Intelligent layered reciprocating type spraying robot for outer wall of high-rise building and spraying method

Abstract

The invention relates to the field of spraying of outer walls of high-rise buildings, particularly discloses an intelligent layered reciprocating type spraying robot for outer walls of high-rise buildings and a spraying method, and solves the problems that when intelligent layered reciprocating type spraying is carried out on the outer walls of existing high-rise buildings, the accuracy is poor, and the spraying efficiency is high. In order to solve the problem that special structures such as doors, windows, balconies and outer wall waistlines cannot be subjected to precise layered reciprocating type spraying, according to the scheme, the automatic spraying device comprises a coating box, a mounting frame, a supporting frame, a sliding plate frame, a second sliding rail, a second sliding block, a telescopic piece, a spraying head, a front baffle, a push rod, a side baffle and a first scraping plate, a driving assembly is arranged on the supporting frame, and a first cleaning assembly is arranged on the supporting frame; a second scraping plate is arranged on the side baffle in a sliding mode, and a second cleaning assembly is arranged on the side baffle. According to the robot, intelligent layered reciprocating type spraying can be accurately conducted on the outer wall of the high-rise building, spraying can be accurately conducted on special structures such as doors and windows, balconies and outer wall waistlines, meanwhile, multi-color spraying can be conducted, and the construction stability is high.

Description

Technical Field

[0001] The invention relates to the field of high-rise building exterior wall spraying, in particular to a robot capable of performing layered reciprocating spraying on the exterior wall of a high-rise building. Background Art

[0002] Intelligent layered reciprocating spraying for high-rise building exterior walls is a highly automated and precise exterior wall spraying solution. It uses advanced robotics technology, intelligent control algorithms, and sensor fusion technology to achieve efficient and uniform spraying of high-rise building exterior walls, greatly improving the quality and safety of spraying operations and reducing labor costs and construction risks.

[0003] Before the specific spraying operation, although laser scanning equipment or other measuring tools can be used to collect data on the building's exterior wall, obtain the precise size and shape of the exterior wall, and the location information of special structures such as doors, windows, and balconies, and transmit the collected data to the intelligent control system, the system processes and analyzes the data to generate a detailed three-dimensional model of the building's exterior wall. Based on the generated three-dimensional model of the exterior wall, the intelligent control system uses an optimized path planning algorithm and combines the spraying process requirements to plan a reasonable layered reciprocating spraying path for the spraying robot. The path planning process fully considers factors such as the flatness of the wall, the distribution of obstacles, and the coverage of the paint to ensure that each area can be sprayed evenly and avoid collisions between the robot and obstacles. However, in the specific implementation, since the spraying operation is carried out through the nozzle, and the nozzle has a certain spraying range, such path planning will produce large errors in the ranged nozzle spraying.

[0004] At the same time, in specific use, although the precise size and shape of the exterior wall and the position information of special structures such as doors, windows, and balconies can be measured, the special structures such as doors, windows, balconies, and waistlines of the exterior wall are generally small in size and have large differences. Therefore, it is difficult to achieve accurate spray coverage when spraying in layers, especially when spraying different colors. This may result in a smaller spraying range and increased spraying time, or a larger spraying range, which affects the sprayed area. Therefore, for these areas, during construction, they are generally carried out manually, and fully automated intelligent layered reciprocating spraying cannot be achieved. Therefore, an intelligent layered reciprocating spraying robot and spraying method for the exterior wall of a high-rise building are proposed. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention proposes an intelligent layered reciprocating spraying robot and a spraying method for the exterior walls of high-rise buildings, which can perform intelligent layered reciprocating spraying on the exterior walls of high-rise buildings, and can also perform precise layered reciprocating spraying on special structures such as doors, windows, balconies, and exterior wall waistlines.

[0006] In order to solve the above technical problems, the basic technical solution proposed by the present invention is:

[0007] An intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings comprises a paint box, a mounting frame is arranged at the front side of the paint box, a support frame is connected to the front side of the mounting frame, and a slide plate frame is slidably connected in the mounting frame, a slide rail 2 is mounted on the support frame, and a slide block 2 is slidably connected in the slide rail 2, a telescopic member 1 is embedded and penetrated in the slide block 2, a spray head is mounted on the telescopic member 1, positive baffles are rotatably connected at both upper and lower sides of the support frame, and a push rod for driving the positive baffle to rotate is connected to the slide plate frame;

[0008] Side baffles are slidably provided on both sides of the support frame, and a driving component is provided on the support frame, and the driving component is used to drive the side baffles on both sides to move closer to or away from each other, a scraper 1 is slidably provided on the support frame, and a cleaning component 1 is provided on the support frame, and the cleaning component 1 is used to drive the scraper 1 to slide so as to scrape the surface of the baffle, a scraper 2 is slidably provided on the side baffle, and a cleaning component 2 is provided on the side baffle, and the cleaning component 2 is used to drive the scraper 2 to slide so as to scrape the surface of the side baffle.

