CN112252740B - Wall surface treatment robot - Google Patents

Abstract

The invention discloses a wall surface treatment 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-shaft 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 traction transport car, 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 is under construction to the wall, effectively promotes construction quality then, reduces construction risk, reduces the material extravagant.

Description

Wall surface treatment robot

Technical Field

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

Background

In the traditional decoration engineering, the wall surface treatment of a building is basically performed manually, the wall surface is puttying and trowelling, the wall paint is sprayed and painted, and the problems of low construction efficiency, high labor intensity, difficult quality control, high construction safety risk, serious material waste, dust pollution, health damage and the like exist in the process.

Disclosure of Invention

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

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 supporting mechanism to retract and lift;

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 working platform and comprises a multi-shaft construction assembly which is interchangeably erected on the working 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-shaft 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 reciprocate along the height direction of the supporting component; the lifting assembly comprises a plurality of lifting arms and a plurality of chain assemblies, wherein the lifting arms are sequentially in sliding fit, and the chain assemblies are arranged at the tops of the lifting arms; when the first driving component drives one lifting arm adjacent to the supporting component to move upwards, the rest lifting arms are synchronously unfolded under the action of the plurality of chain components respectively.

The auxiliary lifting device comprises an auxiliary lifting arm in sliding fit with the adjacent lifting arm, the working platform in sliding fit with the auxiliary lifting arm, and a second driving assembly for driving the working 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 component.

The support assembly comprises a support arm vertically fastened on 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 on two sides of the screw rod, and a driving block in threaded connection with the screw rod and arranged in a reciprocating sliding mode 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 arms comprise first lifting arms, second lifting arms and third lifting arms, the second lifting arms are arranged in a reciprocating sliding mode along the length direction of the first lifting arms, and the third lifting arms are arranged in a sliding mode along the length direction of the second lifting arms.

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 comprises a third chain wheel assembly arranged at the top of the third lifting arm and a third chain meshed with the third chain wheel.

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 sprocket assembly, the second sprocket assembly and the third sprocket assembly all comprise a fixed shaft and a sprocket 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 at the upper end of the auxiliary lifting arm, a synchronous belt arranged between the second motor and the driven wheel, and a working platform which is arranged along the length direction of the auxiliary lifting arm in a sliding manner and is fastened with the synchronous belt.

The invention has the beneficial effects that: the invention provides a wall surface treatment robot, which comprises a traction transport vehicle, a lifting device and a construction device, wherein the lifting device is erected on the traction transport vehicle, the construction device is erected on the operation platform, 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 plurality of first sensors and used for controlling the folding, unfolding and lifting of the supporting mechanism; the lifting device comprises a main lifting device and a secondary lifting device which is connected with the main lifting device in a sliding way; 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 is arranged on the working platform in a replaceable mode, and a material conveying assembly which is arranged on the traction transport vehicle and is in through connection with the multi-shaft construction assembly; the multi-shaft 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 traction transport car, 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 is under construction to the wall, effectively promotes construction quality then, reduces construction risk, reduces the material extravagant.

Drawings

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

Fig. 2 is an isometric view of the traction vehicle of fig. 1 after deployment of the support mechanism.

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

Fig. 4 is an isometric view of a wall treatment robot of the present invention after deployment.

Fig. 5 is an isometric view of the lifting device of fig. 1 mounted on a towing vehicle without deployment.

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

Fig. 7 is a partial enlarged view at 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 being unfolded.

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

Detailed Description

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

As shown in fig. 1 to 10, this embodiment provides a wall surface treatment robot, including traction vehicle 3, set up in elevating gear 6 of traction vehicle 3, set up in construction equipment 4 of operation platform, further, in order to promote stability and intensity after elevating gear 6 is expanded, as the preferred one side of elevating gear 6 is still provided with auxiliary support piece 5 in the slope, and the both ends of this auxiliary support piece 5 are fastened with traction vehicle 3 and elevating gear 6 respectively.

Specifically, the traction vehicle 3 includes a vehicle body 31, a supporting mechanism 32 disposed at the periphery of the vehicle body 31, a plurality of first sensors disposed at 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 supporting mechanism 32 to retract and lift; as a preferred embodiment, the support mechanism 32 in this embodiment includes a retracting arm assembly 321 and a support arm assembly 322, and further, the retracting arm assembly 321 includes a fixed seat 3211 fastened to the vehicle body 31, a retracting arm 3212 rotatably connected to the fixed seat 3211, and a retracting motor disposed in the vehicle body for driving the retracting arm 3212 to rotate around the fixed seat 3211, where, preferably, a driving wheel of the retracting motor is connected to a driving shaft disposed on the retracting arm 3212 through a synchronous belt, so as to drive the retracting arm 3212 to be unfolded or retracted.

Still further, the support arm assembly 322 includes a lifting motor 3221 disposed in the cavity of the folding arm 3212, a lifting driving seat 3222 matched with one end of the folding arm, and a lifting support rod 3223 meshed with the lifting driving seat 3222, the lower end of the lifting support rod 3223 is provided with a support seat 3224, so that the lifting support rod 3223 can move up and down under the action of the lifting driving seat 3222, and preferably, a driving wheel of the lifting motor 3221 is connected with a driving wheel of the lifting driving seat 3222 through a synchronous belt.

