CN219298694U

CN219298694U - Vertical wall body seam machine based on tracking

Info

Publication number: CN219298694U
Application number: CN202320792290.2U
Authority: CN
Inventors: 牟卿志; 孙宗升; 姜少燕
Original assignee: Weifang Vocational College
Current assignee: Weifang Vocational College
Priority date: 2023-04-12
Filing date: 2023-04-12
Publication date: 2023-07-04
Anticipated expiration: 2033-04-12

Abstract

The utility model belongs to the technical field of decoration design, and particularly relates to a vertical wall body seam-beautifying machine based on tracking, which comprises a machine body, wherein the machine body is provided with four corners, driving wheels driven by servo motors are respectively arranged at the four corners of the machine body, the bottom surface of the machine body is close to a plane where the bottoms of the four driving wheels are located, a circular airflow hole is formed in the middle of the machine body, the machine body is upwards provided with a negative pressure area side wall along the hole wall of the airflow hole, a negative pressure adsorption unit is arranged in the airflow hole, one end of the machine body is provided with a storage and feeding unit, the other end of the machine body is provided with a power supply unit, the negative pressure adsorption unit is electrically connected with the power supply unit, the negative pressure adsorption unit comprises a cross beam structure which is positioned in the airflow hole and fixed on the negative pressure area side wall, and a negative pressure fan is arranged on the cross beam structure. The utility model realizes the seam-beautifying of the higher wall surface, in particular to the high-risk areas such as the outer vertical surface of a large building.

Description

Vertical wall body seam machine based on tracking

Technical Field

The utility model belongs to the technical field of decoration design, and particularly relates to a vertical wall body joint machine based on tracking.

Background

When the ceramic tiles are stuck on the surface of a building, gaps are reserved among the ceramic tiles, the ceramic tile gaps can be changed from white to black, the problems of extremely insanitary and beautiful appearance are solved, bacteria can grow in the black tile gaps, peculiar smell is generated, the health of a human body is seriously endangered, the bacteria are particularly obvious in summer, the ceramic tile gap beautifying agent is required to be filled among the gaps of the ceramic tiles, the ceramic tile gap beautifying agent has luster, the color is rich, natural and fine, the surface is smooth like porcelain after solidification, the ceramic tile gap can be scrubbed together with the ceramic tiles, the characteristics of permeation resistance and water resistance are achieved, the fact that the real ceramic tile gaps are never changed into black can be achieved, but an effective automatic gap beautifying means is lacked at a higher position of a wall surface in the present stage.

A wall face seam beautifying device for interior decoration is that patent number ZL202220556064.X is close to the gap department of wall ceramic tile with the discharging pipe, work through the pump that takes out that sets up, take out the inside seam beautifying agent of discharging box, extrude in gap department through the discharging pipe through the hose, the motor work that the rethread set up, make the hob drive and remove the case, make the seam to seam, scrape unnecessary seam beautifying agent through the scraper blade that sets up, remove the inside of retrieving the case with excessive seam beautifying agent and collect, through the sponge piece, wipe the seam beautifying agent on surface to the surface of ceramic tile. But the device can not make beautiful seam to the higher position of wall, especially high risk areas such as the outer facade of large-scale building.

Disclosure of Invention

The utility model aims to provide a vertical wall body joint-beautifying machine based on tracking, which solves the problem that the joint-beautifying cannot be carried out on the higher position of the wall surface in the background technology.

In order to achieve the technical purpose, the technical scheme of the utility model comprises the following steps:

the utility model provides a vertical wall body seam machine based on tracking, includes the organism, the organism is equipped with four angles, four angles of organism are equipped with the drive wheel by servo motor drive respectively, the bottom surface of organism is close to four the bottom place plane of drive wheel is equipped with circular air current hole, the organism is upwards equipped with negative pressure district lateral wall along the pore wall of air current hole, the inside negative pressure adsorption unit that is equipped with of air current hole, the one end of organism is equipped with stores up pay-off unit, the other end of organism is equipped with power supply unit, negative pressure adsorption unit with power supply unit electricity is connected;

the negative pressure adsorption unit comprises a cross beam structure which is positioned in the airflow hole and fixed on the side wall of the negative pressure area, and a negative pressure fan is arranged on the cross beam structure.