[0009] Preferably, side panels are connected to both sides of the paint box, the mounting frame is located on the front side of the paint box, and both ends are respectively connected to the side panels on both sides, the side panels on both sides away from each other are connected to mounting seats for installing a hanging basket hoist, and slide rails are installed on the inner walls on both sides of the mounting frame, and a slider is slidably connected to the slide rail, and the two sides of the slider frame are respectively connected to the sliders on both sides.

[0010] Preferably, a limit seat is installed on the support frame, and a tension spring is connected between the limit seat and the positive baffle on each side, each of the limit seats is limited by the positive baffle on each side, each of the positive baffles is connected with a convex strip, and the push rod is slidably connected to the convex strip.

[0011] Preferably, the driving assembly includes a screw rod, a guide rod, and a driving motor. The screw rod is rotatably connected to the support frame, and both ends of the guide rod are fixedly connected to the support frame. The driving motor is installed on the support frame, and the output end of the driving motor is connected to one end of the screw rod. The side baffle is threadedly sleeved on the surface of the screw rod and slidably sleeved on the surface of the guide rod. The side baffle is on the front side of the second slide rail, and the threads at both ends of the screw rod on the outer side surface on the front side of the support frame are arranged in opposite directions.

[0012] Preferably, the support frame is connected to a guide rod 1, both ends of the scraper 1 are slidably mounted on the outer side of the corresponding guide rod 1, the upper and lower sides of the side baffles are symmetrically connected to square rubber bellows, the end of the square rubber bellows away from the side baffle is connected to an arc plate, a spring 3 is connected between the arc plate and the side baffle, the spring 3 is in the square rubber bellows, and the positive baffle fits and contacts the arc plate.

[0013] Preferably, the cleaning component 1 includes a guide rod 2, an L-shaped sliding rod, a spring 1, a push-pull frame, and a stabilizing rod. The guide rod 2 is connected to the support frame and is perpendicular to the guide rod 1. The stabilizing rod is connected to the rear side of the support frame. One end of the L-shaped sliding rod is slidably mounted on the outer side of the guide rod 2, and the other end is slidably mounted on the stabilizing rod. A rotating plate 1 is rotatably connected between the front end of the L-shaped sliding rod and the upper and lower scrapers 1. A spring 1 is mounted on the outer side of the guide rod 2, and the two ends of the spring 1 are respectively connected to the support frame and the L-shaped sliding rod. The push-pull frame is connected to the slide plate frame and extends to the front side of the support frame to cooperate with the L-shaped sliding rod to resist pulling.

[0014] Preferably, the front end of the guide rod two is connected to a T-shaped seat, and the upper and lower sides of the T-shaped seat are connected to guide rods three, a slider three is sleeved on the outer side of each guide rod three, and a small universal wheel is installed on the slider three, one side of the T-shaped seat is connected to a guide rod four, and a slide plate is sleeved on the outer side of the guide rod four, a rotating plate two is rotatably connected between the slide plate and the upper and lower sliders three, a spring four is sleeved on the outer side of the guide rod four, and the two ends of the spring four are respectively connected to the T-shaped seat and the slide plate, and the front end of the push-pull frame cooperates and contacts with the slide plate.

[0015] Preferably, the second cleaning component includes a sliding rod, a sliding seat, and a top plate. The sliding rod is slidably connected to the side baffle plate through which the sliding rod passes, and the sliding rods are respectively arranged on the upper and lower sides of the second slide rail, and slidably extend to the rear side of the support frame. The second scraper is connected to the front end of the sliding rod, and the sliding seat sliding sleeve is provided at the rear end of the sliding rod. A sliding groove is provided on the rear side of the support frame, and the sliding seat is slidably connected in the sliding groove. A spring is provided on the outer side of the sliding rod, and the two ends of the spring are respectively connected to the sliding seat and the sliding rod. The top plate is connected to the sliding plate frame and is located on the outside of the two ends of the second slide rail. One end of the second scraper extends to the outside of the side baffle plate, and the top plate cooperates and conflicts with the extended end of the second scraper.

[0016] Preferably, a multifunctional sensor module is installed on the front side of the telescopic part 1, and the nozzle is installed on the multifunctional sensor module and is arranged in multiples. Each of the nozzles is connected to a hose, and the paint box is divided into multiple compartments. A pump body is installed on the outside of each compartment, and the other end of each hose is connected to the pump body. A telescopic part 2 is installed on the outside of the paint box, and a large universal wheel is installed on the output end of the telescopic part 2. A movable baffle is bolted on the positive baffle.

