Intelligent vertical climbing robot

Abstract

The application discloses an intelligent vertical climbing robot, which comprises a horizontal track ring frame, a plurality of vertical power mechanisms arranged on the horizontal track ring frame, vertical power mechanisms driving the horizontal track ring frame to vertically climb, horizontal power mechanisms and spraying maintenance mechanisms arranged on the horizontal track ring frame, the horizontal power mechanisms and the spraying maintenance mechanisms horizontally moving on the horizontal track ring frame, and the horizontal power mechanisms being connected with the spraying maintenance mechanisms. The application has the advantages that the robot capable of self-climbing and ascending and descending is used to replace the traditional water column spraying, the horizontal track ring frame provides a reliable and stable platform basis for maintenance operation, and is beneficial to efficient and high-quality completion of the maintenance; the vertical power mechanisms realize overall movement, so as to change different working heights; and the horizontal power mechanisms realize one-circle movement, so as to spray the whole column circumferential surface at the height.

Description

Technical Field

[0001] This invention pertains to building construction and maintenance equipment, specifically relating to an intelligent vertical climbing robot. Background Technology

[0002] During construction, after concrete is poured, it needs to be watered for curing. For surfaces like floors and walls, which are relatively low in height, curing is convenient and easy. However, for structures with significant height differences, such as columns, water must be sprayed onto the column surface using a water gun. This requires considerable water pressure, and the water jet is unstable and difficult to control at the end, resulting in inconsistent curing effectiveness. This can lead to either excessive water waste or uneven and insufficient spraying. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent vertical climbing robot that solves the problem of inconvenient spraying for column maintenance.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] An intelligent vertical climbing robot includes a horizontal track ring frame, on which several vertical power mechanisms are provided. The vertical power mechanisms drive the horizontal track ring frame to climb vertically. The horizontal track ring frame is also equipped with a horizontal power mechanism and a spray maintenance mechanism. The horizontal power mechanism and the spray maintenance mechanism move horizontally on the horizontal track ring frame. The horizontal power mechanism and the spray maintenance mechanism are connected.

[0006] Furthermore, the spray maintenance mechanism is equipped with a film covering mechanism.

[0007] Furthermore, the horizontal track ring frame is composed of several arc-shaped frame segments spliced ​​together.

[0008] Furthermore, the horizontal track ring is divided into an upper track and a lower track. The horizontal power mechanism crosses the upper track and runs parallel to the lower track, while the spray maintenance mechanism runs on the upper track. The horizontal power mechanism is located below the spray maintenance mechanism.

[0009] Furthermore, the vertical power mechanism is provided in four directions, which are respectively arranged in the front, rear, left and right directions.

[0010] Furthermore, the vertical power mechanism includes an angle adjustment disc, which is fixed on the horizontal track ring frame. One end of the support rod is connected to the angle adjustment disc and can adjust the horizontal angle, while the other end of the support rod is connected to the vertical climbing trolley.

[0011] Furthermore, the angle adjustment disc has several adjustment holes arranged circumferentially, and the support rod is secured in the adjustment holes by a positioning pin.

[0012] Furthermore, the horizontal power mechanism includes a horizontal circumferential trolley that moves horizontally on a horizontal track ring and is connected to the spray maintenance mechanism via a buffer connection assembly.

[0013] Furthermore, the buffer connection assembly includes a buffer spring, and a buffer spring is sleeved and connected between the spring column of the horizontal moving trolley and the spring column of the spray maintenance mechanism.

[0014] Furthermore, the spray maintenance mechanism includes a ring-moving bracket, with a bracket pulley at the bottom of the ring-moving bracket. The bracket pulley moves horizontally on a horizontal track ring frame. A water tank is provided on the ring-moving bracket, and the water tank is connected to the atomizing nozzle water pipe through a water pump. The nozzle of the atomizing nozzle water pipe faces inward towards the ring.

[0015] Furthermore, the water tank, water pump, and atomizing nozzle water pipes are provided in two sets and symmetrically arranged on the ring-moving support.

[0016] Furthermore, the film covering mechanism includes a film roller, which is arranged vertically. Both ends of the film roller are engaged in the slots of the spray curing mechanism, and the slots are equipped with press-type springs.

