WO2021042672A1 - Mobile platform for exterior wall construction of building - Google Patents

Abstract

A mobile platform (200) for exterior wall construction of a building comprises a construction platform (1), a frame (2), a traveling wheel assembly (3), and a mobile platform (4). The frame (2) is movably connected to the construction platform (1) by means of the traveling wheel assembly (3). The traveling wheel assembly (3) comprises a driving wheel (3a1) and a swingable swing wheel (3a2), and when the frame (2) travels straight, the traveling directions of the two wheels are parallel to each other, and when the frame (2) makes a turn, the traveling directions of the two wheels form an included angle. The mobile platform (200) moves stably, and does not easily deviate from the movement path.

Description

Mobile platform for building exterior wall construction

Cross-references to related applications

This application is based on the Chinese patent application "Mobile Platform for Building Exterior Wall Construction" with the application number 201910824397.9 and the application date on September 02, 2019. The application number is 201910824401.1 and the Chinese patent application on September 02, 2019. "Screw hole plugging robot and building system with it", and the Chinese patent application "Automatic climbing truss and its top leveling device" with the application number 201910959041.6 and the application date of October 10, 2019 were filed and required the above The priority of the Chinese patent application, the entire content of the above-mentioned Chinese patent application is hereby incorporated into this application as a reference.

Technical field

This application relates to the technical field of construction equipment, specifically a mobile platform for building exterior wall construction.

Background technique

In the construction field, during the construction of middle and high-rise buildings, it is often necessary to perform various treatments on the external walls of buildings, such as leveling, filling, and painting the external walls. For example, during the construction of plugging screw holes on the outer wall of a building, construction workers often stand on the external scaffold and manually seal the screw holes. Because the number of screw holes are large and scattered in different positions on the outer wall, the construction time is long. , The amount of construction work is large, and there is a greater safety risk during the construction process. Some construction teams use external wall processing equipment, lifting platforms and trusses when processing external walls, and external wall processing equipment is erected on the lifting platforms to facilitate external wall construction. However, in the related art, the external wall treatment equipment provided on the lifting platform is not easy to adjust the position relative to the external wall, and the treatment coverage of the external wall is insufficient during the treatment, the movement is difficult, and the treatment efficiency is low.

The top of the existing truss is exposed and not connected with other components. If construction is performed on the top structural surface of the truss, it may be affected by factors such as gravity and weather, resulting in unbalanced and unstable top structure of the truss, and construction operation risk factor High; for example, if the weather is bad and the truss structure can be destroyed, the construction can only be stopped, or even the truss body can be dismantled, and the truss can be reinstalled until the truss damage factor is eliminated. Therefore, there are repeated installation and disassembly during the construction operation, which consumes a lot of resources.

Summary of the invention

This application aims to solve one of the technical problems in the related technology at least to a certain extent.

For this reason, this application proposes a mobile platform for building exterior wall construction. The mobile platform for building exterior wall construction moves stably and does not easily deviate from the motion track, can drive the end effector to perform a wide range of work, and solves the problem of When dealing with the problem of low end effector coverage and unstable movement.

The mobile platform for building exterior wall construction according to the embodiment of the present application includes: a construction platform including a first platform and a second platform arranged in an up-and-down direction; a frame, the frame being connected to the first Between the platform and the second platform; walking wheel assembly, the walking wheel assembly is arranged on the frame, the walking wheel assembly is on the first platform and/or the second platform to drive all The frame travels along the construction platform, the walking wheel assembly includes a driving wheel and a swinging wheel. The driving direction of the swinging wheel is swingable relative to the driving direction of the driving wheel. When the frame is traveling straight, the driving The running directions of the wheels and the swinging wheels are parallel, and the driving wheels and the swinging wheels form an angle when the frame is turned; a mobile platform, which is connected to the vehicle so as to be liftable Shelf.

According to the mobile platform for building exterior wall construction according to the embodiment of the present application, by arranging matching walking wheel assemblies on the first platform or/and the second platform, the frame can drive the mobile platform on the first platform and the second platform. Driving between platforms. When the frame is in the process of driving, because the driving wheel and the swinging wheel are set, the driving wheel drives the whole frame to move forward. While the swinging wheel follows the driving wheel to move forward, it can also swing relative to the driving direction of the driving wheel. When the frame is driving in a turn, the driving wheel quickly passes through the turn, and the swinging wheel swings at a certain angle relative to the driving wheel and adaptively adjusts the direction of travel, making the overall frame easier to turn and not easy to deviate from the driving track. The mobile platform can also move up and down on the frame during the process of changing its position following the driving of the frame.

Optionally, a first rail and a second rail are respectively provided on the first platform and the second platform, and the frame slides between the first rail and the second rail.

Optionally, the first platform and the second platform are arranged to extend horizontally, the first platform and the second platform are suitable for surrounding the outer wall of the building, and the first platform is provided with edge The first guide rail closed in the circumferential direction of the outer wall of the building, the second platform is provided with a second guide rail closed in the circumferential direction of the outer wall of the building, the first guide rail and the second guide rail are arranged in parallel , So that the frame can travel in a circular direction relative to the peripheral surface of the outer wall of the building along the construction platform.

Optionally, the first guide rail and the second guide rail each include a multi-section linear guide rail and a multi-section steering guide rail, and the steering guide rail is connected between two adjacent sections of the linear guide rail.

Optionally, the traveling wheel assembly includes a first traveling wheel assembly and a second traveling wheel assembly. The first traveling wheel assembly runs along the first rail and the second traveling wheel assembly runs along the second rail. When traveling, one of the first traveling wheel assembly and the second traveling wheel assembly is formed as a traveling wheel assembly, the traveling wheel assembly includes the driving wheel and the swinging wheel, and the first traveling wheel The other group of the assembly or the second traveling wheel assembly is formed as a guide wheel assembly to follow the traveling wheel assembly to walk.

Optionally, the travel wheel assembly further includes a first swing plate provided on the frame, the driving wheel is rotatably connected to the first swing plate through a connecting pin, and the swing wheel can swing The ground is connected to the first swing plate, and the swing wheel swings on the first rail or the second rail.

Optionally, the traveling wheel assembly further includes a traveling drive mechanism, the traveling drive mechanism drives the driving wheel to rotate, the driving wheel includes a plurality of rollers, and the plurality of rollers are respectively surrounded by the first guide rail Or on the outer periphery of the second guide rail, the rolling contact surfaces of the plurality of rollers are in contact with the plurality of side surfaces of the first guide rail or the second guide rail.

Optionally, the guide wheel assembly includes a main guide wheel, a secondary guide wheel and a second swing plate, and the main guide wheel and the secondary guide wheel are respectively connected to the second at intervals along the traveling direction of the frame. On the swing plate, the second swing plate is swingably connected to the frame.

Optionally, it further includes a mobile lifting assembly, which includes a chain, at least two sprockets, and a mobile lifting motor. The chain is engaged with at least two sprockets for transmission, and the mobile lifting motor drives the The chain moves up and down relative to the sprocket, and the chain is connected to the mobile platform.

Optionally, the frame includes two brackets arranged in parallel, the brackets extending along the lifting direction of the mobile platform, the mobile lifting assembly further includes a plurality of guide assemblies, and one end of the plurality of guide assemblies are respectively They are slidably connected to the two brackets, and the other ends of the plurality of guide components are respectively connected to both sides of the mobile platform.

Optionally, an end effector is further included, and the end effector is connected to the mobile platform to process the exterior wall of the building.

Further optionally, the end effector is a screw hole plugging robot, and the screw hole plugging robot is used for plugging the screw hole, and includes: a turntable that can rotate relative to the screw hole; and auger mechanism The auger mechanism is connected to the turntable, the active end of the auger mechanism can be extended or retracted relative to the turntable, and the auger mechanism is used to ream the screw hole; Mechanism, the water spray mechanism is connected to the turntable, the water spray mechanism is used to spray water to the screw hole; the mortar spray mechanism, the mortar spray mechanism is connected to the turntable, the mortar spray mechanism Used to fill the screw hole with mortar; a smoothing mechanism, the smoothing mechanism is connected to the turntable, the smoothing mechanism is used to smooth the screw hole; the auger mechanism, the spray The water mechanism, the mortar blasting mechanism, and the smoothing mechanism are arranged on the turntable at intervals in the circumferential direction.

Optionally, it further includes a positioning recognition component, the positioning recognition component is connected to the turntable, the positioning recognition component includes a visual camera and a sensor, and the positioning recognition component is used to recognize the position of the screw hole.

Optionally, the turntable is formed in a circular shape, the positioning recognition assembly is provided on the center of rotation of the turntable, the auger mechanism, the water spray mechanism, the mortar spray mechanism, and the smoothing mechanism The positioning recognition component is arranged on the turntable around the positioning.

Optionally, it further includes a rotation drive mechanism that drives the turntable to rotate, and the rotation drive mechanism includes a slewing motor and a reducer, the slewing motor is connected to the reducer, and the reducer is connected to the reducer. The turntable is connected.

Optionally, the mortar spray mechanism includes a telescopic mechanism, a spray cylinder for storing mortar, and a spray head for spraying mortar, the spray head is connected to the spray cylinder, and the telescopic mechanism One end of the spray cylinder is connected to the spray cylinder, and the other end of the telescopic mechanism is connected to the turntable. When the telescopic mechanism moves, the spray cylinder extends or retracts relative to the turntable.

Optionally, the water spray mechanism includes a water spray drive mechanism and a water spray gun, the water spray drive mechanism is connected to the turntable and is connected to the water spray gun, and the water spray drive mechanism drives the spray gun. The water gun sprays water.

Optionally, the water spray gun includes a water delivery pipe and a water jet, the water delivery pipe communicates with the water jet, the extension direction of the water delivery pipe is perpendicular to the surface where the turntable is located, and the water jet includes multiple Group, multiple groups of the water spray heads are arranged at intervals along the length direction of the water delivery pipe, each group of the water spray heads includes multiple water spray pipes, and the multiple water spray pipes are spaced along the circumferential direction of the water delivery pipe Layout.

Optionally, the smoothing mechanism includes a smoothing drive mechanism and a smoothing head. One end of the smoothing drive mechanism is connected to the turntable, and the other end of the smoothing drive mechanism is connected to the smoothing head. The driving mechanism drives the smoothing head to rotate relative to the turntable to smooth the screw hole after the mortar is injected.