[0017] A spraying method of an intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings comprises the following steps:

[0018] Step 1: Install the hanging basket hoist on both sides of the paint box and configure the control box for control, then fix the wire rope on the roof of the high-rise building, and assemble the wire rope and the hanging basket hoist accordingly, finally pour the paint into the paint box and lift the working position of the hanging basket hoist column;

[0019] Step 2: directly spray the paint in the paint box onto the exterior wall of the high-rise building through the nozzle, and drive the slider 2 to slide back and forth horizontally inside the slide rail 2 to achieve reciprocating spraying;

[0020] Step 3: When it is necessary to spray the high-rise building in layers, the sliding plate frame is driven to slide away from the paint box, which can drive the push rod to push the front baffle to rotate to an inclined or horizontal position. At the same time, the side baffles on both sides are driven by the driving assembly to approach each other and form an enclosed area with the rotating front baffle. At this time, the spraying range of the nozzle is the enclosed area, so as to achieve accurate layered spraying;

[0021] Step 4: Since the nozzle is in the enclosed area after the front baffle and the side baffle are adjusted, when use is finished, first reset the front baffle to a vertical state and reset the side baffles on both sides to a maximum distance from each other, then use the cleaning component 1 to drive the scraper 1 to move up and down reciprocatingly to scrape off the paint on the surface of the front baffle, and use the cleaning component 2 to drive the scraper 2 to move back and forth to scrape off the paint on the surface of the side baffle.

[0022] The beneficial effects of the present invention are:

[0023] 1. The technical solution of the present invention can drive the push rod to push the front baffle to rotate from a vertical state by driving the slide frame forward, and can drive the side baffles on both sides to move closer or farther from each other through the driving assembly, and then form opening ranges of different sizes through the encirclement and cooperation between the upper and lower front baffles and the left and right side baffles, so that when the nozzle in the enclosed area reciprocates and slides for spraying in the enclosed area, its spraying area is the projection area of ​​the enclosed area, which can not only drive the nozzle to realize reciprocating layered spraying through the reciprocating sliding of the slider 2, but also can accurately and automatically spray special structures such as doors and windows, balconies, and waistlines of external walls;

[0024] 2. The technical solution of the present invention can scrape and clean the front baffle in a vertical state by driving the scraper 1 to slide up and down through the cleaning component 1, and can scrape and clean the side baffles at both sides in a state of maximum spacing by driving the scraper 2 to slide forward and backward through the cleaning component 2. In this way, when the front baffle and the side baffle are enclosed, the paint of the nozzle may be sandblasted on the side baffle and the front baffle, and the scraper 1 and the scraper 2 can achieve flexible and convenient cleaning, avoiding the situation that the paint is dried and inconvenient to clean in the later stage;

[0025] 3. The technical solution of the present invention can also drive the skateboard frame to move forward during the spraying construction process, thereby driving the L-shaped slide bar to push the skateboard forward, driving the small universal wheels on the slider three slidingly arranged on the upper and lower sides of the T-shaped seat to move away from each other and expand up and down, thereby achieving contact with the outer wall of the high-rise building, and cooperating with the large universal wheels to further improve the stability during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of Embodiment 1 of the present invention;

[0027] Figure 2 is a cross-sectional view of the front view structure of the first embodiment of the present invention;

[0028] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0029] Figure 4 is a cross-sectional view of the side structure of the first embodiment of the present invention;

[0030] Figure 5 for Figure 4 The enlarged view of point B in the middle;

[0031] Figure 6 It is a structural schematic diagram of the rear side of the installation frame of the first embodiment of the present invention;

[0032] Figure 7 It is a structural schematic diagram of a cleaning component 1 according to the first embodiment of the present invention;

[0033] Figure 8 It is a structural schematic diagram of a driving assembly according to the first embodiment of the present invention;

[0034] Fig. 9 It is a schematic diagram of the relevant structure of the square rubber bellows of the first embodiment of the present invention;

[0035] Fig.10 It is a structural schematic diagram of the cleaning component 2 of the embodiment 1 of the present invention;

[0036] Fig.11 It is a structural schematic diagram of a scraper 1 according to the first embodiment of the present invention;

[0037] Fig.12 for Figure 5 Schematic diagram of the structure after the movable baffle is installed.

[0038] Description of reference numerals:

[0039] 1-Paint box, 2-side plate, 3-mounting seat, 4-mounting frame, 5-support frame, 6-slide rail 1, 7-slider 1, 8-slide frame, 9-slide rail 2, 10-slider 2, 11-telescopic part 1, 12-multi-function sensor module, 13-sprinkler, 14-hose, 15-pump body, 16-positive baffle, 17-push rod, 18-convex strip, 19-limit seat, 20-tension spring, 21-side baffle, 22-screw rod, 23-guide rod, 24-drive motor, 25-guide rod 1, 26-scraper 1, 27-guide rod 2, 28-L-shaped slide bar, 29-turn plate one, 30-spring one, 31-push-pull frame, 32-stabilizing rod, 33-T-shaped seat, 34-guide rod three, 35-slider three, 36-small universal wheel, 37-guide rod four, 38-slide plate, 39-turn plate two, 40-scraper two, 41-slide bar, 42-spring two, 43-slide seat, 44-top plate, 45-square rubber bellows, 46-arc plate, 47-spring three, 48-telescopic part two, 49-large universal wheel, 50-slide groove, 51-spring four, 52-movable baffle. DETAILED DESCRIPTION

[0040] The following will be combined with the attached Figure 1 To Attachment Fig.11 The technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that if there are directions involved in the embodiments of the present invention, they shall be based on the directions shown in the drawings, such as front and back. Figure 1 The specific Figure 1 The left side is the front, Figure 1 The right side is the back; at the same time Figure 2 As shown in the figure, the left-right direction is roughly the horizontal direction, and the up-down direction shown in the figure is the vertical direction. If a certain posture changes, the directional indication will also change accordingly.

