A high-altitude building wall spraying robot

Abstract

The application discloses a high-altitude building wall surface spraying robot, and relates to the technical field of building robots, which comprises a machine body, the machine body is lifted and sprayed outside the wall through a hoisting device, steel wires are slidably connected to the two sides of the machine body, a plurality of positioners are movably connected to the steel wires through clamping mechanisms, paint tanks are detachably connected to the ends of the positioners which are close to each other, the positioners are connected to the paint tanks, and the paint tanks are positioned and connected through limiting mechanisms when the positioners are moved to positions close to the machine body, so that the machine body is supplied with paint, and continuous spraying work of the building wall surface is maintained. The application does not need to perform operations such as periodical equipment descending, material supplementing and equipment rising during high-altitude outer wall spraying work, realizes uninterrupted spraying work of high-rise buildings, further improves the wall surface spraying efficiency of high-rise buildings, and simultaneously reduces equipment damage and safety hazards caused by intermittent lifting operations of the equipment and other problems.

Description

Technical Field

[0001] This invention relates to the field of construction robot technology, and in particular to a high-altitude building wall spraying robot. Background Technology

[0002] With the booming development of the construction industry, decorative spraying is an essential part of high-altitude building exterior wall construction. Currently, the construction of building exterior walls and decorative spraying mainly relies on manual labor, which results in low efficiency, poor quality assurance, and significant dangers associated with working at heights, as well as the potential for paint to cause harm to the human body later on. Although a small portion uses mechanized spraying, it still suffers from problems such as limited application and low efficiency, failing to meet the needs of the rapidly developing building exterior wall construction.

[0003] The existing Chinese invention patent with announcement number CN214696691U discloses a basket-type wall-exterior micro-spraying robot, which includes a lifting device fixed to the building to be constructed; a wall-exterior micro-spraying robot; and a lifting steel wire rope, one end of which is wrapped around the lifting device and the other end of which is connected to the wall-exterior micro-spraying robot.

[0004] Regarding the aforementioned technologies, the inventors believe that although the device improves the efficiency of painting the walls of high-rise buildings to a certain extent and frees up labor, in actual application, considering the different painting areas of the exterior walls of different high-rise buildings, the amount of painting material that the robot can carry is limited. It is necessary to periodically lower the equipment, replenish the material, and raise the equipment during the painting process before the painting operation can be carried out again. This not only reduces the efficiency of painting the walls of high-rise buildings, but also increases the damage rate and safety hazards of the robot due to the intermittent lifting and lowering operation of the equipment.

[0005] To address these issues, we propose a high-altitude building wall spraying robot. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned problems by proposing a high-altitude building wall spraying robot.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A high-altitude building wall spraying robot includes a body that is lifted and lowered outside the wall for spraying via a winch device. Steel wire ropes are slidably connected to both sides of the body, and multiple sets of positioners are movably connected to the steel wire ropes via clamping mechanisms. Paint tanks are detachably connected to the ends of the positioners that are close to each other. After the positioners are connected to the paint tanks, they move to a position close to the body and are positioned and connected to the paint tanks by a limiting mechanism, so as to replenish the paint for the body and maintain continuous spraying operation on the building wall.

[0009] Optionally, the hoisting device includes a fixed frame, a power unit, and a cable. The fixed frame is fixed to the building to be constructed. The power unit is mounted on the fixed frame, and the cable, driven by the power unit, drives the hoisting body to move up and down through a pulley system.

[0010] Optionally, the cable is positioned near the center of the machine body, and the wire ropes are symmetrically arranged at both ends of the machine body. One side of the wire rope drives the paint tank upwards to replenish the paint, while the other side of the wire rope drives the paint tank downwards for retrieval.

[0011] The positioner is symmetrically equipped with buckles, and the paint box is detachably connected by bolts and buckles, which facilitates the lifting and lowering of the wire rope for material replenishment.

[0012] Optionally, the positioner is provided with a slide groove, and a positioning rod is provided in the slide groove. The buckle is slidably connected to the positioning rod through a first spring. A piezoelectric ceramic is provided at the bottom of the first spring, and the piezoelectric ceramic is electrically connected to the electromagnet.

[0013] Optionally, each of the locators has a slot at one of its far ends, and the electromagnet is connected to the slot. The limiting mechanism includes a push plate and a rack. One end of the push plate is slidably connected to the machine body through a spring assembly, and the other end of the push plate is connected to the electromagnet in the slot.