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

Further, in this embodiment, in order to facilitate the installation of the lifting device 6 and the vehicle body 31, a lifting device installation position 33 is concavely arranged at the top of the vehicle body 31, and an electric control device 34 is arranged at one side close to the lifting device installation position 33.

Further specifically, the lifting device 6 in the present embodiment includes a main lifting device 1, and a sub-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 working platform 22 in a replaceable mode, and a material conveying assembly 42 which is arranged on the traction transport vehicle 3 and is in through connection with the multi-shaft construction assembly 41; the multi-axis construction assembly 41 is provided with a plurality of second sensors, and a plurality of the second sensors are electrically connected with the electric control device. Preferably, the material conveying component 42 in this embodiment is a conveying hose erected on the traction carrier 3, so as to facilitate the conveying of the material required for wall surface treatment to the multi-axis construction component 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 assembly 41 and wall, and the wall situation, then through electric control unit'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 kit 41 to under a plurality of second sensors and electrically controlled device's effect, automated inspection wall planarization, automatic setting wall operation route, with this effective wall construction quality and the efficiency of construction of promoting. Preferably, the multi-axis construction assembly 41 in the present embodiment can be replaced at any time according to the construction requirement, so as to meet the construction requirements of wall surface cleaning, polishing, puttying and troweling, wall paint spraying, painting and the like. In this embodiment, the specific arrangement of the plurality of second sensors and the electronic control device is disclosed in the related art, and is not described herein in detail.

Furthermore, in order to further promote convenience and stability in the multiaxis construction assembly 41 work progress, when providing reliable and stable's support for multiaxis construction assembly 41 through above-mentioned elevating gear 6 in this embodiment, can also be according to the construction needs, convenient nimble adjustment multiaxis construction assembly 41's construction height, simultaneously, can also cooperate the convenient flexible adjustment construction position of traction transport vechicle 3.

Specifically, the lifting device 6 in the present embodiment includes a main lifting device 1 and a sub-lifting device 2, and specifically, the main lifting device 1 includes a supporting component 11 erected on a mounting table, a lifting component 12 slidingly engaged with the supporting component 11, and a first driving component 13 for driving the lifting component 12 to reciprocate along the height direction of the supporting component 11; the lifting assembly 12 comprises a plurality of lifting arms which are in sliding fit in sequence, and a plurality of chain assemblies which are used for synchronously unfolding or sequentially folding the adjacent lifting arms, and one end of each chain assembly adjacent to the supporting assembly 11 is fastened with the supporting assembly 11.

Preferably, the plurality of chain components in this embodiment are respectively mounted at the top of the plurality of lifting arms, and two ends of the chain in the chain components are respectively connected with the lifting arms on two sides, or the lifting arms and the supporting component 11, so that when the first driving component drives one lifting arm adjacent to the supporting component to move upwards, the rest lifting arms are respectively and synchronously unfolded under the action of the plurality of chain components.

More specifically, the support assembly 11 in this embodiment includes a support arm 111 vertically fastened to the mounting table, bearing blocks 112 erected at two ends of the support arm 111, a screw rod 113 disposed between the two bearing blocks 112, guide rods 114 disposed at two sides of the screw rod 113, and a driving block 115 screwed to the screw rod 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 rod 113 by rotation of the screw rod 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 can be driven to move upward, and then the rest lifting arms are driven to synchronously spread by the chain assembly.

Preferably, the first driving assembly 13 for driving the screw 113 to rotate in this embodiment includes a first motor 131 disposed at the lower end of the support arm 111, and a first decelerator 132 connected to the first motor 131, where the first decelerator 132 is connected to one end of the screw 113.

Further, the auxiliary lifting device 2 in this embodiment is slidably connected to the lifting arm on the side far away from the supporting component 11, the auxiliary lifting device 2 includes an auxiliary lifting arm 21 slidably engaged with an adjacent lifting arm, a working platform 22 slidably engaged 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, and the second driving component includes a second motor 23 disposed at the lower end of the auxiliary lifting arm 21, a driven wheel 24 pivotally connected 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 the working platform 22 slidably disposed along the length direction of the auxiliary lifting arm 21 and fastened to the synchronous belt 25. With this structural design, can make work platform 22 follow the elevating system's 21 high direction up-and-down motion of auxiliary lifting arm, because auxiliary lifting arm 21 goes up and down along with lifting unit 12 again, consequently, after lifting unit 12 expandes predetermined height, can drive work platform 22 up-and-down motion through second motor 23 to this makes work platform 22 carry out the position adjustment under the different height of lifting unit 12, with this different construction demands that satisfy.

More specifically, it is preferable that the lifting arm in this embodiment includes a first lifting arm 121, a second lifting arm 122 slidably disposed along the length direction of the first lifting arm 121, and a third lifting arm 123 slidably disposed along the length direction of the second lifting arm 122, and in order to facilitate the assembly and connection between the first lifting arm 121, the second lifting arm 122, and the third lifting arm 123, long grooves for sliding each other are integrally disposed along the length of each of the first lifting arm 121, the second lifting arm 122, and the third lifting arm 123, and preferably, the first lifting arm 121, the second lifting arm 122, and the third lifting arm 123 may be integrally extruded by an aluminum extrusion die.