[0042] Embodiment 1:

[0043] An intelligent layered reciprocating spraying robot for the exterior wall of a high-rise building comprises a paint box 1, a mounting frame 4 is arranged at the front side of the paint box 1, a support frame 5 is connected to the front side of the mounting frame 4, a slide plate frame 8 is slidably connected in the mounting frame 4, a slide rail 2 9 is installed on the support frame 5, a slide block 2 10 is slidably connected in the slide rail 2 9, a telescopic member 11 is embedded and penetrated in the slide block 2 10, a spray head 13 is installed on the telescopic member 11, positive baffles 16 are rotatably connected at the upper and lower sides of the support frame 5, and a push rod 17 for aligning the baffle 16 and pushing the rotation is connected to the slide plate frame 8, such as Figure 2 , 6 As shown in FIG. 8 , the specific structure of the skateboard frame 8 is actually a hollow design in the middle to facilitate the arrangement of the structural components therein;

[0044] Side baffles 21 are slidably provided on both sides of the support frame 5, and a driving component is provided on the support frame 5, which is used to drive the side baffles 21 on both sides to move closer to or away from each other. A scraper 26 is slidably provided on the support frame 5, and a cleaning component 1 is provided on the support frame 5. The cleaning component 1 is used to drive the scraper 26 to slide so as to scrape the surface of the baffle 16. A scraper 2 40 is slidably provided on the side baffle 21, and a cleaning component 2 is provided on the side baffle 21. The cleaning component 2 is used to drive the scraper 2 40 to slide so as to scrape the surface of the side baffle 21.

[0045] Further, both sides of the paint box 1 are connected with side panels 2, the mounting frame 4 is at the front side of the paint box 1, and the two ends are respectively connected to the side panels 2 on both sides, and the side panels 2 on both sides are connected to the mounting seats 3 for installing the hanging basket hoist on the sides away from each other, and the inner walls of both sides of the mounting frame 4 are installed with slide rails 6, and the slide rails 6 are slidably connected with sliders 7, and the two sides of the slide frame 8 are respectively connected to the sliders 7 on both sides, such as Figure 1 As shown, the mounting seat 3 is actually connected to the side plate 2 on the front side of the paint box 1, so that when the hanging basket hoist is installed thereon, the front and rear center of the whole can be stabilized to ensure smooth operation. At the same time, the slide rail 6 and the slider 7 sliding therein, as well as the slide rail 9 and the slider 10 sliding therein can all adopt existing mature screw slides, linear roller slides, etc.

[0046] Furthermore, a limit seat 19 is installed on the support frame 5, and a tension spring 20 is connected between the limit seat 19 and the positive baffle 16 on each side. Each limit seat 19 is limited by the positive baffle 16 on each side, and each positive baffle 16 is connected with a convex strip 18. The push rod 17 is slidably connected with the convex strip 18, such as Figure 6As shown, the setting of the tension spring 20 can ensure that the positive baffle 16 is pulled so that it can be in a vertical state of being limited by the limit seat 19 under the elastic force of the tension spring 20 without external force, and the setting of the convex strip 18 can ensure that the rear side of the positive baffle 16 can protrude from the rear side of the support frame 5, and after rotating to a horizontal state, it can also be higher than the upper side of the support frame 5, so that the push rod 17 can push the positive baffle 16 by pushing the convex strip 18, so that the positive baffle 16 can rotate from a vertical state to the front side until it reaches a horizontal state and contacts the upper and lower ends of the side baffle 21.

