Unmanned spraying robot for steel beam in super high-rise building

Abstract

The invention discloses an unmanned spraying robot for a steel beam in a super high-rise building, and relates to the field of building spraying robots, the unmanned spraying robot comprises a heavy-load AGV, the heavy-load AGV is provided and connected with a quick-change robot upper assembly, and the quick-change robot upper assembly is provided and connected with a lifting device capable of moving in a lifting mode. The end, away from the heavy-load AGV, of the lifting device is connected with a spraying execution mechanism, and a reciprocating spraying machine driven by the spraying execution mechanism to move is installed and connected to the spraying execution mechanism. According to the spraying robot, the problems of safety, health and efficiency of operators in actual manual spraying are well solved; for top steel beams, workers do not need to climb, and potential safety hazards are avoided; manual scaffold building is not needed, cost is reduced, and efficiency is improved; the automatic spraying technology is adopted, the spraying track can be planned according to the appearance characteristics of the fireproof steel beam, the one-time operation efficiency is high, compared with manual work, the spraying consistency is good, and the coating utilization rate is greatly increased.

Description

Technical Field

[0001] The invention relates to the field of building spraying robots, and in particular to an unmanned spraying robot for steel beams in super high-rise buildings. Background Art

[0002] Since the performance of steel decreases significantly with the increase of temperature, the performance degradation of steel structure after fire has a great impact on the safety of the structure. Since the "911" incident, modern structural design has paid more and more attention to the fire resistance of steel structure. At present, most of the exposed steel structure projects in China adopt the design form of external spraying and smearing of fire retardant coating. At present, the fire retardant coating of steel structure on the top of the single layer of super high-rise commercial buildings is applied because of its single-layer height of about 4-5m and the total height of >100m. The equipment and materials are dependent on elevators in and out, and the load and size requirements are relatively high. Therefore, the current degree of mechanization is very low, requiring two mixing personnel, one spraying personnel, and one spraying material cleaning personnel. The operators stand on mobile scaffolding to spray, and the following problems will arise during the process: (1) When changing the working position, workers need to constantly move the scaffolding up and down, which results in low construction efficiency; (2) Long-term close contact with polluted dust by workers may lead to multiple occupational diseases such as pneumoconiosis, which is harmful to their health; (3) Painting construction involves many high-altitude operations, which poses a great safety hazard; (4) Spraying operations produce a lot of splashes, low raw material utilization, and can cause serious pollution to the surrounding environment.

[0003] In this regard, in order to solve the above problems, a new type of spraying mechanical equipment is urgently needed. Summary of the invention

[0004] The objective of the present invention is achieved through the following technical solutions: An unmanned spraying robot for steel beams in super high-rise buildings, comprising a heavy-duty AGV, a quick-change robot upper body mounted on the heavy-duty AGV, a lifting device that can be raised and lowered mounted on the quick-change robot upper body, a spraying actuator connected to one end of the lifting device away from the heavy-duty AGV, and a reciprocating sprayer driven by the spraying actuator mounted on the spraying actuator; The spraying execution mechanism comprises a spraying execution sliding seat and a spray head connecting seat; One side end of the bottom end surface of the spraying execution sliding seat is connected to the top end of the lifting device, and the spraying execution sliding seat is provided with a sliding limit groove, in which a ball screw is movably installed and connected; The nozzle connection seat is extended and placed in the sliding limit groove and is slidably adapted to the inner wall of the sliding limit groove. The nozzle connection seat is placed on one side of the sliding limit groove and is movably arranged on the ball screw. The nozzle connection seat is rotatably and adjustably connected to the reciprocating sprayer through a rotating mechanism.

[0005] Preferably, one end of the ball screw is rotatably connected to the inner wall of the sliding limit groove through a bearing, and the other end of the ball screw is rotatably passed through the inner wall on the other side of the sliding limit groove through a bearing, and the end is connected to a screw machine for driving the ball screw to move, and the screw machine is installed and connected to the spray execution sliding seat.

[0006] Preferably, the rotating mechanism comprises a rotating cylinder, the cylinder body of the rotating cylinder is fixed on the nozzle connecting seat, the output end of the rotating cylinder is connected to the reciprocating sprayer through a connecting block, and the reciprocating sprayer is driven to rotate by the rotating cylinder.