As an improvement, the power supply unit comprises a power supply cabin, a power supply is arranged in the power supply cabin, and a controller connected with the power supply is also arranged in the power supply cabin.

As a further improvement, a camera and an infrared sensor are arranged on one side, far away from the storage and feeding unit, of the power supply cabin, the camera and the infrared sensor are both in communication connection with the controller, and the controller is in communication connection with the servo motor.

As a further improvement, the cross beam structure is provided with a differential pressure sensor, one pressure interface of the differential pressure sensor is positioned below the negative pressure fan, the other pressure interface is positioned above the negative pressure fan, the differential pressure sensor is in communication connection with the controller, and the controller is in communication connection with the negative pressure fan.

As a further improvement, the storage and feeding unit comprises a storage cabin fixed on the machine body, an enabling device and a storage device are arranged in the storage cabin, the enabling device is connected with the controller through a control bus, an extrusion nozzle is arranged outside the storage cabin, the extrusion nozzle penetrates through the storage cabin and is communicated with the storage device, and the enabling device is connected with the extrusion nozzle.

As a further improvement, a feed hole is formed in the top of the storage cabin, and an external feed pipe is connected to the feed hole.

By adopting the technical scheme, the utility model has the beneficial effects that:

according to the vertical wall body joint-beautifying machine based on tracking, the negative pressure adsorption unit can adsorb the machine body on a vertical wall surface, the servo motor drives the machine body to advance for joint-beautifying, joint-beautifying on a higher wall surface is realized, particularly, high-risk areas such as an outer vertical surface of a large building are realized, and through detection of the pressure difference sensor, the power can be regulated in real time according to the change of the pressure difference, the adsorption effect of the machine body and the wall surface is improved, and the machine body is prevented from falling.

The feed port is connected with an external feed pipe, and is used for conveying the seam beautifying agent to the storage cabin, so that the seam beautifying agent is not influenced by gravity under the pressure of the external feed pipe, and the seam beautifying agent can be continuously and uniformly conveyed to the extrusion nozzle and filled in the gaps of the ceramic tiles.

The information is collected through the infrared sensor and the camera and is transmitted to the controller, the controller controls the seam making machine to track along the appointed seam, and when the seam making machine reaches the end point, the controller controls the servo motor to drive the seam making machine to turn to enter the next working route.

Drawings

FIG. 1 is a schematic diagram of the structure of the present embodiment;

FIG. 2 is a top view of the present embodiment;

FIG. 3 is a schematic view of the structure of the negative pressure fan and the negative pressure region side wall in the present embodiment;

wherein: the device comprises a machine body, a 2-driving wheel, a 3-servo motor, a 4-power supply cabin, a 5-camera, a 6-infrared sensor, a 7-storage cabin, an 8-extrusion nozzle, a 9-feeding hole, a 10-airflow hole, a 11-negative pressure area side wall, a 12-cross beam structure, a 13-negative pressure fan, a 14-motor, a 15-impeller, a 16-differential pressure sensor and a 17-control bus.

Detailed Description

The utility model will be further described with reference to the following detailed description and the accompanying drawings. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present utility model and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.

As shown in fig. 1-3, a vertical wall body seam-beautifying machine based on tracking comprises a machine body 1, wherein the machine body 1 is provided with four corners, the four corners of the machine body 1 are provided with driving wheels 2, the bottom surface of the machine body 1 is close to the plane where the bottoms of the four driving wheels 2 are located, when the wall body is in seam-beautifying, the bottom of the machine body 1 is close to the wall body, servo motors 3 are respectively arranged at the positions, corresponding to the four driving wheels 2, of the top end of the machine body 1, the output ends of the four servo motors 3 are respectively connected with the four driving wheels 2, and the servo motors 3 can drive the driving wheels 2 to rotate so as to realize movement of the machine body 1.

Preferably, the machine body is made of light materials, such as carbon fiber composite materials or engineering plastics such as PA, PEEK and the like.

