Three-dimensional concrete modular building washing equipment

Abstract

The utility model relates to a three-dimensional concrete modular building washing device. The device comprises a three-axis truss manipulator, an execution end rotating mechanism, a high-pressure water sprayer and a 3D camera. The three-axis truss mechanical arm is matched with the water washing equipment execution end, the three-axis truss mechanical arm can be used for water washing operation of the three-dimensional concrete modular building, the concrete building of a complex structure can be fully washed, the water washing effect is good, and the labor cost is saved; and automatic operation can be performed through program setting, so that the cost is further reduced and the efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of construction equipment, in particular to a three-dimensional concrete modular building water washing device. Background Art

[0002] As a building system with the highest degree of assembly integration, modular buildings have broad development and application prospects. Among them, concrete modular buildings are increasingly widely used in residential buildings.

[0003] The concrete modular integrated building system breaks down the target building into multiple independent modular units. Most of the processes within each module, including structure, mechanical and electrical systems, plumbing, HVAC, and decoration, are prefabricated in a factory to high standards. Finally, the units are transported to the construction site for hoisting and the concrete for the load-bearing components is poured in situ, completing the building. This modular construction approach allows construction processes that are likely to intersect with nearby residents to be completed in the factory. This fully ensures structural safety while significantly reducing noise, dust, construction waste, traffic congestion, and other nuisances on the construction site. It also significantly reduces the amount and time of on-site work.

[0004] Concrete structures usually require water washing after forming. This process uses tap water as the working medium. A high-pressure pump converts filtered low-pressure water into high-pressure water (e.g., 50 MPa). A nozzle converts the high-pressure water into a high-speed jet that strikes the concrete surface. Under the erosive wedge-splitting action of the high-speed jet, the emulsified layer on the concrete surface rapidly peels off, leaving the concrete surface in a coarse sand-like state, meeting the surface treatment requirements.

[0005] Existing concrete washing equipment can generally only be used for two-dimensional plane washing operations on concrete precast panels. For washing operations such as three-dimensional concrete modular buildings, it is difficult to perform them automatically through equipment, and they are mainly achieved through manual operations, which is time-consuming and labor-intensive. It is difficult to provide sufficient flushing for complex structure concrete buildings, and it is difficult to achieve a good washing effect. Utility Model Content

[0006] In view of the above-mentioned deficiencies in the prior art, the utility model provides a three-dimensional concrete modular building water washing equipment. Through a three-axis truss manipulator and an execution end of the water washing equipment, it can be used for the water washing operation of three-dimensional concrete modular buildings. Complex structure concrete buildings can be fully flushed, with good washing effect and labor cost saving; and the operation can be automatically performed through program settings, further reducing costs and increasing efficiency.

[0007] In order to achieve the above-mentioned purpose, the utility model provides a three-dimensional concrete modular building water washing equipment, which includes a three-axis truss manipulator and a water washing equipment execution end, wherein the three-axis truss manipulator includes a truss, an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, and the water washing equipment execution end includes an execution end rotation mechanism, a high-pressure water sprayer and a 3D camera; the water washing equipment execution end is installed at the lower end of the Z-axis moving mechanism, and the high-pressure water sprayer and the 3D camera are both installed on the execution end rotation mechanism.

[0008] Furthermore, the execution end rotation mechanism includes a horizontal rotation mechanism and a vertical rotation mechanism. The horizontal rotation mechanism is installed at the lower end of the Z-axis moving mechanism through a connecting flange and can rotate 360 degrees horizontally; the vertical rotation mechanism is installed at the lower end of the horizontal rotation mechanism and can rotate 360 degrees vertically.

[0009] Furthermore, the high-pressure water sprinkler is connected to a high-pressure water source and a water spray control valve, and the water spray control valve is used to control the water flow rate of the high-pressure water source entering the high-pressure water sprinkler.