[0007] Preferably, the lifting device comprises a lifting telescopic hydraulic column that can be lifted and lowered; One end of the lifting and telescopic hydraulic column is connected to the quick-change robot upper body, and the other end of the lifting and telescopic hydraulic column is connected to the spraying execution sliding seat through a moving module; The quick-change robot upper body is connected with a lifting power device, and the lifting power device is used to provide power to the lifting telescopic hydraulic column.

[0008] Preferably, the quick-change robot upper body is also equipped with a barrel, a screw pump sprayer, an upper body power supply device, and an inverter; The barrel is installed and connected to the quick-change robot upper body, the barrel is connected to the screw pump sprayer through a delivery pipeline, the screw pump sprayer is connected to the reciprocating sprayer through a delivery telescopic pipeline, and the screw pump sprayer is connected and fixed to the quick-change robot upper body through a frame; The upper body power supply device and the inverter are fixed on the upper body of the quick-change robot, the upper body power supply device is electrically connected to the inverter, and the inverter is electrically connected to the lifting power device.

[0009] Preferably, the barrel is connected to a feeding pump through a pipeline, and the feeding pump is connected to a material mixing device of an automatic feeding station through a pipeline, and the feeding pump is used to transport the material in the material mixing device to the barrel through the pipeline.

[0010] The beneficial effects of the present invention are: the purpose of the present invention is to provide an unmanned spraying robot for steel beams in super high-rise buildings, which solves the problems of safety, health and efficiency of operators in actual manual spraying; for the top steel beams, there is no need for manual climbing to avoid safety hazards; there is no need for manual scaffolding processes, which reduces costs and increases efficiency; the use of automated spraying technology can plan the spraying trajectory according to the appearance characteristics of the fireproof steel beams, and the operation efficiency is high in one time. Compared with manual work, the spraying consistency is good, and the utilization rate of the paint is greatly improved; the combination of the spraying robot and the automatic feeding station basically realizes unmanned spraying operations, which can perfectly replace multiple manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the overall connection structure effect of an unmanned spraying robot for steel beams in super high-rise buildings according to the present invention; Figure 2 This is a schematic diagram of a spraying actuator of an unmanned spraying robot for steel beams in super high-rise buildings according to the present invention; Figure 3 This is a schematic diagram of the operating process and structural effect of an unmanned spraying robot for steel beams in super high-rise buildings according to the present invention; Figure 4 A schematic diagram of the spraying operation of an unmanned spraying robot for steel beams in super high-rise buildings according to the present invention; In the figure, 1-heavy-load AGV, 2-quick-change robot upper body, 3-, 4-, 5-floor elevator, 6-automatic charging pile, 7-automatic feeding station, 10-operating I-beam, 11-upper body power supply device, 12-screw pump sprayer, 13-barrel, 14-lifting power device, 16-inverter, 17-lifting telescopic hydraulic column, 18-mobile module, 19-spraying execution sliding seat, 191-spray head connecting seat, 192-ball screw, 193-reciprocating sprayer. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0013] Example 1 like Figures 1 to 4 As shown, an unmanned spraying robot for steel beams in super high-rise buildings includes a heavy-load AGV 1, on which a quick-change robot top 2 is installed and connected, and on which a lifting device that can be raised and lowered is installed and connected, and the end of the lifting device away from the heavy-load AGV 1 is connected to a spraying actuator, and on the spraying actuator is installed a reciprocating sprayer 193 that is driven by the spraying actuator.

[0014] Among them, the spraying actuator includes a spraying actuator sliding seat 19 and a nozzle connecting seat 191; one side end of the bottom end surface of the spraying actuator sliding seat 19 is connected to the top of the lifting device, and the spraying actuator sliding seat 19 is provided with a sliding limit groove, and a ball screw 192 is movably installed and connected in the sliding limit groove; the nozzle connecting seat 191 is extended and placed in the sliding limit groove and is slidably adapted to the inner wall of the sliding limit groove, and the nozzle connecting seat 191 is placed on one side of the sliding limit groove and movably penetrates the ball screw 192; the nozzle connecting seat 191 is rotatably and adjustably connected to the reciprocating sprayer 193 through a rotating mechanism.

