CN112252740A

CN112252740A - Wall surface processing robot

Info

Publication number: CN112252740A
Application number: CN202011241784.9A
Authority: CN
Inventors: 邓煜
Original assignee: Shenzhen Dafang Intelligent Technology Co ltd
Current assignee: Shenzhen Dafang Intelligent Technology Co ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-01-22

Abstract

The invention discloses a wall surface processing robot which comprises a traction transport vehicle, a lifting device and a construction device, wherein the traction transport vehicle comprises a vehicle body, a supporting mechanism, a plurality of first sensors and an electric control device; the lifting device comprises a main lifting device and an auxiliary lifting device; the auxiliary lifting device is provided with an operation platform; the construction device comprises a multi-shaft construction assembly and a material conveying assembly; the multi-axis construction assembly is provided with a plurality of second sensors, and the second sensors are electrically connected with the electric control device. Adopt above-mentioned structural design's wall processing robot, through the setting of pulling the transport vechicle, can provide reliable and stable support for elevating gear and construction equipment, but also can be through elevating gear and construction equipment's cooperation, convenient nimble to the wall construction, effectively promote construction quality then, reduce the construction risk, it is extravagant to reduce the material.

Description

Wall surface processing robot

Technical Field

The invention relates to the technical field of building equipment, in particular to a wall surface processing robot.

Background

In traditional decoration engineering, to building wall processing carry out the wall to polish basically that the manual mode is gone on, the wall is criticized and is puttied and smooth, the spraying and the whitewash of wall finish, the in-process has that efficiency of construction is low, intensity of labour is big, the quality is difficult to the management and control, construction safety risk is big, the extravagant serious of material, dust pollution harm health scheduling problem.

Disclosure of Invention

The invention aims to provide a wall surface processing robot which is high in automation degree, high in construction efficiency, good in stability, time-saving and labor-saving.

In order to achieve the purpose, the invention adopts the following technical scheme:

a wall treatment robot comprising:

the traction transport vehicle comprises a vehicle body, a supporting mechanism arranged on the periphery of the vehicle body, a plurality of first sensors arranged on the vehicle body and used for detecting the balance of the vehicle body, and an electric control device electrically connected with the first sensors and used for controlling the folding, unfolding and lifting of the supporting mechanism;

the lifting device is erected on the traction transport vehicle and comprises a main lifting device and an auxiliary lifting device which is connected with the main lifting device in a sliding manner; the auxiliary lifting device is provided with an operation platform in a sliding manner along the height direction;

the construction device is erected on the operation platform and comprises a multi-shaft construction assembly which can be erected on the operation platform in a replaceable manner and a material conveying assembly which is erected on the traction transport vehicle and is in through connection with the multi-shaft construction assembly; the multi-axis construction assembly is provided with a plurality of second sensors, and the second sensors are electrically connected with the electric control device.

The main lifting device comprises a supporting component erected on the traction transport vehicle, a lifting component in sliding fit with the supporting component, and a first driving component for driving the lifting component to move back and forth along the height direction of the supporting component; the lifting assembly comprises a plurality of lifting arms which are sequentially in sliding fit, and a plurality of chain assemblies arranged at the tops of the plurality of lifting arms; when the first driving assembly drives one lifting arm adjacent to the supporting assembly to move upwards, the rest lifting arms are synchronously unfolded under the action of the plurality of chain assemblies respectively.

The auxiliary lifting device comprises an auxiliary lifting arm in sliding fit with the adjacent lifting arm, the work platform in sliding fit with the auxiliary lifting arm, and a second driving assembly for driving the work platform to slide back and forth along the length direction of the auxiliary lifting arm; the lower end of the auxiliary lifting arm is connected with one end of a chain in the adjacent chain assembly.

The supporting assembly comprises a supporting arm vertically fastened on the traction transport vehicle, bearing seats erected at two ends of the supporting arm, a screw rod arranged between the two bearing seats, guide rods arranged on two sides of the screw rod, and a driving block which is in threaded connection with the screw rod and slides back and forth along the length direction of the guide rods.

