CN112832489A - Multifunctional robot for spraying and cleaning outer wall surface - Google Patents
Multifunctional robot for spraying and cleaning outer wall surface Download PDFInfo
- Publication number
- CN112832489A CN112832489A CN202110178983.8A CN202110178983A CN112832489A CN 112832489 A CN112832489 A CN 112832489A CN 202110178983 A CN202110178983 A CN 202110178983A CN 112832489 A CN112832489 A CN 112832489A
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- robot
- wall surface
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- working
- telescopic
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- 238000004140 cleaning Methods 0.000 title claims abstract description 24
- 238000005507 spraying Methods 0.000 title claims abstract description 16
- 238000010276 construction Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000004804 winding Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A multifunctional robot for spraying and cleaning the outer wall surface is composed of a control robot and an operation robot connected with the control robot through a cable; the control robot controls the operation movement of the manufacturing robot on the wall surface through a cable and a folding arm bracket which are connected by a winch mechanism, and the working robot carries out spraying or cleaning construction on a target by using a nozzle and a roller; in order to avoid the working robot from shaking during construction, a stable and reliable construction working environment is constructed by utilizing a mechanical triangle rule and a mechanical triangle formed by a wall body, a mooring rope and a transverse telescopic bracket, and the telescopic brackets are respectively arranged at the upper, middle and lower positions of the working robot and supported on a wall surface, and in the working process, obstacles such as a boss of the wall surface and the like are detected and fed back through a radar sensor, so that the construction work of the working robot is stabilized.
Description
Technical Field
The invention relates to the field of intelligent machines for building construction, in particular to a multifunctional robot for spraying and cleaning an outer wall surface.
Background
In the process of constructing the outer wall surface of a high-rise building, the high-altitude operation environment is severe, the labor intensity of workers is high, the danger is high, the recruitment of workers is difficult, and the production cost is high, so that the competitiveness of enterprises is reduced. Because of the few construction robots currently used, according to the published patents (CN 109736548A, CN109171543A, CN107829555A, CN 106695830A) and the like, robots capable of working on the outer wall of high-rise buildings are all fixed by adsorption or by electromagnetism, but the reliability of the robots fixed by adsorption is low due to the gravel structure and unevenness of the outer wall of high-rise buildings, and the robots fixed by electromagnetism are difficult to install fixed rails due to high-rise buildings or to be applied to production work by methods such as suspension.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a multifunctional robot for spraying and cleaning an outer wall surface, which structurally comprises: the control robot is connected with the operation robot through a cable; control robot installs capstan winch mechanism, drive behind the speed reducer amplification moment through servo motor, reel for on the capstan winch support provides power, the speed reducer is installed at the reel axle be close the intermediate position and coaxial with the reel, make reel both ends atress and capstan winch support weight comparatively balanced, hawser one end is fixed in on the reel and through the direction winding displacement ware, stretch to suitable position and release or rolling through folding arm support, control the operation position of preparation robot at the wall, operation robot detects the control nozzle according to the electronic sensor switch on the telescopic bracket, utilize the gyro wheel rotation to accomplish the spraying or the cleaning operation of target construction area.
When the construction operation of the outer wall surface is carried out, the control robot arranged on the roof releases the other end of the cable rope and is connected with the operation robot arranged on the side surface of the wall body, the operation robot is transversely supported on the wall body through the telescopic support, and partial weight of the operation robot is converted into pressure on the wall body due to thrust generated by the transverse extending support of the telescopic support, so that the random shaking of the operation robot is avoided; after the telescopic support transversely supports the working robot, the cable rope connected with the working robot forms an included angle with the vertical wall body, so that a stable mechanical triangular relation is formed among the wall body, the cable rope and the transverse telescopic support, and a stable and reliable construction working environment is established for the robot.