[0015] In addition, one end of the ball screw 192 is rotatably connected to the inner wall of the sliding limit groove through a bearing, and the other end of the ball screw 192 is rotatably passed through the inner wall on the other side of the sliding limit groove through a bearing, and the end is connected to a screw machine for driving the ball screw 192 to move, and the screw machine is installed and connected to the spray execution sliding seat 19.

[0016] At the same time, the rotating mechanism of the arrangement includes a rotating cylinder, the cylinder body of the rotating cylinder is fixed on the nozzle connecting seat 191, the output end of the rotating cylinder is connected to the reciprocating sprayer 193 through a connecting block, and the reciprocating sprayer 193 is driven to rotate by the rotating cylinder.

[0017] In an embodiment, the heavy-load AGV1 is controlled to move the spraying robot to a specified position, and then the material is connected through a pipeline, the material is transported and moved through the pipeline by a material conveying pump, and the reciprocating sprayer 193 is used for comprehensive spraying.

[0018] Furthermore, in a specific embodiment, the reciprocating sprayer 193 can be reciprocatingly connected to a connection block at the output end of the rotary cylinder. A sliding guide block is connected to the housing of the reciprocating sprayer 193, and a reciprocating sliding groove is provided on one end face of the housing of the connection block close to the reciprocating sprayer 193. A movable guide connecting rod is provided in the reciprocating sliding groove, and the two ends of the movable guide connecting rod are respectively connected to the two end faces of the inner wall of the reciprocating sliding groove; at the same time, the sliding guide block is movably inserted into the movable guide connecting rod and the sliding guide block is slidably adapted to the reciprocating sliding groove. In order to achieve the purpose of driving the sliding guide block to realize reciprocating motion along the reciprocating sliding groove, deformation springs are respectively sleeved on both ends of the movable guide connecting rod, and one end of the deformation spring close to the inner wall of the reciprocating sliding groove is connected to the inner wall of the reciprocating sliding groove. At the same time, electromagnetic sensors are respectively installed and connected to the two inner walls of the reciprocating sliding groove, and each electromagnetic sensor is electrically connected to a launch booster (electrically controlled). The launch boosters are respectively connected to the inner walls on both sides of the reciprocating sliding groove, and the output end rods of the two launch boosters are respectively connected to the sliding guide block.

[0019] With such a design, when it is necessary to spray some "corners and crannies" through the reciprocating sprayer 193, the two ejection boosters are controlled to drive the sliding guide block to move back and forth repeatedly in the reciprocating sliding groove, and these so-called "corners and crannies" are fully sprayed under the rotation and driving action of the rotary cylinder. At the same time, when the sliding guide block moves to one side of the reciprocating sliding groove and is close to the limit position, the sliding guide block contacts the deformation spring on this side, and the deformation spring plays the role of elastic protection, and the electromagnetic inductor set on this side senses and feeds back to the ejection booster, thereby controlling the ejection booster on this side to extend and the ejection booster on the other side to contract, so that the sliding guide block moves toward the other end of the reciprocating sliding groove; while realizing the automatic control of the reciprocating movement of the sliding guide block, it also plays a protective role.

[0020] Example 2 Based on Example 1, the lifting device of the arrangement includes a lifting telescopic hydraulic column 17 that can be raised and lowered; one end of the lifting telescopic hydraulic column 17 is connected to the quick-change robot upper body 2, and the other end of the lifting telescopic hydraulic column 17 is connected to the spray execution sliding seat 19 through a movable module 18; a lifting power device 14 is installed and connected on the quick-change robot upper body 2, and the lifting power device 14 is used to provide power to the lifting telescopic hydraulic column 14.

[0021] In addition, a barrel 13, a screw pump sprayer 12, a top power supply device 14, and an inverter 16 are also installed on the quick-change robot top 2; the barrel 13 is installed and connected to the quick-change robot top 2, the barrel 13 is connected to the screw pump sprayer 12 through a conveying pipeline, the screw pump sprayer 12 is connected to the reciprocating sprayer 193 through a conveying telescopic pipeline, and the screw pump sprayer 12 is connected and fixed to the quick-change robot top 2 through a frame; the top power supply device 11 and the inverter 16 are fixed on the quick-change robot top 2, the top power supply device 11 is electrically connected to the inverter 16, and the inverter 16 is electrically connected to the lifting power device 11. In addition, the barrel 13 is connected to a feeding pump through a pipeline, and the feeding pump is connected to the material mixing device 71 of the automatic feeding station 7 through a pipeline, and the feeding pump is used to transport the material in the material mixing device 3 to the barrel 13 through the pipeline.

