Intelligent spraying robot for outer wall of high-rise building

Abstract

The invention relates to an intelligent spraying robot for an outer wall of a high-rise building. The intelligent spraying robot comprises a self-adaptive truss lifting system, a dynamic guide assembly, an intelligent spraying system, a control system, a multi-rotor unmanned aerial vehicle and the like. Intelligent switching of the truss section is achieved, and when wind resistance of a low-altitude small section is reduced by 40%, the lifting speed is increased to 5 m / min; the inertia moment of the polygonal section is increased by 50% in high altitude / strong wind, and the wind pressure gt is matched; 0.25 kPa automatic expansion is achieved, and the sixth-level wind deviation is smaller than or equal to 0.8 mm. The lifting speed is increased through vibration reduction of the guide wheels, spraying is assisted by the unmanned aerial vehicle, a special-shaped area is covered, safe operation under 8-level wind is guaranteed through universal supporting and wind speed monitoring, and the comprehensive construction efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of high-rise building outer wall spraying technology, and more particularly to a high-rise building outer wall intelligent spraying robot. BACKGROUND

[0002] In the field of high-rise building outer wall spraying, traditional robots face two insoluble problems:

[0003] The first is the dilemma between wind resistance and work efficiency: existing high-altitude spraying equipment (such as patent documents CN113601485B High-rise building outer wall intelligent spraying robot, CN113909033B Intelligent spraying robot device, spraying method and local spraying method) uses a fixed cross-section truss. In order to ensure stability in strong winds, the structure weight must be increased (resulting in a lifting speed of ≤0.5 m / min) or the safety margin must be sacrificed (a deviation of >3.5 mm under 6-level wind). For example, patent document CN114856131B Indoor wall intelligent spraying robot, its rigid guide mechanism cannot compensate for wind-induced vibration, and the acceleration during lifting is >1.0g, which not only limits speed improvement but also threatens equipment safety.

[0004] The second is the coverage blind area of irregular structure spraying: single mechanical arm solutions (such as CN114856131B) are limited by the degrees of freedom of movement, with a coverage rate of <85% for curved recessed areas, and the rigidity of the telescopic arm decreases sharply when operating at super high altitudes (with an end positioning error of >50 mm at a height of >100 m).

[0005] The crux of the existing technology is that the fixed cross-section shape of the truss cannot be changed, resulting in a trade-off between wind resistance and efficiency, and the structural limitations of mechanical arms create coverage blind areas in irregular areas. Although the technical solution in patent document CN113601485B improves wind resistance by increasing the weight of the structure (but the weight is estimated to increase by 40%), and the technical solution in patent document CN114856131B optimizes indoor mechanical arm path planning, neither of them breaks through the core bottleneck of high-altitude wind load and complex surface collaborative control.

[0006] Therefore, how to provide a high-rise building outer wall intelligent spraying robot that can break through the core bottleneck of high-altitude wind load and complex surface collaborative control is a problem that needs to be solved by those skilled in the art. SUMMARY

[0007] The present application aims to at least partially solve one of the above technical problems in the prior art.

[0008] To this end, one object of the present application is to provide a high-rise building outer wall intelligent spraying robot to solve the dilemma of wind resistance and work efficiency. Another object of the present application is to provide a high-rise building outer wall intelligent spraying robot to solve the coverage blind area problem of spraying of special-shaped structures.

[0009] The technical solution of the present application is a high-rise building outer wall intelligent spraying robot, comprising:

[0010] The adaptive truss lifting system is composed of a plurality of honeycomb modular units, each of which includes a plurality of wall panels connected by hinges and a hydraulic drive device. The hydraulic drive device drives the corresponding wall panel to change position through a piston rod, realizing the switching of the cross section of each honeycomb modular unit between 1-1.4 m square and polygon. Low-altitude operation adopts a square cross section, and high-altitude operation or in strong wind adopts a polygonal cross section.

[0011] The dynamic guiding assembly is provided on both sides of the adaptive truss lifting system and cooperates with the two sliding rails installed on the wall to guide the lifting of the adaptive truss lifting system.

[0012] The intelligent spraying system at least includes a spraying body located in the middle of the adaptive truss lifting system and a multi-joint mechanical arm located on the spraying body. The multi-joint mechanical arm is equipped with a binocular vision sensor. A wind sensor and a gravity center sensor are installed on the spraying body and / or the truss body.

[0013] The control system receives real-time data of the wind sensor and the gravity center sensor, and triggers the cross section expansion instruction of the adaptive truss lifting system when the wind pressure is greater than 0.25 kPa.