[0047] Furthermore, the driving assembly includes a screw rod 22, a guide rod 23, and a driving motor 24. The screw rod 22 is rotatably connected to the support frame 5, and both ends of the guide rod 23 are fixedly connected to the support frame 5. The driving motor 24 is installed on the support frame 5, and the output end of the driving motor 24 is connected to one end of the screw rod 22. The side baffle 21 is threadedly sleeved on the surface of the screw rod 22 and slidably sleeved on the surface of the guide rod 23. The side baffle 21 is on the front side of the slide rail 29, and the screw rod 22 has two ends on the outer side surface on the front side of the support frame 5. The thread rotation directions are opposite, such as Figure 8 As shown, the screw rod 22 can be driven to rotate by starting the driving motor 24. Since the threads at the two ends of the outer side surface of the screw rod 22 are arranged in opposite directions, and the side baffles 21 on both sides are respectively threadedly sleeved on the two ends of the screw rod 22, and the side baffles 21 are also slidably sleeved on the outer side surface of the guide rod 23, when the screw rod 22 rotates forward and backward, the side baffles 21 on both sides will be driven to move closer or farther away from each other, so as to adjust the spacing between the side baffles 21 on both sides. Figure 5 As shown, the side baffles 21 are actually located at the front side and the upper and lower sides of the slide rail 29, and the screw rod 22 and the guide rod 23 are also arranged at the upper and lower sides of the slide rail 29, so that the side baffles 21 on both sides slide at the front side of the slide rail 29 to limit and adjust the left and right sliding range of the slider 20 10 sliding in the slide rail 29. In this way, the upper and lower positive baffles 16 and the left and right side baffles 21 are combined to form opening ranges of different sizes, so that the nozzles 13 therein can spray a determined range through the enclosed spraying, thereby improving the accuracy of layered spraying, and also facilitating precise automatic spraying of special structures such as doors and windows, balconies, and exterior wall waistlines.

[0048] Furthermore, in weather with relatively high wind speeds that meet national standards, the problem of the sprayed paint scattering can be effectively avoided by the cooperation between the upper and lower front baffles 16 and the left and right side baffles 21 .

[0049] Furthermore, the support frame 5 is connected to a guide rod 25, and both ends of the scraper 26 are slidably sleeved on the outer side of the corresponding guide rod 25. The upper and lower sides of the side baffle 21 are also symmetrically connected to a square rubber bellows 45, and the end of the square rubber bellows 45 away from the side baffle 21 is connected to an arc plate 46, and a spring 3 47 is connected between the arc plate 46 and the side baffle 21. The spring 3 47 is in the square rubber bellows 45, and the positive baffle 16 is in contact with the arc plate 46. Figure 7 and 9 As shown, the setting of the guide rod 25 facilitates the stable sliding of the scraper 26. At the same time, the height of the side baffle 21 is the same as the distance between the upper and lower side positive baffles 16 after they are rotated to the horizontal state. In this way, when the upper and lower side positive baffles 16 are tilted and rotated from the vertical state, before they are rotated to the horizontal state, an inclined gap will be formed between them and the side baffles 21. At this time, the setting of the square rubber bellows 45 can fill this gap to avoid the paint spraying out of the gap when spraying in this state, affecting the accuracy of spraying. The setting of the arc plate 46 facilitates the positive baffle 16 to compress the square rubber bellows 45. The setting of the spring three 47 facilitates the rebound of the square rubber bellows 45 under the dual action of its elastic force and its own elastic force.

[0050] Furthermore, the cleaning component 1 includes a guide rod 27, an L-shaped slide bar 28, a spring 30, a push-pull frame 31, and a stabilizing rod 32. The guide rod 27 is connected to the support frame 5 and is perpendicular to the guide rod 25. The stabilizing rod 32 is connected to the rear side of the support frame 5. One end of the L-shaped slide bar 28 is slidably sleeved on the outer side of the guide rod 27, and the other end is slidably sleeved with the stabilizing rod 32. A rotating plate 29 is rotatably connected between the front end of the L-shaped slide bar 28 and the upper and lower scrapers 26. A spring 30 is sleeved on the outer side of the guide rod 27, and the two ends of the spring 30 are respectively connected to the support frame 5 and the L-shaped slide bar 28. The push-pull frame 31 is connected to the slide plate frame 8 and extends to the front side of the support frame 5 to cooperate with the L-shaped slide bar 28 to resist pulling. Figure 7 As shown, when the positive baffle 16 is in a vertical state, the slide rail 6 drives the slider 7 and the slide plate frame 8 to move backward, and also drives the push-pull frame 31 to move backward synchronously, thereby pulling the L-shaped slide bar 28 to move backward, so that the rotating plate 29 rotates to push the scrapers 26 on the upper and lower sides away from each other, and scrape the front side of the positive baffle 16 in a vertical state, so as to facilitate scraping off the paint attached to the positive baffle 16 due to the enclosed shielding of the nozzle 13 during the spraying construction after the spraying is completed, so as to avoid the subsequent drying and difficulty in cleaning, and also to avoid the increase of the overall weight of the equipment due to the dried paint.

