Multifunctional mechanical arm for facade restoration

Abstract

This invention relates to the field of robotic arm technology, specifically a multifunctional robotic arm for exterior wall repair. It includes a robotic arm platform and a microcontroller. A working frame is mounted on the free end of the robotic arm platform, and a drive motor is fixed on the working frame. A reciprocating slide is slidably connected to the working frame, and a reciprocating mechanism drives the reciprocating slide to move back and forth between them. The reciprocating mechanism is connected to the drive motor, and the reciprocating stroke of the reciprocating slide is infinitely adjustable. Two rollers are rotatably connected to the reciprocating slide, and a composite working belt is wound between the two rollers. Along the length of the composite working belt, a grinding surface, an old paint roughening surface, an inside and outside corner trimming surface, and a curved surface leveling surface are sequentially provided on the composite working belt. The beneficial effects of this invention are: through the integrated end-effector design and multi-mechanism collaborative control, it effectively solves the technical problems of existing exterior wall repair robotic arms having limited functionality and being unable to adapt to complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically a multifunctional robotic arm for exterior wall repair. Background Technology

[0002] Currently, with the increasing demand for building maintenance automation, various types of wall-working robotic arms have been widely used. For example, Chinese patent CN113356530A discloses a wall plastering robotic arm. This solution, through the cooperation of the robotic arm frame, slide rail, blade holder and telescopic device, aims to solve the problem that plastering robots can only handle vertical walls and cannot adapt to inclined walls. However, in actual exterior wall repair projects, especially when renovating or repairing existing buildings, the working conditions are far more complex than simple plastering or leveling. Although the above technical solutions have expanded the adaptability of the working angle of the robotic arm to a certain extent, their core function is still limited to a single plastering operation and cannot meet the diversified needs of the entire process of exterior wall repair. Specifically, existing technologies have the following technical problems when dealing with exterior wall repairs: Existing robotic arms have limited end-effector functions, capable of performing only plastering or simple sanding actions. When dealing with walls requiring multiple sequential processes, manual tool changes are often necessary, or multiple devices with different functions must be used in tandem. This not only significantly reduces construction efficiency and increases equipment costs, but also makes it difficult to ensure the connection accuracy and consistency of processes between each step. Furthermore, the working ends of existing robotic arms are mostly rigid structures or simple flat pressure plates, which are difficult to effectively fit existing walls with corners, curved surfaces, or uneven surfaces. In addition, the working heads of existing technologies usually only have one working mode, which cannot accommodate both coarse sanding that requires efficient removal of hollow layers and fine leveling of curved surfaces that requires gentle treatment. Based on this, the present invention provides a multifunctional robotic arm for exterior wall repair to solve the problems mentioned in the background art. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a multifunctional robotic arm for exterior wall repair. This solves the problems of existing robotic arms having limited end-effector functionality and difficulty in effectively fitting old walls with corners, curved surfaces, or uneven surfaces.

[0004] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A multifunctional robotic arm for exterior wall repair, comprising a robotic arm platform and a microcontroller, wherein a working frame is mounted on the free end of the robotic arm platform, and a drive motor is fixedly mounted on the working frame, and further comprising: The reciprocating carriage is slidably connected to the working frame, and a reciprocating mechanism is provided between the two to drive the reciprocating carriage to move back and forth. The reciprocating mechanism is connected to the transmission motor, and the reciprocating stroke of the reciprocating carriage is infinitely adjustable. Two belt rollers are rotatably connected to a reciprocating carriage. A composite working belt is wound between the two belt rollers. Along the length of the composite working belt, a sanding surface, an old paint roughening surface, an inside and outside corner trimming surface, and a curved surface leveling surface are sequentially provided on the composite working belt. Two dynamic tensioning components are used to keep the composite working belt taut; The contoured flexible airbag is fixedly mounted on the reciprocating slide. A pressure probe connected to the microcontroller is fixedly mounted on the contoured flexible airbag. A universal ball is arranged on its outer ring surface array. The universal ball abuts against the composite working belt. A pneumatic booster pump is fixedly mounted on the reciprocating slide. The air outlet of the pneumatic booster pump is connected to the inner cavity of the contoured flexible airbag through a booster pipe. An air blowing nozzle is fixedly mounted on the booster pipe. The operation mode switching mechanism is configured to drive the composite working belt to reciprocate or rotate in a directional manner relative to the contour-following flexible airbag. Two spiral brush rollers are rotatably connected to a reciprocating slide, and two first drive belts are driven to each of the two spiral brush rollers. The two first drive belts are respectively driven to the two belt rollers. The industrial camera and laser rangefinder are both mounted on the work stand and are connected to the microcontroller for data transfer.

[0005] Based on the above technical solution, the present invention can be further improved as follows.

[0006] Preferably, the robotic arm platform includes a mobile platform on which a three-axis robotic arm and an electrical control box are mounted. The free end of the three-axis robotic arm is fixedly connected to the work frame. The electrical control box integrates a storage battery. The microcontroller is installed on the front end of the electrical control box and is electrically connected to the storage battery.