[0014] According to the intelligent spraying robot of the present application, the dynamic guiding assembly is a guiding wheel set cooperating with the sliding rail, and the sliding rail has a sliding groove cooperating with the guiding wheel set. The adaptive truss lifting system is fixedly connected with a steel connecting piece on the side opposite to the guiding wheel set at both ends, and the eccentric shaft of each guiding wheel is connected through the steel connecting piece for rotating and adjusting the gap between the guiding wheel and the sliding rail.

[0015] According to the intelligent spraying robot of the present application, each honeycomb modular unit is made of high-strength lightweight alloy material, and adjacent two honeycomb modular units are connected by a spring telescopic rod.

[0016] According to the intelligent spraying robot of the present application, each honeycomb modular unit is a cube structure in the initial state, comprising:

[0017] Two fixed integral side plates are arranged opposite to each other along the length direction of the truss body.

[0018] Four movable side plates are distributed on the front and back surfaces, and adjacent movable side plates are connected by hinges;

[0019] The mechanical locking element is arranged at the joint of the fixed integral side plate and the movable side plate adjacent thereto, and comprises: a cantilever spring wedge-shaped clamping block at the edge of the fixed integral side plate; a rectangular anti-skid toothed groove at the movable side plate; two piston rods synchronously driving a top middle hinge and a bottom middle hinge; when the fixed integral side plate and the movable side plate adjacent thereto form an angle of 90°, the cantilever spring wedge-shaped clamping block slides into the rectangular anti-skid toothed groove to form mechanical locking, and the hydraulic system is depressurized to 5-10 MPa to maintain back pressure compensation.

[0020] The intelligent spraying robot further comprises lateral support arms arranged every 3-5 m along the wall body, the lateral support arms comprise sleeve-type telescopic arms, the sleeve-type telescopic arms are connected with the steel connecting pieces through universal hinges, and the ends of the sleeve-type telescopic arms are attached to the wall body through rubber buffer pads with annular air bags; the sleeve-type telescopic arms are electrically connected with the control system, the control system receives data of the gravity center sensor, and the support pressure of the sleeve-type telescopic arms is adjusted when the gravity center deviates by more than 5%.

[0021] The intelligent spraying robot further comprises lateral support arms arranged every 3-5 m along the wall body, the lateral support arms comprise sleeve-type telescopic arms, the sleeve-type telescopic arms are connected with the steel connecting pieces through universal hinges, and the ends of the sleeve-type telescopic arms are attached to the wall body through rubber buffer pads with annular air bags; the sleeve-type telescopic arms are electrically connected with the control system, the control system receives data of the gravity center sensor, and the support pressure of the sleeve-type telescopic arms is adjusted when the gravity center deviates by more than 5%.

[0022] The intelligent spraying robot further comprises lateral support arms arranged every 3-5 m along the wall body, the lateral support arms comprise sleeve-type telescopic arms, the sleeve-type telescopic arms are connected with the steel connecting pieces through universal hinges, and the ends of the sleeve-type telescopic arms are attached to the wall body through rubber buffer pads with annular air bags; the sleeve-type telescopic arms are electrically connected with the control system, the control system receives data of the gravity center sensor, and the support pressure of the sleeve-type telescopic arms is adjusted when the gravity center deviates by more than 5%.

[0023] The intelligent spraying robot further comprises lateral support arms arranged every 3-5 m along the wall body, the lateral support arms comprise sleeve-type telescopic arms, the sleeve-type telescopic arms are connected with the steel connecting pieces through universal hinges, and the ends of the sleeve-type telescopic arms are attached to the wall body through rubber buffer pads with annular air bags; the sleeve-type telescopic arms are electrically connected with the control system, the control system receives data of the gravity center sensor, and the support pressure of the sleeve-type telescopic arms is adjusted when the gravity center deviates by more than 5%.

[0024] According to the intelligent spraying robot of the application, an ultrasonic wind speed and direction meter is installed on the adaptive truss lifting system or the spraying body, the measuring range is 0-60 m / s, the accuracy is ±0.1 m / s, and when the wind speed is greater than a set threshold, the cross section of the honeycomb modular unit is stopped from expanding.

[0025] According to the intelligent spraying robot of the application, the two sliding rails are fixed on the wall body through L-shaped supports.

[0026] According to the technical scheme, compared with the prior art, the application has the following beneficial effects:

[0027] 1. The application realizes intelligent switching of the truss cross section, reduces wind resistance by 40% when the low-altitude small cross section (1-1.4 m 2 ) is reduced, and improves the lifting speed to 5 m / min; the polygonal cross section increases the moment of inertia by 50% when the altitude is high and the wind is strong, and is automatically expanded in cooperation with the wind pressure >0.25 kPa, and the 6-level wind deviation is ≤0.8 mm.