[0010] In one embodiment, the high-pressure water jet is equipped with a high-pressure nozzle. The high-pressure nozzle converts high-pressure water into a high-speed jet that strikes the concrete surface. Under the erosive wedge action of the high-speed jet, the emulsified cortex on the concrete surface is rapidly peeled off, leaving the concrete surface in a coarse sand-like state, thereby achieving the surface treatment requirements.

[0011] Furthermore, the high-pressure nozzle may include a conical nozzle, a fan nozzle, a multi-hole nozzle, a rotating nozzle, a pulse nozzle, and / or an atomizing nozzle. The above nozzles may be provided with multiple nozzles of different forms, or a single nozzle may have multiple of the above forms. For example, the high-pressure nozzle may be a rotatable fan nozzle or a multi-hole pulse nozzle to achieve multiple flushing functions and facilitate flexible configuration of operating procedures.

[0012] Furthermore, the high-pressure water jet has a waterproof protective cover, which is arranged behind the high-pressure nozzle and expands toward the nozzle. The waterproof protective cover is used to protect the mechanical and electronic components adjacent to the high-pressure water jet, minimizing the impact of the sprayed water on other components, thereby facilitating the water washing operation of the three-dimensional concrete modular building.

[0013] Furthermore, the 3D camera is arranged adjacent to the high-pressure water sprayer, so that the 3D camera and the high-pressure water sprayer move synchronously.

[0014] Furthermore, the three-dimensional concrete modular building water washing equipment is connected to a control system or obtains BIM information and water washing surface position information through manual input.

[0015] Furthermore, the 3D camera is connected to a 3D vision system, which obtains on-site environmental information through the 3D camera, corrects relative errors of BIM information, and forms actual three-dimensional model information of the building.

[0016] Furthermore, the three-dimensional concrete modular building water washing equipment is arranged on the modular concrete production line.

[0017] The beneficial effects of the utility model include:

[0018] 1. Traditional washing mechanisms can generally only be used for washing operations on the two-dimensional plane of concrete precast panels, while the three-dimensional concrete modular building washing equipment of this technical solution can be applied to the washing operations of three-dimensional modular products, and the working range covers all external surfaces of three-dimensional products.

[0019] 2. The three-dimensional concrete modular building washing equipment of this technical solution combines 3D cameras and 3D vision systems to correct errors between actual products and preset BIM (Building Information Modeling) data, correct the operation trajectory in real time, achieve fully automatic washing operations, and reduce labor input. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a three-dimensional concrete modular building water washing equipment in one embodiment of the present invention.

[0021] Figure 2 for Figure 1 Enlarged schematic diagram of the execution end of the intermediate washing water equipment.

[0022] Figure 3 This is a schematic diagram of the working status of a three-dimensional concrete modular building water washing equipment in one embodiment of the present utility model.

[0023] [Description of Reference Numerals]

[0024] 1-three-axis truss manipulator; 10-truss; 11-X-axis moving mechanism; 12-Y-axis moving mechanism; 13-Z-axis moving mechanism;

[0025] 2-washing equipment execution end; 20-connecting flange; 21-horizontal rotation mechanism; 22-vertical rotation mechanism; 23-high-pressure water sprayer; 231-waterproof protective cover; 232-high-pressure nozzle; 24-3D camera;

[0026] 3-Three-dimensional concrete modular building;

[0027] 4- Modular concrete production line. DETAILED DESCRIPTION

[0028] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0029] Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Instead, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0030] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0031] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0032] In the present invention, unless otherwise expressly specified or limited, when a first feature is “above” or “below” a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0033] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0034] Example 1

[0035] like Figure 1 and Figure 2 The figure shows a schematic structural diagram of a water washing device for three-dimensional concrete modular buildings according to one embodiment of the present invention. The device comprises a three-axis truss manipulator 1 and a water washing device actuator 2. The three-axis truss manipulator 1 includes a truss 10, an X-axis movement mechanism 11, a Y-axis movement mechanism 12, and a Z-axis movement mechanism 13. The water washing device actuator 2 comprises actuator rotation mechanisms 21 and 22, a high-pressure water sprayer 23, and a 3D camera 24. The water washing device actuator 2 is mounted below the Z-axis movement mechanism 13, and the high-pressure water sprayer 23 and 3D camera 24 are both mounted on the actuator rotation mechanisms 21 and 22.