[0007] Preferably, the reciprocating mechanism includes a drive shaft rotatably connected to the work frame, the output shaft end of the transmission motor being fixedly connected to the drive shaft, a linear transmission module being fixedly mounted on the work frame, a stroke adjustment plate being drivenly connected to the linear transmission module, an eccentric inclined protrusion being rotatably mounted on the stroke adjustment plate, the eccentric inclined protrusion being drivenly connected to the drive shaft, a follower wheel being rotatably connected to the reciprocating slide, the eccentric inclined protrusion abutting against the follower wheel, two symmetrically arranged guide rails being fixedly connected to the work frame, both guide rails being slidably connected to the reciprocating slide, and three return springs being installed on the bottom surface of the reciprocating slide, the bottom ends of the three return springs being fixedly connected to the work frame.

[0008] Preferably, the eccentric inclined protrusion has a shaft hole at its axial position, the shaft hole is slidably connected to the drive shaft, the cross-section of the shaft hole and the drive shaft are both regular hexagonal, the axis of the drive shaft is perpendicular to the extension direction of the guide rail, and the length of the eccentric inclined protrusion is 8 to 12 times the width of the follower wheel.

[0009] Preferably, the eccentric inclined protrusion is a variable cross-section cam structure that continuously changes along the axial direction. The eccentric inclined protrusion is integrally formed by a large-stroke eccentric wheel and a small-stroke eccentric wheel along the axial direction. Both the large-stroke eccentric wheel and the small-stroke eccentric wheel have a circular wheel portion and a cam portion. The circular wheel portion of the large-stroke eccentric wheel and the circular wheel portion of the small-stroke eccentric wheel have the same radius and are in phase. The cam portion of the large-stroke eccentric wheel has a first eccentricity, and the cam portion of the small-stroke eccentric wheel has a second eccentricity. The first eccentricity is 2 to 6 times the second eccentricity.

[0010] Preferably, the dynamic tensioning assembly includes a tensioning platform slidably connected to the reciprocating slide and a guide roller rotatably connected to the reciprocating slide. Two tensioning springs are installed between the tensioning platform and the reciprocating slide. A tensioning roller is rotatably connected to the tensioning platform. Both the guide roller and the tensioning roller are connected to the composite working belt drive.

[0011] Preferably, the composite working belt is composed of a polyester woven skeleton layer, a TPU flexible layer, and a functional working surface layer, which are sequentially composited from bottom to top. The polishing surface is a diamond flexible sand-coated structure, the roughening surface of the old paint surface is a white corundum flexible sand surface, the internal and external corner trimming surface is a glass fiber reinforced nylon hard strip, and the curved surface leveling surface is a high-elasticity polyurethane rubber.

[0012] Preferably, the operating mode switching mechanism includes a reciprocating shaft, a drive shaft, a directional shaft, and two toothed shafts rotatably connected to a reciprocating carriage. A second drive belt is driven through the drive shaft, and both toothed shafts are driven through the second drive belt. A third drive belt is driven through the reciprocating shaft, and both belt rollers and the directional shaft are driven through the third drive belt. A first sector gear is fixedly mounted on each of the two toothed shafts. A reciprocating gear is fixedly mounted on the reciprocating shaft, and both first sector gears mesh with the reciprocating gear. The reciprocating carriage... A switching motor is fixedly installed on the top, and a second sector gear is fixedly installed on the output shaft of the switching motor. A directional gear is installed on the directional rotating shaft. A first coupling and a second coupling are rotatably connected to the working frame. A fourth transmission belt is connected between the first coupling and the drive shaft. Both the first coupling and the second coupling are equipped with linkage bevel gears, and the two linkage bevel gears mesh orthogonally. The top end of the transmission shaft is provided with a spline section. The second coupling has a spline groove with an open bottom end that is slidably connected to the spline section. The cross-section of the spline groove and the spline section are both regular hexagonal.

[0013] Preferably, the two first sector gears are respectively disposed on the left and right sides of the reciprocating gear, the central angles corresponding to the effective meshing tooth segments on the first sector gear and the two first sector gears are all 100°, and the installation phase difference between the effective meshing tooth segments on the two first sector gears is 180°.

[0014] Preferably, the conformal flexible airbag is made of silicone, and the axes of the industrial camera, laser rangefinder, and air nozzle are all perpendicular to the axis of the roller. Solenoid valves are provided at the connection points between the air nozzle, the conformal flexible airbag, and the pressurization pipe.

[0015] This invention includes at least one of the following beneficial technical effects. 1. This invention effectively solves the technical problems of existing exterior wall repair robotic arms being single-function and unable to adapt to complex working conditions through integrated end-of-line design and multi-mechanism collaborative control. Its core lies in integrating the working surfaces required for four processes—grinding, roughening, corner trimming, and surface leveling—onto a single composite working belt. A working mode switching mechanism enables rapid switching of the working surfaces. Simultaneously, through the synergistic effect of contour-following flexible airbags and omnidirectional balls, the composite working belt can adaptively conform to corners, curved surfaces, and uneven old wall surfaces. This solves the problem that traditional rigid or flat pressure plates cannot effectively conform to irregularly shaped walls. Compared to existing technologies that require frequent manual tool changes or rely on multiple devices working together, this invention integrates the entire repair process into a single composite working belt, significantly improving construction efficiency and the continuity of process connections, achieving multi-purpose functionality and contour-following conformation.