[0028] 2. The application adjusts the polyurethane encapsulated wheel gap (0-1.5 mm) of the eccentric shaft, reduces the lifting vibration acceleration to ≤0.5 g, and prolongs the service life of the sliding rail.

[0029] 3. The application absorbs the deformation stress between the modules by the spring telescopic rod, allows the adjacent units to deflect ±5°, and adapts to the installation error of the curved wall.

[0030] 4. The application uses the wedge-shaped self-locking principle to realize zero-power locking by the cantilever spring wedge-shaped clamping block (inclination angle 15-20°), ensures that the inclination angle is less than the friction angle to ensure that the wedge-shaped clamping block is not unlocked without external force, and the anti-vibration impact force is >1 kN. The anti-skid tooth pattern rectangular clamping groove (depth 10-15 mm) has a tooth pattern friction coefficient increased to 0.6, a lateral sliding shear strength ≥80 MPa resisting wind load, a 90° target position triggering locking precise control of cross section deformation, avoidance of structural instability caused by excessive expansion, and an angle error ≤0.5°. The hydraulic pressure is reduced to 5-10 MPa back pressure, the mechanical gap (0.1-0.3 mm) is compensated, and the micro-vibration is eliminated; the hydraulic power consumption is reduced by 70%, the energy consumption is reduced from 3 kW to 0.9 kW; the double-piston rod is synchronously driven, the top / bottom hinges are linked, and the deformation of the four movable side plates is ensured to be synchronous.

[0031] 5. The cross shaft universal coupling compensates for the unevenness of the wall, and the annular air bag (0.25-0.35 MPa) adsorbing force offsets the gravity offset moment, and the anti-overturning safety factor is ≥2.0.

[0032] 6. The mechanical arm and the unmanned aerial vehicle cooperatively cover the special-shaped area, and the blind area rate is reduced.

[0033] 7. The spherical groove and the spherical body gap ≤0.1 mm, the feeding pipe is automatically connected, and the supply efficiency is improved.

[0034] 8. Ultrasonic anemometer (±0.1 m / s) triggers the deformation to stop when the wind speed is greater than 17.2 m / s, and to land urgently when the wind speed is greater than 20 m / s.

[0035] 9. The cross-section deformation of the present application reduces the wind resistance, the guide wheel reduces the vibration to improve the lifting speed, the unmanned aerial vehicle assists the spraying, covers the special-shaped area, the universal support and the wind speed monitoring guarantee the safe operation under the 8-level wind, and the comprehensive construction efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0037] Figure 1 A schematic view of the self-adaptive truss lifting system in the intelligent spraying robot for the outer wall of a high-rise building and the main view direction of the intelligent spraying system is provided.

[0038] Figure 2 A schematic view of the expanded cross-section of the honeycomb-shaped modular unit is shown.

[0039] Figure 3 A schematic view of the application of the present application on the wall is shown.

[0040] Figure 4 A schematic view of the connection between the slide rail and the L-shaped support is shown.

[0041] Figure 5 A schematic view of the cooperation between the dynamic guide assembly, the steel connecting piece and the slide rail is shown.

[0042] Figure 6a A structural schematic view of the initial state of the honeycomb-shaped modular unit is shown.

[0043] Figure 6b A structural schematic view of the expanded state of the honeycomb-shaped modular unit is shown.

[0044] Figure 7 A schematic view of the connection between the mechanical locking piece and the fixed integral side plate and the movable side plate is shown.

[0045] Figure 8 A schematic view of the connection between the steel connecting piece and the lateral support arm is shown.

[0046] Figure 9 A bottom view of the multi-rotor unmanned aerial vehicle is shown.

[0047] Figure 10A front view of the multi-rotor unmanned aerial vehicle is shown;

[0048] Figure 11 A top view of the rotor platform is shown;

[0049] Figure 12 A schematic view of the connection of the hydraulic drive device with the connecting rod is shown;

[0050] Figure 13 A schematic view of the hydraulic drive system is shown. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below with reference to examples shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0052] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0053] The inventor has studied the deficiencies of conventional robots in high-rise building exterior spraying, i.e. the fixed truss section form cannot be changed, resulting in the need to sacrifice efficiency to improve wind resistance, and the structure of the mechanical arm is limited, causing a blind area in the coverage of special-shaped areas. The existing technical solution improves wind resistance by increasing the structure, but the weight needs to be increased by about 40%, and there is an urgent need for a technical solution that can break through the coordination control of high-altitude wind load and complex curved surface to meet the actual use requirements of high-rise building exterior spraying.