[0036] Example 2

[0037] like Figure 2 As shown, based on Example 1, the actuator end rotation mechanism includes a horizontal rotation mechanism 21 and a vertical rotation mechanism 22. The horizontal rotation mechanism 21 is installed at the lower end of the Z-axis moving mechanism 13 through the connecting flange 20 and can rotate 360 degrees horizontally; the vertical rotation mechanism 22 is installed at the lower end of the horizontal rotation mechanism 21 and can rotate 360 degrees vertically.

[0038] Therefore, the actual water spray actuator is arranged on the vertical rotation mechanism 22. By setting the horizontal rotation mechanism 21 and the vertical rotation mechanism 22 at the execution end 2 of the water washing equipment, the water spray actuator can further increase the flexibility of the spray angle on the basis of the three-axis truss manipulator being able to reach any position on the washing surface of the three-dimensional concrete modular building, thereby adapting to the washing requirements of the outer surface of more complex building structures.

[0039] Example 3

[0040] On the basis of Example 2, the high-pressure water sprinkler 23 is connected to a high-pressure water source and a water spray control valve (not shown), and the water spray control valve is used to control the water flow rate of the high-pressure water source into the high-pressure water sprinkler 23. Figure 2 As shown, the high-pressure water jet 23 is equipped with a high-pressure nozzle 232. By providing the high-pressure nozzle 232, the high-pressure water is converted into a high-speed jet that strikes the concrete surface. Under the erosive wedge-splitting action of the high-speed jet, the emulsified cortex on the concrete surface is rapidly peeled off, leaving the concrete surface with a coarse sand-like texture, achieving the required surface treatment. The high-pressure nozzle 232 can include a conical nozzle, a fan nozzle, a multi-hole nozzle, a rotating nozzle, a pulse nozzle, and / or an atomizing nozzle. The high-pressure nozzle 232 in this embodiment is a conical pulse nozzle.

[0041] In order to protect the mechanical components and electronic components adjacent to the high-pressure water sprinkler 23 and minimize the impact of the sprayed water on other parts, the high-pressure water sprinkler 23 has a waterproof protective cover 231, which is arranged behind the high-pressure nozzle 232 and is expanded toward the high-pressure nozzle 232.

[0042] Example 4

[0043] like Figure 2 As shown, based on Example 1, a 3D camera 24 is positioned adjacent to a high-pressure water jet 23, allowing the 3D camera 24 and the high-pressure water jet 23 to move synchronously. For example, the 3D camera 24 and the high-pressure water jet 23 are both mounted on the rotating portion of the vertical rotating mechanism 22, and the two are positioned adjacent to each other, or the 3D camera 24 is mounted on the high-pressure water jet 23. This allows, on the one hand, on-site environmental information to be acquired through the 3D camera 24 and the 3D vision system before the water washing operation begins, correcting the relative errors in the BIM information and forming the actual three-dimensional model information of the building. On the other hand, the water washing operation process can be monitored in real time, allowing problems to be identified and addressed at any time, or water washing operation plans to be temporarily added or changed, greatly expanding the application field and scope of the water washing equipment. The three-dimensional concrete modular building water washing equipment can acquire BIM information and water washing surface position information by connecting to a control system or through manual input.