[0051] Furthermore, a T-shaped seat 33 is connected to the front end of the guide rod 27, and guide rods 34 are connected to the upper and lower sides of the T-shaped seat 33, and a slider 35 is sleeved on the outer side of each guide rod 34, and a small universal wheel 36 is installed on the slider 35, and a guide rod 4 37 is connected to one side of the T-shaped seat 33, and a slide plate 38 is sleeved on the outer side of the guide rod 4 37, and a rotating plate 2 39 is rotatably connected between the slide plate 38 and the sliders 35 on the upper and lower sides, and a spring 4 51 is sleeved on the outer side of the guide rod 4 37, and the two ends of the spring 4 51 are respectively connected to the T-shaped seat 33 and the slide plate 38, and the front end of the push-pull frame 31 cooperates with the slide plate 38, such as Figure 7 As shown, when the positive baffle 16 is in a vertical state, the slide rail 16 drives the slider 17 and the slide frame 8 to move forward, and also drives the push-pull frame 31 to move forward synchronously, and pushes the positive baffle 16 from a vertical state to a vertical state through the push rod 17. When the push-pull frame 31 moves forward a certain distance, it will contact the slide plate 38, push the slide plate 38 forward, and drive the rotating plate 2 39 to rotate, and push the sliders 3 35 of the upper and lower volumes to slide away from each other along their respective guide rods 4 37, so as to unfold each small universal wheel 36. In this way, in specific use, the structure of the spraying construction process can be stabilized through the contact between each small universal wheel 36 and the outer wall of the high-rise building.

[0052] Furthermore, the second cleaning component includes a slide bar 41, a slide seat 43, and a top plate 44. The slide bar 41 is slidably connected to the side baffle 21, and the slide bar 41 is respectively arranged on the upper and lower sides of the slide rail 29, and slides and extends to the rear side of the support frame 5. The scraper 2 40 is connected to the front end of the slide bar 41, and the slide seat 43 is slidably sleeved on the rear end of the slide bar 41. A slide groove 50 is opened on the rear side of the support frame 5, and the slide seat 43 is slidably connected in the slide groove 50. The outer side of the slide bar 41 is sleeved with a spring 2 42, and the two ends of the spring 2 42 are respectively connected to the slide seat 43 and the slide bar 41. The top plate 44 is connected to the slide plate frame 8 and is located on the outer side of the two ends of the slide rail 29. One end of the scraper 2 40 extends to the outer side of the side baffle 21, and the top plate 44 cooperates and conflicts with the extended end of the scraper 2 40, as shown in FIG. Fig. 9 and 10 As shown, when the front baffle 16 is in a vertical state, the slide rail 16 drives the slider 17 and the slide plate frame 8 to move forward, and also drives the push-pull frame 31 to move forward synchronously. If the side baffles 21 on both sides are in a maximum state of being away from each other at this time, the forward movement of the slide plate frame 8 will push the top plate 44 forward to collide with the extended end of the scraper plate 240 on the outer side of the side baffle 21, and simultaneously push the scraper plate 240 forward, so that after the spraying is completed, the paint attached to the side baffle 21 due to the enclosing and shielding of the nozzle 13 during the spraying construction can be scraped off, so as to avoid the subsequent drying and difficulty in cleaning, and in this way, the dried paint can also be prevented from increasing the overall weight of the equipment;

[0053] Since the position of the top plate 44 is fixed, the top plate 44 can push the scraper 2 40 only when the side baffles 21 on both sides are in the maximum state of being far away from each other. If the side baffles 21 on both sides are adjusted to be between the top plates 44 on both sides, the forward movement of the slide frame 8 will not drive the scraper 2 40 to clean the side baffles 21.

[0054] A multifunctional sensor module 12 is installed on the front side of the telescopic member 11, and a nozzle 13 is installed on the multifunctional sensor module 12, and there are multiple settings. Each nozzle 13 is connected to a hose 14. The paint box 1 is divided into multiple compartments, and a pump body 15 is installed on the outside of each compartment. The other end of each hose 14 is connected to the pump body 15. A telescopic member 2 48 is installed on the outside of the paint box 1, and a large universal wheel 49 is installed on the output end of the telescopic member 2 48. A movable baffle 52 is bolted to the positive baffle 16, such as Figure 1 and 6 As shown, the multifunctional sensor module 12 is an existing sensor module, which includes but is not limited to a positioning sensor, an infrared rangefinder, and a camera, so as to facilitate the real-time detection and feedback of the status of the equipment during the spraying construction, and a plurality of nozzles 13 can be installed on the multifunctional sensor module 12, and a corresponding number of compartments are set in the paint box 1 to facilitate the storage of a variety of colors of paint, and spray them through different nozzles 13, and the setting of the movable baffle 52 can be when the upper and lower positive baffles 16 are in a horizontal state and do not meet the use requirements, then the movable baffle 52 is bolted thereon to reduce the distance between them to meet the spraying requirements, so as to facilitate the spraying of multi-color paints while performing intelligent layered reciprocating spraying, thereby greatly improving the convenience. At the same time, as the requirements for architectural design become higher and higher, the colors of the exterior walls of high-rise buildings are usually not composed of a single composition, and such a design can also better meet the requirements for the spraying construction of multi-color paints on the exterior walls of high-rise buildings.