[0054] Therefore, the technical solution of the present application adopts a high-rise building exterior intelligent spraying robot, and the truss lifting structure adopts a self-adaptive adjustable section truss lifting system. As the main lifting device for high-altitude operation, the truss adopts a deformable section design, which remains in a small state during low-altitude operation to reduce wind resistance and weight; when lifted to high altitude, the truss section can be automatically enlarged according to the wind force and operation requirements to enhance the structural stability. The hydraulic drive device provides power for the lifting of the truss, and high-precision sensors monitor parameters such as wind force and gravity center in real time, and the intelligent control system automatically adjusts the truss form and lifting speed according to these information. In a strong wind environment, the truss section can quickly expand to increase the windward area, reduce the shaking amplitude through the balance of wind resistance, and ensure the stability of the operation platform.

[0055] The present application adopts small section at low altitude, realizes drag reduction and speed increase by reducing the windward area of the truss body; adopts large section at high altitude, achieves wind resistance and stability by increasing the moment of inertia and using wind resistance damping.

[0056] The above principle can be according to Clough, R. W. & Penzien, J. Dynamics of Structures (3rd ed, 2003, McGraw-Hill) chapter 4 involved: the proportional relationship between the section moment of inertia I and the bending stiffness EI (E is the elastic modulus), the formula is as follows:

[0057] Where, δ- deflection; F- load; L- length;

[0058] Conclusion: increasing I can significantly reduce the wind load deflection δ.

[0059] In addition, according to Simiu, E. & Scanlan, R. H. Wind Effects on Structures (3rd ed, 1996, Wiley Chapter 6 verifies the aerodynamic damping mechanism of blunt body section (such as polygonal truss): the fluid resistance generated by the vortex shedding behind the blunt body lags behind the structure movement, forming a negative feedback loop, consuming vibration energy.

[0060] Referring to the accompanying drawings Figures 1-11 , comprising: an adaptive truss lifting system 10, a dynamic guiding assembly 20, an intelligent spraying system 30 and a control system, etc.

[0061] The adaptive truss lifting system 10 is a truss body composed of a plurality of honeycomb modular units 101, each honeycomb modular unit 101 includes a plurality of wall plates 1012 connected by a plurality of hinges 1011 and a hydraulic drive device, the hydraulic drive device drives the corresponding wall plate 1012 to change position through the piston rod 102, realizing the switching of the section of each honeycomb modular unit 101 between 1-1.4m square and polygon, adopting square section for low-altitude operation, and adopting polygonal section for high-altitude operation or encountering strong wind;

[0062] The dynamic guiding assembly 20 is arranged on both sides of the adaptive truss lifting system 10, cooperates with two slide rails Q1 installed on the wall body Q, and guides the lifting of the adaptive truss lifting system 10.

[0063] The intelligent spraying system 30 at least includes a spraying body 301 located in the middle of the adaptive truss lifting system 10 and a multi-joint mechanical arm 302 located on the spraying body 301, the multi-joint mechanical arm 302 is equipped with a binocular vision sensor; the spraying body 301 and / or the truss body are provided with a wind sensor and a gravity center sensor;

[0064] The control system receives wind sensor and barycenter sensor data in real time, and triggers the adaptive truss lifting system 10 to expand the section when the wind pressure is greater than 0.25 kPa.

[0065] The multi-joint robot arm 302 is implemented by using existing technologies, and has at least multiple rotating and telescopic joints, and precise control is achieved through servo motors and precise transmission mechanisms. The robot arm is equipped with high-precision visual sensors and laser range finders, which can sense the shape and position of the work surface in real time. The control system plans the motion trajectory of the robot arm according to the sensor information, so that the multi-joint robot arm end sprayer always maintains the best spraying angle and distance. For complex special-shaped structures, the robot arm can realize complex spatial motion through multi-axis linkage, accurately spray each surface of the structure, and improve the spraying quality and efficiency.

[0066] Two high-precision slide rails Q1 are installed on the surface of the wall Q. The slide rails are made of stainless steel, the surface is hardened and tempered, the hardness is above HRC55, and the wear life is greater than or equal to 10,000 times of lifting cycle. The cross section of the slide rail Q1 is rectangular, the height is 20-30 mm, and the width is 40-60 mm, which ensures sufficient supporting stiffness. Referring to the attached Figure 4 , the slide rail Q1 is connected with the wall Q through an L-shaped support Q2, the thickness of the L-shaped stainless steel support is greater than or equal to 5 mm, the distance between the supports is less than or equal to 2 m, 2-4 M10 expansion bolts are used to fix each support on the wall Q, the embedded depth of the expansion bolts is greater than or equal to 100 mm, and the single bolt pullout resistance is greater than or equal to 5 kN. The L-shaped support is connected with the slide rail through an M8 bolt Q3. When installing, the perpendicularity of the slide rail is adjusted through a gasket, and the perpendicularity deviation is less than or equal to 0.5 mm / m.