[0022] In the embodiment, after the material is mixed in the material mixing device 71 of the automatic feeding station, the mixed material is then transported to the barrel 13 by a feeding pump for temporary storage so as to be used by the reciprocating sprayer 193 for spraying.

[0023] Example 3 During the entire spraying robot implementation process, the present invention provides an unmanned spraying robot for steel beams in super high-rise buildings, including a lightweight, small-volume heavy-load AGV1. The lightweight, small-volume heavy-load AGV1 can meet the load requirements of the quick-change robot top 2 while ensuring that the elevator traffic parameters are met. They can be quickly disassembled and connected through a quick connection device. At the same time, the quick-change robot top 2 can also be quickly disassembled and connected with the auxiliary hydraulic cart 4 through the same quick connection device. The auxiliary hydraulic cart 4 is used to lift the quick-change robot top 2 to achieve the disassembly of the lightweight, small-volume heavy-load AGV1.

[0024] The quick-change robot upper body 2 and its accessories, the automatic feeding station 7 and the automatic charging pile 6, are delivered to the designated floor in batches through the floor elevator 5. The positions of the automatic feeding station 7 and the automatic charging pile 6 are determined, and the auxiliary hydraulic cart 4 lifts the quick-change robot upper body 2 to adjust the position of the lightweight, small-volume heavy-duty AGV1 to realize the installation of the assembled spray robot. According to the specified CAD drawing format, the CAD drawing of the site is input to the assembled spray robot, and then the positions of the automatic feeding station 7 and the automatic charging pile 6 are set in the system, and the path is planned in the CAD drawing of the system according to the position of the steel beam. After the automatic feeding station 7 and the automatic charging pile 6 are powered on, the excess spraying ratio material is added to the temporary storage bucket of the automatic feeding station 7. Enter the building area and spraying parameters, and the automatic feeding station 7 will automatically measure the ratio of the mixed liquid according to the demand, and complete the stirring. The assembled spray robot will walk to the liquid adding area according to the position of the automatic feeding station 7 marked in the CAD drawing of the system, and complete the filling of the spraying material into the barrel 13 by interacting with the in-place signal of the automatic feeding station 7. After the filling is completed, the assembled spraying robot will automatically walk to the bottom of the I-beam 10 according to the path planned in the CAD diagram of the system. In order to meet the operation time requirements, the upper and chassis power supplies are separated. The upper power supply device 11 provides electric energy through the inverter 16 to provide input to the lifting power device 14 for the lifting and telescopic hydraulic column 17 of the lifting device to output power to ensure the rise of the mobile module 18 and the spraying actuator. During the process, the spatial obstacle avoidance and visual guidance device 20 installed on the spraying execution sliding seat 19 of the spraying actuator captures in real time whether the lifting process is safe and detects the position of the steel beam. When reaching the spraying range, the 3D size and color capture visual system in the spatial obstacle avoidance and visual guidance device 20 can record the position size data of the steel beam that needs to be operated and whether the spraying is completed. When an emergency occurs, the system will record the current position due to power shortage, material shortage, etc., to provide data support for the completion of charging and replenishment and subsequent operations. After the spray material is pressurized by the screw pump sprayer 12 from the barrel 13, it is transported to the spray actuator through the high-pressure pipe and controlled by the electromagnetic valve. In addition, the spray actuator can also include a translation and two rotations with a total of three degrees of freedom, which can meet the spraying operation of various positions of the steel beam.

[0025] It should be noted here that the lightweight, small-volume heavy-load AGVs involved in the scheme include: lightweight technology based on McRae wheels or steering wheels. The lifting devices include: mast-type, electric cylinder-type, hydraulic cylinder-type and other lifting methods. The sprayers used for spraying include: screw pump airless sprayers and high-pressure air sprayers. The spraying actuators include: three-degree-of-freedom reciprocating machine swing gun spraying or six-degree-of-freedom collaborative robot spraying. This embodiment is not fully described due to space reasons, but it cannot be understood as a limitation on the scope of the invention patent.

