CN110629991A - Seam cleaning structure, seam filling device and seam cleaning method - Google Patents
Seam cleaning structure, seam filling device and seam cleaning method Download PDFInfo
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- CN110629991A CN110629991A CN201911001976.XA CN201911001976A CN110629991A CN 110629991 A CN110629991 A CN 110629991A CN 201911001976 A CN201911001976 A CN 201911001976A CN 110629991 A CN110629991 A CN 110629991A
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- seam
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- cleaning knife
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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
- E04F21/165—Implements for finishing work on buildings for finishing joints, e.g. implements for raking or filling joints, jointers
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Abstract
The invention provides a seam cleaning structure, a seam filling device and a seam cleaning method, wherein the seam cleaning structure is used for cleaning a seam and comprises a seam cleaning knife, and the seam cleaning knife is provided with a working position and an avoiding position; when the seam cleaning knife is positioned at the working position, at least part of the seam cleaning knife is inserted into the gap to clean the gap; the shifting part is movably arranged along a preset working track, and the seam cleaning knife is arranged on the shifting part so as to drive the seam cleaning knife to move through the shifting part to clean the seam; the visual positioning component is arranged on the transfer component and has a photographing function so as to determine the position of the gap through photographing in the moving process of the transfer component; at least part of the distance measuring component is arranged on the installation end surface of the transfer component so as to measure the distance between the plane of the opening of the gap and the working end surface of the gap cleaning knife and move the gap cleaning knife to a preset position in the gap for cleaning according to the measurement result, thereby solving the problem of low gap cleaning efficiency in the prior art.
Description
Technical Field
The invention relates to the field of mechanical design, in particular to a seam cleaning structure, a seam filling device and a seam cleaning method.
Background
In the field of engineering construction, tiles are often laid on floors and walls to enhance the aesthetics and waterproof function of the floors and walls.
However, in the process of laying the tiles, a gap is left between each two adjacent tiles, and a gap filling process is required to fill the gap.
Before filling up the gap, at first need clear up the gap, fill up the gap after the clearance, later clear up the gap filler of giving more, above-mentioned each step among the prior art is mostly accomplished through manual operation, has wasted a large amount of time, has reduced the efficiency of the work of caulking.
Disclosure of Invention
The invention mainly aims to provide a seam cleaning structure, a seam filling device and a seam cleaning method, and aims to solve the problem of low seam cleaning efficiency in the prior art.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a crack cleaning structure for cleaning a crack, the crack cleaning structure comprising: the seam cleaning knife is provided with a working position and an avoiding position, and the seam cleaning knife is movably arranged between the working position and the avoiding position; when the seam cleaning knife is positioned at the working position, at least part of the seam cleaning knife is inserted into the gap to clean the gap; the seam cleaning knife is arranged on the mounting end face of the transfer component so as to drive the seam cleaning knife to move through the transfer component to clean the seam; the visual positioning component is arranged on the transfer component, has a photographing function, determines the position of the gap by photographing in the moving process of the transfer component, uploads the photographed result to the control system, and controls the gap cleaning knife to move towards the gap; and the distance measuring component is at least partially arranged on the installation end surface of the transfer component so as to measure the distance between the plane of the opening of the gap and the working end surface of the gap cleaning knife, and the gap cleaning knife is moved to a preset position in the gap to be cleaned according to the measurement result.
Further, the crack cleaning structure also comprises: and the power part is in driving connection with the seam cleaning knife so as to drive the seam cleaning knife to move between the working position and the avoiding position.
Further, the crack cleaning structure also comprises: and the connecting component is arranged between the power component and the seam cleaning knife and is used for connecting the power component and the seam cleaning knife.
Furthermore, the power part is a steering engine to drive the seam cleaning knife to rotate around a first preset axis, so that the working surface of the seam cleaning knife moves between a working position and an avoiding position.
The structure of clearing the seam still includes: the navigation trolley is provided with a navigation system, and the transfer component is arranged on the navigation trolley so as to drive the transfer component to move to a preset working area through the navigation trolley.
The structure of clearing the seam still includes: the support frame, the support frame sets up on the travelling bogie, moves the one end that the part kept away from the clear seam sword and installs on the support frame, and the support frame extends along vertical direction, moves the movably setting of extending direction of part along the support frame.