The first driving assembly comprises a first motor arranged at the lower end of the supporting arm and a first speed reducer connected with the first motor, and the first speed reducer is connected with one end of the screw rod.

The lifting arm comprises a first lifting arm, a second lifting arm and a third lifting arm, wherein the second lifting arm is arranged in a reciprocating sliding mode along the length direction of the first lifting arm, and the third lifting arm is arranged in a sliding mode along the length direction of the second lifting arm.

The chain assembly comprises a first chain assembly pivoted to the first lifting arm, a second chain assembly pivoted to the second lifting arm, and a third chain assembly pivoted to the third lifting arm.

The first chain assembly comprises a first chain wheel assembly arranged at the top of the first lifting arm and a first chain meshed with the first chain wheel; the second chain assembly comprises a second chain wheel assembly arranged at the top of the second lifting arm and a second chain meshed with the second chain wheel; the third chain assembly includes a third sprocket assembly disposed at a top of the third lift arm and a third chain engaged with the third sprocket.

The lower bottom surface of the first lifting arm is fastened with the driving block; one end of the first chain is fastened with the supporting arm, and the other end of the first chain is fastened with the lower bottom surface of the second lifting arm; one end of the second chain is fastened with the first lifting arm, and the other end of the second chain is fastened with the lower bottom surface of the third lifting arm; one end of the third chain is fastened with the second lifting arm, and the other end of the third chain is fastened with the lower bottom surface of the auxiliary lifting arm; the first chain wheel assembly, the second chain wheel assembly and the third chain wheel assembly respectively comprise a fixed shaft and a chain wheel which is coaxially and rotatably connected with the fixed shaft.

The second driving assembly comprises a second motor arranged at the lower end of the auxiliary lifting arm, a driven wheel pivoted to the upper end of the auxiliary lifting arm, a synchronous belt arranged between the second motor and the driven wheel, and an operation platform arranged along the length direction of the auxiliary lifting arm in a sliding mode and fastened with the synchronous belt.

The invention has the beneficial effects that: the invention provides a wall surface processing robot which comprises a traction transport vehicle, a lifting device erected on the traction transport vehicle and a construction device erected on an operation platform, wherein the traction transport vehicle comprises a vehicle body, a supporting mechanism arranged on the periphery of the vehicle body, a plurality of first sensors arranged on the vehicle body and used for detecting the balance of the vehicle body, and an electric control device electrically connected with the first sensors and used for controlling the folding, unfolding and lifting of the supporting mechanism; the lifting device comprises a main lifting device and an auxiliary lifting device which is connected with the main lifting device in a sliding manner; the auxiliary lifting device is provided with an operation platform in a sliding manner along the height direction; the construction device comprises a multi-shaft construction assembly which can be replaced and erected on the operation platform, and a material conveying assembly which is erected on the traction transport vehicle and is in through connection with the multi-shaft construction assembly; the multi-axis construction assembly is provided with a plurality of second sensors, and the second sensors are electrically connected with the electric control device. Adopt above-mentioned structural design's wall processing robot, through the setting of pulling the transport vechicle, can provide reliable and stable support for elevating gear and construction equipment, but also can be through elevating gear and construction equipment's cooperation, convenient nimble to the wall construction, effectively promote construction quality then, reduce the construction risk, it is extravagant to reduce the material.

Drawings

Fig. 1 is an isometric view of a wall-treating robot of the present invention when stowed.

Fig. 2 is an expanded isometric view of the support mechanism of the tractor transport vehicle of fig. 1.

Fig. 3 is an isometric view of the support mechanism of fig. 2.

Fig. 4 is an expanded isometric view of a wall preparation robot of the present invention.

Fig. 5 is an isometric view of the lifting device erected on the towing vehicle of fig. 1, when not deployed.

Fig. 6 is an isometric view of the support arm, first lift arm, and second support arm of fig. 5 in a semi-expanded state.

Fig. 7 is a partially enlarged view of a portion a in fig. 6.

