls the second screw rod to rotate, the spraying support is installed on the second screw rod, the water pipe is fixed on the spraying support, and the spray gun is uniformly distributed on the water pipe.
Preferably, the spraying device further comprises a vertically arranged spraying guide rail, a spraying sliding block is movably mounted on the spraying guide rail, and the spraying bracket is mounted on the spraying sliding block and moves up and down along the spraying guide rail.
In one embodiment, the rack is a hanging basket, the control module is mounted on the hanging basket, a control button is arranged on the control module, and an electric pressing device capable of realizing pressing action is mounted on the control button.
The hoisting assembly comprises a winch, a steel wire rope, a step counting wheel and an encoder, wherein the winch is arranged above the building, the upper end of the steel wire rope is fixed on the winch, and the lower end of the steel wire rope is fixed on the rack; or the winch is arranged on the rack, the upper end of the steel wire rope is fixed above the building, and the lower end of the steel wire rope is wound on the winch.
The step counting wheel is arranged on the steel wire rope, rolls along with the steel wire rope and drives an encoder connected with the steel wire rope to count, and the encoder is in signal connection with the control module.
Further, still include camera subassembly and omnidirectional movement's cloud platform, the cloud platform fix in the frame, camera subassembly install on the cloud platform.
Since the technical scheme is used, the utility model discloses following beneficial effect has:
1. the utility model discloses when can realizing whole rising or decline, the frame adsorbs with the wall all the time, and stability is high.
2. Through setting up second push rod and second vacuum chuck, further increase absorbent position, stability when improving the operation.
3. The spraying bracket is arranged on the spraying slide block and moves up and down along the spraying guide rail, so that the spraying gun can move up and down to spray and clean the outer wall door and window, and the cleaning range is enlarged.
4. The utility model discloses can reequip the application to current automatic hanging flower basket, install the electronic presser that can realize pressing down the action on manual control button on the hanging flower basket to realize automatic control.
5. The step counting wheel is arranged on the steel wire rope, rolls along with the steel wire rope and drives the encoder connected with the step counting wheel to count, so that the descending distance of the steel wire rope can be accurately obtained, and automatic control is facilitated.
6. The cloud platform that sets up omnidirectional movement installs the camera subassembly on the cloud platform, obtains the video of cleaning process through the camera subassembly to do benefit to and realize automatic control.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic view of the structure of fig. 1 from another angle.
Fig. 3 is a schematic view of an installation structure of the spray assembly and the adsorption assembly according to an embodiment (in this case, the first vacuum chuck is located below the rack).
Fig. 4 is a schematic view of an installation structure of the spray assembly and the adsorption assembly according to an embodiment (in this case, the first vacuum chuck is located above the rack).
Fig. 5 is a schematic view of a partial structure of the adsorption assembly of the present invention.
FIG. 6 is a process state diagram of the first embodiment.
Fig. 7 is a process state diagram of the second embodiment.
Description of the main component symbols: 1: a frame, 2: hoisting assembly, 21: wire rope, 22: step-counting wheel, 23: encoder, 24: winch, 3: spray assembly, 31: second motor, 32: second lead screw, 33: spray support, 34: spray guide, 35: spray slider, 36: spray gun, 41: inner slide rail, 42: inner slide, 51: outer slide rail, 52: outer slider, 61: first push rod, 62: first vacuum chuck, 63: second push rod, 64: second vacuum chuck, 71: weight, 72: rope body, 73: connector, 74: pulley, 8: power assembly, 81: motor, 82: linear screw, 83: pallet, 91: camera assembly, 92: cloud platform, 10: and a control module.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1 and fig. 2, the embodiment discloses a robot for automatically spraying doors and windows on an exterior wall, which comprises a rack 1, a hoisting assembly 2, a control module 10, a spraying assembly 3 and an adsorption assembly.
The rack 1 can be a hanging basket, the control module 10 is installed on the hanging basket, the control module 10 is provided with a control button, and an electric pressing device capable of realizing pressing action is installed on the control button. Still be provided with camera assembly 91 and omnidirectional movement's cloud platform 92 in the frame 1, cloud platform 92 is fixed in frame 1, and camera assembly 91 installs on cloud platform 92.