The upper part of a telescopic support of the working robot, which is close to a wall body, is provided with a support for mounting a plurality of electronic sensor switches and nozzles, when the sensors detect the wall body, the nozzles are opened for spraying, when no wall body exists, the nozzles are closed, nozzle openings are V-shaped and are mounted in parallel, sprayed materials are distributed in a fan shape, when a plurality of nozzles are used for working according to construction requirements, large-area coverage is formed to improve the working efficiency, the contact part of the telescopic support and the wall surface is provided with rollers, the rollers are utilized to contact the wall body, and resistance is avoided when the telescopic support moves at the; when the robot is used for cleaning, the cleaning liquid sprayed out from the nozzle and the roller rotate the target object, so that the cleaning operation of the target wall is completed, the construction area is large, the operation speed is high, the quality is stable, and safety accidents in the construction process are avoided.
The working robot is provided with telescopic supports corresponding to the supporting wall bodies at the upper position, the middle position and the lower position respectively, and the telescopic supports automatically adjust the telescopic distance according to the release distance of the cable and the height position of the wall surface where the telescopic supports are located, so that the working robot keeps supporting the wall surface, and the pressure is adjusted and controlled through software; in the process of working up and down along the wall surface, the radar sensor arranged on the support detects obstacles such as a boss on the wall surface, and the telescopic support sequentially contracts and extends according to the time sequence of contacting the obstacles, so that the obstacle crossing is achieved, and the construction operation of the operation robot is stabilized.
Drawings
The invention is explained in detail below with reference to the figures and with reference to embodiments:
fig. 1 is a schematic view of a complete robot construction operation according to the present invention.
Fig. 2 is a schematic view of a mechanical triangular relationship formed by a wall, a cable and a transverse telescopic bracket when the robot performs operation.
Fig. 3 is a detailed view of the telescopic support of the working robot according to the invention.
Fig. 4 is a detailed schematic diagram of the winch mechanism of the control robot of the present invention.
The parts of the drawing are marked as follows: the control robot 1, the servo motor 1.1, the speed reducer 1.2, the winch support 1.3, the winding drum 1.4, the guide wire arranging device 1.5 and the folding arm support 1.6; a cable 2; the device comprises a working robot 3, a telescopic bracket 3.1, an electronic sensor switch 3.2, a nozzle 3.3, a roller 3.4 and a radar sensor 3.5; a wall 4.
Detailed Description
In order to facilitate an understanding of the technical features of the invention, the invention will be further explained with reference to the accompanying drawings in combination with specific embodiments. Referring to fig. 1 to 4, the robot according to the present invention is composed of a control robot 1 connected to a working robot 3 through a cable 2.
During construction operation, a winch mechanism of a control robot 1 arranged on a roof drives a speed reducer 1.2 to amplify torque through a servo motor 1.1, power is provided for a winding drum 1.4 on a winch support 1.3, a cable 2 with one end fixed on the winding drum 1.4 is released or wound at a proper position through stretching, folding and other movements of a guide traverse 1.5 and a folding arm support 1.6, and the movement of a working robot 3 connected to the other end of the cable 2 during wall surface operation is controlled;
the working robot 3 is transversely supported on the wall surface through the telescopic support 3.1, so that an included angle is formed between the cable 2 connected with the working robot 3 and the vertical wall body 4, and due to thrust generated after the telescopic support 3.1 is transversely and telescopically supported, part of the weight of the working robot 3 is converted into pressure on the wall body 4, so that the working robot 3 is prevented from shaking during operation, and a stable operation environment is formed; a plurality of electronic sensor switches 3.2 and nozzles 3.3 are arranged on a bracket above a telescopic bracket 3.1 of the working robot 3 and close to a wall 4, the electronic sensor switches 3.2 are opened when detecting the wall in operation and spray materials through the nozzles 3.3, and the nozzles are closed when detecting no wall, because the nozzles 3.3 are V-shaped and are arranged in parallel, the sprayed materials of each nozzle are distributed in a fan shape, when a plurality of nozzles 3.3 are used for working, large-area coverage is formed to improve the operation efficiency, rollers 3.4 are arranged at the contact positions of the telescopic bracket 3.1 and the wall, and resistance is avoided when the telescopic bracket is moved at upper and lower positions; when the robot is engaged in cleaning operation, cleaning liquid sprayed by the nozzle 3.3 and the roller 3.4 rotate to scrub and work cooperatively, so that the cleaning operation of the target wall 4 is achieved.