Optionally, the auger mechanism includes a reaming drive mechanism, an auger bit, and an auger body, the auger body includes a drill bit connecting rod, and the auger bit is rotatably connected to the drill bit connecting rod. The reaming driving mechanism drives the auger bit to rotate to ream the screw hole.

Optionally, it further includes: a climbing truss, the climbing truss includes: a truss guide rail for forming a truss frame, the truss guide rail is connected to the construction platform; a climbing device, the climbing device is movably arranged on the truss On the guide rail; a top leveling device, the top leveling device is arranged at the top of the truss guide rail; a control device for controlling the climbing device to move along the truss guide rail.

Optionally, the climbing device includes a climbing base and a drive source, the climbing base is movably clamped and arranged on the truss guide rail; the base of the drive source is connected to the climbing base, and the output shaft of the drive source Clamping with the truss guide rail, the driving source can drive the climbing seat to move on the truss guide rail.

Optionally, the climbing device further includes a hook plate and a load-bearing gear for hook connection with the truss guide rail, the hook plate is movably connected with the end of the output shaft of the driving source, and the load-bearing gear is movably connected to the end of the output shaft of the driving source. The gear is movably installed on the climbing seat and located above the climbing seat.

Optionally, both the hook support plate and the load-bearing shift are provided with hooks, corresponding to the hooks, and ladder blocks are provided on the truss guide rails.

Optionally, the climbing device further includes an elastic element, one end of the elastic element is fixedly arranged on the climbing seat, the other end of the elastic element is fixedly arranged on the driving source, and the elastic element is used for Reset.

Optionally, the control device is used for a power system that provides power to the driving source.

Optionally, it further includes a rail beam, one end of the top end leveling device is arranged at the top end of the truss guide rail, and the other end of the top end leveling device is connected to the rail beam; the top end leveling device It includes: a vertical adjustment component, which is movably arranged on the truss guide rail and used to adjust the space size of the truss guide rail in the vertical direction; and a horizontal adjustment component, which is arranged on the vertical adjustment component and used to adjust the level of the truss guide rail The location of the direction.

Optionally, the vertical adjustment assembly includes an actuator, an installation connection seat, and a first adjustment member arranged on the installation connection seat, and the actuator is used to drive the installation connection seat to move and is arranged on the installation connection seat. On the truss guide rail; a first connection hole is opened on the installation connection seat, and the first fastener is inserted into the truss guide rail and passes through the first connection hole to fix the installation connection seat on the truss guide rail on.

Optionally, a connecting block in the shape of a letter is protruding from the mounting connecting seat, and a second connecting hole is opened on the connecting block.

Optionally, the level adjustment assembly includes a cover plate and a second adjusting member, the cover plate is closed on the connecting block, and third connecting holes are opened on both side walls of the cover plate, and the first Two adjusting members pass through the third connecting hole and the second connecting hole to set the cover plate on the mounting connection seat; a second adjusting member is also provided at the connection between the cover plate and the second adjusting member. A fastener, and the second fastener fixes the second adjusting member on the cover plate.

Optionally, a sprocket is provided on the second adjusting member, and a chain is wound on the sprocket, and the chain is used to drive the sprocket to rotate so as to drive the cover plate to move in a horizontal direction.

Optionally, a locking fixing plate for fixing the rail beam is projected from the top surface of the cover plate, and a third fastener is provided on the locking fixing plate, and the third fastener Insert the cover plate through the locking fixing plate to fix and install the supporting rail beam on the cover plate.

The additional aspects and advantages of the present application will become apparent in the following description, or be understood through the practice of the present application.

The additional aspects and advantages of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Figure 1 is a schematic diagram of the climbing truss structure of this application.

Figure 2 is a schematic diagram of the structure of the top leveling device of the present application.

Figure 3 is a schematic cross-sectional view of the top leveling device of the present application.

Fig. 4 is a schematic diagram of the structure of the climbing truss climbing device of the application.

Figure 5 is a schematic diagram of the exploded structure of the climbing truss climbing device of the application.

Figure 6 is a schematic structural diagram of a climbing truss climbing seat of the application.

Figure 7 is a schematic view of the front structure of the climbing truss climbing seat of the application.

FIG. 8 is a schematic diagram of a three-dimensional structure of a mobile platform for building exterior wall construction according to an embodiment of the application.

Figure 9 is a front view of a mobile platform for building exterior wall construction according to an embodiment of the application (part of the chain is not shown).

Fig. 10 is a top view of a mobile platform for building exterior wall construction according to an embodiment of the application.

Fig. 11 is a side view of a mobile platform for building exterior wall construction according to an embodiment of the application (part of the chain is not shown).

Fig. 12 is a schematic diagram of the structure of the traveling wheel assembly, the frame, the first guide rail, and the second guide rail according to an embodiment of the application.

Fig. 13 is a front view of the first traveling wheel assembly as the traveling wheel assembly according to an embodiment of the application.

Fig. 14 is a side view of the first traveling wheel assembly as the traveling wheel assembly according to an embodiment of the application.

Fig. 15 is a top view of the first traveling wheel assembly as a traveling wheel assembly according to an embodiment of the application.

Fig. 16 is a front view of a second traveling wheel assembly as a guide wheel assembly according to an embodiment of the application.

Fig. 17 is a structural diagram of an annular first guide rail, an annular second guide rail, and a frame according to an embodiment of the application.

FIG. 18 is a schematic diagram of a three-dimensional structure of a screw hole plugging robot according to an embodiment of the application.

FIG. 19 is a schematic diagram of a mobile platform for construction of a building exterior wall according to an embodiment of the application for plugging the screw hole of the exterior wall of the building.

Fig. 20 is a front view of a mobile platform for construction of an external wall of a building according to an embodiment of the application for plugging the screw hole of the external wall of the building (the first platform is omitted).

Fig. 21 is a side view of a mobile platform for construction of an external wall of a building according to an embodiment of the application for plugging the screw hole of the external wall of the building (the first platform is omitted).

FIG. 22 is a schematic diagram of a partial enlarged structure of area I in FIG. 19.

Reference signs:

Climbing truss 100, first mounting seat 101, wall support 102,

Truss guide rail 10, ladder block 11, groove 12,

Top leveling device 20,

Vertical adjustment assembly 21,

Actuator 211, mounting connection seat 212, first adjusting member 213,

The first connecting hole 214, the first fastener 215, the first fixing member 216, the connecting block 217, the second fixing member 218,

Level adjustment component 22,

Cover plate 221, second adjusting member 222, second fastener 223,

Sprocket 225, chain 226, locking fixing plate 227, third fastener 228,

Climbing device 30,

Climbing seat 31, clamping plate 311, clamping column 312, mounting plate 313, connecting piece 314,

Drive source 32, connecting shaft 321,

Hook plate 33,

Load-bearing shift 34, shaft 341,

Elastic element 35, hook 36,

Rail beam 40,

Mobile platform 200 for building exterior wall construction,

Construction platform 1,

The first platform 1a, the first guide rail 1a1,

The second platform 1b, the second guide rail 1b1,

Support column 1c,

Platform lifting device 1d,

Lifting guide mechanism 1f,

Frame 2,

Support 2a, support 2b,

Walking wheel assembly 3.

The first traveling wheel assembly 3a,

Driving wheel 3a1, roller 3a1a, rolling mating port 3a1b, rolling mating plate 3a1c,

Swing wheel 3a2, matching roller 3a2a,

The first swing plate 3a3, the connecting pin 3a4, the travel drive mechanism 3a5, the lock nut 3a6,

The second traveling wheel assembly 3b,

Main guide wheel 3b1, secondary guide wheel 3b2, second swing plate 3b3,

Mobile platform 4.

Mobile lifting components 5.

Chain 5a, sprocket 5b, mobile lifting motor 5c,

Guide assembly 5d, guide roller 5d1, guide connecting plate 5d2,

Electronic control system 6.

End effector 400,

Screw hole blocking robot 700,

Turntable 71a, rotation drive mechanism 71b, rotary motor 71b1, reducer 71b2,

Auger mechanism 72,

Reaming drive mechanism 721, spiral drill bit 722,

Auger body 723, drill connecting rod 7231, reaming telescopic mechanism 724,

Water spray mechanism 73,

Water spray driving mechanism 731, water spray gun 732, water delivery pipe 732a, water spray head 732b, water spray pipe 732c,

Mortar blasting mechanism 74,

Telescopic mechanism 741, shotcrete cylinder 742, shotcrete head 743,

Smoothing mechanism 75,

Smoothing drive mechanism 751, smoothing head 752, smoothing telescopic mechanism 753,

Positioning recognition component 76,

500 exterior walls of buildings.

detailed description

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present application, but should not be understood as a limitation to the present application.

In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, not It indicates or implies that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

The mobile platform 200 for building exterior wall construction according to the embodiment of the present application will be described below with reference to the drawings in the specification.

A mobile platform 200 for building exterior wall construction according to an embodiment of the present application, as shown in FIG. 8, includes: a construction platform 1, a frame 2, a walking wheel assembly 3, a mobile platform 4, and an end effector 400.

Among them, as shown in Figs. 8 and 9, the construction platform 1 includes a first platform 1a and a second platform 1b arranged in an up-down direction. The frame 2 is connected between the first platform 1a and the second platform 1b.

As shown in FIG. 9, the traveling wheel assembly 3 is arranged on the frame 2, and the traveling wheel assembly 3 is fitted on the first platform 1 a and/or the second platform 1 b to drive the frame 2 to travel along the construction platform 1. Here, the walking wheel assembly 3 can be fitted on the first platform 1a, or the walking wheel assembly 3 can be fitted on the second platform 1b, or the walking wheel assembly 3 can be fitted on the first platform 1a and the second platform 1b at the same time.

As shown in Figure 13, the walking wheel assembly 3 includes a driving wheel 3a1 and a swinging wheel 3a2. The driving direction of the swinging wheel 3a2 is swingable relative to the driving direction of the driving wheel 3a1. When the frame 2 moves straight, the driving wheel 3a1 and the swinging wheel 3a2 travel The directions are parallel, and the driving wheel 3a1 and the swing wheel 3a2 form an angle when the frame 2 turns. That is to say, when the frame 2 is moving straight, the driving wheels 3a1 and the swinging wheels 3a2 are on the same straight line along the front-rear direction, so that the frame 2 travels stably and straight. When the frame 2 is turning, a certain angle can be formed between the driving wheel 3a1 and the swinging wheel 3a2, so that the driving wheel 3a1 and the swinging wheel 3a2 can turn smoothly, and the swinging wheel 3a2 is not easily thrown out.