[0014] Optionally, the positioner is provided with an annular groove, a toothed ring is rotatably connected to the annular groove, the rack and the toothed ring are meshed together, and the positioner is provided with a telescopic groove on the side near the toothed ring, and the rack is connected to the telescopic groove through a second spring.

[0015] Optionally, the clamping mechanism includes a clamping plate and a push rod, one end of the clamping plate being rotatably connected to the inside of the locator, and the other end of the clamping plate being movably connected to a toothed ring via the push rod.

[0016] The end of the clamp near the wire rope has a friction surface.

[0017] The top rod is slidably connected to the positioner via a third spring. The top rod has spherical sliders symmetrically arranged at both ends. The toothed ring has an arc groove. One set of sliders is slidably connected to the arc groove. The clamping plate has a slide rail. The other set of sliders is slidably connected to the slide rail.

[0018] The present invention has the following advantages: The present invention eliminates the need for regular equipment descent, material replenishment, and equipment retraction during high-altitude exterior wall spraying operations, enabling uninterrupted spraying operations on high-rise buildings. This not only further improves the efficiency of wall spraying on high-rise buildings, but also reduces equipment damage and safety hazards caused by intermittent equipment lifting operations.

[0019] This invention employs a replaceable paint tank, allowing the painting robot to position and dock with the paint tank via a steel cable after spraying a certain amount. When the paint tank moves to the robot's position, a limiting mechanism activates, releasing the clamping mechanism from the steel cable, causing the paint tank to remain inside the robot. At this point, the paint interface inside the robot docks with the paint tank for paint replenishment. When the paint tank is used up to a certain level, its weight decreases, the limiting mechanism releases, and the locator and robot are released from their limits. The robot then moves with the steel cable, rising to a certain position before turning and descending to the other side of the robot for recovery. At this point, the robot has docked with the paint tank again for paint replenishment, enabling uninterrupted spraying operations on high-rise buildings.

[0020] The key feature of this invention is that it utilizes the change in gravity of the paint tank before and after use to exert force on the piezoelectric ceramic, thereby changing the energization state of the electromagnet and magnetically limiting the push plate of the ferromagnetic material, thus achieving the positioning effect of the locator. During the limiting action of the limiting mechanism, the clamping mechanism is triggered to open and clamp, enabling the paint tank to be replenished. After the paint tank is used up, it can automatically descend and be retrieved with the wire rope, enabling uninterrupted spraying operations on high-rise buildings. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic cross-sectional view of the body in this invention;

[0023] Figure 3 This is a schematic diagram of the locator in this invention;

[0024] Figure 4 for Figure 3 A top-view structural diagram;

[0025] Figure 5 for Figure 4 Enlarged structural diagram at point A in the middle.

[0026] In the diagram: 1. Body; 2. Hoisting device; 3. Wire rope; 4. Clamping mechanism; 41. Clamping plate; 42. Top rod; 43. Third spring; 44. Slider; 45. Slide rail; 5. Positioner; 51. Buckle ring; 52. Slide groove; 53. Positioning rod; 54. First spring; 55. Slot; 56. Annular groove; 57. Telescopic groove; 6. Paint tank; 7. Limiting mechanism; 71. Push plate; 72. Rack; 73. Spring assembly; 74. Second spring; 8. Piezoelectric ceramic; 81. Electromagnet; 9. Gear ring; 91. Arc groove. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0028] Reference Figure 1-5 A high-altitude building wall spraying robot includes a body 1. The body 1 is lifted and sprayed outside the wall by a winch device 2. It should be noted that the winch device 2 includes a fixed frame, a power unit and a cable. The fixed frame is fixed to the building to be constructed. The power unit is set on the fixed frame. The cable is driven by the power unit and drives the body 1 to lift and lower through a pulley system to realize the lifting and lowering operation of the device.

[0029] Reference Figure 1 and Figure 2 Steel wire ropes 3 are slidably connected to both sides of the machine body 1. The steel wire ropes 3 carry the paint tank 6 for lifting and lowering. It should be noted that the lifting cable is located near the middle of the machine body 1, and the steel wire ropes 3 are symmetrically arranged at both ends of the machine body 1. The lifting and lowering action is carried out by the drive device. One side of the steel wire rope 3 drives the paint tank 6 to rise and replenish the material, while the other side of the steel wire rope 3 drives the paint tank 6 to fall and retrieve it. The steel wire ropes 3 work independently, which facilitates continuous lifting and lowering of the paint tank 6 for replenishment and retrieval.