[0055] Embodiment 2:

[0056] A spraying method of an intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings comprises the following steps:

[0057] Step 1: Install a hanging basket hoist on both sides of the paint box 1, and configure a control box for control, then fix the wire rope on the roof of the high-rise building, and assemble the wire rope and the hanging basket hoist accordingly, finally pour the paint into the paint box 1, and lift the working position of the hanging basket hoist column;

[0058] Step 2: directly spray the paint in the paint box 1 onto the exterior wall of the high-rise building through the spray head 13, and drive the slider 10 to slide back and forth horizontally in the paint box 1 through the slide rail 9 to achieve reciprocating spraying;

[0059] Step 3: When it is necessary to spray the high-rise building in layers, the slide frame 8 is driven to slide away from the paint box 1, which can drive the push rod 17 to push the front baffle 16 to rotate to an inclined or horizontal state. At the same time, the side baffles 21 on both sides are driven by the driving assembly to approach each other and form an enclosed area with the rotating front baffle 16. At this time, the spraying range of the nozzle 13 is the enclosed area, so as to achieve accurate layered spraying;

[0060] Step 4: Since the nozzle 13 is in the enclosed area after the front baffle 16 and the side baffle 21 are adjusted, after use, first reset the front baffle 16 to a vertical state and reset the side baffles 21 on both sides to a maximum spacing state, and then drive the scraper 1 26 to move up and down reciprocally by the cleaning component 1 to scrape off the paint on the surface of the front baffle 16, and drive the scraper 2 40 to move back and forth by the cleaning component 2 to scrape off the paint on the surface of the side baffle 21.

[0061] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. An intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings, comprising a paint box (1), a mounting frame (4) being arranged on the front side of the paint box (1), a support frame (5) being connected to the front side of the mounting frame (4), and a slide frame (8) being slidably connected inside the mounting frame (4), characterized in that: The support frame (5) is provided with a second slide rail (9), and a second slide block (10) is slidably connected in the second slide rail (9), a telescopic component (11) is embedded in the second slide block (10), and a nozzle (13) is installed on the telescopic component (11), and positive baffles (16) are rotatably connected on both upper and lower sides of the support frame (5), and a push rod (17) is connected to the slide frame (8) for pushing the positive baffle (16) to rotate; Side baffles (21) are slidably provided on both sides of the support frame (5); a driving assembly is provided on the support frame (5); the driving assembly is used to drive the side baffles (21) on both sides to move closer to or farther away from each other; a scraper plate (26) is slidably provided on the support frame (5); a cleaning assembly (1) is provided on the support frame (5); the cleaning assembly (1) is used to drive the scraper plate (26) to slide so as to scrape the surface of the baffle (16); a scraper plate (40) is slidably provided on the side baffle (21); a cleaning assembly (2) is provided on the side baffle (21); the cleaning assembly (2) is used to drive the scraper plate (40) to slide so as to scrape the surface of the side baffle (21).

2. According to claim 1, the intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings is characterized in that: The paint box (1) is connected to side panels (2) on both sides, the installation frame (4) is located at the front side of the paint box (1), and its two ends are respectively connected to the side panels (2) on both sides, and the side panels (2) on both sides that are away from each other are connected to mounting seats (3) for mounting a hanging basket hoist, the inner walls of both sides of the installation frame (4) are installed with slide rails (6), and a slider (7) is slidably connected inside the slide rail (6), and the two sides of the slider frame (8) are respectively connected to the sliders (7) on both sides.

3. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 1 is characterized in that: A limit seat (19) is installed on the support frame (5), and a tension spring (20) is connected between the limit seat (19) and the positive baffle (16) on each side. Each limit seat (19) is in contact with the positive baffle (16) on each side to limit the position. Each positive baffle (16) is connected to a convex strip (18), and the push rod (17) is slidably connected to the convex strip (18).

4. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 1 is characterized in that: The driving assembly comprises a screw rod (22), a guide rod (23), and a driving motor (24); the screw rod (22) is rotatably connected to the support frame (5); both ends of the guide rod (23) are fixedly connected to the support frame (5); the driving motor (24) is mounted on the support frame (5), and the output end of the driving motor (24) is connected to one end of the screw rod (22); the side baffle (21) is threadedly sleeved on the surface of the screw rod (22) and slidably sleeved on the surface of the guide rod (23); the side baffle (21) is located on the front side of the second slide rail (9); and the screw rod (22) has two ends on the outer side surface on the front side of the support frame (5) with opposite thread rotation directions.

5. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 1 is characterized in that: The support frame (5) is connected to a guide rod (25), and both ends of the scraper (26) are slidably sleeved on the outer side of the corresponding guide rod (25). The upper and lower sides of the side baffle (21) are also symmetrically connected to square rubber bellows (45), and one end of the square rubber bellows (45) away from the side baffle (21) is connected to an arc plate (46), and a spring (47) is connected between the arc plate (46) and the side baffle (21), and the spring (47) is in the square rubber bellows (45), and the positive baffle (16) is in contact with the arc plate (46).

6. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 1 is characterized in that: The cleaning component 1 comprises a guide rod 2 (27), an L-shaped sliding rod (28), a spring 1 (30), a push-pull frame (31), and a stabilizing rod (32). The guide rod 2 (27) is connected to the support frame (5) and is perpendicular to the guide rod 1 (25). The stabilizing rod (32) is connected to the rear side of the support frame (5). One end of the L-shaped sliding rod (28) is slidably sleeved on the outer side of the guide rod 2 (27), and the other end is slidably sleeved on the stabilizing rod (32). A rotating plate 1 (29) is rotatably connected between the front end of the L-shaped sliding rod (28) and the upper and lower scrapers 1 (26). A spring 1 (30) is sleeved on the outer side of the guide rod 2 (27), and the two ends of the spring 1 (30) are respectively connected to the support frame (5) and the L-shaped sliding rod (28). The push-pull frame (31) is connected to the slide plate frame (8) and extends to the front side of the support frame (5) to cooperate with the L-shaped sliding rod (28) to resist and pull.

7. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 6 is characterized in that: The front end of the guide rod 2 (27) is connected to a T-shaped seat (33), and the upper and lower sides of the T-shaped seat (33) are connected to guide rods 3 (34). A slider 3 (35) is sleeved on the outer side of each guide rod 3 (34), and a small universal wheel (36) is installed on the slider 3 (35). One side of the T-shaped seat (33) is connected to a guide rod 4 (37), and a slide plate (38) is sleeved on the outer side of the guide rod 4 (37). A rotating plate 2 (39) is rotatably connected between the slide plate (38) and the upper and lower sliders 3 (35). A spring 4 (51) is sleeved on the outer side of the guide rod 4 (37), and the two ends of the spring 4 (51) are respectively connected to the T-shaped seat (33) and the slide plate (38). The front end of the push-pull frame (31) cooperates with the slide plate (38) to abut against it.

8. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 1 is characterized in that: The cleaning assembly 2 comprises a slide bar (41), a slide seat (43), and a top plate (44); the slide bar (41) is slidably connected to the side baffle (21), and the slide bar (41) is respectively arranged on the upper and lower sides of the slide rail 2 (9), and slides and extends to the rear side of the support frame (5); the scraper 2 (40) is connected to the front end of the slide bar (41); the slide seat (43) is slidably sleeved on the rear end of the slide bar (41); and the rear side of the support frame (5) is provided with a slide groove (50) ), the slide seat (43) is slidably connected in the slide groove (50), the outer side of the slide rod (41) is provided with a spring 2 (42), and the two ends of the spring 2 (42) are respectively connected to the slide seat (43) and the slide rod (41), the top plate (44) is connected to the slide plate frame (8) and is located outside the two ends of the slide rail 2 (9), one end of the scraper 2 (40) extends outside the side baffle (21), and the top plate (44) cooperates and contacts with the extended end of the scraper 2 (40).

9. The intelligent layered reciprocating spraying robot for exterior walls of high-rise buildings according to claim 1, characterized in that: A multifunctional sensor module (12) is installed on the front side of the telescopic part 1 (11), and the nozzle (13) is installed on the multifunctional sensor module (12) and is arranged in multiples. Each nozzle (13) is connected to a hose (14). The paint box (1) is divided into multiple compartments, and a pump body (15) is installed on the outside of each compartment. The other end of each hose (14) is connected to the pump body (15). A telescopic part 2 (48) is installed on the outside of the paint box (1), and a large universal wheel (49) is installed on the output end of the telescopic part 2 (48). A movable baffle (52) is bolted to the positive baffle (16).

10. A spraying method for a high-rise building exterior wall intelligent layered reciprocating spraying robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Install a hanging basket hoist on both sides of the paint box (1), and configure a control box for control, then fix a steel wire rope on the roof of the high-rise building, and assemble the steel wire rope and the hanging basket hoist accordingly, and finally pour paint into the paint box (1) and lift the working position of the hanging basket hoist column; Step 2: directly spray the paint in the paint box (1) onto the exterior wall of the high-rise building through the spray head (13), and drive the slider (10) to slide back and forth horizontally inside the slider (9) through the slide rail (9) to achieve reciprocating spraying; Step 3: When it is necessary to spray the high-rise building in layers, the slide plate frame (8) is driven to slide in a direction away from the paint box (1), which can drive the push rod (17) to push the front baffle (16) to rotate to an inclined or horizontal position. At the same time, the side baffles (21) on both sides are driven by the driving assembly to approach each other and form an enclosed area with the rotating front baffle (16). At this time, the spraying range of the nozzle (13) is the enclosed area, so as to achieve accurate layered spraying; Step 4: Since the nozzle (13) is in the enclosed area after the front baffle (16) and the side baffle (21) are adjusted, after use, the front baffle (16) is first reset to a vertical state and the side baffles (21) on both sides are reset to a maximum distance from each other, and then the cleaning component 1 drives the scraper 1 (26) to move up and down reciprocatingly to scrape off the paint on the surface of the front baffle (16), and the cleaning component 2 drives the scraper 2 (40) to move back and forth to scrape off the paint on the surface of the side baffle (21).

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