CN214402605U - Robot for spraying and cleaning wall surface - Google Patents

Abstract

A robot for spraying and cleaning wall surface. The structure includes: the base control robot and the working robot are connected through a cable, a winch on the base control robot controls the working robot to move on the wall surface through the telescopic hoisting support, the working robot detects according to a sensor on the spraying roller and machine vision, and after an area needing to be constructed is sprayed through a nozzle arranged on the spraying roller, the construction of a target area is completed; because the building high altitude construction environment is abominable, the workman is dangerous higher to lead to the enterprise to compete the power and descend, the applied robot in construction intelligent machine field is less simultaneously, can all adopt the robot of adsorbing fixed or electromagnetism fixed at the high building outer wall face operation, and reliable than the nature is low, adopts the robot that the electromagnetism is fixed, leads to the trapped orbit to be difficult to the installation because of the high floor, and is difficult to be applied to the production operation, the utility model provides a new solution.

Description

Robot for spraying and cleaning wall surface

Technical Field

The utility model relates to a construction intelligent machine field specifically is a be used for wall spraying, abluent robot.

Background

In the construction process of building wall surfaces, the competition of enterprises is reduced due to the fact that the high-altitude operation environment is severe, the labor intensity of workers is high, the danger is high, the workers are difficult to be recruited, and the production cost is high. Because it is less to be applied to building operation robot at present, can all adopt the absorption fixed or electromagnetism is fixed at the robot of high building outer wall face operation, and the grit structure and the unevenness of high building outer wall face lead to adopting the fixed robot reliability of absorption to hang down, adopt the fixed robot of electromagnetism, lead to the trapped orbit to be difficult to the installation because of the high floor, and be difficult to be applied to the production operation.

Disclosure of Invention

For solving the background art the problem, the utility model provides a pair of be used for wall spraying, abluent robot, its structure includes: the base control robot and the working robot are connected through a cable; the winch arranged on the base control robot is wound and rotated through the circular roller, the telescopic hoisting support at the top of the robot is controlled through the base to release the cable, the position of the manufacturing robot on the wall surface is controlled to move, the rollers arranged on the operating robot are close to the upper end and the lower end of the operating robot, the weight of the operating robot body is borne while the operating robot body is coated in a rolling mode, the operating robot body is attached to the wall surface of an operating target, random shaking in the working state is avoided, the spraying rollers at the upper end and the lower end, the sensor and the machine vision detector on the support of the spraying rollers are used for performing spraying operation when the wall surface of the operating robot is detected, and construction of the target area is completed; when the environment of a working area is complex, an AR/VR 3D camera installed by a working robot transmits a real-time environment image to AR/VR glasses of a remote operator through a 5G and other delay-free networks to realize the real-time three-dimensional enhancement and presentation of the image, the operator adopts a human body action capture control system to dynamically control a plurality of freedom degree bionic mechanical arms on the left side and the right side of the working robot to realize the synchronization of the real-time actions of the remote robot, the operation is completed through spraying rollers of the mechanical arms, the bionic mechanical arms are installed on the left side and the right side of a working robot body, the shape of the bionic mechanical arms is similar to that of human arms, the bionic mechanical arms are of a plurality of joints and freedom degree structures, the 3D camera is composed of a left lens and a right lens, the detection and identification of the target operation are completed, and the operation is implemented under the mutual coordination of the mechanical arms, a sensor and a machine vision detector.

When the operation robot works, a hoisting cable of the operation robot forms an included angle with the vertical surface of a wall body, the operation robot is tightly clung to the wall surface through a roller to roll by utilizing the pressure of self weight, when the operation robot performs spraying or cleaning operation on the wall surface, the operation robot moves along a wall surface construction area under the control of a winch cable of a base control robot, and the base control robot controls spraying materials in a robot storage box to be conveyed to the operation robot through a conveying pipe; the spraying idler wheels of the working robot are provided with nozzles (the number of the nozzles is more than 1) in parallel at equal intervals, the nozzles can be increased or reduced according to the width of a construction area, namely, multi-point simultaneous spraying is formed, the nozzle opening is V-shaped, the spraying area is improved in use, the length specifications of the idler wheels and the spraying idler wheels can be changed in a modularization mode, the coverage area and the working efficiency are enlarged, each nozzle is provided with an electronic switch and is controlled by a signal fed back by a sensor and machine vision detection, the sensor and a machine vision detector are arranged on the spraying idler wheels, when a wall hole or no wall is detected, the corresponding nozzle is automatically closed through detection signal feedback, and when a concave surface is met, the operation can be completed through the spraying idler wheels rotating at the upper end and the lower end; when cleaning operation is carried out, after the clear water containing detergent is sprayed out by the spray roller nozzle, the cleaning operation is completed by the rotation of the roller, and the motor arranged in the roller provides power for driving.

The working robot returns a signal after finishing the current construction area, the base control robot withdraws the working robot through the hoisting support control cable rope, and the working robot moves to the next working area to repeat the above construction operation through a planned path.

The base control robot completes the path track through the controller, can automatically move to operate by utilizing the universal wheels, has the steering control consisting of the universal wheels and the servo motors in the supports, and has the characteristics of large construction area, high operation speed, stable building quality and the like.

