A wall finishing robot

Abstract

The application discloses a wall surface processing robot, and belongs to the technical field of building robots.The robot comprises a chassis, a lifting device arranged on the chassis, a working platform perpendicular to the lifting device, and a construction device arranged on the working platform.In order to improve the stability and strength of the lifting device after being unfolded, preferably, an auxiliary support is arranged on one side of the lifting device and is fastened to the chassis and the lifting device at two ends.The product can be matched with different construction modules to perform various construction modes on the wall surface, such as wall surface cleaning, polishing, puttying and smoothing, wall surface paint spraying and painting, and the like.The product has high automation, and through cooperation between the modules, the working construction can be performed on each angle of the wall surface without any dead angle, and the construction efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of construction robot technology, and in particular to a wall surface treatment robot. Background Technology

[0002] The treatment of building walls includes wall sanding, wall plastering, puttying, and wall painting. Traditionally, this work is primarily done manually, leading to problems such as low efficiency, high labor intensity, difficulty in quality control, significant safety risks, substantial material waste, and dust pollution that harms health. Therefore, automation technology using construction robots has emerged and matured, with wall treatment robots increasingly used for automated wall work. However, these robots come in various models, lack mature technology, and have inconsistent efficiency. In complex building scenarios, they still suffer from insufficient automation, low efficiency, instability, and a lack of time and labor savings. Summary of the Invention

[0003] The purpose of this invention is to provide a wall treatment robot to solve the technical problems of existing building wall treatment robots, such as insufficient automation and construction efficiency, inadequate stability, and insufficient time and labor saving.

[0004] The present invention provides a wall treatment robot, which includes a chassis, a lifting device mounted on the chassis, a working platform perpendicular to the lifting device, and a construction device mounted on the working platform; furthermore, in order to improve the stability and strength of the lifting device after it is deployed, as a preferred embodiment, an auxiliary support is inclinedly provided on one side of the lifting device, and the two ends of the auxiliary support are respectively fastened to the chassis and the lifting device.

[0005] Specifically, the chassis includes a support mechanism disposed around the periphery of the chassis, multiple first sensors disposed on the chassis for detecting the chassis balance, and an electronic control device electrically connected to the multiple first sensors for controlling the extension, retraction, and lifting of the support mechanism; preferably, the support mechanism is extended or retracted via an internal drive motor. To further coordinate with the multiple first sensors distributed on the vehicle body for automatic adjustment of the vehicle body balance, the support mechanism can also achieve vertical leveling via an internal drive device.

[0006] Specifically, the lifting device includes a main lifting unit and an auxiliary lifting unit slidably connected to the main lifting unit. The auxiliary lifting unit has a working platform slidably mounted along the height direction. The construction device includes a replaceable multi-axis construction component mounted on the working platform and a reel mounted on the chassis. The reel is connected to the working platform via pipelines for controlling the working platform and conveying materials. Since the construction device is also connected to the working platform, construction materials can be directly conveyed to the construction device for construction operations via the working platform. Furthermore, the vision module can effectively calculate the distance between walls and the condition of the walls through internal laser sensors and vision sensors, and then better control the operation of the entire machine through the electronic control device.

[0007] The wall treatment robot with the above-described structural design can replace traditional manual labor through the construction device. Under the action of multiple second sensors and electronic control devices within the construction device, it automatically detects the flatness of the wall surface and automatically sets the wall construction path, thereby effectively improving the quality and efficiency of wall construction. Preferably, the construction device can be equipped with different construction modules as needed to meet various construction requirements such as wall cleaning, sanding, puttying and smoothing, wall paint spraying, and painting. The specific settings of the different construction modules and units, as well as the multiple second sensors and electronic control devices, are already disclosed in related technologies and will not be elaborated upon here.

[0008] Furthermore, in order to further improve the convenience and stability of the construction equipment during the construction process, the aforementioned lifting device provides stable and reliable support for the construction equipment, and can also conveniently and flexibly adjust the construction height of the construction equipment according to construction needs. At the same time, it can also be used in conjunction with the chassis to easily and flexibly adjust the construction position.

[0009] Furthermore, to further improve the working efficiency and working area of ​​the wall processing robot, the construction device also has the ability to cover the working range of the wall by lifting and lowering, and to ensure the stability and reliability of the module's contact with the wall by moving back and forth. With various modules and rotational degrees of freedom, it can work on various walls, obstacles and angles.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0011] While wall treatment robots are increasingly being used for automated wall surface work, the variety of models, immature technology, and inconsistent construction efficiency mean that they still fall short in complex building scenarios, lacking sufficient automation, efficiency, stability, and time and labor savings. Therefore, this invention presents a novel wall treatment robot that can be equipped with different construction modules to perform various wall surface work, such as wall cleaning, sanding, puttying, painting, and plastering. It boasts a high degree of automation. After being transported to the construction site, it can determine the wall's construction status via a vision module, adjust its height via a lifting device, adjust the distance to the wall via a forward / backward movement module, and achieve rotation and pitch of the main arm via a main arm rotation module and a main arm pitch module. Furthermore, it enables rotation and pitch of specific work modules via a sixth arm pitch and rotation module, allowing for work from all angles without blind spots and achieving high construction efficiency. Attached Figure Description