According to a second aspect of the present invention, there is provided a caulking device, including a seam cleaning structure, wherein the seam cleaning structure is the seam cleaning structure.
Further, the caulking apparatus further comprises: the joint mixture output pipe is arranged on the navigation trolley of the joint cleaning structure and is positioned on the side of the joint cleaning knife of the joint cleaning structure, and a preset distance is reserved between the plane where the output port of the joint mixture output pipe is positioned and the working end face of the joint cleaning knife, so that the joint mixture output pipe avoids a gap when the joint cleaning knife is positioned at the working position.
Further, the caulking apparatus further comprises: the mounting block is mounted on the navigation trolley of the seam cleaning structure and movably arranged along a preset track, and the seam cleaning knife of the seam cleaning structure is mounted on the mounting block; and the scraping plate is arranged on the mounting block and is positioned at the side of the joint mixture output pipe, and at least part of the scraping plate extends to the lower part of the plane where the gap opening is positioned, so that after the joint mixture is output, at least part of the scraping plate extends into the gap to press in the joint mixture.
Furthermore, a first preset included angle is formed between the axis of the joint mixture output pipe and the horizontal plane, a second preset included angle is formed between the plane where the plate surface of the scraping plate is located and the horizontal plane, the axis of the joint mixture output pipe is the first axis, the plane where the plate surface of the scraping plate is located is the first plane, and the horizontal distance between the first axis and the first plane is gradually increased along the direction from the joint mixture input end of the joint mixture output pipe to the joint mixture output end.
Further, the caulking apparatus further comprises: a cleaning brush; the replacing mechanism is arranged on the navigation trolley of the seam cleaning structure, the cleaning brush is detachably mounted on the replacing mechanism, and the replacing mechanism is rotatably arranged along a preset axis to drive the cleaning brush to rotate so as to clean the gap filler overflowing from the gap through the cleaning brush after the gap filling is finished.
According to a third aspect of the present invention, there is provided a seam cleaning method, which is applied to the seam cleaning structure, the seam cleaning method including: s10: controlling the transfer component to move along a preset working track, and simultaneously photographing the working environment by the visual positioning component to determine the position of the gap; (ii) a S20: shooting image information of a working position by using a shooting function of a visual positioning part of the seam cleaning structure so as to determine the seam position; s30: controlling a seam cleaning knife of the seam cleaning structure to move to the position above the seam to be cleaned and controlling the seam cleaning knife to move to a preset position in the seam for cleaning; s40: after the seam cleaning knife is used for cleaning the seam to be cleaned, the seam cleaning knife is controlled to rotate for a preset angle around the first preset axis, so that the seam cleaning knife moves to an avoiding position.
Further, the seam cleaning structure is the seam cleaning structure, and the seam cleaning method further comprises the following steps: before the visual positioning component takes a picture, the navigation system of the navigation trolley is used for identifying the position information of a working area, the BIM map building technology is used, and meanwhile, the laser radar of the seam cleaning structure is used for identifying map information, so that the navigation trolley drives the seam cleaning knife to move to a preset working area.
By applying the technical scheme of the invention, the seam cleaning structure is used for cleaning a seam, wherein the seam cleaning structure comprises a seam cleaning knife, a transfer component, a visual positioning component and a distance measuring component, the seam cleaning knife is provided with a working position and an avoiding position, and the seam cleaning knife is movably arranged between the working position and the avoiding position; when the seam cleaning knife is positioned at the working position, at least part of the seam cleaning knife is inserted into the seam to clean the seam, the transfer component is movably arranged along the preset working track, and the seam cleaning knife is arranged on the mounting end surface of the transfer component to drive the seam cleaning knife to move through the transfer component to clean the seam; the visual positioning component is arranged on the moving and carrying component, the visual positioning component has a photographing function, in the moving and carrying process of the moving and carrying component, the position of the gap is determined through photographing, the photographed result is uploaded to the control system, the control system controls the gap cleaning knife to move towards the gap, at least part of the distance measuring component is arranged on the installation end face of the moving and carrying component, the distance between the plane where the opening of the gap is located and the working end face of the gap cleaning knife is measured, the gap cleaning knife is moved to the preset position in the gap to be cleaned according to the measured result, automatic gap cleaning is achieved, manual operation is not needed, a large amount of time is saved, and the working efficiency of gap cleaning work is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic structural view of an embodiment of a caulking apparatus according to the present invention; and
FIG. 2 is a first schematic structural view showing an embodiment of a scarfing knife of a caulking apparatus according to the present invention;
FIG. 3 shows a second schematic structural view of an embodiment of a scarfing knife of a caulking apparatus according to the present invention;
FIG. 4 is a schematic structural view of an embodiment of a mounting block of a caulking apparatus according to the present invention;
FIG. 5 is a caulking state diagram of the caulking apparatus according to the present invention;
FIG. 6 shows a first schematic structural view of an embodiment of an exchange mechanism of a caulking apparatus according to the invention;
fig. 7 shows an enlarged view of part a of the exchange mechanism according to fig. 6;
figure 8 shows a second schematic structural view of an embodiment of an exchange mechanism of a caulking apparatus according to the present invention.