[0067] Referring to the attached Figure 3 and 5 , the dynamic guide assembly 20 is a guide wheel set matched with the slide rail Q1, the slide rail Q1 has a sliding groove Q11 matched with the guide wheel set; the guide wheel set adopts a polyurethane rubber-encased wheel, and the adaptive truss lifting system 10 is fixedly connected with a steel connecting piece 103 on the side opposite to the guide wheel set, and the eccentric shaft 201 of each guide wheel is connected through the steel connecting piece 103 for rotating adjustment of the gap between the guide wheel and the slide rail Q1.

[0068] The steel connecting piece 103 has a width of 80-100 mm, a height of 0.7-0.9 m, and a length of 0.7-0.9 mm. Each group of guide wheels is composed of four polyurethane rubber-encased wheels, the polyurethane rubber-encased wheels have a diameter of 100-120 mm and a Shore hardness of 80A, and are symmetrically arranged in upper and lower rows, each row has two polyurethane rubber-encased wheels, the rubber-encased layer has a thickness of 5-8 mm, which increases the friction with the slide rail and buffers vibration.

[0069] The guide wheel is installed on the steel connecting piece 103 through a φ20mm eccentric shaft 201, and the guide wheel is fixed in the circumference with the eccentric shaft 201. A key groove is processed on the φ20mm eccentric shaft, the width of the key groove is 6mm, the depth of the key groove is 3.5mm, and the inner hole of the guide wheel hub is correspondingly processed to realize the circumferential fixation. The angle between the eccentric shaft and the horizontal line is 5-10 degrees, and the eccentric shaft is connected with the steel connecting piece 103 through threads. The steel connecting piece 103 is internally provided with a threaded groove, the length of the threaded groove is 50-70mm, the length of the eccentric shaft entering the threaded groove of the steel connecting piece 103 is adjusted by rotating the eccentric shaft with a wrench, so as to adjust the gap between the guide wheel and the slide rail, the gap adjustment range is 0-1.5mm, so as to adjust the contact pressure, the contact pressure is 50-150N / wheel, and the truss body is ensured to stably ascend and descend along the slide rail. The rectangular section of the guide wheel and the slide rail forms a "groove-roller" cooperation, and the guide wheel clamps the slide rail. The slide rail groove edge is provided with a stop edge Q12, the height of the stop edge is 10-15mm, and the guide wheel is prevented from separating from the slide rail. The guide wheel group limits the lateral displacement and deflection angle of the truss, the lateral displacement is less than or equal to 1mm, the deflection angle is less than or equal to 0.5°, and the vertical direction is allowed to freely ascend and descend.

[0070] The parallelism installation accuracy error of the two slide rails is less than or equal to 1mm / full length, and the perpendicularity error is less than or equal to 0.5mm / m, so as to ensure that the truss body is evenly stressed when ascending and descending. After installation, the laser leveler is used for calibration, and when the error exceeds the standard, the support gasket is adjusted by increasing or decreasing.

[0071] Taking a 20m high truss with a load of 500kg as an example: under the action of 6-level wind (wind pressure is 0.25kPa), the friction (about 800N) between the guide wheel group and the slide rail can resist the lateral force of the truss, the offset is less than or equal to 0.8mm, and the wind resistance performance meets the safety requirements. The contact pressure is adjusted through the eccentric shaft, the vibration acceleration is less than or equal to 0.5g when the truss ascending and descending speed is 1-5m / min, and the operation platform is ensured to be stable.

[0072] Referring to the accompanying drawings Figure 1 Each of the honeycomb modular units 101 adopts a high-strength lightweight alloy material, such as a mixed structure of titanium alloy and carbon fiber composite material, which effectively reduces the overall weight while ensuring the strength and rigidity of the truss structure. Adjacent two honeycomb modular units 101 are connected through spring expansion rods 104; different support structures of different sizes can be quickly assembled according to different operation scenes and building structures.

[0073] In low-altitude operation, each modular unit is square in cross section, with a square length of 1-1.4 m. When rising to high altitude or encountering strong wind and other adverse working conditions, the hinge is driven by the hydraulic drive device to drive the wall plate to expand outward, and the truss cross section increases. In order to ensure safety, the application limits the applicable conditions, and the applicable range is within 8 levels of wind, within 17.2 m / s of wind speed, and within 184.9 Pa of wind pressure.