One end of the machine body 1 is provided with a power supply unit, the power supply unit comprises a power supply cabin 4 fixedly arranged on the machine body 1, a power supply and a controller are arranged in the power supply cabin 4, the controller is electrically connected with the power supply, the power supply adopts a dry battery, a storage battery or a lithium battery and the like, and the controller can control the work of each unit on the seam beautifying machine.

The camera 5 and the infrared sensor 6 are arranged on the outer side wall of the power cabin 4, the detection ends of the camera 5 and the infrared sensor 6 face the outer side of the machine body 1, the running track of the machine body 1 is detected, the camera 5 and the infrared sensor 6 are connected with the controller in a communication mode, information collected by the infrared sensor 6 is mainly used for tracking judgment, information collected by the camera 5 is mainly used for end point judgment, tracking correction and next path starting point positioning work of a current path, after the information collected by the infrared sensor 6 and the camera 5 is transmitted to the controller for operation, the seam machine is controlled to advance along a specified path, and when the end point is reached, the seam machine can be judged and a related strategy is adopted to enter the next working route for working.

The other end of organism 1 is equipped with stores up pay-off unit, stores up pay-off unit including the fixed storage cabin 7 that sets up on organism 1, the inside of storage cabin 7 is equipped with enabling device and storing device, enabling device passes through control bus 17 and is connected with the controller, the outside of storage cabin 7 is equipped with extrusion nozzle 8, extrusion nozzle 8's nozzle end slant organism 1's outside sets up towards the bottom of organism 1, the seam agent is extruded to the gap of ceramic tile on the wall body, extrusion nozzle 8 passes storage cabin 7 and storing device intercommunication, enabling device is connected with extrusion nozzle 8.

Preferably, the enabling device is an electric control switch capable of controlling the extrusion nozzle 8 to discharge, when the controller judges that the seam machine is in a normal tracking state and in a working state requiring seam, the controller can output a signal to start the enabling device to control the extrusion nozzle 8 to discharge so that the extrusion nozzle 8 extrudes the seam beautifying agent at a proper flow rate, and when the controller judges that the machine body is in a path adjustment or return state currently, the controller gives out a signal to close the enabling device so as to avoid waste caused by outflow of the seam beautifying agent.

The feed port 9 has been seted up at the top of storage cabin 7, and feed port 9 is connected with the outside feed pipe, and the seam agent of outside feed pipe passes through storage cabin 7 to extrusion nozzle 8 feed to under outside feed pressure, the seam agent does not receive gravity influence, can last to the extrusion nozzle 8 in carry out the feed.

The middle part of organism 1 is equipped with circular air current hole 10, organism 1 upwards is equipped with negative pressure district lateral wall 11 along the pore wall of air current hole 10, negative pressure district lateral wall 11 passes through bolt and organism 1 fixed connection, be equipped with negative pressure adsorption unit in the air current hole 10, negative pressure adsorption unit is including fixing the cross beam structure 12 on negative pressure district lateral wall 11, be equipped with negative pressure fan 13 on the cross beam structure 12, preferably, the motor 14 of negative pressure fan 13 is fixed in the central part of cross beam structure 12, the fixed impeller 15 that is equipped with of rotation axis of motor 14, motor 14 can drive impeller 15 rotation, impeller 15 rotation makes the inside air of air current hole 10 flow to organism 1 top, make the inside of air current hole 10 form the negative pressure state, and then make organism 1 adsorb on vertical wall.

Preferably, the cross beam structure 12 is further provided with a differential pressure sensor 16, the differential pressure sensor 16 can detect the differential pressure condition inside the airflow hole 10, the differential pressure sensor 16 and the negative pressure fan 13 are both in communication connection with the controller, one pressure interface of the differential pressure sensor 16 is located below the negative pressure fan 13, the other pressure interface is located above the negative pressure fan 13, the differential pressure sensor 16 detects the pressure difference between the upper side of the negative pressure fan 13 and the lower side of the negative pressure fan 13 and transmits the pressure difference to the controller, and the controller controls the negative pressure fan 13 to adjust power in real time, so that the machine body 1 is tightly attached to a wall.