[0030] Reference Figure 3 The wire rope 3 is movably connected to multiple sets of positioners 5 through the clamping mechanism 4. The end of the positioners 5 that is close to each other is detachably connected to a paint box 6. It should be noted that the positioners 5 are symmetrically provided with buckles 51. The paint box 6 is detachably connected to the wire rope 3 by means of buckles and buckles 51 and bolts, which facilitates the lifting and disassembly of the wire rope 3.

[0031] Furthermore, referring to Figure 5 The clamping mechanism 4 includes a clamping plate 41 and a push rod 42. One end of the clamping plate 41 is rotatably connected to the inside of the positioner 5, and the other end of the clamping plate 41 is movably connected to the toothed ring 9 through the push rod 42. The end of the clamping plate 41 near the wire rope 3 is a friction surface, which increases the friction coefficient between the positioner 5 and the wire rope 3, ensuring that the positioner 5 can stably follow the wire rope 3 to perform lifting and lowering actions after being connected to the paint box 6.

[0032] Furthermore, the push rod 42 is slidably connected to the positioner 5 via the third spring 43. The two ends of the push rod 42 are symmetrically provided with spherical sliders 44, and the toothed ring 9 is provided with an arc-shaped groove 91. One set of sliders 44 is slidably connected to the arc-shaped groove 91, so that the toothed ring 9 can push the push rod 42 during rotation. The clamping plate 41 is provided with a slide rail 45, and another set of sliders 44 is slidably connected to the slide rail 45. The maximum diameter of the slider 44 is larger than the opening diameter of the slide rail 45, so that the push rod 42 drives the clamping plate 41 to perform clamping and loosening actions through the slide rail 45 during the sliding process.

[0033] Reference Figure 3 and Figure 4 After the positioner 5 is connected to the paint tank 6, it moves to a position close to the machine body 1 and is positioned and connected to the paint tank 6 by the limiting mechanism 7, so as to replenish the paint of the machine body 1 and maintain the continuous spraying operation of the building wall. It should be noted that the positioner 5 is provided with a sliding groove 52, and a positioning rod 53 is provided in the sliding groove 52. The buckle 51 is slidably connected to the positioning rod 53 by a first spring 54. A piezoelectric ceramic 8 is provided at the bottom of the first spring 54. Each of the opposite ends of the positioner 5 is provided with a slot 55, and an electromagnet 81 is provided inside the slot 55. The piezoelectric ceramic 8 and the electromagnet 81 are electrically connected.

[0034] Furthermore, the limiting mechanism 7 includes a push plate 71 and a rack 72. One end of the push plate 71 is slidably connected to the body 1 via a spring assembly 73, and the other end of the push plate 71 is connected to an electromagnet 81 in the slot 55. The positioner 5 is provided with an annular groove 56, and the gear ring 9 is rotatably connected to the annular groove 56. The positioner 5 is provided with a telescopic groove 57 on the side near the gear ring 9. Under the action of the push plate 71, the rack 72 is connected to the telescopic groove 57 via a second spring 74, and the rack 72 and the gear ring 9 are meshed together. It is worth mentioning that the push plate 71 is made of ferromagnetic material. After the positioner 5 is connected to the paint tank 6, the retaining ring 51 slides down and applies pressure to the piezoelectric ceramic 8 through the first spring 54. The piezoelectric ceramic 8 generates current to control the electromagnet 81 to be energized. When the positioner 5 moves to the side close to the body 1, it magnetically attracts the ferromagnetic push plate 71 through the electromagnet 81 to generate a momentary limiting action. At this time, the push plate 71 pushes the rack 72, so that the rack 72 drives the clamping mechanism 4 to open through the meshing between the toothed rings 9, so that the paint tank 6 stays inside the body 1. At this time, the paint interface inside the body 1 and the paint tank 6 are connected to realize paint replenishment.

[0035] The operating principle of the present invention is described as follows:

[0036] When the device is in use, the machine body 1 is lifted and sprayed by the hoisting device 2. When the paint inside the machine body 1 is insufficient, the staff connects the paint tank 6 and the locator 5 on the ground. As the steel wire rope 3 rises from the ground, the buckle 51 of the locator 5, after connecting to the paint tank 6, slides down under the gravity of the paint tank 6 and applies pressure to the piezoelectric ceramic 8 through the first spring 54. The piezoelectric ceramic 8 generates current under the force, which controls the electromagnet 81 to be energized. When the paint tank 6 moves close to the machine body 1, the electromagnet 81 on the locator 5 magnetically attracts and limits the ferromagnetic push plate 71. While limiting the position, the push plate 71 pushes the rack 72, so that the rack 72 pushes the top rod 42 through the meshing between the toothed rings 9. The top rod 42 retracts under the action of the second spring 74, which drives the clamping plate 41 to release the steel wire rope 3, so that the paint tank 6 and the machine body 1 follow each other. At this time, the paint interface inside the machine body 1 docks with the paint tank 6 to replenish the paint.