Because the working robot 3 is respectively provided with the telescopic supports 3.1 at the upper, middle and lower positions to be correspondingly supported on the wall 4, the telescopic supports 3.1 automatically adjust the telescopic distance through software according to the height position of the wall, the working robot 3 keeps dynamically adjusting the pressure of the wall support, and a stable working environment is formed; in the process of working up and down along the wall surface, when the radar sensor 3.5 arranged on the telescopic bracket 3.1 detects obstacles such as a boss on the wall surface, the telescopic brackets 3.1 at the upper, middle and lower positions are sequentially contracted and extended according to the time sequence of contacting the obstacles, so that the obstacle crossing is achieved, and the working robot 3 is stabilized to carry out the working.
The foregoing embodiments illustrate and describe the basic principles and principal structural features of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a multi-functional robot for outer wall face spraying, abluent which characterized in that: the control robot is connected with the operation robot through a cable;
the winch mechanism for controlling the robot to install drives the speed reducer to amplify torque through the servo motor to provide power for a winding drum on the winch support, one end of the cable is fixed on the winding drum, and the cable is released or wound through the guide wire arranging device and the folding arm support to control the robot to move in wall operation;
the operation robot detects and controls nozzles to spray according to electronic sensor switches on the telescopic supports, the nozzles are arranged in parallel, and the roller wheels are used for rotating to finish spraying or cleaning construction on a target;
in the construction process of the outer wall surface of the working robot, the telescopic support is transversely supported on the wall body, so that an included angle is formed between a cable connected with the control robot and the vertical wall body, and the telescopic support transversely supports the wall surface to generate thrust, so that part of the weight of the working robot is converted into pressure on the wall body, and the working robot is prevented from shaking in the construction process; a stable and reliable construction working environment is constructed by utilizing a mechanical triangle rule and a mechanical triangle formed by a wall body, a mooring rope and a transverse telescopic bracket.
2. The upper, middle and lower positions of the operation robot are respectively provided with the telescopic supports, the telescopic supports are supported on the wall surface by means of machine weight conduction, in the operation process, the radar sensors on the supports are used for detecting obstacles such as wall bosses and the like, and the telescopic supports are respectively sequentially contracted and extended according to the contact obstacle time sequence under the control of software, so that the purpose of crossing obstacles and stabilizing the operation robot construction operation is achieved.
3. The multifunctional robot for spraying and cleaning the outer wall surface according to claim 1, wherein: the speed reducer of the winch mechanism of the control robot is installed at the position, close to the middle, of the winding drum shaft and coaxial with the winding drum, so that the stress at the two ends of the winding drum is approximately balanced with the weight of the winch support.
4. The multifunctional robot for spraying and cleaning the outer wall surface according to claim 1, wherein: the control robot hawser avoids appearing the winding and knoing through the use of direction winding displacement ware, roll over the arm support and release or the rolling through motion such as extending and folding up, control the removal of preparation robot construction position.
5. The multifunctional robot for spraying and cleaning the outer wall surface according to claim 1, wherein: the nozzle opening of the working robot is V-shaped, sprayed materials are distributed in a fan shape, and the working efficiency is improved by arranging the materials in parallel to form large-area coverage; the number of the nozzles and the length of the roller are increased and reduced according to the construction area, so that the method is more flexibly applied to the operation environment.
6. The multifunctional robot for spraying and cleaning the outer wall surface according to claim 1, wherein: during cleaning operation, the operation robot sprays cleaning liquid to a target wall surface through a nozzle and rotates a roller on a support to cooperatively perform the cleaning operation.
7. The multifunctional robot for spraying and cleaning the outer wall surface according to claim 1, wherein: the telescopic support of the operation robot is controlled by software to extend, and the telescopic length of the telescopic support is adjusted according to the pressure of the operation robot relative to the wall surface.