Drawings

The invention is explained in detail below with reference to the figures and with reference to exemplary embodiments:

fig. 1 is a schematic diagram of a robot construction operation with complete practical form, wherein the components are marked as follows: the base controls the robot 1, the working robot 2, the cable and the feeding pipe 3.

Fig. 2 is a schematic structural diagram of the base control robot of the present invention, in which the components are marked as: 1-1 parts of controller, 1-2 parts of winch, 1-3 parts of hoisting bracket, 1-4 parts of storage box and 1-5 parts of universal wheel.

Fig. 3 is a schematic structural diagram of an operation robot of the present invention, in which the components are marked as: 2-1 parts of rollers, 2-2 parts of spraying rollers, 2-3 parts of sensors and machine vision detectors, 2-4 parts of nozzles, 2-5 parts of AR/VR 3D cameras and 2-6 parts of bionic manipulators.

Detailed Description

In order to facilitate understanding of the technical features of the present invention, the present invention will be further explained with reference to the accompanying drawings in combination with the embodiments, referring to fig. 1 to 3, wherein the robot is composed of a base control robot 1 and an operation robot 2 connected via a cable and a feeding pipe 3.

During construction operation, a base control robot 1 positioned on the roof is driven by a controller 1-1, a winch 1-2 controls a cable and a feeding pipe 3 through a hoisting support 1-3, and is connected with an operating robot 2 hoisted at the end of the cable 3, and the spraying materials are conveyed from the material storage box 1-4 of the base control robot 1 to the operation robot 2, the working robot 2 for wall construction utilizes a sensor and a machine vision detector 2-3 arranged on a spraying roller 2-2, after the position of the wall body condition is detected and fed back, the nozzle 2-4 sprays the construction area, the roller 2-1 rotates to smear, when the robot 2 sprays the hole or no wall body, according to the feedback signals detected by the sensor and the machine vision detector 2-3, the nozzle 2-4 corresponding to the position thereof is automatically closed; when the environment of an operation area is complex, real-time environment images are transmitted to AR/VR glasses of remote operators through an AR/VR 3D camera 2-5 installed on the operation robot 2 through a 5G and other non-delay networks to achieve real-time three-dimensional enhancement and presentation of the images, the operators adopt a human body action capturing control system to dynamically control a plurality of freedom degree bionic mechanical arms 2-6 on the left side and the right side of the operation robot 2 to achieve synchronization of real-time actions of the remote robots, and operation is completed through spraying rollers 2-2 of the bionic mechanical arms 2-6.

The working robot 2 returns a signal after finishing construction of the current area, the base control robot 1 controls the mooring rope 3 to withdraw the working robot 2 through the hoisting supports 1-3, and the working robot autonomously moves to the next working area through the planned path by using the universal wheels 1-5 to repeat the construction operation.

The foregoing embodiments illustrate and describe the principles and general structural features of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims (4)

1. The utility model provides a be used for wall spraying, abluent robot which characterized in that: the robot is formed by connecting a base control robot and an operating robot through a cable; the winch arranged on the base control robot is wound and rotated through the circular roller, the telescopic hoisting support at the top of the base control robot releases the cable, the position of the manufacturing robot on the wall surface is controlled to move, the idler wheels arranged on the operating robot are close to the upper end and the lower end of the operating robot, the weight of the operating robot body is borne while the operating robot is coated in a rolling mode, the operating robot body is attached to the wall surface of an operating target, and random shaking in the working state is avoided; the spraying rollers arranged at the upper end and the lower end, and the sensor and the machine vision detector arranged on the bracket realize detection operation; an AR/VR 3D camera is installed by the working robot, a plurality of degree-of-freedom bionic mechanical arms are installed on the left side and the right side of the working robot for controlling, and the operation is completed through a spraying roller installed on the mechanical arm,

when the operation robot works, the hoisting cable and the vertical surface of the wall form an included angle, and the hoisting cable is tightly attached to the wall surface through the roller by using the pressure of the self weight; nozzles are arranged on a spraying roller of the working robot side by side at equal intervals, the number of the nozzles is more than 1, and a motor is arranged in the roller and provides power for driving; the base control robot uses the universal wheels to move automatically, and the steering control of the base control robot is composed of the universal wheels and a servo motor in the support.

2. A robot for painting and cleaning a wall surface according to claim 1, wherein: the AR/VR 3D camera installed on the working robot transmits real-time environment images to AR/VR glasses of remote operators through a non-delay network, and the 3D camera is composed of a left lens and a right lens.

3. A robot for painting and cleaning a wall surface according to claim 1, wherein: the robot operator adopts a human body motion capture control system to dynamically control the bionic manipulators with a plurality of degrees of freedom at the left side and the right side of the operation robot body, and the bionic manipulators are similar to human arms in shape and are of a structure with a plurality of joints and degrees of freedom.

4. A robot for painting and cleaning a wall surface according to claim 1, wherein: the robot roller and the spraying roller are modularized in length and specification, the nozzle openings are V-shaped, each nozzle is provided with an electronic switch, and the working state is controlled by a sensor and a signal fed back by machine vision detection.

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