[0016] 2. This invention combines the infinitely adjustable stroke mechanism of the reciprocating carriage with the reciprocating / directional rotation mode of the composite working belt driven by the operation mode switching mechanism, constructing a composite motion trajectory of linear reciprocating and circumferential rotation. This coordinated design ensures that the functional working surface forms a continuous and uniform cutting and bonding path on the wall, avoiding local over-processing or stress concentration, and significantly improving the processing density and uniformity per unit area. At the same time, the synchronous action of the dynamic tensioning component and the spiral brush roller ensures stable tension of the composite working belt during the composite motion and real-time cleaning of the working surface, preventing deviation, wrinkles, or dust accumulation. Compared with the single reciprocating or rotational motion mode of the prior art, the composite motion trajectory and dynamic coordination of multiple components in this invention achieve a more thorough grinding, more uniform roughening, more regular corners, and smoother curved surfaces, significantly improving the quality and appearance consistency of wall repair while improving repair efficiency.

[0017] 3. This invention constructs an intelligent closed-loop control system through real-time data interaction between an industrial camera, a laser rangefinder, and a microcontroller. It can dynamically adjust the reciprocating stroke, the speed of the drive motor, and the internal air pressure of the contour-following flexible airbag according to the degree of wall defects, distance, and flatness information. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a multifunctional robotic arm for exterior wall repair according to the present invention; Figure 2 This is a schematic diagram of the structure of the work frame and the eccentric inclined protruding column of the present invention; Figure 3 This is a schematic diagram of the structure of the drive motor of the present invention; Figure 4 This is a schematic diagram of the eccentric inclined convex column of the present invention; Figure 5 This is a schematic diagram of the follower wheel of the present invention; Figure 6 This is a schematic diagram of the structure of the second coupling of the present invention; Figure 7 This is a schematic diagram of the structure of the second sector gear of the present invention; Figure 8 For the present invention Figure 7 A magnified schematic diagram of the partial structure at point A in the middle; Figure 9 This is a schematic diagram of the structure of the roller of the present invention; Figure 10 This is a schematic diagram of the structure of the industrial camera and laser rangefinder sensor of the present invention; Figure 11 This is a schematic diagram of the composite working belt of the present invention.

[0019] The attached diagram lists the components represented by each number as follows: 1. Mobile platform; 2. Work frame; 3. Drive motor; 4. Reciprocating carriage; 5. Belt roller; 6. Composite work belt; 7. Contouring flexible airbag; 8. Spiral brush roller; 9. Industrial camera; 10. Laser rangefinder sensor; 101. Microcontroller; 102. Electrical control box; 103. Three-axis robotic arm; 201. Drive shaft; 202. Linear drive module; 203. Stroke adjustment plate; 204. Eccentric inclined protrusion; 205. Follower wheel; 206. Return spring; 401. Tensioning table; 402. Guide roller; 403. Tensioning spring; 404. 405. Reciprocating shaft; 406. Drive shaft; 407. Directional shaft; 408. Gear with missing teeth; 409. First sector gear; 410. Reciprocating gear; 411. Switching motor; 412. Second sector gear; 413. Directional gear; 414. First coupling; 415. Second coupling; 416. Tensioning roller; 601. Grinding surface; 602. Roughened surface of old paint; 603. Inside and outside corner finishing surface; 604. Curved surface leveling; 701. Air pressure probe; 702. Universal ball; 703. Pneumatic booster pump; 704. Booster pipe; 705. Air nozzle. Detailed Implementation

[0020] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0021] The present invention provides the following preferred embodiments. like Figure 1-11 As shown, a multifunctional robotic arm for exterior wall repair includes a robotic arm platform and a microcontroller 101. A work frame 2 is installed at the free end of the robotic arm platform, and a drive motor 3 is fixedly mounted on the work frame 2. Specifically, the robotic arm platform includes a mobile platform 1, on which a three-axis robotic arm 103 and an electrical control box 102 are mounted. The free end of the three-axis robotic arm 103 is fixedly connected to the work frame 2. The electrical control box 102 integrates a storage battery. A microcontroller 101 is installed on the front end of the electrical control box 102 and is electrically connected to the storage battery.