Wherein the figures include the following reference numerals:
1. a transfer member; 2. a control system; 3. cleaning the seam; 4. a power component; 5. a connecting member; 10. a joint mixture output pipe; 20. a replacing mechanism; 30. a cleaning brush; 40. a squeegee; 50. mounting blocks; 60. a laser range finder; 70. a support frame; 80. a visual positioning component; 90. a navigation trolley; 21. a magnetic positioning piece; 22. a mounting seat; 220. passing through the space; 23. an overrunning clutch; 24. a drive member; 31. brushing the board; 32. a brush rod.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention provides a seam cleaning structure, as shown in figures 1 to 8, for cleaning a seam, the seam cleaning structure comprises: the seam cleaning knife 3 is provided with a working position and an avoiding position, and the seam cleaning knife 3 is movably arranged between the working position and the avoiding position; when the seam cleaning knife 3 is positioned at the working position, at least part of the seam cleaning knife 3 is inserted into the gap to clean the gap; the seam cleaning device comprises a transfer part 1, a seam cleaning knife 3 and a control device, wherein the transfer part 1 is movably arranged along a preset working track, and the seam cleaning knife 3 is arranged on the installation end surface of the transfer part 1 so as to drive the seam cleaning knife 3 to move through the transfer part 1 to clean a seam; the visual positioning component 80 is installed on the transfer component 1, the visual positioning component 80 has a photographing function, so that the position of the gap is determined by photographing in the moving process of the transfer component 1, the photographed result is uploaded to the control system, and the control system controls the gap cleaning knife 3 to move towards the gap; and the distance measuring component is at least partially arranged on the installation end surface of the transfer component 1 so as to measure the distance between the plane of the opening of the gap and the working end surface of the gap cleaning knife 3, and the gap cleaning knife 3 is moved to a preset position in the gap to be cleaned according to the measurement result.
The seam cleaning structure is used for cleaning a seam, and comprises a seam cleaning knife 3, a transfer component 1, a visual positioning component 80 and a distance measuring component, wherein the seam cleaning knife 3 is provided with a working position and an avoiding position, and the seam cleaning knife 3 is movably arranged between the working position and the avoiding position; when the seam cleaning knife 3 is positioned at the working position, at least part of the seam cleaning knife 3 is inserted into the gap to clean the gap, the transfer component 1 is movably arranged along the preset working track, and the seam cleaning knife 3 is arranged on the installation end surface of the transfer component 1 so as to drive the seam cleaning knife 3 to move through the transfer component 1 to clean the gap; the visual positioning component 80 is installed on the transfer component 1, the visual positioning component 80 has a photographing function, in the moving process of the transfer component 1, the position of a gap is determined through photographing, the photographed result is uploaded to the control system, the control system controls the gap cleaning knife 3 to move towards the gap, at least part of the distance measuring component is installed on the installation end face of the transfer component 1, the distance between the plane where the opening of the gap is located and the working end face of the gap cleaning knife 3 is measured, the gap cleaning knife 3 is moved to a preset position in the gap to be cleaned according to the measured result, automatic gap cleaning is achieved, manual operation is not needed, a large amount of time is saved, and the working efficiency of gap cleaning work is improved.
Specifically, as shown in fig. 2 and 3, the crack cleaning structure further includes: and the power part 4, at least part of the power part 4 is arranged on the mounting block 50, and the power part 4 is in driving connection with the seam cleaning knife 3 to drive the seam cleaning knife 3 to move between the working position and the avoiding position.