[0012] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 This is a schematic diagram from another angle of the present invention;

[0015] Figure 3 This is a schematic diagram of the construction device and working platform in this invention;

[0016] Figure 4 This is a schematic diagram of the leveling state of the construction device in this invention;

[0017] Figure 5 This is a schematic diagram of the upward-tilting state of the construction device in this invention;

[0018] Figure 6 This is a schematic diagram of the downward-facing state of the construction device in this invention. Attached image description:

[0020] 1. Chassis; 101. Support mechanism; 102. Drive mechanism; 2. Winding reel; 3. Lifting device; 301. Main lifting; 302. Auxiliary lifting; 303. Lifting arm; 304. Chain assembly; 305. Auxiliary support components; 4. Working platform; 5. Vision module; 6. Construction device; 7. Lifting module; 8. Forward and backward position movement module; 9. Main arm rotation module; 10. Main arm pitch module; 11. Sixth arm pitch module; 12. Sixth arm rotation module; 13. Spraying module. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0023] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Specific implementation examples:

[0025] The following is combined Figures 1 to 6 As shown, this embodiment of the invention provides a wall treatment robot, which includes a chassis 1, on which a construction device 6 is mounted. The construction device 6 is used to install various wall treatment mechanisms. A reel 2 is fixed on the surface of the chassis 1, and the reel 2 winds and stores communication and power cables and paint pipelines. The paint pipelines are connected to the construction device 6. A material conveying component is provided on the surface of the construction device 6 and is connected to the paint pipelines. Multiple second sensors and an electronic control device are also provided inside the construction device 6. The electronic control device controls the material conveying, and the multiple second sensors are electrically connected to the electronic control device. A drive mechanism 102 is provided at the bottom of the chassis 1 to enable the wall treatment robot to move freely on the ground. A support mechanism 101 is provided at each corner of the chassis 1, and multiple first sensors for controlling the balance of the vehicle body are provided outside the support mechanism 101. The support mechanism 101 has an electronic control device for retraction, extension, lifting and lowering.

[0026] A lifting device 3 is fixedly installed on the top of the chassis 1, and the construction device 6 is installed on the top of the lifting device 3. The lifting device 3 enables the vertical lifting of the construction device 6. The lifting device 3 includes a main lifting 301 fixedly installed on the chassis 1. The main lifting 301 is configured as a multi-section parallel transmission lifting arm 303, and the multi-section lifting arm 303 is connected and transmitted through a chain assembly 304. The side of the last section of the lifting arm 303 is configured as a secondary lifting 302 to control the vertical lifting of the work platform 4. The main lifting 301 is reinforced and fixed to the chassis 1 through an auxiliary support 305, and one end of the auxiliary support 305 is fixed to the chassis 1, and the other end is fixed to the main lifting 301. The construction device 6 is installed on the surface of the work platform 4, and the work platform 4... Installed on one side of the lifting device 3, the working platform 4 and one side of the lifting device 3 are set as lifting modules 7, and the construction device 6 can be freely raised and lowered along the height direction of the lifting device 3 through the lifting modules 7. The top of the working platform 4 is provided with a front and rear position moving module 8, and the construction device 6 can slide freely back and forth with the working platform 4 through the front and rear position moving module 8. The top surface of the front and rear position moving module 8 is also provided with a main boom rotating module 9, and the construction device 6 can rotate freely through the main boom rotating module 9. The end of the working platform 4 is provided with a vision module 5, and the front end of the construction device 6 is provided with a sixth arm pitch module 11 and a sixth arm rotating module 12. Various wall treatment mechanisms are detachably installed, and the rotation and pitch movements of various wall treatment mechanisms can be realized.

[0027] In this embodiment, the spraying module 13 is shown in the figure as a structural schematic of the working module. Other applicable modules can also be replaced to perform wall cleaning, sanding, puttying and smoothing, wall paint spraying and painting, etc., which has high versatility. Moreover, the robotic arm structure of this product is used. Compared with the traditional six-axis robotic arm, the arm span is greatly reduced. When using a motor with the same torque, the weight of the heavy object that can be lifted can be increased many times. At the same time, because the various working parts are fixed by the transmission components with automatic locking function during operation, the stability of the operation is greatly enhanced.

[0028] Meanwhile, the construction device 6 of this product can be summarized into 8 modules:

[0029] 1. Lifting Module 7: This module fixes the work platform 4 on the vertical guide rail, enabling the work platform 4 to move up and down.