[0022] The mobile platform 1 can be flexibly moved to the exterior wall repair work area. The three-axis robotic arm 103 enables the work frame 2 to be accurately positioned in three-dimensional space. The power control box 102 integrates a battery and a microcontroller 101 to provide stable power and intelligent control for the entire robotic arm. There is no need to connect complex external cables, which improves the mobility and continuity of the exterior wall repair work. Also includes: The reciprocating slide 4 is slidably connected to the working frame 2, and a reciprocating mechanism is provided between the two to drive the reciprocating slide 4 to reciprocate. The reciprocating mechanism is connected to the transmission motor 3, and the reciprocating stroke of the reciprocating slide 4 is infinitely adjustable. The reciprocating mechanism includes a drive shaft 201 rotatably connected to the work frame 2, an output shaft end of a transmission motor 3 fixedly connected to the drive shaft 201, a linear transmission module 202 fixedly mounted on the work frame 2, a stroke adjustment plate 203 connected to the linear transmission module 202, an eccentric inclined protrusion 204 rotatably mounted on the stroke adjustment plate 203, and the eccentric inclined protrusion 204 being connected to the drive shaft 201. Specifically, an axial hole is provided at the axial position of the eccentric inclined protrusion 204, and the axial hole is slidably connected to the drive shaft 201. The cross-sections of the axial hole and the drive shaft 201 are both regular hexagons. The eccentric inclined protrusion 204 is a variable cross-section cam structure that continuously changes along the axial direction. The eccentric inclined protrusion 204 is integrally formed by a large-stroke eccentric wheel and a small-stroke eccentric wheel along the axial direction. Both the large-stroke eccentric wheel and the small-stroke eccentric wheel have a circular wheel part and a cam part. The circular wheel part of the large-stroke eccentric wheel and the circular wheel part of the small-stroke eccentric wheel have the same radius and the same phase. The cam part of the large-stroke eccentric wheel has a first eccentricity, and the cam part of the small-stroke eccentric wheel has a second eccentricity. The first eccentricity is 2 to 6 times the second eccentricity, preferably 5 times. A follower wheel 205 is rotatably connected to the reciprocating slide 4, and an eccentric inclined protrusion 204 abuts against the follower wheel 205. Two symmetrically arranged guide rails are fixedly connected to the working frame 2, and both guide rails are slidably connected to the reciprocating slide 4. Specifically, two symmetrically arranged guide blocks are fixedly installed on the reciprocating slide 4, and the two guide blocks are slidably connected to the two guide rails respectively; Three return springs 206 are installed on the bottom surface of the reciprocating slide 4, and the bottom ends of the three return springs 206 are fixedly connected to the working frame 2. The axis of the drive shaft 201 is perpendicular to the extension direction of the guide rail, and the length of the eccentric inclined protrusion 204 is 8 to 12 times the width of the follower wheel 205, preferably 10 times. During operation, the reciprocating stroke of the reciprocating carriage 4 can be steplessly changed by altering the relative position of the stroke adjustment plate 203 and the follower wheel 205 through the linear transmission module 202. The drive motor 3 drives the drive shaft 201 to rotate the eccentric inclined protrusion 204, which, together with the follower wheel 205 and the return spring 206, realizes the stable reciprocating motion of the reciprocating carriage 4 along the guide rail; The position of the stroke adjustment plate 203 can be adjusted by the linear transmission module 202 to steplessly adapt to the stroke requirements of different repair processes. The eccentric wheel structure of the eccentric inclined convex column 204 can accurately match the movement amplitude of different processes such as grinding, roughening, internal and external corner trimming and surface leveling, ensuring uniform and efficient repair actions. Two belt rollers 5 are rotatably connected to the reciprocating slide 4. A composite working belt 6 is wound between the two belt rollers 5. Along the length of the composite working belt 6, a grinding surface 601, an old paint roughening surface 602, an inside and outside corner repair surface 603, and a curved surface finding surface 604 are sequentially provided on the composite working belt 6. The composite working belt 6 is composed of a polyester woven skeleton layer, a TPU flexible layer and a functional working surface layer from bottom to top. The grinding surface 601 is a diamond flexible sand-planting structure, which is fixed to the composite working belt 6 by hot pressing and epoxy resin bonding process. The roughened surface 602 of the old paint surface is a white corundum flexible sand surface, which is connected to the composite working belt 6 through a vulcanization integral molding process; The corner trimming surface 603 is a glass fiber reinforced nylon rigid strip, which is connected to the composite working belt 6 through injection molding pre-embedding and mechanical riveting processes; The curved surface to find the plane 604 is made of high elastic polyurethane rubber, which is fused together with the composite working belt 6 through co-extrusion vulcanization; In a preferred embodiment, the lengths of the sanding surface 601, the roughened old paint surface 602, the inside and outside corner trimming surface 603, and the curved surface finding surface 604 are all three times the length of the reciprocating carriage 4. During operation, the sanding surface 601, the roughened old paint surface 602, the inside and outside corner repair surface 603, and the curved surface finding surface 604 each correspond to an exterior wall repair scenario. When the sanding surface 601, the roughened old paint surface 602, the inside and outside corner repair surface 603, and the curved surface finding surface 604 are working, the reciprocating carriage 4 corresponds to a specified reciprocating stroke. The polyester woven skeleton layer ensures the overall strength and toughness of the composite work belt 6, while the TPU flexible layer improves the fit of the composite work belt 6. The four functional work surfaces are adapted to the full-process repair needs of exterior wall sanding, old paint roughening, corner repair, and curved surface leveling. Different process fixing methods ensure the durability of each work surface, and multi-process operations can be completed without frequent tool changes. In a preferred embodiment, when the sanding surface 601 is working, the reciprocating slide 4 has a reciprocating stroke of 100mm, the old paint roughening surface 602 has a reciprocating stroke of 50mm, the inside and outside corner trimming surface 603 has a reciprocating stroke of 25mm, and the curved surface finding surface 604 has a reciprocating stroke of 15mm. The 100mm long stroke provides ample range of motion for the 601 sanding surface, effectively removing defects such as hollowness, peeling, and protrusions on the wall surface, ensuring thorough treatment of the base layer. The 50mm mid-stroke is suitable for roughening old paint surfaces, evenly roughening the wall surface without damaging the wall base, and improving the adhesion of subsequent coatings; The 25mm short stroke precisely matches the internal and external corner structure, and the small-amplitude movement avoids overcutting and corner chipping, ensuring that the edges and corners are neat and straight. The 15mm micro-stroke allows the curved surface to gently conform to the curvature of the wall, avoiding indentations caused by heavy pressure and ensuring a smooth and flat repair surface. The four fixed strokes correspond one-to-one with each functional work surface, enabling professional and standardized operation of different repair procedures, taking into account processing efficiency, repair accuracy and wall protection. Two dynamic tensioning components are used to keep the composite working belt 6 taut; The dynamic tensioning assembly includes a tensioning platform 401 slidably connected to the reciprocating slide 4 and a guide roller 402 rotatably connected to the reciprocating slide 4. Two tensioning springs 403 are installed between the tensioning platform 401 and the reciprocating slide 4. A tensioning roller 415 is rotatably connected to the tensioning platform 401. Both the guide roller 402 and the tensioning roller 415 are connected to the composite working belt 6 for transmission.