Fig. 8 is an isometric view of the support assembly of fig. 5.

Fig. 9 is a schematic view of the lifting device of fig. 5 after deployment.

Fig. 10 is a schematic view of the lifting device of fig. 5 after being retracted.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Referring to fig. 1 to 10, the present embodiment provides a wall surface processing robot, which includes a towing vehicle 3, a lifting device 6 mounted on the towing vehicle 3, and a construction device 4 mounted on the work platform, and further, in order to improve the stability and strength of the lifting device 6 after being unfolded, preferably, an auxiliary support member 5 is further obliquely disposed on one side of the lifting device 6, and two ends of the auxiliary support member 5 are respectively fastened to the towing vehicle 3 and the lifting device 6.

Specifically, the traction transport vehicle 3 includes a vehicle body 31, a support mechanism 32 disposed on the periphery of the vehicle body 31, a plurality of first sensors disposed on the vehicle body 31 for detecting the balance of the vehicle body 31, and an electric control device 34 electrically connected to the plurality of first sensors for controlling the extension, retraction, and lifting of the support mechanism 32; preferably, the supporting mechanism 32 in this embodiment includes a folding and unfolding arm assembly 321 and a supporting arm assembly 322, further, the folding and unfolding arm assembly 321 includes a fixing base 3211 fastened to the vehicle body 31, a folding and unfolding arm 3212 rotatably connected to the fixing base 3211, and a folding and unfolding motor disposed in the vehicle body for driving the folding and unfolding arm 3212 to rotate around the fixing base 3211, and preferably, a driving wheel of the folding and unfolding motor is connected to a driving shaft disposed on the folding and unfolding arm 3212 through a synchronous belt, so as to drive the folding and unfolding arm 3212 to unfold or fold.

Furthermore, the support arm assembly 322 includes a lifting motor 3221 disposed in the cavity of the folding and unfolding arm 3212, a lifting driving seat 3222 engaged with one end of the folding and unfolding arm, and a lifting support rod 3223 engaged with the lifting driving seat 3222, wherein a support seat 3224 is disposed at a lower end of the lifting support rod 3223, and in order to enable the lifting support rod 3223 to move up and down under the action of the lifting driving seat 3222, preferably, a driving wheel of the lifting motor 3221 is connected to a driving wheel of the lifting driving seat 3222 through a synchronous belt.

In order to further adjust the balance of the vehicle body automatically by matching with the plurality of first sensors distributed on the vehicle body, the lifting motor 3221, the folding and unfolding motor and the plurality of first sensors in this embodiment are all electrically connected to the electric control device 34, and the specific circuit design related to the electric control device 34 in this embodiment is commonly used in the related art, and will not be described in detail herein.

Furthermore, in the present embodiment, in order to facilitate the installation of the lifting device 6 with the vehicle body 31, a lifting device installation position 33 is recessed on the top of the vehicle body 31, and an electric control device 34 is disposed on a side close to the lifting device installation position 33.

More specifically, the lifting device 6 in this embodiment includes a main lifting device 1, and an auxiliary lifting device 2 slidably connected to the main lifting device 1; the auxiliary lifting device 2 is provided with a working platform 22 in a sliding manner along the height direction; the construction device 4 comprises a multi-shaft construction assembly 41 which is arranged on the operation platform 22 in a replaceable mode, and a material conveying assembly 42 which is arranged on the traction transport vehicle 3 and is communicated with the multi-shaft construction assembly 41; the multi-axis construction assembly 41 is provided with a plurality of second sensors, which are electrically connected with the electric control device. Preferably, the material conveying assembly 42 in this embodiment is a conveying hose mounted on the towing vehicle 3, so as to facilitate conveying the material for wall surface treatment to the multi-axis construction assembly 41 after being connected with an external conveying device. The plurality of second sensors in this embodiment include laser sensor and vision sensor to this can accurately acquire distance between multiaxis construction component 41 and the wall to and the wall situation, then through electrically controlled device's effect, the work of better control complete machine.