In order to facilitate the installation clear seam sword 3, clear seam structure still includes: and the connecting part 5 is arranged between the power part 4 and the stitch cleaning knife 3, and is used for connecting the power part 4 and the stitch cleaning knife 3.
Preferably, in the embodiment provided by the invention, the power component 4 is a steering engine, so that the working surface of the crack cleaning knife 3 moves between the working position and the avoiding position by driving the crack cleaning knife 3 to rotate around the first preset axis. The steering engine is a position servo driver and is suitable for control systems which need to change angles continuously and can be kept. Preferably, the connecting part 5 is a connecting flange.
In order to increase the automated control of the work of clearing the seam, wherein, the structure of clearing the seam still includes: the navigation trolley 90, the navigation trolley 90 has a navigation system, and the transfer component 1 is installed on the navigation trolley 90, so that the transfer component 1 is driven by the navigation trolley 90 to move to a predetermined working area. Preferably, the transfer component 1 is a mechanical arm, which can conveniently drive the seam cleaning knife 3 to clean the seams at any angle.
In the implementation process, as shown in fig. 1, in order to facilitate the position adjustment of the caulking apparatus according to different working environments, the caulking structure further includes: the support frame 70, the support frame 70 sets up on the dolly 90, and the one end of moving and carrying part 1 keeping away from the clear seam sword 3 is installed on the support frame 70, and the support frame 70 extends along vertical direction, moves and carries the movable setting of part 1 along the extending direction of support frame 70.
The invention also provides a gap filling device which comprises a gap cleaning structure, wherein the gap cleaning structure is the gap cleaning structure of the embodiment.
The caulking apparatus further comprises: and the joint mixture output pipe 10 is arranged on the navigation trolley 90 of the seam cleaning structure and is positioned on the side of the seam cleaning knife 3 of the seam cleaning structure, and a preset distance is reserved between the plane where the output port of the joint mixture output pipe 10 is positioned and the working end face of the seam cleaning knife 3, so that the joint mixture output pipe 10 avoids a seam when the seam cleaning knife 3 is positioned at the working position. And the joint mixture output pipe 10 is used for outputting joint mixture so as to fill the gap through the joint mixture output pipe 10 after the gap cleaning knife 3 finishes cleaning the gap.
The caulking apparatus further comprises: the mounting block 50 is mounted on the navigation trolley 90 of the seam cleaning structure, the mounting block 50 is movably arranged along a preset track, and the seam cleaning knife 3 of the seam cleaning structure is mounted on the mounting block 50; and the scraping plate 40 is arranged on the mounting block 50 and is positioned at the side of the joint mixture output pipe 10, and at least part of the scraping plate 40 extends to the lower part of the plane where the gap is opened so as to press the joint mixture by enabling at least part of the scraping plate 40 to extend into the gap after the joint mixture is output.
A first preset included angle is formed between the axis of the joint mixture output pipe 10 and the horizontal plane, a second preset included angle is formed between the plane where the plate surface of the scraping plate 40 is located and the horizontal plane, the axis of the joint mixture output pipe 10 is the first axis, the plane where the plate surface of the scraping plate 40 is located is the first plane, and the horizontal distance between the first axis and the first plane is gradually increased along the direction from the joint mixture input end of the joint mixture output pipe 10 to the joint mixture output end. It is to be noted here that the horizontal distance is a distance in the horizontal plane direction.
In another embodiment of the present invention, as shown in fig. 5, in order to adapt the caulking apparatus to different working environments, the scraper 40 includes a first plate body and a second plate body, the first plate body is connected with the second plate body; the first plate body is provided with a first avoidance end face and a second avoidance end face opposite to the first avoidance end face, the working end face of the scraper 40 is arranged between the first avoidance end face and the second avoidance end face, and an included angle between a plane where the first avoidance end face is located and a plane where the second avoidance end face is located is an acute angle so that the scraper 40 avoids a wall surface and a ground surface when the scraper 40 works.
As shown in fig. 6 to 8, the caulking apparatus further includes: the cleaning brush 30 is arranged on the navigation trolley 90; the replacing mechanism 20 is arranged on the tail end of the transferring component 1, the cleaning brush 30 is detachably arranged on the replacing mechanism 20, the replacing mechanism 20 is rotatably arranged along a preset axis to drive the cleaning brush 30 to rotate, and after filling is finished, gap filling agent overflowing from gaps is cleaned through the cleaning brush 30.