As shown in FIGS. 8 and 9, the mobile platform 4 is connected to the frame 2 in a liftable manner. As shown in FIG. 11, an end effector 400 is connected to the mobile platform 4 for processing the exterior wall 500 of the building.

It can be seen from the above structure that the mobile platform 200 for building exterior wall construction in the embodiment of the present application, by arranging matching walking wheel assemblies 3 on the first platform 1a or/and the second platform 1b, the frame 2 can drive the The mobile platform 4 travels between the first platform 1a and the second platform 1b.

When the frame 2 is running, because the driving wheel 3a1 and the swinging wheel 3a2 are provided, the driving wheel 3a1 drives the entire frame 2 to move forward. The swinging wheel 3a2 follows the driving wheel 3a1 while moving forward, and can also be relative to The driving direction of the driving wheel 3a1 swings. Especially when the frame 2 needs to turn when driving at a turn, the driving wheel 3a1 quickly passes the turn, while the swinging wheel 3a2 swings a certain angle and adaptively adjusts the direction of travel according to the angle to be turned, making the overall frame 2 easier to turn And it is not easy to deviate from the set driving track.

The mobile platform 4 of the present application is set on the frame 2. In the process of following the frame 2 to change positions, the frame 2 can also be lifted and lowered, so that the end effector 400 of the mobile platform 4 is relative to the outside of the building. The wall 500 can adjust the position flexibly to process the position to be processed on the external wall 500 of the building, which is beneficial for the treatable surface of the end effector 400 to cover the entire external wall 500 of the building as much as possible. Therefore, the building exterior wall construction mobile platform 200 of the present application can handle building exterior walls 500 of different heights and different widths, is flexible in use and has wide applicability, and the end effector 400 moves quickly and stably.

In the description of this application, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features, which are used to distinguish between the described features, no order, no priority .

In some embodiments of the present application, as shown in FIG. 8, a first guide rail 1a1 and a second guide rail 1b1 are respectively provided on the first platform 1a and the second platform 1b, where the first guide rail 1a1 and the second guide rail 1b1 can be The processing points of the exterior wall 500 of the building to be processed are laid into corresponding shapes accordingly.

Optionally, as shown in FIG. 10, the first platform 1a and the second platform 1b extend horizontally, and the first platform 1a and the second platform 1b are suitable for enclosing the outer wall 500 of the building, as shown in FIG. 17, the first platform 1a and the second platform 1b The platform 1a is provided with a first guide rail 1a1 which is closed in the circumferential direction of the building outer wall 500 (not shown), and the second platform 1b is provided with a first guide rail 1a1 which is closed in the circumferential direction of the building outer wall 500 (not shown). The two guide rails 1b1, the first guide rail 1a1 and the second guide rail 1b1 are arranged in parallel, so that the frame 2 can travel along the construction platform 1 in a circumferential direction relative to the outer wall 500 of the building. By adopting the above structure, the end effector 400 on the mobile platform 4 can process all four sides of the outer wall 500 of the building, and can perform cyclic processing.

For example, in some specific examples, when it is necessary to smooth and paint different positions of the exterior wall 500 of a building, as the frame 2 travels in a circular direction along the first rail 1a1 and the second rail 1b1, In addition, the height of the mobile platform 4 on the frame 2 is not adjusted during the movement of one circle, and the end effector 400 can smooth the exterior wall 500 of the building at the same height at the same time, and replace the paintable finish on the second circle of driving The end effector 400 of the exterior wall, for example, paints the points to be processed on the exterior wall 500 of a building at the same height. In the second circle, the height of the mobile platform 4 relative to the frame 2 can also be adjusted first, without replacing the end effector 400, so that the exterior wall 500 of the building at another height will be smoothed until it passes the vehicle. After the frame has been driven for many laps, the outer ring 200 of the building at the entire height is scratched, and then the end effector 400 of the next procedure is replaced. It can also be that when the frame 2 travels along the outer wall 500 of the building and is on the same side of the outer wall 500 of the building, the mobile platform 4 moves up and down on the frame 2 at the same time. The walls 500 are processed respectively in sequence.

As shown in FIG. 12, the frame 2 slides between the first rail 1a1 and the second rail 1b1. When the first guide rail 1a1 and the second guide rail 1b1 are set, the frame 2 can be moved along the set guide rails during the movement. The first guide rail 1a1 and the second guide rail 1b1 not only have a guiding function, but also The frame 2 is limited between the first platform 1a and the second platform 1b, and the frame 2 is not easy to slip off, so the frame 2 travels more smoothly and smoothly. It can be understood that when the walking wheel assembly 3 is fitted on the first guide rail 1a1 or/and the second guide rail 1b1, the connection stability of the frame 2 and the first platform 1a or/and the second platform 1b will be greatly enhanced. When the frame 1 moves on the first rail 1a1 and the second rail 1b1 at the turning point, the driving wheel 3a1 can quickly pass the turning point, and the swing wheel 3a2 can change the direction of travel relative to the driving wheel 3a1 to make both The driving direction is at a certain included angle, and this included angle will match the turning angle. Therefore, the risk of the swinging wheel 3a2 being thrown out of the guide rail will be greatly reduced, and the frame 2 will turn more smoothly.

Optionally, as shown in FIG. 17, the first guide rail 1a1 and the second guide rail 1b1 each include a multi-segment linear guide rail and a multi-segment steering guide rail, and a steering guide rail is connected between two adjacent segments of the linear guide rail. The linear guide rail corresponds to a building exterior wall 500, and the location of the steering guide rail is corresponding to the building exterior wall 500 intersecting on both sides.

In some embodiments of the present application, as shown in FIG. 12, the traveling wheel assembly 3 includes a first traveling wheel assembly 3a and a second traveling wheel assembly 3b. The first traveling wheel assembly 3a runs along the first guide rail 1a1, and the second traveling wheel assembly 3a runs along the first guide rail 1a1. The wheel assembly 3b runs along the second guide rail 1b1. One of the first traveling wheel assembly 3a and the second traveling wheel assembly 3b is formed as a traveling wheel assembly. The traveling wheel assembly includes a driving wheel 3a1 and a swinging wheel 3a2. The first traveling wheel The other group of the assembly 3a or the second travel wheel assembly 3b is formed as a guide wheel assembly to follow the travel wheel assembly. That is to say, the traveling wheel assembly can drive the guide wheel assembly to move. The two ends of the frame 2 and the first rail 1a1 and the second rail 1b1 are equipped with traveling wheel assemblies 3 at the first rail 1a1 and the second rail 1b1. The frame 2 between 1b1 receives little frictional resistance when driving, and the frame 2 runs smoothly. The running wheel assembly and the guide wheel assembly both support the frame 2 and limit the frame 2 on the first rail 1a1 and the second rail 1b1. In addition, the running wheel assembly with driving wheels 3a1 can also provide the driving force for the frame 2 to move relative to the construction platform 1, while the guide wheel assembly is driven by the running wheel assembly to roll forward.

The traveling wheel assembly in the above-mentioned traveling wheel assembly 3 can be fitted on the first guide rail 1a1, and the guide wheel assembly can be fitted on the second guide rail 1b1; or the traveling wheel assembly can be fitted on the second guide rail 1b1, and the guide wheel assembly can be fitted on the second guide rail 1b1. On the first guide rail 1a1, it can be set according to specific needs.

Optionally, as shown in FIG. 13, the driving wheel assembly further includes a first swing plate 3a3 arranged on the frame 2. The driving wheel 3a1 is rotatably connected to the first swing plate 3a3 through a connecting pin 3a4, and the swing wheel 3a2 It is swingably connected to the first swing plate 3a3, and the swing wheel 3a2 swings on the first rail 1a1 or the second rail 1b1. Here, when the running wheel assembly is fitted on the first guide rail 1a1, the swinging wheel 3a2 swings on the first guide rail 1a1, and when the running wheel assembly is fitted on the second guide rail 1b1, the swinging wheel 3a2 swings on the second guide rail 1b1.

Further, the driving wheel 3a1 is connected to the end plate of the frame 2 through a connecting pin 3a4. In a specific example, the connecting pin 3a4 is provided through the thickness direction of the end plate of the frame 2, and a through hole is formed on the end plate to connect The pin 3a4 is in clearance fit with the through hole. The connecting pin 3a4 passes through the through hole and is connected to the lock nut 3a6. One end of the connecting pin 3a4 is limited by the lock nut 3a6 and connected to the end plate. The end of the connecting pin 3a4 is along the first The thickness direction of a swinging plate 3a3 penetrates the first swinging plate 3a3, the end of the connecting pin 3a4 is connected to the driving wheel 3a1, and the swinging wheel 3a2 is connected to the bottom of the first swinging plate 3a3 and is arranged on the first swinging plate 3a3 away from the driving wheel 3a1 . Here, the first swinging plate 3a3 is located between the driving wheel 3a1, the surface where the swinging wheel 3a2 is located, and the surface where the end plate of the frame 2 is located. The first swinging plate 3a3 can rotate relative to the connecting pin 3a4, and the swinging wheel 3a2 can follow the first The swing plate 3a3 swings.

Optionally, as shown in FIG. 12, the traveling wheel assembly further includes a traveling drive mechanism 3a5, and the traveling drive mechanism 3a5 drives the driving wheel 3a1 to rotate so that the driving wheel 3a1 transmits power to the entire frame 2. The traveling driving mechanism 3a5 may be a driving motor, an air cylinder, or a hydraulic cylinder.

Advantageously, the travel driving mechanism 3a5 includes a servo motor and a reducer, which is conducive to accurately controlling the start and stop of the driving wheel 3a1, and makes the movement of the frame 2 more controllable.