In order to drive the first lifting arm 121, the second lifting arm 122 and the third lifting arm 123 to be unfolded or folded synchronously, the chain assembly in this embodiment includes a first chain assembly 124 pivotally connected to the first lifting arm 121, a second chain assembly 125 pivotally connected to the second lifting arm 122, and a third chain assembly 126 pivotally connected to the third lifting arm 123.

Specifically, the first chain assembly 124 includes a first sprocket assembly disposed on 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 comprise a fixed shaft and a sprocket coaxially and rotatably connected with the fixed shaft.

Further, in order to facilitate the synchronous deployment or retraction 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 the 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 the lower bottom surface of the sub-lifting arm 21.

To further facilitate the arrangement of the second chain 1251 and the third chain 1261, preferably, one end of the second chain 1251 is fastened to a fixed shaft on top of the first lifting arm 121, and one end of the third chain 1261 is fastened to a fixed shaft on top of the second lifting arm 122.

With the lifting assembly 12 with the above structure, when the first motor 131 drives the screw rod 113 to rotate forward, the driving block 115 drives the first lifting arm 121 to move upwards along the height direction of the supporting arm 111 under the action of the screw rod 113, at this time, the second lifting arm 122 drives the second lifting arm 122 to move upwards under the action of the first chain 1241, the third lifting arm 123 moves upwards under the action of the second chain 1251, and the auxiliary lifting arm 21 moves upwards 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 are sequentially unfolded upwards; conversely, when the first motor 131 drives the screw 113 to rotate reversely, the driving block 115 drives the first lifting arm 121 to move downwards under the action of the screw 113, and the second lifting arm 122, the third lifting arm 123 and the auxiliary lifting arm 21 are sequentially lowered and retracted under the action of gravity.

Furthermore, in this embodiment, the lifting 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 flexibly moves in different lifting heights of the lifting assembly 12, thereby bringing great convenience to the construction of the operation platform, and meanwhile, frequent starting of the first motor 131 can be effectively avoided, and the power consumption of the first motor 131 is 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 extended according to the construction requirement and the reliability requirement.

The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims (6)

1. A wall surface 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 supporting mechanism to retract and lift; 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 working platform and comprises a multi-shaft construction assembly which is interchangeably erected on the working 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-shaft 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 reciprocate along the height direction of the supporting component; the lifting assembly comprises a plurality of lifting arms and a plurality of chain assemblies, wherein the lifting arms are sequentially in sliding fit, and the chain assemblies are arranged at the tops of the lifting arms; when the first driving component drives one lifting arm adjacent to the supporting component to move upwards, the rest lifting arms are respectively and synchronously unfolded under the action of a plurality of chain components, and the auxiliary lifting device comprises an auxiliary lifting arm in sliding fit with the adjacent lifting arm, a working platform in sliding fit with the auxiliary lifting arm and a second driving component for driving the working platform to slide back and forth along the length direction of the auxiliary lifting arm; the lower extreme of auxiliary lifting arm is connected with the one end of chain in the adjacent chain subassembly, supporting component including vertical fastening in the support arm of traction transport vechicle, set up in the bearing frame at support arm both ends, set up in two lead screw between the bearing frame, set up in the guide arm of lead screw both sides, and with lead screw threaded connection just follows the drive block that guide arm length direction reciprocated the slip and set up, second drive assembly including set up in the second motor of auxiliary lifting arm lower extreme, pin joint in driven wheel of auxiliary lifting arm upper end, set up in the second motor with follow between the driving wheel, and follow auxiliary lifting arm length direction slip setting just with the operation platform of hold-in range fastening.

2. The wall treating robot of claim 1, wherein the first driving assembly includes a first motor provided at a lower end of the supporting arm, and a first decelerator connected to the first motor, the first decelerator being connected to one end of the screw rod.

3. The wall surface treating robot according to claim 1, wherein the lifting arm comprises a first lifting arm, a second lifting arm slidably provided back and forth in a length direction of the first lifting arm, and a third lifting arm slidably provided in the length direction of the second lifting arm.

4. A wall treating robot according to claim 3, wherein the chain assembly comprises a first chain assembly pivotally connected to the first lifting arm, a second chain assembly pivotally connected to the second lifting arm, and a third chain assembly pivotally connected to the third lifting arm.

5. The wall treating robot according to claim 4, wherein the first chain assembly comprises a first sprocket assembly provided on a top of the first elevating arm, and a first chain engaged with the 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 comprises a third chain wheel assembly arranged at the top of the third lifting arm and a third chain meshed with the third chain wheel.

6. The wall treating robot according to claim 5, wherein a lower bottom surface of the first elevating arm is fastened to 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 sprocket assembly, the second sprocket assembly and the third sprocket assembly all comprise a fixed shaft and a sprocket which is coaxially and rotatably connected with the fixed shaft.