The replacing mechanism 20 is used for installing and detaching the cleaning brush 30, wherein the replacing mechanism comprises an installation seat 22 and an overrunning clutch 23, the installation seat 22 is rotatably arranged around a preset axis, the cleaning brush 30 is detachably installed on the installation seat 22, the overrunning clutch 23 is installed on the installation seat 22, so that the installation seat 22 drives the overrunning clutch 23 to rotate, the cleaning brush 30 is connected with the installation seat 22 through the overrunning clutch 23, and the cleaning brush 30 is installed in the installation seat 22 or falls off from the installation seat 22 by adjusting the rotating direction of the installation seat 22. Simple structure and the implementation of being convenient for utilize freewheel clutch 23's characteristic, freewheel clutch has the device of separation and reunion function by oneself for utilizing the speed change of driving, driven part or the transform of direction of rotation, utilizes the transform of freewheel clutch's direction of rotation, controls the installation and the dismantlement of cleaning brush 30, need not to utilize the cleaning brush of artifical installation, has improved cleaning brush 30's installation effectiveness, and then has improved the cleaning efficiency in gap.
Specifically, in order to facilitate positioning of the cleaning brush 30, the replacing mechanism 20 further includes: and the magnetic positioning piece 21, at least part of the magnetic positioning piece 21 is opposite to the passing space 220 of the overrunning clutch, after at least part of the cleaning brush 30 is inserted into the passing space 220, the cleaning brush 30 is connected with the magnetic positioning piece 21 under the magnetic action of the magnetic positioning piece 21, so that the cleaning brush 30 is positioned by the magnetic positioning piece 21, and the cleaning brush 30 is installed at a preset position.
In order to facilitate the rotation of the driving mounting seat, the replacing mechanism 20 further comprises: and the driving part 24, wherein the driving part 24 is in driving connection with the mounting seat 22 to drive the mounting seat 22 to rotate around a second preset axis. Preferably, the driving member 24 is a driving motor, and the rotational direction of the mounting seat 22 and thus the rotational direction of the overrunning clutch 23 are adjusted by the forward and reverse rotation of the motor shaft, so as to mount the cleaning brush 30 and to separate the cleaning brush 30 from the overrunning clutch 23.
In order to facilitate the matching of the brush rod 32 and the through hole, a guide part is arranged at one end of the brush rod 32, which is far away from the brush plate 31, so as to guide the brush rod 32 through the guide part, so that the brush rod 32 is conveniently inserted into the through hole, and the brush rod 32 is connected with the magnetic positioning piece 21. Preferably, the guide part has a guide surface, and a plane of the guide surface has a predetermined included angle with a horizontal plane.
The invention also provides a seam cleaning method which is suitable for the seam cleaning structure of the embodiment and comprises the following steps: s10: controlling the shifting component 1 to move along a preset working track, and simultaneously photographing the working environment by the visual positioning component 80 to determine the position of the gap; s20: shooting image information of a working position by using a shooting function of the visual positioning component 80 of the seam cleaning structure to determine the seam position; s30: controlling the seam cleaning knife 3 of the seam cleaning structure to move to the position above the seam to be cleaned and controlling the seam cleaning knife 3 to move to a preset position in the seam for cleaning; s40: after the seam cleaning knife 3 is used for cleaning the seam to be cleaned, the seam cleaning knife 3 is controlled to rotate for a preset angle around the first preset axis, so that the seam cleaning knife 3 moves to an avoiding position. In particular, the amount of the solvent to be used,
the seam cleaning method further comprises the following steps: before the visual positioning component 80 takes a picture, the navigation system of the navigation trolley 90 is used for identifying the position information of the working area, the BIM map building technology is used, and meanwhile, the laser radar of the seam cleaning structure is used for identifying the map information, so that the navigation trolley 90 drives the seam cleaning knife 3 to move to the preset working area.
In the embodiment provided by the invention, the navigation trolley is an automatic guide transport vehicle, the visual positioning component is an industrial camera, and the distance measuring component is a laser distance meter 60.