The hoisting assembly 2 comprises a winch 24, a steel wire rope 21, a step-counting wheel 22 and an encoder 23. The winch 24 is arranged on the frame 1, the upper end of the steel wire rope 21 is fixed above the building, and the lower end of the steel wire rope is wound on the winch 24. In other embodiments, the winch may be disposed above the building, and the upper end of the wire rope is fixed to the winch and the lower end of the wire rope is fixed to the frame.
The step-counting wheel 22 is arranged on the steel wire rope 21 and rolls along with the steel wire rope 21. Encoder 23 is connected with meter step wheel 22, and when meter step wheel 22 rolled, encoder 23 counted, encoder 23 and control module signal connection, encoder 23 sent count data to control module 10, and control module 10 converts and obtains wire rope 21's displacement, and then obtains the whole displacement of robot.
Referring to fig. 3 and 4, the spray assembly 3 includes a second motor 31, a second screw 32, a spray bracket 33, a spray guide rail 34, a spray slider 35, a water pipe (not shown) and a spray gun 36. The second motor 31 is fixed on the frame 1, the second motor 31 controls the second screw rod 32 to rotate, the middle of the spraying bracket 33 is installed on the second screw rod 32, the spraying guide rail 34 is vertically arranged on the inner side of the frame 1, the spraying slide block 35 is movably installed on the spraying guide rail 34, and two ends of the spraying bracket 33 are installed on the spraying slide block 35 and move up and down along the spraying guide rail 34. The water pipe is fixed on the spraying bracket 33, and the spray guns 36 are uniformly distributed on the water pipe. The water pipe is externally connected with a water pump and a water tank.
The suction assembly includes an inner sliding guide 41, an inner sliding block 42, an outer sliding guide 51, an outer sliding block 52, a first push rod 61, a first vacuum chuck 62, a vacuum generator (not shown), a weight 71, a power assembly 8, a rope 72, a connecting member 73, a second push rod 63, and a second vacuum chuck 64. The first vacuum chuck 62 and the second vacuum chuck 64 in this embodiment are conventional vacuum chucks. The inner sliding guide rail 41, the inner slide block 42, the outer sliding guide rail 51, the outer slide block 52, the first push rod 61 and the first vacuum suction cup 62 are respectively arranged in two groups and are positioned at the left side end and the right side end of the machine frame. The second push rod 63 and the second vacuum chuck 64 are arranged in 2-3 groups and distributed at the upper and lower side ends of the frame 1.
Referring to fig. 5, the inner sliding guide 41 is vertically fixed inside the frame 1, and an inner slider 42 is movably mounted on the inner sliding guide 41. An outer sliding guide rail 51 is vertically fixed on the outer side of the frame 1, and an outer sliding block 52 is movably arranged on the outer sliding guide rail 51. The first push rod 61 is mounted on the outer slide block 52 through a connecting piece 73 and can move up and down along the outer slide rail 51. And a first vacuum suction cup 62 connected to the shaft end of the first push rod 61. The second push rod 63 is fixed at the bottom end of the frame 1, the second vacuum chuck 64 connected with the shaft end of the second push rod 63, and the first vacuum chuck 62 and the second vacuum chuck 64 are both connected with the vacuum generator. The counterweight 71 is hooked and connected with the connecting piece 73 through the rope 72, and one side of the counterweight 71 is fixed on the inner slide block 42. The weight of the weight 71 is set to W1The sum of the weight of the connecting member 73, the first push rod 61 and the first vacuum chuck 62 is W2Is provided with W1＞W2So that the weight 71 naturally moves along the inner sliding guide rail 41 to the bottom end.
And the power component 8 is connected with the balancing weight 71 and is used for driving the balancing weight 71 to move upwards along the inner sliding guide rail 41. The power assembly 8 includes a motor 81, a linear screw 82 and a support plate 83. The motor 81 controls the linear screw rod 82 to rotate, one end of the supporting plate 83 is installed on the linear screw rod 82, and the other end supports the balancing weight 71.
Two groups of pulleys 74 are arranged above the frame 1, one group of pulleys 74 is arranged on the inner side above the frame 1, one group of pulleys 74 is arranged at the top end of the frame 1, one end of the rope body 72 is hooked on the balancing weight 71, and the other end of the rope body is turned to the outer side of the frame 1 to be hooked with the connecting piece 73 after passing through the two groups of pulleys 74 in sequence.
As shown in fig. 6, the working principle of the present embodiment is described in detail as follows.