Preferably, the tires of the four driving wheels 2 are made of rubber materials with high friction coefficients, such as butadiene rubber or styrene butadiene rubber, longitudinal anti-slip patterns are arranged in the middle of the tread of the tire, and transverse anti-slip patterns are arranged on two sides of the tire shoulder, so that the friction force between the driving wheels 2 and a wall body can be increased, and the machine body 1 is further prevented from sliding off the wall body.

Preferably, the servo motor 3 is in communication connection with a controller, when the machine body 1 is in a tracking state, the controller controls the servo motor 3 to drive the machine body 1 to advance at a proper speed, and when the machine body 1 needs to be steered, the controller transmits a steering signal to the servo motor 3, and the servo motor 3 drives the driving wheel 2 to control the machine body 1 to steer in a differential steering mode.

During operation, the negative pressure fan 13 is started, the joint machine body 1 is tightly attached to a vertical wall, the joint agent is conveyed to the extrusion nozzle 8 through the external feed pipe, the camera 5 and the infrared sensor 6 collect information and convey the information to the controller, the controller analyzes and then controls the servo motor 3, the servo motor 3 drives the driving wheel 2 to rotate, and then drives the joint machine to advance, the joint is carried out on a wall tile gap, the joint machine carries out information collection in real time in the advancing process, the camera 5 and the infrared sensor 6 convey the information to the controller in real time, the controller controls the joint machine to track and advance along a specified path, and when the end point is reached, the controller controls the servo motor 3 to drive the joint machine to rotate.

In the utility model, the negative pressure fan 13 controls the machine body 1 to be adsorbed on a vertical wall surface, the servo motor 3 drives the machine body 1 to advance for seam making, the seam making on a higher wall surface, especially on high-risk areas such as the outer vertical surface of a large building, is realized, and the power can be regulated in real time according to the change of the pressure difference through the detection of the pressure difference sensor 16, so that the adsorption effect of the machine body and the wall surface is improved, and the machine body is prevented from falling.

The above-described embodiments of the present utility model do not limit the scope of the present utility model. Any other corresponding changes and modifications made in accordance with the technical idea of the present utility model shall be included in the scope of the claims of the present utility model.

Claims

1. The utility model provides a vertical wall body seam machine based on tracking, includes the organism, the organism is equipped with four angles, four angles of organism are equipped with the drive wheel by servo motor drive respectively, its characterized in that, the bottom surface of organism is close to four the bottom place plane of drive wheel is equipped with circular air current hole, the organism is upwards equipped with negative pressure district lateral wall along the pore wall of air current hole, the inside negative pressure adsorption unit that is equipped with of air current hole, one end of organism is equipped with stores up the pay-off unit, the other end of organism is equipped with the power supply unit, negative pressure adsorption unit with the power supply unit electricity is connected;

2. The machine of claim 1, wherein the power supply unit comprises a power supply compartment, a power supply is arranged in the power supply compartment, and a controller connected with the power supply is further arranged in the power supply compartment.

3. The tracking-based vertical wall body joint beautifying machine according to claim 2, wherein a camera and an infrared sensor are arranged on one side, away from the storage and feeding unit, of the power supply cabin, the camera and the infrared sensor are both in communication connection with the controller, and the controller is in communication connection with the servo motor.

4. The tracking-based vertical wall body joint machine according to claim 3, wherein a differential pressure sensor is arranged on the cross beam structure, one pressure interface of the differential pressure sensor is located below the negative pressure fan, the other pressure interface of the differential pressure sensor is located above the negative pressure fan, the differential pressure sensor is in communication connection with the controller, and the controller is in communication connection with the negative pressure fan.

5. The machine of claim 3, wherein the storage and feeding unit comprises a storage cabin fixed on the machine body, an enabling device and a storage device are arranged in the storage cabin, the enabling device is connected with the controller through a control bus, an extrusion nozzle is arranged outside the storage cabin, the extrusion nozzle passes through the storage cabin and is communicated with the storage device, and the enabling device is connected with the extrusion nozzle.

6. The machine of claim 5, wherein the top of the storage compartment is provided with a feed hole, and the feed hole is connected with an external feed pipe.