[0030] 2. Forward and backward position movement module 8: The work platform 4 uses a motor to drive the transmission mechanism to control the distance between the robotic arm on the work platform 4 and various work modules and the wall, thereby ensuring a constant distance between various work modules and the wall during operation;

[0031] 3. Main arm rotation module 9: The main arm is fixed to the rotation point of the work platform 4 by lever. The work platform 4 completes 270 degrees of rotational freedom through the transmission component with automatic locking function at the bottom and parallel gear transmission, realizing the rotation of the work robot arm and the work module, providing the rotation angle during work, thereby controlling the module to accurately contact various dead corners of the wall.

[0032] 4. Main arm pitch module 10: The main shaft of the robotic arm applies the lever principle, adopting a reverse lever combined with a multi-gear meshing structure, which greatly improves the torque of the robotic arm and can realize the up and down pitch operation of the main shaft of the robotic arm.

[0033] 5. Sixth Arm Pitch Module 11: The sixth arm is installed at the top of the main shaft of the robotic arm and is driven by a motor installed on the work platform 4 to achieve 270-degree rotation operation; the gimbal sixth arm can carry the work modules of most similar construction robots and realize the work processing of corners, ceilings and other positions;

[0034] 6. Sixth Arm Rotating Module 12: The top of the sixth arm is equipped with a clamping module that can rotate 360 ​​degrees, which can be used to install various wall construction modules;

[0035] 7. Vision Module 5: Vision Module 5 is vertically mounted on the work platform 4. Vision Module 5 provides obstacle avoidance guidance for the entire mechanism.

[0036] 8. Spraying module 13: The spraying module 13, which has multiple degrees of freedom, can spray paint onto the wall surface vertically or at an angle.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wall surface treatment robot, comprising a chassis (1), wherein a construction device (6) is mounted on the chassis (1), and the construction device (6) is used to install various wall surface treatment mechanisms, characterized in that: A lifting device (3) is fixedly installed on the top of the chassis (1), and the construction device (6) is installed on the top of the lifting device (3). The vertical lifting of the construction device (6) is achieved through the lifting device (3). The construction device (6) is installed on the surface of the working platform (4), and the working platform (4) is installed on one side of the lifting device (3). The working platform (4) and one side of the lifting device (3) are set as a lifting module (7), and the construction device (6) can freely lift and lower along the height direction of the lifting device (3) through the lifting module (7). A front-to-back position moving module (8) is provided on the top of the working platform (4), and the construction device (6) can move and lower freely along the height direction of the lifting device (3) through the front-to-back position moving module (8). The front and back positions of the moving module (8) are freely sliding back and forth. The top surface of the moving module (8) is also provided with a main boom rotation module (9), and the construction device (6) rotates freely through the main boom rotation module (9). The top surface of the moving module (8) is also provided with a main boom pitch module (10), and the construction device (6) performs up and down pitching motion through the main boom pitch module (10). The end of the moving platform (4) is provided with a vision module (5), and the front end of the construction device (6) is provided with a sixth boom pitch module (11) and a sixth boom rotation module (12). Various wall treatment mechanisms are detachably installed, and the rotation and pitching motion of various wall treatment mechanisms can be realized. Among them, the sixth arm pitch module (11): The sixth arm is installed at the top of the main shaft of the robotic arm and is driven by a motor installed on the work platform (4) to achieve a 270-degree rotation operation; In the sixth arm rotating module (12), a clamp module that can rotate 360 ​​degrees is installed at the top of the sixth arm for installing various wall construction modules.

2. The wall treatment robot according to claim 1, characterized in that: The lifting device (3) includes a main lifting arm (301) that is fixed to the chassis (1). The main lifting arm (301) is configured as a multi-section parallel transmission lifting arm (303), and the multi-section lifting arm (303) is connected and transmitted through a chain assembly (304). The side of the last section of the lifting arm (303) is configured as a secondary lifting arm (302) to control the up and down lifting of the work platform (4).

3. The wall treatment robot according to claim 2, characterized in that: The main lifting mechanism (301) is reinforced and fixed to the chassis (1) by an auxiliary support member (305), and one end of the auxiliary support member (305) is fixed to the chassis (1), while the other end is fixed to the main lifting mechanism (301).

4. The wall treatment robot according to claim 1, characterized in that: The chassis (1) has a reel (2) fixed on its surface, and the reel (2) winds up and stores communication power cables and paint pipelines, and the paint pipelines are connected to the construction device (6).

5. The wall treatment robot according to claim 1, characterized in that: The chassis (1) is equipped with a drive mechanism (102) at the bottom, enabling the wall processing robot to move freely on the ground.

6. The wall treatment robot according to claim 5, characterized in that: Each corner of the chassis (1) is provided with a support mechanism (101), and the support mechanism (101) is provided with multiple first sensors for controlling the balance of the vehicle body, and the support mechanism (101) is equipped with an electronic control device for retraction and lifting.

7. The wall treatment robot according to claim 4, characterized in that: The construction device (6) is provided with a material conveying component on its surface and is connected to the paint pipeline. The construction device (6) is also provided with a number of second sensors and an electrical control device, and the electrical control device controls the material conveying. The number of second sensors are electrically connected to the electrical control device.

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