[0017] The beneficial effects of this invention are:

[0018] (1) The use of robots that can climb and rise on their own to replace traditional water jet spraying, and the horizontal track ring frame provides a reliable and stable platform foundation for maintenance operations, which is conducive to efficient and high-quality maintenance.

[0019] (2) The vertical power mechanism enables the overall movement to change different working heights, and the horizontal power mechanism enables a full circle movement to spray the entire circumference of the column at that height.

[0020] (3) An additional film covering mechanism can be configured to cover the cured columns with film, further improving the water retention effect of curing and reducing the workload of operators.

[0021] The aforementioned main solution of the present invention and its various further alternative solutions can be freely combined to form multiple solutions, all of which are solutions that can be adopted and are claimed by the present invention; furthermore, the (non-conflicting alternatives) can also be freely combined with each other and with other alternatives. Those skilled in the art, after understanding the solution of the present invention, will realize from the prior art and common general knowledge that there are many combinations, all of which are technical solutions to be protected by the present invention, and will not be exhaustively listed here. Attached Figure Description

[0022] Figure 1 This is an isometric view of the structure of the present invention.

[0023] Figure 2This is the main structural view of the present invention.

[0024] Figure 3 This is a top view of the structure of the present invention.

[0025] Figure 4 This is an isometric view of the spray maintenance mechanism of the present invention.

[0026] Figure 5 This is a front view of the structure of the spray maintenance mechanism of the present invention.

[0027] Figure 6 This is an isometric view of the press-type spring sheet of the present invention.

[0028] In the diagram: 1-Horizontal track ring frame, 2-Vertical power mechanism, 3-Horizontal power mechanism, 4-Spraying maintenance mechanism, 5-Film covering mechanism; 11-Upper track, 12-Lower track, 21-Angle adjustment disc, 22-Support rod, 23-Vertical climbing trolley, 31-Horizontal circumferential moving trolley, 32-Buffer connection assembly, 321-Buffer spring, 322-Spring column, 41-Circumferential moving bracket, 42-Bracket pulley, 43-Water tank, 44-Atomizing nozzle water pipe, 51-Film roller, 52-Press-type spring. Detailed Implementation

[0029] The following non-limiting examples are used to illustrate the present invention.

[0030] Example 1:

[0031] refer to Figures 1-6 As shown, an intelligent vertical climbing robot includes a horizontal track ring 1, a vertical power mechanism 2, a horizontal power mechanism 3, a spray maintenance mechanism 4, and a film covering mechanism 5.

[0032] The horizontal track ring frame 1 is the basic framework of the entire robot, used to install and fix other components. The horizontal track ring frame 1 is a ring-shaped structure spliced ​​together from several arc-shaped frame segments. Before use, it needs to be assembled around the column (round or square column) so that the column is surrounded by the horizontal track ring frame 1.

[0033] The horizontal track ring frame 1 is equipped with several vertical power mechanisms 2. These vertical power mechanisms 2 act inwardly on the columns, causing them to climb and rise, thus driving the horizontal track ring frame 1 to climb and rise as well. The horizontal track ring frame 1 also includes a horizontal power mechanism 3 and a spray maintenance mechanism 4. These two mechanisms move horizontally on the circular track of the horizontal track ring frame 1. The horizontal power mechanism 3 is connected to the spray maintenance mechanism 4. The horizontal power mechanism 3 provides the power for the sliding of the spray maintenance mechanism 4, which then sprays water onto the surface of the columns.

[0034] The spray maintenance mechanism 4 is provided with a film covering mechanism 5. The horizontal power mechanism 3 provides the power for the film covering mechanism 5 to slide, winds the film on the film covering mechanism 5 around the column, and the film covering mechanism 5 realizes that the water-retaining film covers the outer circumference of the column, improving the water-retaining effect during maintenance.

[0035] The cross-section of the track of the horizontal track ring frame 1 is narrow at the top and wide at the bottom, presenting a trapezoidal structure similar to a convex character, and is thus divided into an upper track 11 and a lower track 12. The horizontal power mechanism 3 straddles the upper track 11 and travels on the lower tracks 12 on both sides. The spray maintenance mechanism 4 travels on the upper track 11. The horizontal power mechanism 3 is located below the spray maintenance mechanism 4 to achieve bottom drive.