[0023] The tension spring 403 pushes the tensioning table 401 and the tensioning roller 415 to adaptively tighten the composite working belt 6. In conjunction with the guide roller 402, it stabilizes the transmission path and always maintains the composite working belt 6 in a moderately tensioned state, avoiding slackness, offset, and wrinkles of the composite working belt 6. This ensures stable contact between each functional working surface and the exterior wall surface, improving repair accuracy and operational stability. The contour-following flexible airbag 7 is fixedly mounted on the reciprocating slide 4. A pressure probe 701 connected to the microcontroller 101 is fixedly mounted on the contour-following flexible airbag 7. A universal ball 702 is arranged on its outer ring surface array. The universal ball 702 abuts against the composite working belt 6, so that the contour-following flexible airbag 7 can apply conformal support force to the composite working belt 6 through the universal ball 702, and make the composite working belt 6 conform to the contour of the wall when working. A pneumatic booster pump 703 is fixedly installed on the reciprocating slide 4. The air outlet of the pneumatic booster pump 703 is connected to the inner cavity of the conformal flexible airbag 7 through the booster pipe 704. An air blowing nozzle 705 is fixedly installed on the booster pipe 704. The conformal flexible airbag 7 is made of silicone, and solenoid valves are provided at the connection points between the air nozzle 705, the conformal flexible airbag 7, and the pressurization pipe 704. The silicone contour flexible airbag 7 can adaptively fit the concave and convex curved surface of the exterior wall. The air pressure probe 701 monitors the pressure inside the airbag in real time and feeds it back to the microcontroller 101. Together with the pneumatic booster pump 703, it can achieve precise pressure control. The omnidirectional ball 702 reduces friction between the composite working belt 6 and the contouring flexible airbag 7, while the air blowing nozzle 705 simultaneously cleans up the work dust, taking into account the triple effects of contouring fit, pressure self-adaptation and dust cleaning. The outer ring surface of the contoured flexible airbag 7 is arranged in a matrix array with multiple sets of mounting countersunk holes. The mounting countersunk holes have a stepped limiting structure. The universal ball 702 is fixed in the mounting countersunk holes by interference fit and embedded riveting process. The ball head is exposed on the surface of the contoured flexible airbag 7 and flexibly abuts against the composite working belt 6. The tail is limited by the contoured flexible airbag 7 body to prevent detachment. After installation, the exposed end faces of all universal balls 702 together form a continuous and smooth rolling support surface. When in operation, the omnidirectional ball 702 can roll freely in all directions with the reciprocating rotation of the composite working belt 6 and the curved deformation of the contoured flexible airbag 7. This transforms the sliding friction between the composite working belt 6 and the contoured flexible airbag 7 into rolling friction, significantly reducing motion resistance and wear on the composite working belt 6. At the same time, it avoids surface damage to the composite working belt 6 caused by rigid scraping. Combined with the flexible adaptive deformation of the contoured flexible airbag 7, it ensures stable contact and pressure between the functional working surface and the wall surface, while ensuring smooth movement of the composite working belt 6 without jamming, deviation, or wrinkling. It maintains a stable working posture and contact pressure throughout the composite reciprocating motion, greatly improving the stability of equipment operation, the service life of the composite working belt 6, and the uniformity of wall repair. The working mode switching mechanism is configured to drive the composite working belt 6 to reciprocate or rotate in a directional manner relative to the contour-following flexible airbag 7. The operating mode switching mechanism includes a reciprocating shaft 404, a drive shaft 405, a directional shaft 406, and two toothed shafts 407 rotatably connected to the reciprocating carriage 4. A second drive belt is driven through the drive shaft 405, and both toothed shafts 407 are driven through the second drive belt. A third drive belt is driven through the reciprocating shaft 404, and both belt rollers 5 and the directional shaft 406 are driven through the third drive belt. A first sector gear 408 is fixedly mounted on each of the two toothed shafts 407, and a reciprocating gear 409 is fixedly mounted on the reciprocating shaft 404. Both first sector gears 408 mesh with the reciprocating gear 409. The reciprocating carriage 4... A switching motor 410 is fixedly installed on the upper part of the frame. A second sector gear 411 is fixedly installed on the output shaft of the switching motor 410. An directional gear 412 is installed on the directional rotating shaft 406. A first coupling 413 and a second coupling 414 are rotatably connected to the working frame 2. A fourth transmission belt is connected between the first coupling 413 and the drive shaft 201. Both the first coupling 413 and the second coupling 414 are equipped with linkage bevel gears. The two linkage bevel gears mesh orthogonally. The top end of the transmission shaft 405 is provided with a spline section. The second coupling 414 is provided with a spline groove with an open bottom end and slidingly connected to the spline section. The cross-section of the spline groove and the spline section are both regular hexagonal.