[0074] In the embodiments of the present application, referring to Figs. Figure 6a 、 6b and 7, each of the honeycomb modular units 101 is a square structure in the initial state, comprising:

[0075] Two fixed integral side plates 10121 are oppositely arranged along the length direction of the truss body;

[0076] Four movable side plates 10122 are distributed on the front and rear two surfaces, and adjacent movable side plates 10122 are connected by hinges 1011;

[0077] Mechanical locking member 10123 is arranged at the joint of the fixed integral side plate 10121 and the movable side plate 10122 adjacent thereto, which comprises: cantilever spring wedge-shaped clamping block 10124 located at the edge of the fixed integral side plate 10121; Anti-skid toothed rectangular clamping groove 10125 located at the movable side plate 10122; Two piston rods 102 synchronously drive the top and bottom middle hinges; When the fixed integral side plate 10121 and the movable side plate 10122 adjacent thereto form an angle of 90°, the cantilever spring wedge-shaped clamping block 10124 slides into the anti-skid toothed rectangular clamping groove 10125 to form mechanical locking, and the hydraulic system is depressurized to 5-10 MPa to maintain back pressure compensation.

[0078] Among them, two fixed integral side plates 10121 and movable side plates 10122 adjacent thereto forming a right angle are mechanically locked by mechanical locking member 10123, and cantilever spring clamping block 10124 is locked, specifically as follows:

[0079] The hinge seat edge of the fixed integral side plate 10121 is fixed with a cantilever spring, which is made of 65Mn spring steel, has a thickness of 3-5 mm, a length of 50-80 mm, and a wedge-shaped clamping block welded at the end of the cantilever spring, the wedge-shaped clamping block has a length of 20-25 mm, a width of 10-15 mm, and a thickness of 4-6 mm, and the wedge-shaped clamping block has an inclination angle of 15°-20°. A gusset plate clamping block is welded at the corresponding position of the movable side plate 10122, the gusset plate clamping block has a length of 35-40 mm, a width of 25-30 mm, and a thickness of 20-25 mm, and a rectangular clamping groove is formed, the rectangular clamping groove has a depth of 10-15 mm and a width matched with the wedge-shaped clamping block, and an anti-slip tooth pattern is processed on the bottom surface of the clamping groove. The upper part and the lower part of the fixed integral side plate 10121 are both provided with cantilever spring clamping blocks.

[0080] The locking process is as follows: when the movable side plate 10122 is rotated to 90° with the fixed integral side plate 10121, the cantilever spring is squeezed to produce elastic deformation, the wedge-shaped clamping block tip slides into the clamping groove, the clamping block insertion depth is 10-15 mm, the spring reset thrust wedges the clamping block in the groove, forming mechanical locking, and the spring pre-tightening force is 50-60 N.

[0081] In the above embodiment, the honeycomb-shaped modular unit 101 does not seal the bottom plate and the top plate, and considering the installation of the piston rod, about 20% of the overall rigidity will be weakened, therefore, referring to the attached Figure 6a and 6b The integral wall plate klmn and the integral wall plate abcd are each increased with a reinforcing rod 10126. This is sufficient to make up for the rigidity weakening caused by not having a top plate and a bottom plate.

[0082] Referring to the attached Figure 3 and 8 It also includes a lateral support arm 40 arranged every 3-5 m along the wall body Q, the lateral support arm 40 includes a telescopic sleeve arm 401 connected with the steel connecting piece 103 through a universal hinge 402, the end of the telescopic sleeve arm 401 is attached to the wall body Q through a rubber buffer pad 404 with a ring-shaped air bag 403; the telescopic sleeve arm 401 is electrically connected with the control system, the control system receives data from the center of gravity sensor, and when the center of gravity offset is >5%, the support pressure of the telescopic sleeve arm 401 is adjusted.

[0083] The universal hinge 402 is composed of a cross shaft universal coupling, a U-shaped bearing seat 1031 and a pin shaft, allowing the sleeve telescopic arm 401 to rotate in horizontal and vertical directions to adapt to the posture change of the truss body during lifting. The cross shaft universal coupling is made of 40Cr, the pin shaft has a diameter of φ30-40mm, and the surface quenching hardness is HRC50-55. The horizontal shaft neck and the vertical shaft neck have a diameter of φ30-40mm, the pin shaft is connected with the steel connecting piece 103 through the U-shaped bearing seat, and the U-shaped bearing seat is fixed on the steel connecting piece 103 through M12 bolts (grade 8.8). The pin shaft is connected with the support arm base 4011 through the U-shaped bearing seat, the support arm base 4011 has a thickness of 20-30mm, the support arm is designed in a sleeve telescopic manner, and the inner tube 4013 of the support arm is connected with the outer tube 4012 of the support arm through a linear bearing 4015. The outer diameter of the inner tube of the support arm is φ90mm, the wall thickness is 5mm, the material is Q345B, and the surface quenching is required to enhance the wear resistance. The outer tube 4012 of the support arm has an inner diameter of φ100mm and a wall thickness of 6mm, and forms a radial gap of 10mm with the inner tube 4013 of the support arm to install the linear bearing. The linear bearing is of LME60 type, has an inner diameter of φ90mm and an outer diameter of φ100mm, and is in interference fit with the inner tube 4013 of the support arm and the outer tube 4012 of the support arm respectively to realize coaxial positioning.