Optionally, as shown in FIG. 14, the driving wheel 3a1 includes a plurality of rollers 3a1a, and the plurality of rollers 3a1a are respectively arranged on the outer periphery of the first rail 1a1 or the second rail 1b1 (the structure of the first rail 1a1 and the second rail 1b1) As shown in FIG. 12), the rolling contact surfaces of the plurality of rollers 3a1a are in contact with the plurality of side surfaces of the first rail 1a1 or the second rail 1b1. Here, when the running wheel assembly is fitted on the first guide rail 1a1, the plurality of rollers 3a1a are respectively arranged around the outer periphery of the first guide rail 1a1, and when the running wheel assembly is fitted on the second guide rail 1b1, the plurality of rollers 3a1a are respectively arranged around On the outer circumference of the second rail 1b1. The driving wheel 3a1 enclosed by a plurality of rollers 3a1a, on the one hand, the structure of the driving wheel 3a1 itself is more stable and not easy to break; on the other hand, the plurality of rollers 3a1a contact different sides of the guide rail, which can make the driving wheel 3a1 stably limit It is located on the guide rail and slides steadily and smoothly on the guide rail, and it is not easy to derail. In the description of this application, unless otherwise specified, "plurality" means two or more.

Optionally, as shown in FIG. 14, the four rollers 3a1a are arranged along the circumference of the first guide rail 1a1 (refer to FIG. 12 for the structure of the first guide rail 1a1), and the inner sides of the four rollers 3a1a enclose a rolling fitting opening 3a1b , The rolling fitting port 3a1b fits the shape of the first guide rail 1a1. The rolling mating port 3a1b fits with the first guide rail 1a1. On the one hand, it is convenient to assemble and connect the driving wheel 3a1 to the first guide rail 1a1. On the other hand, when the frame 2 is traveling, the first guide rail 1a1 and the multiple rollers 3a1a Form a guide between.

Optionally, as shown in FIG. 14, the driving wheel 3a1 further includes a rolling mating plate 3a1c, a receiving groove is formed in the rolling mating plate 3a1c, a plurality of rollers 3a1a are arranged in the receiving groove 311c, and the connecting pin 3a4 is connected to the rolling mating plate 3a1c on. The rolling mating plate 3a1c not only provides installation space and support for installing multiple rollers 3a1a. When the driving wheel 3a1 is connected to slide on the guide rail, the rolling mating plate 3a1c also provides a limit for the plurality of rollers 3a1a to prevent the roller 3a1a from moving from the guide rail ( Flies out on the first rail 1a1 or the second rail 1b1).

Advantageously, the oscillating wheel 3a2 can also be designed similarly to the structure of the driving wheel 3a1. As shown in FIG. 15, the oscillating wheel 3a2 includes a plurality of mating rollers 3a2a, and the plurality of mating rollers 3a2a are arranged on the guide rail. The structure of the matching roller 3a2a is similar to that of the roller 3a1a, and will not be repeated here. In these examples, when the running wheel assembly is running on the guide rail (the first guide rail 1a1 or the second guide rail 1b1), the driving wheel 3a1 and the swinging wheel 3a2 are always fitted on the guide rail. When turning, the driving wheel 3a1 is on the frame The front part of the driving direction of 2 passes the guide rail first, and the swinging wheel 3a2 and the first swinging plate 3a3 form a certain swing angle relative to the driving wheel 3a1, so that the swinging wheel 3a2 gradually turns when passing a turn, and the steering is gentle. , The swing wheel 3a2 is not easy to derail.

In some embodiments of the present application, as shown in FIG. 16, the guide wheel assembly includes a main guide wheel 3b1, a secondary guide wheel 3b2, and a second swing plate 3b3. The main guide wheel 3b1 and the secondary guide wheel 3b2 are respectively along the frame 2 The traveling direction is connected to the second swing plate 3b3 at intervals, and the second swing plate 3b3 is swingably connected to the frame 2. The swing principle of the guide wheel assembly here is roughly similar to that of the driving wheel assembly. The difference is that the main guide wheel 3b1 and the secondary guide wheel 3b2 are both connected to the second swing plate 3b3. When turning, the main guide wheel 3b1 and The secondary guide wheel 3b2 and the second swing plate 3b3 swing with respect to the frame 2 together.

Optionally, as shown in FIG. 12, the guide wheel assembly is matched with the second guide rail 1b1, and the bottoms of the main guide wheel 3b1 and the secondary guide wheel 3b2 are limited in the second guide rail 1b1, as in some specific examples, The two guide rails 1b1 form a channel steel with an upward opening, and the channel steel is formed as a guide rail with a certain groove depth. The main guide wheel 3b1 and the secondary guide wheel 3b2 move in the groove of the guide rail respectively. With this structure, the structure is simple and convenient for processing, and it is convenient for the guide wheel assembly to guide the frame 2 and it is convenient for the guide wheel assembly to move in cooperation with the traveling wheel assembly.

In some embodiments of the present application, as shown in Figure 8, Figure 12, Figure 20, Figure 21, the building exterior wall construction mobile platform 200 further includes a mobile lifting assembly 5, the mobile lifting assembly 5 includes a chain 5a, at least two The sprocket 5b and the mobile lifting motor 5c. The chain 5a meshes with at least two sprockets 5b for transmission. The mobile lifting motor 5c drives the chain 5a to move up and down relative to the sprocket 5b. The chain 5a is connected to the mobile platform 4. Driven by the mobile lifting motor 5c, the sprocket 5b drives the chain 5a to drive up and down, while the chain 5a drives the mobile platform 4 to move up and down.

Optionally, as shown in FIG. 12, the sprocket 5b includes two sprocket wheels 5b. The two sprocket wheels 5b are respectively arranged on the upper and lower end brackets of the frame 2. The length of the chain 5a is at least greater than the height between the two sprocket wheels 5b. It is guaranteed that the mobile platform 4 can move up and down between the two sprockets 5b and stay at multiple height positions.

Optionally, the frame 2 includes two brackets 2a arranged in parallel, and the brackets 2a extend along the lifting direction of the mobile platform 4. The mobile lifting assembly 5 further includes a plurality of guide assemblies 5d, and one end of the plurality of guide assemblies 5d is slidably connected to On the two brackets 2a, the other ends of the plurality of guide assemblies 5d are connected to both sides of the mobile platform 4, respectively. After setting the guide assembly 5d, the moving platform 4 can be made more stable and smooth during the up and down movement.

In some specific examples, the guide assembly 5d includes a guide connecting plate 5d2 and a plurality of guide rollers 5d1, the surface of the guide connecting plate 5d2 is perpendicular to the surface of the mobile platform 4, the guide connecting plate 5d2 is arranged parallel to the bracket 2a, and the guide connecting plate The upper and lower ends of 5d2 are respectively provided with a guide roller 5d1, and the guide roller 5d1 is in contact with the bracket 2a.

Optionally, a support frame 2b is connected between the supports 2a, and the support frame 2b extends horizontally and is supported between the two supports 2a to enhance the structural strength of the entire vehicle frame 2.

In some embodiments of the present application, as shown in FIGS. 8 and 9, the construction platform 1 further includes multiple sets of support columns 1c (here, the support columns 1c are also formed as part of the structure of the truss described later), and multiple sets of support columns 1c is connected between the first platform 1a and the second platform 1b. The multiple sets of support columns 1c provide support for the first platform 1a and the second platform 1b on the one hand, and on the other hand, the distance between the first platform 1a and the second platform 1b can always be kept within a reasonable range.

Advantageously, the construction platform 1 can move up and down relative to the outer wall 500 of the building. As shown in FIGS. 9 and 10, the platform lifting device 1d drives the construction platform 1 to move up and down relative to the outer wall 500 of the building as a whole.

Optionally, the platform lifting device 1d is formed as a servo lifting motor, one end of the platform lifting device 1d is connected to the outer wall 500 of the building, and the output end of the platform lifting device 1d is connected to the support column 1c.

Optionally, the platform lifting device 1d may also be a climbing device 30 described later.

Optionally, as shown in FIG. 9, the construction platform 1 further includes a lifting guide mechanism 1f, the lifting guide mechanism 1f is slidably sleeved on the support column 1c, and the other end of the lifting guide mechanism 1f is fixedly connected to the first platform 1a Above, when the platform lifting device 1d drives the construction platform 1 to move up and down, the lifting guide mechanism 1f plays a certain guiding role for the movement of the support column 1c.

Optionally, the lifting guide mechanism 1f is formed as a hollow slide rail, and the support column 1c is slidably connected in the hollow slide rail.

In some embodiments of the present application, as shown in FIG. 8, the mobile platform 200 for building exterior wall construction further includes an electric control system 6. The electric control system 6 controls the start and stop of each driving mechanism and the actuator respectively, which increases the building The automation performance of the mobile platform 200 for exterior wall construction improves the control accuracy of the end effector 400.

The mobile building exterior wall construction platform 200 of the present application is based on the climbing system of the construction platform 1 that can be automatically raised and lowered, and a first guide rail 1a1 and a second guide rail 1b1 that are relatively parallel up and down are respectively arranged on the two construction platforms 1 to form The end effector 400 can perform movement in at least two degrees of freedom directions (X direction, Z direction) along the exterior wall 500 of the building.

When the first guide rail 1a1 and the second guide rail 1b1 form a ring shape, and the first platform 1a and the second platform 1b are respectively enclosed around the outer wall 500 of the building, the end effector 400 can be formed along the outer wall 500 of the building. Movement in the directions of three degrees of freedom (X, Y, and Z). The end effector 400 has a high processing coverage of the building exterior wall 500, and can be adapted to the processing of the building exterior wall 500 with different storey heights.

The end effector 400 can be raised and lowered on the frame 2 through the mobile platform 4, and the frame 2 is respectively provided with a traveling wheel assembly and a guide wheel assembly that cooperate with two guide rails (the first guide rail 1a1 and the second guide rail 1b1) The driving wheel assembly is provided with a driving wheel 3a1 that can drive the frame 2 to travel and a swinging wheel 3a2 that can swing relative to the driving wheel 3a1, and the guide wheel assembly is provided with a main guide wheel 3b1 that can swing relative to the frame 2 Guide wheel 3b2 and second swing plate 3b3. When the frame 2 is turning, the driving wheel 3a1 can quickly pass the curve, while the swing wheel 3a2 forms a certain angle with the driving wheel 3a1 before turning, and the main steering wheel 3b1 , The secondary guide wheels 3b2 and the second swing plate 3b3 can be adapted to form a certain steering angle relative to the frame 2, so the frame 2 turns quickly and smoothly during the turning process, and is not easy to derail. Therefore, the driving wheel assembly and the guide wheel assembly of the frame 2 of the present application can adapt to the shape of the track when turning.