In the specific implementation process, the transfer component is a mechanical arm, the industrial camera is combined with the motion of the mechanical arm to realize the real-time coordinate information input of a map, and the ground gap is identified through visual dynamic seam searching; after the gap cleaning knife is cleaned, the distance between the output end of the gap filling agent output pipe 10 and the plane where the gap opening is located is measured by the laser range finder 60, the gap filling agent output pipe 10 and the scraping plate 40 are opposite to the gap to be filled through the movement of the mechanical arm, meanwhile, the pumping system is controlled to inject the gap filling agent into the gap filling agent output pipe 10, the mechanical arm moves along the extending direction of the gap, and after the gap filling agent is injected into the gap through the gap filling agent output pipe 10, the gap filling agent is pressed into the gap through the scraping plate 40, so that the gap filling and the gap scraping are achieved simultaneously. After the gap filling is completed, the gap filler overflowing from the gap needs to be cleaned, at this time, the manipulator drives the replacing mechanism 20 to move to the upper side of the cleaning brush, and continues to move towards the cleaning brush 30 until the cleaning brush is connected with the cleaning brush, then the manipulator drives the cleaning brush 30 to move to the position to be cleaned to be in contact with the gap filler, and meanwhile, the replacing mechanism 20 drives the cleaning brush 30 to rotate so as to clean the redundant gap filler by using the cleaning brush.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the seam cleaning structure is used for cleaning a seam, and comprises a seam cleaning knife 3, a transfer component 1, a visual positioning component 80 and a distance measuring component, wherein the seam cleaning knife 3 is provided with a working position and an avoiding position, and the seam cleaning knife 3 is movably arranged between the working position and the avoiding position; when the seam cleaning knife 3 is positioned at the working position, at least part of the seam cleaning knife 3 is inserted into the gap to clean the gap, the transfer component 1 is movably arranged along the preset working track, and the seam cleaning knife 3 is arranged on the installation end surface of the transfer component 1 so as to drive the seam cleaning knife 3 to move through the transfer component 1 to clean the gap; the visual positioning component 80 is installed on the transfer component 1, the visual positioning component 80 has a photographing function, in the moving process of the transfer component 1, the position of a gap is determined through photographing, the photographed result is uploaded to the control system, the control system controls the gap cleaning knife 3 to move towards the gap, at least part of the distance measuring component is installed on the installation end face of the transfer component 1, the distance between the plane where the opening of the gap is located and the working end face of the gap cleaning knife 3 is measured, the gap cleaning knife 3 is moved to a preset position in the gap to be cleaned according to the measured result, automatic gap cleaning is achieved, manual operation is not needed, a large amount of time is saved, and the working efficiency of gap cleaning work is improved.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A crack cleaning structure for cleaning a crack, the crack cleaning structure comprising:
the seam cleaning knife (3), the seam cleaning knife (3) is provided with a working position and an avoiding position, and the seam cleaning knife (3) is movably arranged between the working position and the avoiding position; when the seam cleaning knife (3) is located at the working position, at least part of the seam cleaning knife (3) is inserted into the gap to clean the gap;
the seam cleaning device comprises a transfer part (1), wherein the transfer part (1) is movably arranged along a preset working track, and a seam cleaning knife (3) is arranged on the installation end surface of the transfer part (1) so as to drive the seam cleaning knife (3) to move through the transfer part (1) to clean a seam;
the visual positioning component (80) is installed on the transfer component (1), the visual positioning component (80) has a photographing function, so that the position of the gap is determined by photographing in the moving process of the transfer component (1), the photographed result is uploaded to the control system, and the control system controls the gap cleaning knife (3) to move towards the gap;
and at least part of the distance measuring component is arranged on the installation end surface of the transfer component (1) so as to measure the distance between the plane of the opening of the gap and the working end surface of the gap cleaning knife (3), and the gap cleaning knife (3) is moved to a preset position in the gap for cleaning according to the measurement result.
2. The crack scarfing structure of claim 1 further comprising:
the power component (4) is in driving connection with the seam cleaning knife (3) to drive the seam cleaning knife (3) to move between the working position and the avoiding position.
3. The crack scarfing structure of claim 2 further comprising:
the connecting component (5) is arranged between the power component (4) and the seam cleaning knife (3) and used for connecting the power component (4) and the seam cleaning knife (3).