[0084] An annular mounting groove is processed on the inner wall of the outer tube 4012 of the support arm, the LME60 bearing is fixed in the groove through interference fit, and the bearing outer ring is coaxial with the outer tube of the support arm. The outer wall of the inner tube of the support arm is in interference fit with the inner ring of the bearing, and after insertion, a sliding pair of “outer tube of support arm-linear bearing-inner tube of support arm” is formed to allow the inner tube to axially extend and retract. The guide key is fixed on the outer wall of the inner tube of the support arm through screws or welding, is embedded in the key groove of the outer tube of the support arm, and forms a “key-groove” sliding fit to limit the rotation of the inner tube. The guide key is set in the extension stroke to prevent rotation, and has a depth and width of 8mm. A key groove is processed on the inner wall of the outer tube, and has a depth and width of 8mm and an axial length of 600mm. An electric push rod 4014 is arranged between the support arm base 4011 and the inner tube 4013 of the support arm, the inner tube of the support arm slides along the outer tube in the axial direction under the pushing of the electric push rod, the bearing balls roll in the raceway, the friction coefficient is less than 0.01, and the extension is smooth.

[0085] In terms of horizontal rotation, the support arm adapts to the curved surface of the wall body or the lateral deviation of the truss; in terms of vertical rotation, the support arm compensates for the height difference of the truss during lifting; in terms of axial extension and retraction, the support arm extends and retracts along the axial direction, and the stroke is 300-500mm.

[0086] The lateral support structure is attached to the wall by the air bag pressing the rubber cushion, and the other end of the support arm is hinged to the truss component. The air bag and the rubber cushion generate friction by inflating and pressing, and the elasticity of the rubber can adapt to the unevenness of the wall surface, which helps to resist lateral force; the anti-sliding ability is the key, which needs to ensure that the friction generated by the air bag is at least 1.5 times the lateral load, and the influence of dynamic load is considered; the slenderness ratio of the support arm should be controlled within 100 (steel), and the cross-sectional stiffness should be enhanced to prevent buckling; at the same time, good weather-resistant rubber and tear-resistant air bag materials should be selected to reduce the influence of environmental factors.

[0087] The rubber cushion 403 is made of high-elastic polyurethane material, and the surface is designed with anti-skid texture to increase the friction with the wall. The thickness of the rubber cushion 403 is 15-20mm, and the rubber cushion is provided with threaded holes and fixed at the end of the support arm by bolts. An annular air bag 404 is arranged at the edge of the rubber cushion, which can be adsorbed to the wall after inflation, and the air pressure in the annular air bag is 0.25-0.35MPa to enhance the adhesion stability. The radial length of the annular air bag is 80-120mm.

[0088] Regarding the lateral support arm 40, see the attached Figure 3 and 8 When the truss body is at a high position or the wall flatness is poor, the spacing of the lateral support arm 40 is set to be denser. When the truss body is at a high position, the wind load is larger, and the dynamic load can amplify the lateral force fluctuation, so the spacing of the lateral support arm 40 needs to be reduced. The support arm with denser spacing can disperse dynamic stress, avoid overloading of a single support due to load fluctuation, and reduce the risk of fatigue failure of the support arm. When the wall flatness is poor, denser spacing can make each support arm closer to the local wall surface, reduce the "local adhesion failure" caused by too large spacing, and ensure effective contact and friction force transmission between the air bag and the wall. Generally, when the truss body is above 100m, 3m spacing is used, when the truss body is between 50m and 100m, 4m spacing is used, and when the truss body is below 50m, 5m spacing is used. The specific spacing can be adjusted according to the height, and adjusted according to the wall condition.

[0089] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] See the attached Figure 1, the spraying body 301 height is consistent with the modular unit height, the spraying body 301 length and width are 1.5-1.8 m, the spraying body 301 steel plate thickness is 15-18 mm. It has a spraying supply tank 3011 inside, it has a rotor platform 50 on it, the rotor platform 50 is provided with a multi-rotor unmanned aerial vehicle 51, and the multi-rotor unmanned aerial vehicle 51 supply bin 516 is communicated with the spraying supply tank 3011;The multi-joint mechanical arm 302 has a monitoring rod beside it, the top of the monitoring rod is provided with a monitoring module 3021, and the middle part is provided with a communication module 3022;The side plate of the spraying body 301 is provided with an anti-collision module 3012 in the middle, and an end control module 3013 is arranged inside.