Hereinafter, an end effector 400 according to an embodiment of the present application will be described with reference to the drawings in the specification. The end effector 400 is a screw hole blocking robot 700 that seals a screw hole on the outer wall 500 of a building.

According to a screw hole sealing robot 700 according to an embodiment of the present application, the screw hole sealing robot 700 is used to seal the screw hole on the outer wall 500 of the building, as shown in FIG. 18, including: a turntable 71a and an auger mechanism 72 , Water spraying mechanism 73, mortar spraying mechanism 74 and smoothing mechanism 75.

The turntable 71a is rotatable relative to the outer wall 500 of the building, and the auger mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74 and the smoothing mechanism 75 are connected to the turntable 71a. As shown in FIG. 18, the auger mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74, and the smoothing mechanism 75 are arranged on the turntable 71a at intervals in the circumferential direction.

In addition, the active end of the auger mechanism 72 can be extended or retracted relative to the turntable 71a, and the auger mechanism 72 is used for reaming the screw hole. The water spray mechanism 73 is used to spray water to the screw hole, the mortar spray mechanism 74 is used to fill the screw hole with mortar, and the smoothing mechanism 75 is used to smooth the screw hole.

It can be seen from the above structure that the screw hole plugging robot 700 of the embodiment of the present application is provided with an auger mechanism 72, a water spray mechanism 73, a mortar spray mechanism 74, and a smoothing mechanism 75 on the turntable 71a at intervals along the circumferential direction. During the rotation, the auger mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74, and the smoothing mechanism 75 are respectively aligned with the screw hole in turn, and the screw hole is reamed, sprayed, filled with mortar and smoothed. Therefore, the screw The hole sealing process is fully automated, and the screw hole sealing process is highly efficient, time-saving and labor-saving.

After reaming the screw hole through the auger mechanism 72, it is convenient to fill the mortar later, and the mortar is not easy to be spilled outside the screw hole. After spraying water on the screw hole, the inner wall of the screw hole can be wetted. During the subsequent mortar filling process, the mortar can be quickly filled in the screw hole and adhere to the inner wall of the screw hole to reduce air bubbles inside the screw hole. After filling the screw hole with mortar, the strength of the screw hole can be greatly enhanced and the problems of water leakage and poor sealing that may be caused by the screw hole can be filled. After the surface of the screw hole after filling the mortar is smoothed, the screw hole and the surrounding base surface can be kept flat, which is convenient for subsequent processing procedures.

It is understandable that, compared to the case of manually applying various processes to the screw hole in turn, the screw hole sealing robot 700 of the present application greatly simplifies manpower, reduces man-hours, and increases the safety of construction. The connection between the processes is compact, no need to wait, and the plugging effect on the screw hole is good.

In some embodiments of the present application, as shown in FIG. 18, the screw hole plugging robot 700 further includes a positioning recognition component 76 connected to the turntable 71a, and the positioning recognition component 76 is used to recognize the position of the screw hole.

Optionally, the positioning recognition component 76 includes a visual camera, where the visual camera can take pictures of the screw holes on the surface to be processed, and transmit the image information to the industrial control computer system in real time. The system recognizes the images to identify the screws. The location of the hole and the processing of the screw hole.

Optionally, the positioning recognition component 76 includes a sensor, through which the coordinate position data is uniformly fed back to the industrial control computer system for analysis, and the data of the specific coordinate position of the screw hole can be further determined. The industrial control computer system controls according to the specific data returned. The turntable 71a rotates, and the auger mechanism 72 on the turntable 71a takes the lead in aligning the screw hole for reaming (or the industrial control computer system controls the mobile platform 4 described later according to the specific data returned to drive the screw hole blocking robot 700 relative to the building The outer wall 500 moves up and down, or the industrial control computer system controls the frame 2 described later according to the specific data returned to drive the mobile platform 4 to move horizontally relative to the outer wall 500 of the building, so that the screw hole can block at least one functional mechanism on the robot 700 Able to align the screw hole).

Optionally, the sensor may be an infrared sensor, a laser receiver, etc.

Optionally, as shown in FIG. 18, the turntable 71a is formed in a circular shape, the positioning and identifying assembly 76 is arranged on the rotation center of the turntable 71a, and the auger mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74, and the smoothing mechanism 75 surround The positioning recognition assembly 76 is provided on the turntable 71a. When the positioning and identifying component 76 is set at the center of rotation of the turntable 71a, when the turntable 71a rotates, the distance between the positioning and identifying component 76 and the screw hole remains unchanged, which is beneficial to keeping the screw hole position data consistent during the process of plugging the screw hole. It is convenient for automatic control. After the round turntable 71a rotates one round, the screw drill mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74, and the smoothing mechanism 75 on it respectively deal with the screw holes accordingly. The overall structure is compact, the functional mechanism is quickly replaced, and the functions are There will be no interference between the agencies when they work.

Advantageously, the action ends of the auger mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74, and the smoothing mechanism 75 have the same radial distance from the center positioning identification assembly 76. The auger mechanism 72, the water spray mechanism 73, and the mortar spray The circumferential separation distances between the mechanism 74 and the smoothing mechanism 75 are equal. It is understandable that this structure will eliminate the need to frequently adjust the positional relationship between the turntable 71a and the screw hole, and can quickly make the action ends of each functional mechanism Align the screw hole for construction. The time required for each functional mechanism with the same circumferential spacing to switch to the screw hole is roughly the same, which is beneficial to the rotation control of the turntable 71a, and is particularly beneficial to the control of the turntable by the industrial computer system.

In other examples, the turntable 71a is formed as a plurality of bearing disks and a rotating disk. The multiple bearing disks are respectively arranged around the rotating disk at intervals, and a connecting rod is provided between each rotating disk and the bearing disk. When the rotating disk rotates, The bearing plate rotates, and each bearing plate is provided with a functional mechanism. Reduce the material used for the turntable 71a.

In some embodiments of the present application, as shown in FIG. 18, the screw hole blocking robot 700 further includes a rotation driving mechanism 71b, and the rotation driving mechanism 71b drives the turntable 71a to rotate.

As shown in FIG. 22, the rotation drive mechanism 71b includes a rotary motor 71b1 and a reducer 71b2. The rotary motor 71b1 is connected to the reducer 71b2, and the reducer 71b2 is connected to the turntable 71a. When the rotary motor 71b1 rotates, it drives the turntable 71a to make a rotary movement, and the action ends of each functional mechanism are located directly in front of the screw hole and aligned with the screw hole.

Optionally, the rotary motor 71b1 is a servo motor to precisely control the start-stop and the angle of rotation of the turntable 71a, so that the action ends of each functional mechanism are aligned with the screw hole, so as to prevent the deviation of each functional mechanism from aligning with the screw hole , And the screw hole cannot be blocked or the base surface around the screw hole is destroyed.

In some embodiments of the present application, as shown in FIG. 18, the auger mechanism 72 includes a reaming drive mechanism 721, an auger bit 722, and an auger body 723. The auger body 723 includes a drill bit connecting rod 7231, and the auger bit 722 is arranged at On the drill connecting rod 7231, the reaming driving mechanism 721 drives the drill connecting rod 7231 to rotate so that the auger bit 722 reams the screw hole. After the turntable 71a rotates and the auger mechanism 72 is aligned with the screw hole, the auger bit 722 extends into the screw hole for rotation reaming, which increases the space in the screw hole and increases the cross section of the screw hole. Subsequent filling operations.

Optionally, as shown in FIG. 18, the auger mechanism 72 includes a reaming and retracting mechanism 724, the reaming driving mechanism 721 includes a rotating motor, the rotating motor is provided with a motor seat, and the motor shaft of the rotating motor is connected to the auger bit 722, and the reaming and retracting One end of the mechanism 724 is connected to the turntable 71a, and the other end of the reaming and retracting mechanism 724 is connected to the motor base. When the reaming and retracting mechanism 724 expands and contracts, it drives the motor base and the auger body 723 to expand and contract to make the auger bit 722 Adjust the feed depth in the screw hole.

Optionally, the reaming and retracting mechanism 724 may be an air cylinder, a hydraulic cylinder, an oil cylinder or an electric push rod.

Advantageously, the outer diameter of the auger bit 722 gradually increases from the top to the bottom, so that the flared screw hole is formed into a shape with a large opening section and a small internal section, which is convenient for other functional mechanisms to extend into the screw hole for corresponding processing.

In some embodiments of the present application, as shown in FIG. 18, the water spray mechanism 73 includes a water spray drive mechanism 731 and a water spray gun 732. The water spray drive mechanism 731 is connected to the turntable 71a and connected to the water spray gun 732. The water driving mechanism 731 drives the water spray gun 732 to spray water.

Optionally, the water spray driving mechanism 731 may be an air cylinder or an oil cylinder. When the air cylinder and the oil cylinder expand and contract, the cavity inside the water spray mechanism 73 is compressed, so that the water spray gun 732 sprays water.

Optionally, the water spray driving mechanism 731 may also be a motor. A switch is provided at the entrance of the water spray gun 732. The motor is connected to the switch and controls the switch to close or open the entrance. The water spray gun 732 can realize high-pressure water spraying.

Optionally, the water spray gun 732 includes a water delivery pipe 732a and a water jet 732b. The water delivery pipe 732a is connected to the water jet 732b. The extension direction of the water delivery pipe 732a is perpendicular to the surface of the turntable 71a. The water jet 732b includes multiple groups and multiple groups. The sprinkler heads 732b are arranged at intervals along the length of the water pipe 732a, and each group of sprinkler heads 732b includes a plurality of sprinkler pipes 732c, and the plurality of sprinkler pipes 732c are arranged at intervals along the circumferential direction of the water pipe 732a. By setting the water delivery pipe 732a, on the one hand, the water in the water storage cavity is output to a position close to the screw hole. On the other hand, because the water delivery pipe 732a has a certain length, the extension direction of the water delivery pipe 732a is perpendicular to the surface of the turntable 71a and can be In the process of spraying water, it extends into the screw holes of different depths, so that the water spray head 732b (consisting of the water spray pipe 732c) on the water delivery pipe 732a can spray the water in it evenly toward the inner wall of the screw hole to make The entire screw hole through the reamed hole is quickly wetted.