1. As shown in fig. 6a, before the frame 1 descends, the motor 81 controls the supporting plate 83 to drive the counterweight block 71 to ascend to the top end of the inner side, at this time, the first push rod 61 is located at the bottom end of the outer side of the frame 1, and the first push rod 61 is pushed out to control the first vacuum chuck 62 to be adsorbed on the outer wall surface. The second push rod 63 pushes out to control the second vacuum chuck 64 to be adsorbed on the outer wall surface. After the adsorption is stable, the spray gun 34 moves vertically along the spray guide rail 32 to spray and clean the outer wall door and window.
2. As shown in fig. 6b, the lifting assembly 2 drives the whole rack 1 to move downwards, and the second push rod 63 contracts to control the second vacuum chuck 64 to separate from the outer wall surface. The supporting plate 83 is driven by the motor 81 to descend synchronously, and at the moment, the supporting plate 83 does not support the balancing weight 71. The connecting member 73 moves upward relative to the outer sliding guide 51, and the first vacuum chuck 62 is always attached to the outer wall surface, so as to ensure the stable movement of the whole rack 1. After the outer wall surface is moved to the right position, the second push rod 63 pushes out to control the second vacuum chuck 64 to adsorb the outer wall surface again. The spray gun 34 spray-cleans the outer wall door and window.
3. As shown in fig. 6c, after the previous step of cleaning, the second vacuum chuck 64 is kept attached to the outer wall surface, the first push rod 61 is retracted to control the first vacuum chuck 62 to be detached from the outer wall surface, the motor 81 controls the supporting plate 83 to drive the counterweight block 71 to rise to the top end of the inner side, and the connecting member 73 drives the first push rod 61 and the first vacuum chuck 62 to descend to the bottom end, and then returns to the initial state shown in fig. 6 a.
And repeating the steps until the whole rack 1 moves to the bottommost part of the outer wall, and completing the spraying and cleaning of all the outer wall doors and windows.
Example two
The difference between the present embodiment and the first embodiment is that the suction assembly does not include the second pushing rod 63 and the second vacuum chuck 64. In this embodiment, the first vacuum chuck 62 is a slide chuck. The sliding type suction cup can adopt a structure with the publication number of CN106419769B, CN110250984A, CN 209315761U or CN 107149443A.
As shown in fig. 7, the working principle of the present embodiment is described in detail as follows.
1. Referring to fig. 7a, before the frame 1 descends, the motor 81 controls the supporting plate 83 to drive the weight block 71 to ascend to the top end of the inner side, at this time, the first push rod 61 is located at the bottom end of the outer side of the frame 1, and the first push rod 61 is pushed out to control the first vacuum chuck 62 to be adsorbed on the outer wall surface. After the adsorption is stable, the spray gun 34 moves vertically along the spray guide rail 32 to spray and clean the outer wall door and window.
2. As shown in fig. 7b, the hoisting assembly 2 drives the whole frame 1 to move downward, and the supporting plate 83 is driven by the motor 81 to descend synchronously without supporting the counterweight 71. The connecting member 73 moves upward relative to the outer sliding guide 51, and the first vacuum chuck 62 is always attached to the outer wall surface, so as to ensure the stable movement of the whole rack 1. After moving to the right position, the spray gun 34 sprays and cleans the outer wall door and window.
3. As shown in fig. 7c, after the previous step of cleaning, the motor 81 controls the supporting plate 83 to support and drive the weight block 71 to rise to the top end of the inner side, and simultaneously the connecting member 73 drives the first push rod 61 and the first vacuum chuck 62 to fall to the bottom end, during the falling process, the first vacuum chuck 62 is slidingly adsorbed on the outer wall surface, and returns to the initial state shown in fig. 6 a.
And repeating the steps until the whole rack moves to the bottommost part of the outer wall, and completing the spraying and cleaning of all the outer wall doors and windows.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides an automatic spray outer wall door and window's robot which characterized in that: the device comprises a rack, a hoisting assembly, a control module, a spraying assembly and an adsorption assembly, wherein one end of the hoisting assembly is connected with the rack, the other end of the hoisting assembly is hung above a building, and the control module is in control connection with the hoisting assembly, the spraying assembly and the adsorption assembly; the spraying assembly is arranged on the inner side of the frame;
the adsorption component comprises:
the inner sliding guide rail is vertically fixed on the inner side of the rack, and an inner sliding block is movably arranged on the inner sliding guide rail;
the outer sliding guide rail is vertically fixed on the outer side of the rack, and an outer sliding block is movably arranged on the outer sliding guide rail;
the first push rod is arranged on the outer sliding block through a connecting piece and can move up and down along the outer sliding guide rail;
the first vacuum sucker is connected with the shaft end of the first push rod;
the vacuum generator is connected with the first vacuum chuck;
the counterweight block is hooked and connected with the connecting piece through a rope body, one side of the counterweight block is fixed on the inner sliding block, and the counterweight block naturally moves to the bottom end along the inner sliding guide rail;
and the power component is connected with the balancing weight and is used for driving the balancing weight to move upwards along the inner sliding guide rail.
2. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the frame top be provided with a plurality of pulleys, rope body one end hook on the balancing weight, the other end turns to the outside of frame and hooks with the connecting piece behind the pulley.
3. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the power assembly comprises a motor, a linear screw rod and a supporting plate, wherein the motor controls the linear screw rod to rotate, one end of the supporting plate is installed on the linear screw rod, and the other end of the supporting plate supports the balancing weight.
4. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the first vacuum chuck is a sliding chuck.
5. The robot for automatically spraying doors and windows on the outer wall of any one of claims 1 to 4, wherein: the adsorption assembly further comprises a plurality of second push rods and second vacuum chucks connected with the shaft ends of the second push rods, the second push rods are fixed at the bottom end and the top end of the rack, and the second vacuum chucks are connected with a vacuum generator.
6. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the spraying assembly comprises a second motor, a second lead screw, a spraying support, a water pipe and a spray gun, the second motor is fixed on the rack, the second motor controls the second lead screw to rotate, the spraying support is installed on the second lead screw, the water pipe is fixed on the spraying support, and the spray gun is evenly distributed on the water pipe.
7. The robot for automatically spraying doors and windows on external walls according to claim 6, wherein: the spraying device is characterized by further comprising a vertically arranged spraying guide rail, wherein a spraying sliding block is movably mounted on the spraying guide rail, and the spraying support is mounted on the spraying sliding block and moves up and down along the spraying guide rail.
8. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the rack is a hanging basket, the control module is installed on the hanging basket, a control button is arranged on the control module, and an electric pressing device capable of achieving pressing action is installed on the control button.
9. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the hoisting component comprises a winch, a steel wire rope, a step-counting wheel and an encoder,
the winch is arranged above the building, the upper end of the steel wire rope is fixed on the winch, and the lower end of the steel wire rope is fixed on the rack; or the winch is arranged on the rack, the upper end of the steel wire rope is fixed above the building, and the lower end of the steel wire rope is wound on the winch;
the step counting wheel is arranged on the steel wire rope, rolls along with the steel wire rope and drives an encoder connected with the steel wire rope to count, and the encoder is in signal connection with the control module.
10. The robot for automatically spraying doors and windows on external walls according to claim 1, wherein: the device comprises a rack, and is characterized by further comprising a camera assembly and a holder moving in an omnidirectional manner, wherein the holder is fixed on the rack, and the camera assembly is installed on the holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020101333.4U CN212346380U (en) | 2020-01-17 | 2020-01-17 | Robot for automatically spraying outer wall door and window |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020101333.4U CN212346380U (en) | 2020-01-17 | 2020-01-17 | Robot for automatically spraying outer wall door and window |
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| Publication Number | Publication Date |
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| CN212346380U true CN212346380U (en) | 2021-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020101333.4U Active CN212346380U (en) | 2020-01-17 | 2020-01-17 | Robot for automatically spraying outer wall door and window |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601485A (en) * | 2021-08-11 | 2021-11-05 | 合肥工业大学 | Intelligent spraying robot for high-rise building outer wall |
| CN118002335A (en) * | 2024-04-08 | 2024-05-10 | 山东智宏新材料科技有限公司 | Aluminum alloy door and window leakproofness drenches water check out test set |
-
2020
- 2020-01-17 CN CN202020101333.4U patent/CN212346380U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601485A (en) * | 2021-08-11 | 2021-11-05 | 合肥工业大学 | Intelligent spraying robot for high-rise building outer wall |
| CN113601485B (en) * | 2021-08-11 | 2023-07-18 | 合肥工业大学 | Intelligent spraying robot for outer wall of high-rise building |
| CN118002335A (en) * | 2024-04-08 | 2024-05-10 | 山东智宏新材料科技有限公司 | Aluminum alloy door and window leakproofness drenches water check out test set |
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