[0024] Two first sector gears 408 are respectively set on the left and right sides of the reciprocating gear 409. The central angles corresponding to the effective meshing tooth segments on the first sector gear 408 and the two first sector gears 408 are all 100°. The installation phase difference between the effective meshing tooth segments on the two first sector gears 408 is 180°. When the device is in the work preparation stage, the non-toothed parts of the two first sector gears 408 mesh with the reciprocating gear 409, which does not affect the rotation of the belt roller 5. After that, the switching motor 410 drives the belt roller 5 to rotate in a specific direction, thereby switching the working positions of the sanding surface 601, the old paint roughening surface 602, the inside and outside corner repair surface 603 and the curved surface finding surface 604, and making a designated working surface correspond to the exterior wall to be repaired. During operation, the non-toothed part of the second sector gear 411 engages with the directional gear 412, thereby not affecting the rotation of the belt roller 5 and the directional shaft 406. The drive motor 3 then operates, and the exterior wall repair work is carried out. Both the switching motor 410 and the drive motor 3 have integrated encoders that are connected to the microcontroller 101 for data transmission, thereby precisely controlling the output angle and output parameters of the switching motor 410 and the drive motor 3. After the drive motor 3 starts, it drives the eccentric inclined protrusion 204 to rotate through the drive shaft 201, which pushes the follower wheel 205 and the reciprocating slide 4 to make linear reciprocating motion along the guide rail with a set stroke. At the same time, the operation mode switching mechanism drives the composite working belt 6 to make synchronous reciprocating rotation along the belt roller 5, so that the functional working surface forms a continuous and uniform reciprocating cutting and bonding action on the wall. The individual reciprocating rotation of the working surface allows the functional working surface to continuously act on the repair area, avoiding excessive processing in some areas and ensuring that the working surface is subjected to uniform force and has consistent texture. The linear reciprocating motion of the reciprocating carriage 4 forms a composite motion trajectory, achieving a double reciprocating superposition of lateral movement and circumferential rotation, which greatly improves the processing density and uniformity per unit area, avoids missed processing, double processing, surface scratches and stress concentration, and makes sanding more thorough, roughening more uniform, corners more regular, and curved surface leveling smoother. While improving repair efficiency, it significantly improves the quality and appearance consistency of wall repair. Two spiral brush rollers 8 are rotatably connected to the reciprocating slide 4. Each of the two spiral brush rollers 8 is connected to a first transmission belt, and the two first transmission belts are respectively connected to two belt rollers 5. The spiral brush roller 8 rotates synchronously with the belt roller 5 via the first transmission belt. When the composite working belt 6 is working, it simultaneously sweeps the floating dust and debris on the exterior wall surface to avoid dust affecting the repair effect. At the same time, it assists in combing the composite working belt 6 to prevent foreign objects from getting stuck, and improves the smoothness of the repair surface and the reliability of equipment operation. The industrial camera 9 and the laser rangefinder 10 are both fixed on the work frame 2, and both are connected to the microcontroller 101 for data transfer.

[0025] The axes of the industrial camera 9, the laser rangefinder 10, and the air nozzle 705 are all perpendicular to the axis of the belt roller 5. The industrial camera 9 acquires images of the exterior wall repair area in real time, and the laser rangefinder 10 accurately detects the distance and flatness of the repair surface. The data is synchronously transmitted to the microcontroller 101 to realize intelligent closed-loop control of repair position, stroke and pressure, thereby improving the automation level and repair quality consistency of exterior wall repair. The microcontroller 101 can calculate the degree of wall defects, repair progress and surface condition in real time based on the wall image information collected by the industrial camera 9 and the distance and flatness feedback from the laser rangefinder 10. It can dynamically adjust the internal air pressure of the contour flexible airbag 7, the reciprocating stroke of the reciprocating slide 4 and the output speed of the drive motor 3 to adaptively match the wall repair needs of different areas and different stages, ensuring that the repair process is stable and the effect is uniform. The microcontroller 101 has a pre-set mapping table of different wall defect levels and repair parameters. The image acquired by the industrial camera 9 is processed by the image processing algorithm to identify the defect type and area. Combined with the data measured by the laser rangefinder 10, the optimal reciprocating stroke, drive motor 3 speed and conformal flexible airbag 7 pressure value are determined and output by looking up the table. In a preferred embodiment, when the industrial camera 9 detects a 3mm deep protrusion on the wall surface and the laser rangefinder 10 determines that the deviation exceeds the standard, the microcontroller 101 immediately adjusts the stroke of the reciprocating carriage 4 to 100mm, increases the speed of the drive motor 3 to 100% of the rated speed, and increases the air pressure of the contour flexible airbag 7 to 0.35MPa, so as to complete the powerful grinding and removal with a large stroke, high speed, and high pressure. When the wall surface is detected to be entering the roughening process of old paint, the microcontroller 101 automatically adjusts the stroke to 50mm, reduces the speed of the drive motor 3 to 50% of the rated speed, and reduces the air pressure of the contour flexible airbag 7 to 0.25MPa, so as to achieve uniform roughening without damaging the base layer. When working in the corner area, the microcontroller 101 adjusts the stroke to 25mm, the speed of the drive motor 3 is reduced to 30% of the rated speed, and the air pressure of the contour flexible airbag 7 is adjusted to 0.20MPa, so as to achieve small-amplitude precise trimming and avoid damage to the edges and corners; When entering the surface leveling stage, the microcontroller 101 adjusts the stroke to 15mm, the speed of the drive motor 3 is reduced to 20% of the rated speed, and the air pressure of the contour flexible airbag 7 is adjusted to 0.15MPa. With gentle pressure and small movements, the surface is smooth and without indentations, realizing intelligent, adaptive, and high-precision automated repair of the exterior wall throughout the process.