In some embodiments of the present application, as shown in FIG. 18, the mortar spray mechanism 74 includes a telescopic mechanism 741, a spray cylinder 742 for storing mortar, and a spray head 743 for spraying mortar, and the spray head 743 is connected On the spray cylinder 742, one end of the telescopic mechanism 741 is connected to the spray cylinder 742, and the other end of the telescopic mechanism 741 is connected to the turntable 71a. When the telescopic mechanism 741 moves, the spray cylinder 742 extends or retracts relative to the turntable 71a. Therefore, when spraying is required, the spraying cylinder 742 can extend a certain distance from the turntable 71a and extend into the screw hole, spray mortar on the wetted screw hole, and the wetted screw hole inner wall can quickly merge with the mortar , So that the inner wall of the screw hole is not easy to form bubbles. After the screw hole is filled with mortar, it is compact enough, not easy to permeate, and has sufficient strength.

Optionally, the telescopic mechanism 741 may be a combination of an air cylinder, a hydraulic cylinder, a motor, and a screw nut.

In some embodiments of the present application, as shown in FIG. 18, the smoothing mechanism 75 includes a smoothing drive mechanism 751 and a smoothing head 752. One end of the smoothing drive mechanism 751 is connected to the turntable 71a, and the other end of the smoothing drive mechanism 751 is connected The smoothing head 752, the smoothing drive mechanism 751 drives the smoothing head 752 to rotate relative to the turntable 71a to smooth the screw hole after the mortar is injected. After the smoothing head 752 smooths the excess mortar at the opening of the screw hole, the screw hole and the surrounding base surface can be formed into a whole surface with high flatness. For example, in some specific examples, for the exterior wall 500 of the building When the mortar in the screw hole is smoothed out, the entire outer wall 500 of the building can be relatively smooth, which is convenient for the outer wall 500 of the building to enter other subsequent processing procedures.

Optionally, the smoothing drive mechanism 751 includes a motor and a motor base. The motor shaft of the motor is connected to the smoothing head. The motor drives the smoothing head 752 to rotate to smooth the mortar at the screw hole. The other end of the motor base is connected to the turntable 71a. Or the smoothing telescopic mechanism 753 described later.

Optionally, the smoothing head 752 includes a plurality of rotating leaves, the plurality of rotating leaves are located on the same plane, and the ends of the plurality of rotating leaves are connected together to form a center of rotation, and the plurality of rotating leaves rotate around the connected center of rotation. The rotating leaves are arranged radially.

Advantageously, the multiple rotating blades are spaced the same in the circumferential direction at the same radial distance. When multiple rotating blades rotate, a stable smoothing plane can be formed, and the screw hole can be smoothed evenly.

Optionally, a plurality of rotating blades are arranged symmetrically in pairs, and the outer ends of the plurality of rotating blades are located on the same circumferential surface along the connected track.

Optionally, the smoothing mechanism 75 further includes a smoothing telescopic mechanism 753, one end of the smoothing telescopic mechanism 753 is connected to the smoothing drive mechanism 751, the other end of the smoothing telescopic mechanism 753 is connected to the turntable 71a, and the smoothing telescopic mechanism 753 is telescopic During the movement, the smoothing drive mechanism 751 and the smoothing head 752 are driven to form a feed movement relative to the screw hole or the turntable 71a.

Optionally, the smoothing telescopic mechanism 753 may be a combination of an air cylinder, a hydraulic cylinder, a motor and a screw nut, or a combination of a motor and a chain sprocket.

During the process of moving with the mobile platform 4, the screw hole plugging robot 700 of the present application can take pictures of the building exterior wall 500 and return image information for feedback, and determine the coordinate position data of the screw hole, so as to enable the industrial control computer system and control The system 6 further adjusts the motion state of each actuator to ensure that the screw hole blocking robot 700 is aligned with the screw hole to be processed. Subsequently, the turntable 71a of the screw hole blocking robot 700 rotates before each process, and makes the auger mechanism 72, the water spray mechanism 73, the mortar spray mechanism 74, and the smoothing mechanism 75 respectively align with the screw holes in order to align the screw holes. Hole reaming, water spraying, mortar filling and smoothing are performed, wherein the auger mechanism 72 gradually extends a certain distance relative to the screw hole when the hole is reamed, and after the hole reaming is completed, the auger mechanism 72 retracts relative to the screw hole. When the water spray mechanism 73 sprays water, the spray gun 732 extends into the screw hole to spray water. After the screw hole is completely wetted, the spray gun 732 retracts. When the mortar spray mechanism 74 sprays the mortar, the spray head 743 extends into the screw hole to spray the grout, and then retracts. Finally, the smoothing mechanism 75 extends forward and the smoothing head 752 rotates to completely smooth the mortar in front of the screw hole, and then the smoothing mechanism 75 retracts to complete the plugging of a screw hole. As a result, the reciprocating cycle can sequentially block the screw holes in other places on the exterior wall 500 of the building.

The following describes the mobile building exterior wall construction platform 200 of the embodiment of the present application with reference to the drawings of the specification, mainly describing the climbing truss 100 connected to the construction platform 1 that can drive the construction platform 1 to rise and fall relative to the building exterior wall 500, and the climbing The top leveling device 20 on the truss 100.

The climbing truss 100 is used to solve the problem of unbalance and instability at the top of the existing truss, and the problem of low up-and-down climbing automation of the existing truss.

In some embodiments of the present application, the mobile platform 200 for building exterior wall construction of the present application further includes a climbing truss 100. As shown in FIG. 1, the climbing truss 100 includes a truss guide rail 10, a top leveling device 20, a climbing device 30, and a control A control device for the operation of the climbing device 20.

The climbing device 30 is movably arranged on the truss guide rail 10, the top leveling device 20 is arranged above the truss guide rail 10, and the upper part of the top leveling device 20 is connected to the rail beam 40 so that the climbing truss 100 (or even the entire building exterior wall construction mobile The platform 200) is connected to the rail beam 40, so that there is support at the top of the climbing truss 100, which improves the structural stability and safety of the climbing truss 100.

In this embodiment, a truss frame is composed of two truss guide rails 10, a rail beam 40 and rigid connectors. It should be noted that the components of the truss frame are made of materials with strong rigidity to improve the wind resistance and overturning resistance of the truss frame, thereby improving the safety of construction above the climbing truss 100. The numbers and positions of the various components described above are merely exemplary descriptions, and are not intended to limit the application, and those skilled in the art can make settings as needed, and no specific description is given here.

In some embodiments, as shown in FIGS. 2 and 3, the top leveling device 20 of the climbing truss 100 of the present application includes a vertical adjustment assembly 21 movably arranged on the truss guide rail 10 and a vertical adjustment assembly 21 arranged on the vertical adjustment assembly 21. Level adjustment assembly 22.

The vertical adjustment assembly 21 is used to adjust the space size of the truss guide rail 10 in the vertical direction. The vertical adjustment assembly 21 includes an actuator 211, an installation connection seat 212 and a first adjustment member 213 provided on the installation connection seat 212. The actuator 211 is used to drive the installation connecting seat 212 to move and is arranged on the truss guide rail 10; the installation connecting seat 212 is provided with a first connecting hole 214, and the first fastener 215 is inserted into the truss guide rail 10 and passes through the first connecting hole 214 The installation connection base 212 is fixedly arranged on the truss guide rail 10. Wherein, a first fixing member 216 is also provided on the installation connecting seat 212.

Optionally, a connecting block 217 in the shape of a corner protrudes from the installation connecting seat 212 of the present application, and the connecting block 217 is provided with a second connecting hole.

Optionally, the horizontal adjustment assembly 22 is used to adjust the horizontal position of the truss guide rail 10. The horizontal adjustment assembly 22 includes a cover plate 221 and a second adjusting member 222. The cover plate 221 is covered above the mounting connection seat 212 and is fixed by the first The member 216 fixedly connects the cover plate 221 with the mounting connection base 212. The two side walls of the cover plate 221 are provided with third connecting holes, and the second adjusting member 222 passes through the third connecting holes and the second connecting holes to cover the cover plate 221 on the connecting block 217. A second fastener 223 is further provided at the connection between the cover plate 221 and the second adjusting member 222, and the second fastener 223 fixes the second adjusting member 222 on the cover plate 221. Wherein, the second adjusting member 222 may be a bolt or a connecting member with threads. The second fastener 223 may be a nut.

It should be noted that, as shown in FIG. 3, the actuator 211 is a jack, and the actuator 211 is fixedly installed on the right side of the truss guide rail 10 through the first mounting seat 101, and the top bracket of the jack is against the bottom end surface of the mounting connecting seat 212. It is connected and used to drive the installation connection base 212 to move along the vertical direction of the truss guide rail 10. Specifically, the actuator 211 is preferably a hydraulic jack. The mounting connection seat 212 is made of a material with strong rigidity. Two first adjusting members 213 are provided on the mounting connecting seat 212, and the first adjusting members 213 are preferably bolts. The first connecting hole 214 of the present application is provided with two on the mounting connecting seat 212, the first connecting hole 214 is a waist-shaped hole, the first connecting hole 214 is used for position limiting, and the design of the first connecting hole 214 is restricted by implementation The element 211 drives the vertical adjustment assembly 21 to move up and down. The first fastener 215 may be a pin, or other connecting parts such as a pin. The first fixing member 216 is disposed between the two first adjusting members 213, and the first fixing member 216 is preferably a bolt. Wherein, taking the view direction of FIG. 3 as the reference direction, a second fixing member 218 is provided on the second connecting hole on the left of the connecting block 217, and the second fixing member 218 cooperates with the second adjusting member 222 to facilitate the adjustment of the climbing truss 100 Move to the left or right (horizontal direction); the second fixing member 218 may be a nut. The numbers and positions of the various components described above are merely exemplary descriptions, and are not intended to limit the application, and those skilled in the art can make settings as needed, and no specific description is given here.