[0036] Four vertical power mechanisms 2 are provided and are respectively arranged in the front, rear, left, and right four directions. The vertical power mechanisms 2 in the four directions have good stability and jointly drive the horizontal track ring frame 1 to climb up and down.

[0037] The vertical power mechanism 2 includes an angle adjustment disc 21, a support rod 22, and a vertical climbing trolley 23. The angle adjustment disc 21 is fixed at the bottom of the horizontal track ring frame 1. One end of the support rod 22 is connected to the angle adjustment disc 21 and can adjust the horizontal angle. The other end of the support rod 22 is connected to the vertical climbing trolley 23. The vertical climbing trolley 23 can adopt a wheeled climbing structure driven by a motor, and the climbing wheels contact the surface of the column and move up and down.

[0038] Specifically, a number of adjustment holes are arranged circumferentially on the angle adjustment disc 21. The support rod 22 is clamped in the adjustment holes (in order to improve stability, the support rod 22 is clamped in two or more adjustment holes) through a positioning pin. By adjusting the angle of the support rod 22, the radial position of the vertical climbing trolley 23 is changed. On the one hand, it can ensure the close contact between the vertical climbing trolley 23 and the component, and on the other hand, it can adapt to components of different sizes.

[0039] The horizontal power mechanism 3 includes a horizontal ring moving trolley 31 and a buffer connection component 32. The horizontal ring moving trolley 31 moves horizontally on the horizontal track ring frame 1. The horizontal ring moving trolley 31 can adopt a wheeled walking structure driven by a motor, and the walking wheels roll on the lower tracks 12 on both sides. The horizontal ring moving trolley 31 is connected to the spray maintenance mechanism 4 through the buffer connection component 32, and flexible connection is realized by using the buffer connection component 32. When the spray maintenance mechanism 4 collides with other mechanisms, it can deform and错开, and will not cause damage due to rigid collision.

[0040] The buffer connection assembly 32 includes a buffer spring 321 and a spring column 322. The spring column 322 is welded and fixed on the horizontal ring-moving trolley 31 and the spray maintenance mechanism 4. The buffer spring 321 is sleeved and connected between the opposing spring columns 322. The buffer spring 321 not only realizes the transmission of drive, but also restricts the ring-moving bracket 41, and can also realize the misalignment of the ring-moving bracket 41.

[0041] The spray maintenance mechanism 4 includes a ring-moving bracket 41, bracket pulleys 42, a water tank 43, and atomizing nozzle water pipes 44. The ring-moving bracket 41 has an arc-shaped structure, and its arc is the same as that of the horizontal track ring frame 1. The bottom of the front and rear ends of the ring-moving bracket 41 is provided with bracket pulleys 42, which move horizontally on the upper track 11.

[0042] A water tank 43 is mounted on the ring-moving support 41 to hold maintenance water. The water tank 43 is connected to the atomizing nozzle water pipe 44 via a water pump at the bottom. The nozzle of the atomizing nozzle water pipe 44 faces inward. The water pump provides water pressure, and the water is atomized and sprayed onto the surface of the column for maintenance. Two sets of water tanks 43, water pumps, and atomizing nozzle water pipes 44 are arranged symmetrically on the ring-moving support 41 to ensure uniform and accurate spraying.

[0043] The film covering mechanism 5 includes a film roller 51 and a pressing spring 52. The film roller 51 is arranged vertically, so the film on it can be unfolded circumferentially to cover the outer circumferential surface of the column. The two ends of the film roller 51 are engaged in two locking holes in the middle of the circumferential support 41. The locking holes are equipped with pressing springs 52, which are installed in this position, making it flexible and convenient to install and remove the roller.

[0044] The film covering mechanism 5 can consist solely of the film roller 51, with the film unfolding and cutting performed by ground personnel using tools. Alternatively, the film covering mechanism 5 can be further equipped with an unfolding and cutting mechanism, enabling the film unfolding and cutting operations to be performed independently. The film covering method can be a continuous spiral covering from bottom to top, or an alternating ring covering layer by layer.

[0045] Method 1: The non-film covering mechanism achieves overall vertical movement through a vertical power mechanism and circumferential rotation along the track through a horizontal power mechanism, realizing comprehensive spray curing of the components. Temperature and humidity sensors are added to the circumferential support to automatically set the curing time according to the surface humidity of the components and the ambient temperature, realizing intelligent control. All operations of the robot are performed by external remote control.