Adopt above-mentioned structural design's wall processing robot, can replace traditional manual work through the setting of multiaxis construction subassembly 41 to under a plurality of second sensors and electrically controlled device's effect, automated inspection wall smoothness sets up wall operation route automatically, with this wall construction quality and efficiency of construction that effectively promotes. Preferably, the multi-axis construction assembly 41 in the embodiment can be replaced at any time according to construction needs, so that various construction requirements of wall surface cleaning, polishing, putty coating and leveling, wall finish spraying, painting and the like can be met. In this embodiment, specific settings of the plurality of second sensors and the electric control device have been disclosed in the related art, and are not described in detail herein.

Furthermore, for convenience and stability in the construction process of the further lifting multi-axis construction assembly 41, the lifting device 6 can provide stable and reliable support for the multi-axis construction assembly 41 in the embodiment, and meanwhile, the construction height of the multi-axis construction assembly 41 can be conveniently and flexibly adjusted according to construction requirements, and meanwhile, the lifting device can be matched with the traction transport vehicle 3 to facilitate flexible adjustment of the construction position.

Specifically, the lifting device 6 in this embodiment includes a main lifting device 1 and an auxiliary lifting device 2, specifically, the main lifting device 1 includes a supporting component 11 erected on the mounting table, a lifting component 12 in sliding fit with the supporting component 11, and a first driving component 13 for driving the lifting component 12 to move back and forth along the height direction of the supporting component 11; the lifting component 12 comprises a plurality of lifting arms which are in sliding fit in sequence and a plurality of chain components which are used for being adjacent to the lifting arms and synchronously unfolded or sequentially folded, and one end of the chain component adjacent to the supporting component 11 is fastened with the supporting component 11.

Preferably, the plurality of chain assemblies in this embodiment are respectively installed on top of the plurality of lifting arms, and two ends of a chain in the chain assembly are respectively connected to the lifting arms on two sides, or the lifting arm and the supporting assembly 11, so that when the first driving assembly drives one lifting arm adjacent to the supporting assembly to move upwards, the remaining lifting arms are respectively and synchronously unfolded under the action of the plurality of chain assemblies.

More specifically, the supporting assembly 11 in this embodiment includes a supporting arm 111 vertically fastened to the mounting table, bearing blocks 112 erected at two ends of the supporting arm 111, a screw 113 disposed between the two bearing blocks 112, guide rods 114 disposed at two sides of the screw 113, and a driving block 115 threadedly connected to the screw 113 and slidably disposed along a length direction of the guide rods 114, so that the driving block 115 is driven to reciprocate along the length direction of the screw 113 by rotation of the screw 113.

Preferably, the driving block 115 in this embodiment is fastened to the lower bottom surface of the lifting arm adjacent to the supporting arm 111, and when the driving block 115 moves upward along the screw rod, the adjacent lifting arm is driven to move upward, and then the remaining lifting arms are driven to synchronously unfold by the chain assembly.

Preferably, the first driving assembly 13 for driving the screw 113 to rotate in the present embodiment includes a first motor 131 disposed at the lower end of the supporting arm 111, and a first speed reducer 132 connected to the first motor 131, wherein the first speed reducer 132 is connected to one end of the screw 113.

Furthermore, the auxiliary lifting device 2 in this embodiment is connected to the lifting arm in a sliding manner, the auxiliary lifting device 2 is far away from one side of the supporting component 11, the auxiliary lifting device 2 includes an auxiliary lifting arm 21 in sliding fit with the lifting arm, a working platform 22 in sliding fit with the auxiliary lifting arm 21, and a second driving component for driving the working platform 22 to slide back and forth along the length direction of the auxiliary lifting arm 21, the second driving component includes a second motor 23 disposed at the lower end of the auxiliary lifting arm 21, a driven wheel 24 pivoted to the upper end of the auxiliary lifting arm 21, a synchronous belt 25 disposed between the second motor 23 and the driven wheel 24, and a working platform 22 disposed along the length direction of the auxiliary lifting arm 21 in a sliding manner and fastened to the synchronous belt 25. With this structural design, can make work platform 22 along vice lifing arm 21 direction of height up-and-down motion, because vice lifing arm 21 goes up and down along with lifting unit 12 again, consequently, after lifting unit 12 expandes the predetermined height, can drive work platform 22 up-and-down motion through second motor 23 to this makes work platform 22 carry out position control under lifting unit 12's different height, with this different construction demands of satisfying.