The cover plate 221 and the installation connection seat 212 of the top leveling device 20 of the present application are installed parallel to the ground, and the installation connection seat 212 is located directly below the rail beam 40, and the cover plate 221 is installed above the installation connection seat 212. The installation connection base 212 and the cover plate 221 are connected by a second adjusting member 222, which is used to adjust the horizontal position of the climbing truss 100 so that the rail beam 40 is parallel to the ground. The installation connecting seat 212 is arranged perpendicular to the ground, and the vertical space of the truss guide rail 10 is adjusted by a first fixing member 216 and two first adjusting members 213 and then cooperating with the actuator 211. Specifically, when the position of the climbing truss 100 is adjusted in the up and down direction, the height of the vertical operation space of the truss guide rail 10 can be adjusted through the first adjusting member 213 and the actuator 211, and at the same time, the actuator 211 can be used to install the connecting seat 212. After supporting and adjusting the mounting connecting seat 212 to a required height, the first fixing member 216 is tightened to fix the mounting connecting seat 212. In the direction in which the mounting connection base 212 is parallel to the ground, the second adjusting member 222 is rotated by an external force to adjust the horizontal position of the cover plate 221 on the mounting connection base 212, thereby adjusting the horizontal position of the rail beam 40 and the ground. Compared with the existing truss, the applied climbing truss 100 connects the truss with the rail beam through the top leveling device, so that the top structure of the truss is stable, and the safety performance of the truss is improved, so that construction work can be performed on the top of the truss; The leveling device adjusts the space position of the truss through the vertical adjustment component and the horizontal adjustment component, and the space size of the truss can be adjusted according to construction requirements, which is convenient for operation and construction.

As shown in Figures 2 and 3, the second adjusting member 222 of the present application is provided with a sprocket 225, and a chain 226 is wound on the sprocket 225. The chain 226 is used to drive the sprocket 225 to rotate so as to drive the cover plate 221 in the horizontal direction. mobile. Wherein, taking the view direction of FIG. 3 as the reference direction, the sprocket 225 is arranged on the right of the second adjusting member 222, and the truss top leveling device 20 can drive the sprocket 225 to rotate by pulling the chain 226, thereby driving the sprocket 225 through the second adjusting member 225 The cover plate 221 moves in the horizontal direction on the installation connecting seat 212 to adjust the size of the space in the horizontal direction of the automatic climbing truss.

It should be noted that the combination of the sprocket 225 and the chain 226 can be a chain hoist structure, and the fixed connection technology of the chain hoist structure and the second adjusting member 222 belongs to a mature technology in the technical field. For example, the announcement number is CN208516852U, so in this implementation The examples are not explained one by one.

In some embodiments of the present application, as shown in FIGS. 2 and 3, the top surface of the cover plate 221 of the present application also protrudes with a locking fixing plate 227 for fixing the rail beam 40, and the locking fixing plate 227 is A third fastener 228 is provided, and the third fastener 228 passes through the locking and fixing plate 227 and is inserted into the cover plate 221 to fix the rail beam 40 on the cover plate 221. Wherein, taking the direction of the view in FIG. 3 as the reference direction, locking and fixing plates 227 are provided on both sides of the cover plate 221, and the locking and fixing plates 227 fasten the rail beam 40 on the top surface of the cover plate 221 by crimping. The locking and fixing plate 227 is mainly used for fixed connection with the rail beam 40.

It should be noted that two third fasteners 228 are provided on the locking and fixing plate 227, and the third fasteners 228 may be bolts, screws, pins, and the like.

In some embodiments of the present application, as shown in FIGS. 4 to 7, the climbing device 30 of the present application includes a climbing seat 31, a driving source 32, a hook plate 33, a load-bearing gear 34 and an elastic element 35. The climbing base 31 is movably clamped and arranged on the truss guide rail 10, and clamping plates 311 are provided on both sides of the climbing base 31. The clamping plates 311 on both sides form a receiving space matching the truss guide rail 10 and are located on both sides of the receiving space. A clamping post 312 protrudes from the clamping plate 311; the truss guide rail 10 is arranged in the accommodating space and is clamped on the truss guide rail 10 through the clamping post 312 so that the climbing seat 31 moves on the truss guide rail 10. The base of the driving source 32 is connected to the climbing base 31, the output shaft of the driving source 32 is connected to the truss guide rail 10, the driving source 32 can drive the climbing base 31 to move on the truss guide rail 10; the output shaft of the driving source 32 is connected with a hook plate 33. The connecting shaft 321 is used to fix the hook plate 33 on the output shaft of the driving source 32. The load-bearing gear 34 is movably mounted on the climbing base 31 through the rotating shaft 341, and is located between the two clamping plates 311 and is arranged above the climbing base 31. One end of the elastic element 35 is fixedly arranged on the climbing base 31, the other end of the elastic element 35 is fixedly arranged on the driving source 32, and the elastic element 35 is used for resetting.

As shown in Figure 5, the hook plate 33 and the load-bearing shift 34 of the present application are both provided with hooks 36. The hooks 36 are used to hook and connect with the truss guide rail 10, corresponding to the hook plate 33 and the load-bearing shift 34. In design, a number of ladder blocks 11 are arranged on the truss guide rail 10, a groove 12 is cut out between the two ladder blocks 11, and the hook plate 33 and the load-bearing gear 34 are both arranged in the groove 12.

It should be noted that the driving source 32 may be a hydraulic cylinder, which may be electric or various forms of cylinders or push-type power devices. The number of the clamping posts 312 can be two, four, or six. As shown in FIG. 5, the climbing device 30 is arranged on the truss guide rail 10. The truss guide rail 10 is arranged in the accommodating space and is clamped and arranged on the outer wall surface of the truss guide rail 10 through the clamping column 312, the load-bearing shift 34 and the hook plate 33 is provided in the groove 12. The elastic element 35 may be a spring.

In some embodiments of the present application, as shown in FIGS. 1, 4 and 5, the climbing base 31 of the present application is further provided with a mounting plate 313, and the mounting plate 313 is connected to the wall support 102 through a connecting piece 314.

As shown in FIGS. 1, 4, and 5, the base of the driving source 32 of the climbing device 30 of the present application is connected to the climbing base 31, and the output shaft of the driving source 32 is connected to the ladder block 11 of the truss guide rail 10 through the hook plate 33 Hook connection. When the climbing device 30 is climbing, the control device controls the drive source 32 to work. The output shaft of the drive source 32 extends so that the hook plate 33 lifts up the ladder block 11 on the truss guide rail 10 and the drive source 32 After the output shaft lifts the truss guide rail 10 to the space height of a groove 12, that is, when the next ladder block 11 of the truss guide rail 10 moves to the position of the climbing seat 31, the load-bearing gear 34 is stuck in the position of the climbing seat 31 After the ladder block 11, the control device controls the drive source 32 to stop working, the output shaft of the drive source 32 shrinks back to the initial position, and drives the hook plate 33 to descend along the truss guide rail 10, and the elastic element 35 at the bottom of the drive source 32 makes the hook stay The plate 33 automatically resets. After the hook plate 33 is hooked on the ladder block 11 located on the lower side of the top end of the output shaft of the drive source 32, the control device controls the drive source 32 to start again to complete the climbing stroke of a truss, and the next climbing stroke cycle repeats The above steps.

A plurality of climbing devices 30 are provided on the truss frame, and a plurality of driving sources 32 are controlled by the control device to perform coordinated work to achieve the automatic climbing of the truss frame as a whole. Compared with the existing truss, the automatic climbing truss realizes the automatic climbing of the truss through the cooperation of the climbing device 30 and the control device, improves the work efficiency of the construction, and solves the problem of manual assembly or disassembly of the existing truss, and the use of lifting equipment to assist manual labor The technical problem of performing a mobile climb.

As shown in Figure 1, Figure 4, and Figure 5, the automatic climbing truss of the present application adopts multiple designs to prevent the truss from falling. One is through the hook plate 33 connected to the output shaft of the drive source 32. When the truss falls accidentally, the hook The hook of the plate 33 will hook the ladder block 11 of the truss guide rail 10 to prevent the truss from falling down as a whole to achieve the first anti-fall protection design; the second is through the load-bearing shift 34 set on the climbing seat 31, When the truss is climbing, the load-bearing shift 34 rotates counterclockwise around the shaft 341 due to the upward climbing force of the truss. After the truss climbs for a climbing stroke, under the action of gravity, the load-bearing shift 34 returns to the original clockwise around the shaft 341 When the truss is climbing, once the truss falls, the load-bearing shift 34 will quickly rotate clockwise under the action of gravity, and the hook of the load-bearing shift 34 will jam the ladder block 11 on the truss guide rail 10 to prevent The truss continues to fall, realizing the second anti-fall protection of the truss.

The control device is used in a power system that provides power to the drive source 32. Among them, the power system can be a hydraulic power system. The hydraulic power system is composed of a pump station, hydraulic cylinders and oil pipes. The hydraulic system can make the automatic climbing truss automatically climb and run without other lifting equipment. The specific structure of the control device can be set according to the requirements of the truss frame. How the control device controls the operation of the driving source 32 is well known and can be mastered by those skilled in the art, so this application will not go into details.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood under specific circumstances.

In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific feature, structure, material or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application . In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims (32)

1. A mobile platform for building exterior wall construction, which is characterized in that it includes:

   A construction platform, the construction platform includes a first platform and a second platform arranged in an up and down direction;

   A frame, the frame is connected between the first platform and the second platform;

   Traveling wheel assembly, the traveling wheel assembly is arranged on the frame, and the traveling wheel assembly is on the first platform and/or the second platform to drive the frame to travel along the construction platform, The traveling wheel assembly includes a driving wheel and a swinging wheel. The traveling direction of the swinging wheel is swingable relative to the traveling direction of the driving wheel. When the frame moves straight, the driving wheel and the swinging wheel have the same traveling directions. Parallel, the driving wheel and the swinging wheel form an angle when the frame is turned;