[0026] Finally, the spraying robot: 1. It can effectively solve the problems of safety, health and efficiency of operators in actual manual spraying; 2. For the top steel beam, there is no need for manual climbing to avoid potential safety hazards; there is no need for manual scaffolding process, which reduces costs and increases efficiency; 3. The use of automated spraying technology can plan the spraying trajectory according to the appearance characteristics of the fireproof steel beam, with high one-time operation efficiency. Compared with manual work, the spraying consistency is good and the coating utilization rate is greatly improved; 4. The combination of spraying robot and automatic feeding station basically realizes unmanned spraying operation, which can perfectly replace multiple manual operations.

Claims

1. An unmanned spraying robot for steel beams in super high-rise buildings, characterized in that: It comprises a heavy-load AGV, the heavy-load AGV is connected with a quick-change robot upper body, the quick-change robot upper body is connected with a lifting device that can be raised and lowered, the lifting device is connected with a spraying actuator at one end away from the heavy-load AGV, and the spraying actuator is connected with a reciprocating sprayer driven by the spraying actuator; The spraying execution mechanism comprises a spraying execution sliding seat and a spray head connecting seat; One side end of the bottom end surface of the spraying execution sliding seat is connected to the top end of the lifting device, and the spraying execution sliding seat is provided with a sliding limit groove, in which a ball screw is movably installed and connected; The nozzle connection seat is extended and placed in the sliding limit groove and is slidably adapted to the inner wall of the sliding limit groove. The nozzle connection seat is placed on one side of the sliding limit groove and is movably arranged on the ball screw. The nozzle connection seat is rotatably and adjustably connected to the reciprocating sprayer through a rotating mechanism.

2. The unmanned spraying robot for steel beams in super high-rise buildings according to claim 1 is characterized in that: One end of the ball screw is rotatably connected to the inner wall of the sliding limit groove through a bearing, and the other end of the ball screw is rotatably passed through the inner wall on the other side of the sliding limit groove through a bearing, and the end is connected to a screw machine for driving the ball screw to move, and the screw machine is installed and connected to the spray execution sliding seat.

3. The unmanned spraying robot for steel beams in super high-rise buildings according to claim 2 is characterized in that: The rotating mechanism comprises a rotating cylinder, the cylinder body of the rotating cylinder is fixed on the nozzle connecting seat, the output end of the rotating cylinder is connected to the reciprocating sprayer through a connecting block, and the reciprocating sprayer is driven to rotate by the rotating cylinder.

4. The unmanned spraying robot for steel beams in super high-rise buildings according to claim 3 is characterized in that: The lifting device comprises a lifting telescopic hydraulic column which can be lifted and lowered; One end of the lifting and telescopic hydraulic column is connected to the quick-change robot upper body, and the other end of the lifting and telescopic hydraulic column is connected to the spraying execution sliding seat through a moving module; The quick-change robot upper body is connected with a lifting power device, and the lifting power device is used to provide power to the lifting telescopic hydraulic column.

5. The unmanned spraying robot for steel beams in super high-rise buildings according to claim 4 is characterized in that: The quick-change robot upper body is also equipped with a barrel, a screw pump sprayer, an upper body power supply device, and an inverter; The barrel is installed and connected to the quick-change robot upper body, the barrel is connected to the screw pump sprayer through a delivery pipeline, the screw pump sprayer is connected to the reciprocating sprayer through a delivery telescopic pipeline, and the screw pump sprayer is connected and fixed to the quick-change robot upper body through a frame; The upper body power supply device and the inverter are fixed on the upper body of the quick-change robot, the upper body power supply device is electrically connected to the inverter, and the inverter is electrically connected to the lifting power device.

6. The unmanned spraying robot for steel beams in super high-rise buildings according to claim 5 is characterized in that: The barrel is connected to a feeding pump through a pipeline, and the feeding pump is connected to a material mixing device of an automatic feeding station through a pipeline. The feeding pump is used to transport the material in the material mixing device to the barrel through the pipeline.

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