4. The crack cleaning structure as claimed in claim 3, characterized in that the power component (4) is a steering engine to drive the crack cleaning knife (3) to rotate around a first predetermined axis, so that the working surface of the crack cleaning knife (3) moves between a working position and an avoiding position.
5. The crack scarfing structure of claim 1 further comprising:
the device comprises a navigation trolley (90), wherein the navigation trolley (90) is provided with a navigation system, and the transfer component (1) is arranged on the navigation trolley (90) so as to drive the transfer component (1) to move to a preset working area through the navigation trolley (90).
6. The crack scarfing structure of claim 5 further comprising:
the supporting frame (70), the supporting frame (70) sets up on the dolly of navigating (90), move and carry the one end that part (1) kept away from clear seam sword (3) and install on the supporting frame (70), the supporting frame (70) extend along vertical direction, move and carry the part (1) along the extending direction of supporting frame (70) is movably to be set up.
7. A caulking apparatus comprising a caulking structure, wherein the caulking structure is the caulking structure of any one of claims 1 to 6.
8. The caulking apparatus of claim 7, further comprising:
the joint mixture outlet pipe (10) is installed on the navigation trolley (90) of the joint cleaning structure and located on the side of the joint cleaning knife (3) of the joint cleaning structure, and a preset distance is reserved between the plane where the output port of the joint mixture outlet pipe (10) is located and the working end face of the joint cleaning knife (3) so that the joint mixture outlet pipe (10) can avoid the gap when the joint cleaning knife (3) is located at the working position.
9. The caulking apparatus of claim 8, further comprising:
the mounting block (50), the mounting block (50) is mounted on a navigation trolley (90) of the seam cleaning structure, the mounting block (50) is movably arranged along a preset track, and a seam cleaning knife (3) of the seam cleaning structure is mounted on the mounting block (50);
and the scraping plates (40) are arranged on the mounting blocks (50) and are positioned at the sides of the gap filling agent output pipe (10), at least parts of the scraping plates (40) extend to the lower part of the plane where the gap is opened, so that after the gap filling agent is output, at least parts of the scraping plates (40) extend into the gap to press in the gap filling agent.
10. The caulking apparatus according to claim 9, wherein the axis of the output pipe (10) of the caulking agent has a first predetermined angle with a horizontal plane, the plane of the plate surface of the scraper (40) has a second predetermined angle with the horizontal plane, the axis of the output pipe (10) of the caulking agent has a first axis, the plane of the plate surface of the scraper (40) has a first plane, and the horizontal distance between the first axis and the first plane is gradually increased in a direction from the caulking agent input end to the caulking agent output end of the output pipe (10) of the caulking agent.
11. The caulking apparatus of claim 7, further comprising:
a cleaning brush (30);
the replacing mechanism (20) is arranged on a navigation trolley (90) of the seam cleaning structure, the cleaning brush (30) is detachably mounted on the replacing mechanism (20), the replacing mechanism (20) is rotatably arranged along a preset axis to drive the cleaning brush (30) to rotate, and therefore after the seam is filled, gap filling agents overflowing from the gap are cleaned through the cleaning brush (30).
12. A crack cleaning method applied to the crack cleaning structure defined in any one of claims 1 to 6, characterized by comprising:
s10: controlling the shifting part (1) to move along a preset working track, and simultaneously photographing a working environment by the visual positioning part (80) to determine the position of a gap;
s20: controlling the seam cleaning knife (3) of the seam cleaning structure to move to the position above the seam to be cleaned and controlling the seam cleaning knife (3) to move to a preset position in the seam for cleaning;
s30: after the seam cleaning knife (3) is used for cleaning a seam to be cleaned, the seam cleaning knife (3) is controlled to rotate for a preset angle around a first preset axis, so that the seam cleaning knife (3) moves to an avoiding position.
13. The crack scarfing method according to claim 12, wherein the crack scarfing structure is the crack scarfing structure of claim 5, the crack scarfing method further comprising:
before the visual positioning component (80) takes a picture, the navigation system of the navigation trolley (90) is used for identifying the position information of a working area, the BIM map building technology is used, and meanwhile, the laser radar of the seam cleaning structure is used for identifying map information, so that the navigation trolley (90) drives the seam cleaning knife (3) to move to a preset working area.
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| CN113085431A (en) * | 2021-02-26 | 2021-07-09 | 吕丽彩 | Mosaic glass paving device with excess material collecting function |
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