   A mobile platform, which is connected to the frame in a liftable manner.
2. The mobile platform for building exterior wall construction according to claim 1, wherein the first platform and the second platform are respectively provided with a first guide rail and a second guide rail, and the vehicle frame is mounted on the second platform. Sliding between a guide rail and the second guide rail.
3. The mobile platform for building exterior wall construction according to claim 1 or 2, wherein the first platform and the second platform extend horizontally, and the first platform and the second platform are suitable for Surrounded by the outer wall of the building, the first platform is provided with a first guide rail that is closed along the circumference of the outer wall of the building, and the second platform is provided with a first guide rail that is closed along the circumference of the building outer wall The second guide rail, the first guide rail and the second guide rail are arranged in parallel, so that the vehicle frame can travel in a circular direction relative to the peripheral surface of the outer wall of the building along the construction platform.
4. The mobile platform for building exterior wall construction according to claim 2 or 3, wherein the first guide rail and the second guide rail each comprise a multi-segment linear guide rail and a multi-segment steering guide rail, two adjacent segments of the linear guide rail The steering guide rails are connected therebetween.
5. The mobile platform for building exterior wall construction according to claim 2, 3, or 4, wherein the walking wheel assembly includes a first walking wheel assembly and a second walking wheel assembly, and the first walking wheel assembly runs along the The first rail travels, the second traveling wheel assembly travels along the second rail, one of the first traveling wheel assembly and the second traveling wheel assembly is formed as a traveling wheel assembly, and the traveling The wheel assembly includes the driving wheel and the swing wheel, and the other of the first traveling wheel assembly or the second traveling wheel assembly is formed as a guide wheel assembly to follow the traveling wheel assembly to walk.
6. The mobile platform for building exterior wall construction according to claim 5, wherein the traveling wheel assembly further comprises a first swing plate provided on the frame, and the driving wheel is rotatably connected by a connecting pin On the first swing plate, the swing wheel is swingably connected to the first swing plate, and the swing wheel swings on the first rail or the second rail.
7. The mobile platform for building exterior wall construction according to claim 5 or 6, wherein the travel wheel assembly further comprises a travel drive mechanism, the travel drive mechanism drives the drive wheel to rotate, and the drive wheel includes multiple drive wheels. A roller, a plurality of the rollers are respectively arranged around the outer periphery of the first guide rail or the second guide rail, and the rolling contact surfaces of the plurality of rollers are connected to the first guide rail or the second guide rail. Side contact.
8. The mobile platform for building exterior wall construction according to claim 5, 6 or 7, wherein the guide wheel assembly includes a main guide wheel, a secondary guide wheel and a second swing plate, the main guide wheel and the The secondary guide wheels are respectively connected to the second swing plate at intervals along the traveling direction of the vehicle frame, and the second swing plate is swingably connected to the vehicle frame.
9. The mobile platform for building exterior wall construction according to any one of claims 1-8, further comprising a mobile lifting assembly, the mobile lifting assembly comprising a chain, at least two sprockets and a mobile lifting motor, so The chain is engaged with at least two of the sprockets for transmission, the mobile lifting motor drives the chain to move up and down relative to the sprockets, and the chain is connected to the mobile platform.
10. The mobile platform for building exterior wall construction according to claim 9, wherein the frame includes two brackets arranged in parallel, and the brackets extend along the lifting direction of the mobile platform, and the mobile lifting assembly is also It includes a plurality of guide components, one ends of the plurality of guide components are respectively slidably connected to the two brackets, and the other ends of the plurality of guide components are respectively connected to both sides of the mobile platform.
11. The mobile platform for building exterior wall construction according to any one of claims 1-10, further comprising an end effector connected to the mobile platform to process the exterior wall of the building .
12. The mobile platform for building exterior wall construction according to claim 11, wherein the end effector is a screw hole blocking robot, and the screw hole blocking robot is used to block the screw hole, comprising:

    A turntable, the turntable can rotate relative to the screw hole;

    An auger mechanism, the auger mechanism is connected to the turntable, the active end of the auger mechanism can be extended or retracted relative to the turntable, the auger mechanism is used to ream the screw hole ；

    A water spray mechanism, the water spray mechanism is connected to the turntable, and the water spray mechanism is used to spray water to the screw hole;

    A mortar blasting mechanism, the mortar blasting mechanism is connected to the turntable, and the mortar blasting mechanism is used to fill the screw hole with mortar;

    A smoothing mechanism, the smoothing mechanism is connected to the turntable, and the smoothing mechanism is used for smoothing the screw hole;

    The auger mechanism, the water spray mechanism, the mortar spray mechanism, and the smoothing mechanism are arranged on the turntable at intervals in the circumferential direction.
13. The mobile platform for building exterior wall construction according to claim 12, further comprising a positioning recognition component, the positioning recognition component is connected to the turntable, the positioning recognition component includes a visual camera and a sensor, so The positioning identification component is used to identify the position of the screw hole.
14. The mobile platform for building exterior wall construction according to claim 13, wherein the turntable is formed in a circular shape, the positioning identification component is arranged on the center of rotation of the turntable, the auger mechanism, the A water spray mechanism, the mortar spray mechanism, and the smoothing mechanism are arranged on the turntable around the positioning and identifying assembly.
15. The mobile platform for building exterior wall construction according to claim 12, 13 or 14, further comprising a rotating drive mechanism that drives the turntable to rotate, and the rotating drive mechanism includes a rotating motor and a speed reducer. The rotary motor is connected with the reducer, and the reducer is connected with the turntable.
16. The mobile platform for building exterior wall construction according to any one of claims 12-15, wherein the mortar blasting mechanism includes a telescopic mechanism, a mortar barrel for storing mortar, and a mortar sprayer for spraying mortar. The spray head is connected to the spray cylinder, one end of the telescopic mechanism is connected to the spray cylinder, and the other end of the telescopic mechanism is connected to the turntable. When the telescopic mechanism moves, the The shotcrete cylinder extends or retracts relative to the turntable.
17. The mobile platform for building exterior wall construction according to any one of claims 12-16, wherein the water spray mechanism comprises a water spray driving mechanism and a water spray gun, and the water spray driving mechanism is connected to the The turntable is connected to the water spray gun, and the water spray driving mechanism drives the water spray gun to spray water.
18. The mobile platform for building exterior wall construction according to claim 17, wherein the water spray gun comprises a water delivery pipe and a water jet, the water delivery pipe communicates with the water jet, and the extension direction of the water delivery pipe Vertical to the surface where the turntable is located, the sprinkler heads include multiple groups, and the multiple sets of sprinkler heads are arranged at intervals along the length direction of the water delivery pipe, and each group of the sprinkler heads includes multiple sprinkler pipes. The two water spray pipes are arranged at intervals along the circumference of the water delivery pipe.
19. The mobile platform for building exterior wall construction according to any one of claims 12-18, wherein the smoothing mechanism comprises a smoothing drive mechanism and a smoothing head, and one end of the smoothing drive mechanism is connected to the A turntable, the other end of the smoothing drive mechanism is connected to the smoothing head, and the smoothing drive mechanism drives the smoothing head to rotate relative to the turntable to smooth the screw hole after the mortar is injected.
20. The mobile platform for building exterior wall construction according to any one of claims 12-19, wherein the auger mechanism includes a reaming drive mechanism, an auger bit, and an auger body, and the auger body includes a drill bit. A connecting rod, the auger bit is rotatably connected to the drill bit connecting rod, and the reaming drive mechanism drives the auger bit to rotate to ream the screw hole.
21. The mobile platform for building exterior wall construction according to any one of claims 1-20, further comprising: a climbing truss, the climbing truss comprising:

    A truss guide rail for forming a truss frame, the truss guide rail is connected to the construction platform;

    A climbing device, which is movably arranged on the truss guide rail;

    A top leveling device, the top leveling device is arranged at the top of the truss guide rail;

    The control device is used to control the movement of the climbing device along the truss guide rail.
22. The mobile platform for building exterior wall construction according to claim 21, wherein the climbing device comprises a climbing seat and a driving source, and the climbing seat is movably clamped and arranged on the truss guide rail; The base is connected with the climbing base, the output shaft of the driving source is clamped with the truss guide rail, and the driving source can drive the climbing base to move on the truss guide rail.
23. The mobile platform for building exterior wall construction according to claim 22, wherein the climbing device further comprises a hook support plate and a load-bearing shift used for hook connection with the truss guide rail, the hook support plate and The end of the output shaft of the driving source is movably connected, and the load-bearing gear shift is movably mounted on the climbing seat and located above the climbing seat.
24. The mobile platform for building exterior wall construction according to claim 23, wherein the hook plate and the load-bearing shift are both provided with hooks, corresponding to the hooks, and the truss guide rails are provided There are ladder blocks.
25. The mobile platform for building exterior wall construction according to claim 22, 23 or 24, wherein the climbing device further comprises an elastic element, one end of the elastic element is fixedly arranged on the climbing seat, and the other end is The elastic element is fixedly arranged on the driving source, and the elastic element is used for resetting.
26. The mobile platform for building exterior wall construction according to claim 22, 23 or 24, wherein the control device is used for a power system that provides power to the driving source.
27. The mobile platform for building exterior wall construction according to any one of claims 21-26, further comprising a rail beam, one end of the top end leveling device is arranged at the top end of the truss guide rail, and The other end of the top leveling device is connected to the rail beam; the top leveling device includes:

    The vertical adjustment component is movably arranged on the truss guide rail and used to adjust the vertical space size of the truss guide rail;

    The horizontal adjustment component is arranged on the vertical adjustment component and used to adjust the horizontal position of the truss guide rail.
28. The mobile platform for building exterior wall construction according to claim 27, wherein the vertical adjustment assembly includes an actuator, an installation connection seat, and a first adjustment member arranged on the installation connection seat, and the execution The element is used to drive the installation connection seat to move and is arranged on the truss guide rail; the installation connection seat is provided with a first connection hole, and the first fastener is inserted into the truss guide rail and passes through the first The connecting hole fixes the installation connecting seat on the truss guide rail.
29. The mobile platform for building exterior wall construction according to claim 28, characterized in that a connecting block in the shape of a letter is protruding from the installation connecting seat, and a second connecting hole is opened on the connecting block.
30. The mobile platform for building exterior wall construction according to claim 29, wherein the level adjustment assembly comprises a cover plate and a second adjusting member, the cover plate is covered on the connecting block, and the cover plate A third connecting hole is opened on the two side walls of the two side walls, and the second adjusting member passes through the third connecting hole and the second connecting hole to set the cover plate on the mounting connection seat; the cover A second fastener is further provided at the connection between the plate and the second adjusting member, and the second fastener fixes the second adjusting member on the cover plate.
31. The mobile platform for building exterior wall construction according to claim 30, wherein a sprocket is provided on the second adjusting member, a chain is wound on the sprocket, and the chain is used to drive the sprocket The rotation drives the cover plate to move in the horizontal direction.
32. The mobile platform for building exterior wall construction according to claim 30 or 31, wherein the top surface of the cover plate also protrudes with a locking plate for fixing the rail beam, and the locking and fixing plate A third fastener is provided on the board, and the third fastener passes through the locking and fixing board and is inserted into the cover to fix and install the rail beam on the cover.

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