[0026] The specific steps for using this invention are as follows: When the multifunctional robotic arm for exterior wall repair of this invention is working, it first enters the preparation stage. The mobile platform 1 moves to the work area, and the three-axis robotic arm 103 precisely positions the work frame 2 to the surface of the exterior wall to be repaired. The microcontroller 101 collects information on wall defects, distances and flatness through the industrial camera 9 and the laser range sensor 10. The work mode switching mechanism drives the belt roller 5 to rotate in an orientation under the drive of the switching motor 410, and turns the functional work surface of the composite work belt 6 corresponding to the repair process to the work position. The dynamic tensioning component adaptively tensions the composite work belt 6 through the tensioning spring 403 and the tensioning roller 415. The pneumatic booster pump 703 fills the contour flexible airbag 7 with a preset air pressure. The air pressure probe 701 monitors the pressure in real time and feeds it back to the microcontroller 101, completing the preparation before the operation. Then, the working phase begins. The drive motor 3 starts and drives the reciprocating mechanism to operate. Through the cooperation of the eccentric inclined protrusion 204 and the follower wheel 205, the reciprocating slide 4 is driven to make a steplessly adjustable linear reciprocating motion along the guide rail. The operation mode switching mechanism drives the composite working belt 6 and the contoured flexible airbag 7 to reciprocate synchronously, forming a linear and circumferential composite motion trajectory. The sanding surface 601, the roughening surface of the old paint surface 602, the internal and external corner repair surface 603, or the curved surface finding surface 604 of the composite working belt 6 correspond to different strokes and pressures to complete the wall treatment. The contoured flexible airbag 7 adapts to the curved surface of the wall through the silicone flexibility and the universal ball 702 and reduces the wear of the composite working belt 6. The air blower 705 cleans the dust synchronously. The spiral brush roller 8 rotates synchronously with the belt roller 5 to sweep away floating dust and debris. The microcontroller 101 dynamically adjusts the reciprocating stroke, the speed of the drive motor 3, and the air pressure of the contoured flexible airbag 7 according to the real-time detection data to realize intelligent adaptive repair throughout the entire process. Finally, in the finishing stage, the drive motor 3 and the switching motor 410 stop running, the pneumatic booster pump 703 depressurizes, the contour flexible airbag 7 returns to normal pressure, the three-axis robotic arm 103 lifts the work frame 2, the mobile platform 1 drives away from the work area, the microcontroller 101 saves the repair data and completes the final inspection of the wall, and after confirming that the repair quality meets the standards, the entire operation process ends.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional robotic arm for exterior wall repair, comprising a robotic arm platform and a microcontroller (101), characterized in that, The free end of the robotic arm platform is equipped with a work frame (2), and a drive motor (3) is fixedly mounted on the work frame (2). It also includes: The reciprocating slide (4) is slidably connected to the work frame (2), and a reciprocating mechanism is provided between the two to drive the reciprocating slide (4) to reciprocate. The reciprocating mechanism is connected to the transmission motor (3), and the reciprocating stroke of the reciprocating slide (4) is infinitely adjustable. Two belt rollers (5) are rotatably connected to the reciprocating slide (4). A composite working belt (6) is wound between the two belt rollers (5). Along the length of the composite working belt (6), a grinding surface (601), an old paint roughening surface (602), an inside and outside corner trimming surface (603), and a curved surface finding surface (604) are arranged in sequence on the composite working belt (6). Two dynamic tensioning components are used to keep the composite working belt (6) taut; A contoured flexible airbag (7) is fixedly mounted on a reciprocating slide (4). A pressure probe (701) connected to a microcontroller (101) is fixedly mounted on the contoured flexible airbag (7). A universal ball (702) is arranged on its outer ring surface array. The universal ball (702) abuts against the composite working belt (6). A pneumatic booster pump (703) is fixedly mounted on the reciprocating slide (4). The air outlet of the pneumatic booster pump (703) is connected to the inner cavity of the contoured flexible airbag (7) through a booster pipe (704). An air blowing nozzle (705) is fixedly mounted on the booster pipe (704). The working mode switching mechanism is configured to drive the composite working belt (6) to reciprocate or rotate relative to the contoured flexible airbag (7) in a directional manner. Two spiral brush rollers (8) are rotatably connected to the reciprocating slide (4). Two first transmission belts are connected to the two spiral brush rollers (8), and the two first transmission belts are respectively connected to the two belt rollers (5). The industrial camera (9) and the laser rangefinder (10) are both mounted on the work frame (2) and are connected to the microcontroller (101) for data transfer.

2. The multifunctional robotic arm for exterior wall repair according to claim 1, characterized in that, The robotic arm platform includes a mobile platform (1), on which a three-axis robotic arm (103) and an electrical control box (102) are mounted. The free end of the three-axis robotic arm (103) is fixedly connected to the work frame (2). The electrical control box (102) integrates a storage battery. The microcontroller (101) is installed on the front end of the electrical control box (102) and is electrically connected to the storage battery.