[0046] Method Two: Install a film covering mechanism. A vertical power mechanism enables vertical movement of the entire structure, while a horizontal power mechanism rotates circumferentially along a track, achieving comprehensive spray curing of the components. Temperature and humidity sensors are added to the circumferential support, automatically setting the curing time based on the surface humidity of the components and the ambient temperature, enabling intelligent control. Simultaneously, the film covering mechanism can cover the components with a film along with the moving platform. All robot operations are controlled remotely from the outside, eliminating the need for manual high-altitude work, allowing for simultaneous curing and covering, resulting in higher work efficiency.

[0047] The foregoing basic examples and their further alternative examples of the present invention can be freely combined to form multiple embodiments, all of which are embodiments that can be adopted and claimed by the present invention. In the present invention, each alternative example can be arbitrarily combined with any other basic example and alternative example.

[0048] 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, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent vertical climbing robot, comprising a horizontal track ring (1), characterized in that: The horizontal track ring frame (1) is provided with several vertical power mechanisms (2), which drive the horizontal track ring frame (1) to climb vertically. The horizontal track ring frame (1) is also provided with a horizontal power mechanism (3) and a spray maintenance mechanism (4). The horizontal power mechanism (3) and the spray maintenance mechanism (4) move horizontally on the horizontal track ring frame (1). The horizontal power mechanism (3) is connected to the spray maintenance mechanism (4). The spray maintenance mechanism (4) includes a ring-moving bracket (41), with a bracket pulley (42) at the bottom of the ring-moving bracket (41). The bracket pulley (42) moves horizontally on the horizontal track ring frame (1). A water tank (43) is provided on the ring-moving bracket (41). The water tank (43) is connected to the atomizing nozzle water pipe (44) through a water pump. The nozzle of the atomizing nozzle water pipe (44) faces inward.

2. The intelligent vertical climbing robot according to claim 1, characterized in that: The spray maintenance mechanism (4) is equipped with a film covering mechanism (5).

3. The intelligent vertical climbing robot according to claim 1, characterized in that: The horizontal track ring frame (1) is composed of several arc-shaped frame segments spliced ​​together; the horizontal track ring frame (1) is divided into an upper track (11) and a lower track (12). The horizontal power mechanism (3) crosses the upper track (11) and runs parallel to the lower track (12). The spray maintenance mechanism (4) runs on the upper track (11). The horizontal power mechanism (3) is located below the spray maintenance mechanism (4).

4. The intelligent vertical climbing robot according to claim 1, characterized in that: The vertical power mechanism (2) has four parts, which are arranged in the front, back, left and right directions respectively.

5. The intelligent vertical climbing robot according to claim 1 or 4, characterized in that: The vertical power mechanism (2) includes an angle adjustment disc (21), which is fixed on the horizontal track ring frame (1). One end of the support rod (22) is connected to the angle adjustment disc (21) and can adjust the horizontal angle. The other end of the support rod (22) is connected to the vertical climbing trolley (23).

6. The intelligent vertical climbing robot according to claim 5, characterized in that: The angle adjustment disc (21) has several adjustment holes arranged circumferentially, and the support rod (22) is locked in the adjustment holes by a positioning pin.

7. The intelligent vertical climbing robot according to claim 1, characterized in that: The horizontal power mechanism (3) includes a horizontal circling trolley (31), which moves horizontally on a horizontal track ring frame (1). The horizontal circling trolley (31) is connected to the spray maintenance mechanism (4) through a buffer connection assembly (32).

8. The intelligent vertical climbing robot according to claim 7, characterized in that: The buffer connection assembly (32) includes a buffer spring (321), and the buffer spring (321) is sleeved between the spring column (322) of the horizontal circumferential trolley (31) and the spring column (322) of the spray maintenance mechanism (4).

9. The intelligent vertical climbing robot according to claim 1, characterized in that: The water tank (43), water pump and atomizing nozzle water pipe (44) are provided in two sets and symmetrically arranged on the ring-moving bracket (41).

10. The intelligent vertical climbing robot according to claim 2, characterized in that: The film covering mechanism (5) includes a film roller (51), which is arranged vertically. Both ends of the film roller (51) are locked in the locking holes of the spray curing mechanism (4), and a press-type spring (52) is provided in the locking hole.

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