[0044] Example 5

[0045] like Figure 3FIG. 1 shows a schematic diagram of the operating state of a three-dimensional concrete modular building water washing system according to one embodiment of the present invention. As a non-limiting example, during operation, a three-dimensional concrete modular building 3 arrives at the water washing system's operating area via a modular concrete production line 4 or other method. The modular building 3 stops below a three-axis truss manipulator 1. The water washing system obtains information such as the external dimensions (BIM information) and the location of the washing surface from the factory system. The three-axis truss manipulator 1, carrying the water washing system's actuator 2 (including a horizontal rotation mechanism 21, a vertical rotation mechanism 22, a high-pressure water sprayer 23, and a 3D camera 24), is positioned at the origin of the truss 10. The water washing system first acquires on-site environmental information using the 3D camera, i.e., a vision system, corrects relative errors, and forms an actual three-dimensional model. The automatic water washing system then automatically generates a water washing motion trajectory based on the actual data. The three-axis truss manipulator 1 and the rotation mechanisms 21 and 22 drive the high-pressure water sprayer 23 to its operating position and adjusts the spray angle, enabling the high-pressure water sprayer 23 to precisely wash target locations on the exterior surface of the modular building 3. At the same time, the operation information can be monitored and obtained in real time based on the 3D camera 24, which makes it easy to change the washing operation.

[0046] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A three-dimensional concrete modular building water washing equipment, characterized in that: The equipment includes a three-axis truss manipulator and a water washing equipment execution end, wherein the three-axis truss manipulator includes a truss, an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, and the water washing equipment execution end includes an execution end rotation mechanism, a high-pressure water sprayer and a 3D camera; the water washing equipment execution end is installed at the lower end of the Z-axis moving mechanism, and the high-pressure water sprayer and the 3D camera are both installed on the execution end rotation mechanism.

2. The three-dimensional concrete modular building water washing equipment according to claim 1 is characterized in that: The actuator end rotation mechanism includes a horizontal rotation mechanism and a vertical rotation mechanism. The horizontal rotation mechanism is installed at the lower end of the Z-axis moving mechanism through a connecting flange and can rotate 360 degrees horizontally; the vertical rotation mechanism is installed at the lower end of the horizontal rotation mechanism and can rotate 360 degrees vertically.

3. The three-dimensional concrete modular building water washing equipment according to claim 2 is characterized in that: The high-pressure water sprinkler is connected to a high-pressure water source and a water spray control valve, and the water spray control valve is used to control the water flow rate of the high-pressure water source entering the high-pressure water sprinkler.

4. The three-dimensional concrete modular building water washing equipment according to claim 2, characterized in that: The high-pressure water sprayer is provided with a high-pressure nozzle.

5. The three-dimensional concrete modular building water washing equipment according to claim 4 is characterized in that: The high-pressure nozzle includes a conical nozzle, a fan nozzle and / or a multi-hole nozzle.

6. The three-dimensional concrete modular building water washing equipment according to claim 4 is characterized in that: The high-pressure water sprayer is provided with a waterproof protective cover, which is arranged behind the high-pressure nozzle and is arranged in an expansion shape toward the high-pressure nozzle.

7. The three-dimensional concrete modular building water washing equipment according to claim 2, characterized in that: The 3D camera is arranged adjacent to the high-pressure water sprayer so that the 3D camera and the high-pressure water sprayer move synchronously.

8. The three-dimensional concrete modular building water washing equipment according to claim 7, characterized in that: The three-dimensional concrete modular building water washing equipment is connected to a control system or obtains BIM information and water washing surface position information through manual input.

9. The three-dimensional concrete modular building water washing equipment according to claim 8, characterized in that: The 3D camera is connected to a 3D vision system, which obtains on-site environmental information through the 3D camera, corrects relative errors in BIM information, and forms actual three-dimensional model information of the building.

10. The three-dimensional concrete modular building water washing equipment according to claim 1, characterized in that: The three-dimensional concrete modular building water washing equipment is arranged on a modular concrete production line.

11. The three-dimensional concrete modular building water washing equipment according to claim 4, characterized in that: The high-pressure nozzle includes a rotating nozzle.

12. The three-dimensional concrete modular building water washing equipment according to claim 4, characterized in that: The high-pressure nozzle includes a pulse nozzle.

13. The three-dimensional concrete modular building water washing equipment according to claim 4, characterized in that: The high-pressure nozzle includes an atomizing nozzle.

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