More specifically, the lift arm in this embodiment preferably includes a first lift arm 121, a second lift arm 122 slidably disposed back and forth along a longitudinal direction of the first lift arm 121, and a third lift arm 123 slidably disposed along a longitudinal direction of the second lift arm 122, in order to facilitate assembly and connection among the first lift arm 121, the second lift arm 122, and the third lift arm 123, the first lift arm 121, the second lift arm 122, and the third lift arm 123 are all integrally provided with a long groove along a length for sliding with each other, and preferably, the first lift arm 121, the second lift arm 122, and the third lift arm 123 may be integrally formed by extrusion molding using an aluminum extrusion die.

In order to facilitate the simultaneous expansion and contraction of the first, second and third lifting

arms

121, 122 and 123, the chain assemblies in this embodiment include a first chain assembly 124 pivoted to the first lifting arm 121, a second chain assembly 125 pivoted to the second lifting arm 122 and a third chain assembly 126 pivoted to the third lifting arm 123.

Specifically, the first chain assembly 124 includes a first sprocket assembly disposed on the top of the first lifting arm 121, and a first chain 1241 engaged with the first sprocket; the second chain assembly 125 includes a second sprocket assembly disposed on top of the second lifting arm 122, and a second chain 1251 engaged with the second sprocket; the third chain assembly 126 includes a third sprocket assembly disposed on top of the third lifting arm 123 and a third chain 1261 engaged with the third sprocket. Preferably, the first sprocket assembly, the second sprocket assembly and the third sprocket assembly each include a fixed shaft and a sprocket coaxially and rotatably connected to the fixed shaft.

Furthermore, in order to facilitate the synchronous unfolding or folding of the first lifting arm 121, the second lifting arm 122 and the third lifting arm 123, the lower bottom surface of the first lifting arm 121 in this embodiment is fastened to the driving block 115; one end of the first chain 1241 is fastened to the support arm 111, and the other end of the first chain 1241 is fastened to the lower bottom surface of the second lifting arm 122; one end of the second chain 1251 is fastened to the first lifting arm 121, and the other end of the second chain 1251 is fastened to a lower bottom surface of the third lifting arm 123; one end of the third chain 1261 is fastened to the second lifting arm 122, and the other end of the third chain 1261 is fastened to a lower bottom surface of the sub lifting arm 21.

In order to further facilitate the arrangement of the second chain 1251 and the third chain 1261, it is preferable that one end of the second chain 1251 is fastened to a fixed shaft at the top of the first lifting arm 121, and one end of the third chain 1261 is fastened to a fixed shaft at the top of the second lifting arm 122.

With the lifting assembly 12 designed by the above structure, when the first motor 131 drives the screw 113 to rotate forward, the driving block 115 drives the first lifting arm 121 to move upward along the height direction of the supporting arm 111 under the action of the screw 113, and at this time, the second lifting arm 122 drives the second lifting arm 122 to move upward under the action of the first chain 1241, and similarly, the third lifting arm 123 moves upward under the action of the second chain 1251, and the sub-lifting arm 21 moves upward under the action of the third chain 1261, so that the first lifting arm 121, the second lifting arm 122, and the third lifting arm 123 sequentially expand upward; on the contrary, when the first motor 131 drives the screw 113 to rotate reversely, and the driving block 115 drives the first lifting arm 121 to move downwards under the action of the screw 113, the second lifting arm 122, the third lifting arm 123 and the sub-lifting arm 21 are sequentially lowered and retracted under the action of gravity.