8. The multifunctional robot for spraying and cleaning the outer wall surface according to claim 1, wherein: the upper, middle and lower corresponding support wall body positions of the working robot are respectively provided with a telescopic support, the contact ends of the supports and the wall body are provided with rollers, the rollers are in contact with the wall body, resistance generated during up-and-down movement is avoided, and meanwhile collaborative operation on a target during cleaning is facilitated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178983.8A CN112832489A (en) | 2021-02-09 | 2021-02-09 | Multifunctional robot for spraying and cleaning outer wall surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110178983.8A CN112832489A (en) | 2021-02-09 | 2021-02-09 | Multifunctional robot for spraying and cleaning outer wall surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112832489A true CN112832489A (en) | 2021-05-25 |
Family
ID=75933234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110178983.8A Withdrawn CN112832489A (en) | 2021-02-09 | 2021-02-09 | Multifunctional robot for spraying and cleaning outer wall surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112832489A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046018A (en) * | 2021-11-21 | 2022-02-15 | 深圳市瑞河科技有限公司 | Robot wall obstacle crossing operation method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB247256A (en) * | 1925-08-26 | 1926-02-18 | Charles Downs | Apparatus for plastering ceilings, walls and the like |
| CN1570331A (en) * | 2003-07-11 | 2005-01-26 | 香港城市大学 | Unmanned hanging basket system for building exterior wall operation |
| CN105003065A (en) * | 2015-06-06 | 2015-10-28 | 陈玉明 | Full-automatic wall-plastering machine |
| CN105476560A (en) * | 2015-12-30 | 2016-04-13 | 马鞍山清净环保科技有限公司 | Wall surface cleaning robot and control method thereof |
| CN205234409U (en) * | 2015-12-30 | 2016-05-18 | 马鞍山清净环保科技有限公司 | High -efficient wall cleaning robot |
| CN105672629A (en) * | 2016-02-24 | 2016-06-15 | 张日龙 | Pasting machine and operation method thereof |
| CN210316647U (en) * | 2019-06-20 | 2020-04-14 | 漳州良福钢结构工程有限公司 | Safe suspension structure for high-altitude construction for building |
| CN111236591A (en) * | 2019-12-26 | 2020-06-05 | 陶民 | Robot for spraying and cleaning wall surface |
| CN212224550U (en) * | 2019-12-30 | 2020-12-25 | 郑州宏拓电子技术有限公司 | Vertical telescopic bracket mechanism of wall plastering device |
-
2021
- 2021-02-09 CN CN202110178983.8A patent/CN112832489A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB247256A (en) * | 1925-08-26 | 1926-02-18 | Charles Downs | Apparatus for plastering ceilings, walls and the like |
| CN1570331A (en) * | 2003-07-11 | 2005-01-26 | 香港城市大学 | Unmanned hanging basket system for building exterior wall operation |
| CN105003065A (en) * | 2015-06-06 | 2015-10-28 | 陈玉明 | Full-automatic wall-plastering machine |
| CN105476560A (en) * | 2015-12-30 | 2016-04-13 | 马鞍山清净环保科技有限公司 | Wall surface cleaning robot and control method thereof |
| CN205234409U (en) * | 2015-12-30 | 2016-05-18 | 马鞍山清净环保科技有限公司 | High -efficient wall cleaning robot |
| CN105672629A (en) * | 2016-02-24 | 2016-06-15 | 张日龙 | Pasting machine and operation method thereof |
| CN210316647U (en) * | 2019-06-20 | 2020-04-14 | 漳州良福钢结构工程有限公司 | Safe suspension structure for high-altitude construction for building |
| CN111236591A (en) * | 2019-12-26 | 2020-06-05 | 陶民 | Robot for spraying and cleaning wall surface |
| CN212224550U (en) * | 2019-12-30 | 2020-12-25 | 郑州宏拓电子技术有限公司 | Vertical telescopic bracket mechanism of wall plastering device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046018A (en) * | 2021-11-21 | 2022-02-15 | 深圳市瑞河科技有限公司 | Robot wall obstacle crossing operation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210615 Address after: Room 208, building a, No.16, Longshan Industrial Zone, Nanling village community, Nanwan street, Longgang District, Shenzhen, Guangdong 518123 Applicant after: Shenzhen Ruihe Technology Co.,Ltd. Address before: 518123 room 304, building 4, shuishanyuan community, Hudong Road, Nanwan street, Longgang District, Shenzhen City, Guangdong Province Applicant before: Tao Min |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210525 |