3. The multifunctional robotic arm for exterior wall repair according to claim 1, characterized in that, The reciprocating mechanism includes a drive shaft (201) rotatably connected to the work frame (2), the output shaft end of the transmission motor (3) is fixedly connected to the drive shaft (201), a linear transmission module (202) is fixedly mounted on the work frame (2), a stroke adjustment plate (203) is drivenly connected to the linear transmission module (202), an eccentric inclined protrusion (204) is rotatably mounted on the stroke adjustment plate (203), the eccentric inclined protrusion (204) is drivenly connected to the drive shaft (201), a follower wheel (205) is rotatably connected to the reciprocating slide (4), the eccentric inclined protrusion (204) abuts against the follower wheel (205), two symmetrically arranged guide rails are fixedly connected to the work frame (2), both guide rails are slidably connected to the reciprocating slide (4), three return springs (206) are installed on the bottom surface of the reciprocating slide (4), and the bottom ends of the three return springs (206) are fixedly connected to the work frame (2).

4. A multifunctional robotic arm for exterior wall repair according to claim 3, characterized in that, The eccentric inclined protrusion (204) has a shaft hole at its axial position. The shaft hole is slidably connected to the drive shaft (201). The cross-sections of the shaft hole and the drive shaft (201) are both regular hexagons. The axis of the drive shaft (201) is perpendicular to the extension direction of the guide rail. The length of the eccentric inclined protrusion (204) is 8 to 12 times the width of the follower wheel (205).

5. A multifunctional robotic arm for exterior wall repair according to claim 4, characterized in that, The eccentric inclined protrusion (204) is a variable cross-section cam structure that changes continuously along the axial direction. The eccentric inclined protrusion (204) is integrally formed by a large-stroke eccentric wheel and a small-stroke eccentric wheel along the axial direction. The large-stroke eccentric wheel and the small-stroke eccentric wheel each have a circular wheel part and a cam part. The circular wheel part of the large-stroke eccentric wheel and the circular wheel part of the small-stroke eccentric wheel have the same radius and the same phase. The cam part of the large-stroke eccentric wheel has a first eccentricity, and the cam part of the small-stroke eccentric wheel has a second eccentricity. The first eccentricity is 2 to 6 times the second eccentricity.

6. A multifunctional robotic arm for exterior wall repair according to claim 1, characterized in that, The dynamic tensioning assembly includes a tensioning platform (401) slidably connected to the reciprocating slide (4) and a guide roller (402) rotatably connected to the reciprocating slide (4). Two tensioning springs (403) are installed between the tensioning platform (401) and the reciprocating slide (4). A tensioning roller (415) is rotatably connected to the tensioning platform (401). Both the guide roller (402) and the tensioning roller (415) are connected to the composite working belt (6) for transmission.

7. A multifunctional robotic arm for exterior wall repair according to claim 4, characterized in that, The composite working belt (6) is composed of a polyester woven skeleton layer, a TPU flexible layer and a functional working surface in sequence from bottom to top. The polishing surface (601) is a diamond flexible sand-planting structure, the old paint roughening surface (602) is a white corundum flexible sand surface, the inside and outside corner trimming surface (603) is a glass fiber reinforced nylon hard strip, and the curved surface finding surface (604) is a high elastic polyurethane rubber.

8. A multifunctional robotic arm for exterior wall repair according to claim 1, characterized in that, The working mode switching mechanism includes a reciprocating shaft (404), a transmission shaft (405), a directional shaft (406), and two toothed shafts (407) rotatably connected to the reciprocating slide (4). A second transmission belt is driven through the transmission shaft (405), and both toothed shafts (407) are driven through the second transmission belt. A third transmission belt is driven through the reciprocating shaft (404), and both belt rollers (5) and the directional shaft (406) are driven through the third transmission belt. A first sector gear (408) is fixedly installed on each of the two toothed shafts (407), and a reciprocating gear (409) is fixedly installed on the reciprocating shaft (404). Both first sector gears (408) are adapted to mesh with the reciprocating gear (409). The reciprocating slide... (4) A switching motor (410) is fixedly installed on the upper part. A second sector gear (411) is fixedly installed on the output shaft of the switching motor (410). A directional gear (412) is installed on the directional rotating shaft (406). A first coupling (413) and a second coupling (414) are rotatably connected on the working frame (2). A fourth transmission belt is connected between the first coupling (413) and the drive shaft (201). Both the first coupling (413) and the second coupling (414) are equipped with linkage bevel gears. The two linkage bevel gears mesh orthogonally. The top end of the transmission shaft (405) is provided with a spline section. The second coupling (414) is provided with a spline groove with an open bottom end and slidingly connected to the spline section. The cross-section of the spline groove and the spline section are both regular hexagonal.

9. A multifunctional robotic arm for exterior wall repair according to claim 8, characterized in that, The two first sector gears (408) are respectively arranged on the left and right sides of the reciprocating gear (409). The central angles corresponding to the effective meshing tooth segments on the first sector gear (408) and the two first sector gears (408) are all 100°. The installation phase difference between the effective meshing tooth segments on the two first sector gears (408) is 180°.

10. A multifunctional robotic arm for exterior wall repair according to claim 1, characterized in that, The conformal flexible airbag (7) is made of silicone. The axes of the industrial camera (9), laser rangefinder (10) and air nozzle (705) are all perpendicular to the axis of the roller (5). Solenoid valves are provided at the connection points between the air nozzle (705) and the conformal flexible airbag (7) and the pressurization pipe (704).

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