[0037] When the paint in the paint tank 6 is used up to a certain extent, the weight of the paint tank 6 is less than the elastic force of the first spring 54. After the piezoelectric ceramic 8 loses its force, the electromagnet 81 is de-energized. The push plate 71 moves away from the positioner 5 under the action of the spring group 73. The rack 72 slides under the action of the second spring 74. Through the toothed ring 9, the clamping mechanism 4 clamps the wire rope 3. At this time, the positioner 5 and the machine body 1 are released from the limit. As the wire rope 3 moves, it rises to a certain position and then turns to pass through the other side of the machine body 1 to achieve descent and recovery. At this time, the machine body 1 has reconnected to the paint tank 6 to replenish the paint, realizing uninterrupted spraying operation of high-rise buildings.

[0038] The above description is only a preferred embodiment of the present invention. It is impossible to exhaustively describe all embodiments here. However, the protection scope of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the protection scope of the present invention.

Claims

1. A high-altitude building wall spraying robot, comprising a body (1), characterized in that, The machine body (1) is lifted and sprayed outside the wall by a hoisting device (2). Steel wire ropes (3) are slidably connected to both sides of the machine body (1). The steel wire ropes (3) are movably connected to multiple sets of locators (5) through a clamping mechanism (4). The paint tank (6) is detachably connected to one end of each locator (5) that is close to each other. After the locator (5) is connected to the paint tank (6), it moves to a position close to the machine body (1) and is positioned and connected to the paint tank (6) through a limiting mechanism (7) to realize the replenishment of paint for the machine body (1) and maintain the continuous spraying operation of the building wall. The hoisting device (2) includes a fixed frame, a power unit and a cable. The fixed frame is fixed to the building to be constructed. The power unit is installed on the fixed frame. The cable drives the machine body (1) to lift and lower under the drive of the power unit through the pulley block. The cable is located near the middle of the machine body (1), and the steel wire rope (3) is symmetrically arranged at both ends of the machine body (1). One side of the steel wire rope (3) drives the paint tank (6) to rise and replenish the material, and the other side of the steel wire rope (3) drives the paint tank (6) to fall and retract. The positioner (5) is symmetrically provided with buckles (51). The paint tank (6) is detachably connected by bolts and buckles (51) to facilitate the raising and lowering of the steel wire rope (3) for replenishing the material. The positioner (5) is provided with a groove (52), and a positioning rod (53) is provided in the groove (52). The buckle (51) is slidably connected to the positioning rod (53) through a first spring (54). A piezoelectric ceramic (8) is provided at the bottom of the first spring (54), and the piezoelectric ceramic (8) is electrically connected to the electromagnet (81).

2. The high-altitude building wall spraying robot according to claim 1, characterized in that, Each of the locators (5) has a slot (55) at one end that is far apart from each other. The electromagnet (81) is connected to the slot (55). The limiting mechanism (7) includes a push plate (71) and a rack (72). One end of the push plate (71) is slidably connected to the body (1) through a spring assembly (73). The other end of the push plate (71) is connected to the electromagnet (81) in the slot (55).

3. The high-altitude building wall spraying robot according to claim 2, characterized in that, The positioner (5) is provided with an annular groove (56), and a toothed ring (9) is rotatably connected to the annular groove (56). The rack (72) and the toothed ring (9) are meshed together. The positioner (5) is provided with a telescopic groove (57) on the side near the toothed ring (9). The rack (72) is connected to the telescopic groove (57) through a second spring (74).

4. The high-altitude building wall spraying robot according to claim 3, characterized in that, The clamping mechanism (4) includes a clamping plate (41) and a push rod (42). One end of the clamping plate (41) is rotatably connected to the inside of the locator (5). The other end of the clamping plate (41) is movably connected to the toothed ring (9) via the push rod (42). The end of the clamping plate (41) near the wire rope (3) is a friction surface. The push rod (42) is slidably connected to the locator (5) via a third spring (43). The two ends of the push rod (42) are symmetrically provided with spherical sliders (44). The toothed ring (9) is provided with an arc groove (91). One set of sliders (44) and arc groove (91) are slidably connected. The clamping plate (41) is provided with a slide rail (45). The other set of sliders (44) and slide rail (45) are slidably connected.

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