Furthermore, in this embodiment, the liftable operation platform 22 is slidably disposed on one side of the auxiliary lifting arm 21 along the height direction, so that the operation platform 22 can flexibly move in different lifting heights of the lifting assembly 12, thereby providing great convenience for the construction of the operation platform, and meanwhile, the frequent start of the first motor 131 can be effectively avoided, and the power consumption of the first motor 131 can be effectively reduced. It should be noted that the lifting assembly 12 in this embodiment is not limited to the first lifting arm 121, the second lifting arm 122, and the third lifting arm 123, and can be expanded according to the construction requirement and the reliability requirement.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A wall surface processing robot, comprising:

2. A wall processing robot as claimed in claim 1, wherein the main lifting device comprises a support assembly mounted on the tractor, a lifting assembly slidably engaged with the support assembly, and a first driving assembly for driving the lifting assembly to reciprocate along the height direction of the support assembly; the lifting assembly comprises a plurality of lifting arms which are sequentially in sliding fit, and a plurality of chain assemblies arranged at the tops of the plurality of lifting arms; when the first driving assembly drives one lifting arm adjacent to the supporting assembly to move upwards, the rest lifting arms are synchronously unfolded under the action of the plurality of chain assemblies respectively.

3. A wall treating robot as claimed in claim 2, wherein said secondary lifting means comprises a secondary lifting arm slidably engaged with adjacent said lifting arm, said work platform slidably engaged with said secondary lifting arm, and a second driving assembly for driving said work platform to slide back and forth along the length of said secondary lifting arm; the lower end of the auxiliary lifting arm is connected with one end of a chain in the adjacent chain assembly.

4. The wall surface processing robot as claimed in claim 3, wherein the support assembly comprises a support arm vertically fastened to the traction transport vehicle, bearing seats erected at two ends of the support arm, a screw rod arranged between the two bearing seats, guide rods arranged at two sides of the screw rod, and a driving block in threaded connection with the screw rod and arranged to slide back and forth along the length direction of the guide rods.

5. A wall treatment robot as claimed in claim 4, wherein the first driving assembly comprises a first motor disposed at the lower end of the support arm, and a first speed reducer connected to the first motor, the first speed reducer being connected to one end of the lead screw.

6. A wall treatment robot as defined in claim 4, wherein said lift arms include a first lift arm, a second lift arm slidably disposed back and forth along a length of said first lift arm, and a third lift arm slidably disposed along a length of said second lift arm.

7. A wall preparation robot as recited in claim 6, wherein said chain assemblies include a first chain assembly pivotally coupled to said first lift arm, a second chain assembly pivotally coupled to said second lift arm, and a third chain assembly pivotally coupled to said third lift arm.

8. A wall treating robot as recited in claim 7, wherein said first chain assembly includes a first sprocket assembly disposed on top of said first lift arm, and a first chain engaged with said first sprocket; the second chain assembly comprises a second chain wheel assembly arranged at the top of the second lifting arm and a second chain meshed with the second chain wheel; the third chain assembly includes a third sprocket assembly disposed at a top of the third lift arm and a third chain engaged with the third sprocket.

9. A wall treating robot as recited in claim 8, wherein a lower bottom surface of said first elevating arm is fastened to said driving block; one end of the first chain is fastened with the supporting arm, and the other end of the first chain is fastened with the lower bottom surface of the second lifting arm; one end of the second chain is fastened with the first lifting arm, and the other end of the second chain is fastened with the lower bottom surface of the third lifting arm; one end of the third chain is fastened with the second lifting arm, and the other end of the third chain is fastened with the lower bottom surface of the auxiliary lifting arm; the first chain wheel assembly, the second chain wheel assembly and the third chain wheel assembly respectively comprise a fixed shaft and a chain wheel which is coaxially and rotatably connected with the fixed shaft.

10. A wall treatment robot as defined in claim 3, wherein the second driving assembly comprises a second motor disposed at a lower end of the auxiliary lifting arm, a driven wheel pivoted to an upper end of the auxiliary lifting arm, a synchronous belt disposed between the second motor and the driven wheel, and the working platform slidably disposed along a length direction of the auxiliary lifting arm and fastened to the synchronous belt.