[0091] Preferably, the spraying supply tank 3011 has a spraying pump 30113, two oil supply pipes and a connecting valve pipe inside, the spraying pump 30113 is connected with the connecting valve pipe, the connecting valve pipe is divided into two branches, one branch is connected with the first oil supply pipe 30111 as the oil supply pipe of the multi-joint mechanical arm 302;The other branch is connected with the second oil supply pipe 30112 as the oil supply of the supply bin 516 of the multi-rotor unmanned aerial vehicle 51. The two supply pipes are provided with control switches to control opening and closing.

[0092] The hydraulic drive device is the core power source of the truss section adjustment, mainly including a piston rod 102, a rod hydraulic cylinder 1021, a rodless hydraulic cylinder 1022 and a hydraulic drive system 1023. Figure 12 The hydraulic drive device is a double-piston rod hydraulic cylinder, the piston rod of the rod hydraulic cylinder part is connected with the connecting rod 10232 through threads, the piston rod diameter is 25-32 mm, the connecting rod 10232 diameter is 25-32 mm, the connecting rod 10232 is provided with internal threads, the piston rod end is processed external threads, and is directly screwed into the connecting rod. The connecting rod 10232 is connected with the hinge.

[0093] Figure 13The hydraulic drive system is schematically shown in the figure, which is composed of electromagnetic reversing valve 10233, throttle valve 10234, filter 10235, overflow valve 10236, hydraulic pump 10237, motor 10238, oil tank 10239, oil pipe 10231, oil tank 10239 and hydraulic control system 1025. The electromagnetic reversing valve, throttle valve, filter and overflow valve form a control valve group for controlling the flow direction, pressure and flow rate of hydraulic oil. The electromagnetic reversing valve functions to control the movement of the valve core by energizing or de-energizing the electromagnetic coil, thereby changing the flow direction of the hydraulic oil to realize the start, stop, reversing and movement direction switching of the hydraulic cylinder. In the reciprocating motion system of the hydraulic cylinder, the electromagnetic reversing valve switches the oil circuit to make the hydraulic oil enter the rod hydraulic cylinder or rodless hydraulic cylinder to push the piston to reciprocate. The throttle valve functions to adjust the flow rate of the hydraulic oil by changing the flow area of the valve port, thereby controlling the movement speed of the hydraulic cylinder. The filter functions to filter impurities in the hydraulic oil to keep the oil clean, prevent impurities from clogging the valve port and scratching the surface of the element, and prolong the service life of the hydraulic system. The overflow valve functions to stabilize and limit the pressure, and when the system pressure exceeds the set value, the overflow valve opens to discharge the excess oil back to the oil tank to maintain the system pressure stable at the set value and prevent system overload.

[0094] When the truss body rises to high altitude or encounters strong wind and other harsh working conditions, the pressure sensor detects the external wind pressure or load change and transmits the signal to the control system. The control system immediately issues an expansion command, and the hydraulic pump delivers hydraulic oil to the rodless hydraulic cylinder of the hydraulic cylinder through the pipeline. At this time, the hydraulic oil in the rod hydraulic cylinder flows back to the oil tank under the action of the pressure difference. The hydraulic cylinder piston rod pushes outwards, drives the movable side plate through the connecting rod and hinge, thereby realizing the expansion of the honeycomb structure, increasing the moment of inertia of the truss cross section, and enhancing the wind resistance and load bearing capacity of the truss. The control system presets a safety pressure threshold, which is set to 0.6-0.8 MPa. When the measured pressure exceeds the threshold, such as when the wind pressure is too large to cause truss deformation, an instruction to "expand the truss cross section" is immediately issued. When the measured pressure feedback safety pressure becomes larger, an instruction to stop work is issued.

[0095] The hydraulic pump adopts a variable plunger pump, which can accurately adjust the output flow and pressure according to the actual demand of the system. Its maximum output pressure can reach 35 MPa, and the flow range is between 0-100 L / min, and continuous and smooth flow and pressure adjustment can be achieved through electronic control. The cylinder body of the hydraulic cylinder is made of high-strength alloy steel, which is precisely machined and heat treated to ensure its sufficient strength and rigidity. The surface of the piston and piston rod is specially treated for wear resistance and corrosion resistance, and the sealing element is made of high-performance rubber material to ensure the sealing and reliability of the hydraulic cylinder. The hydraulic oil pipe is made of high-pressure steel wire braided rubber pipe, which has good flexibility and pressure resistance and can withstand a pressure of up to 40 MPa. The connection of the oil pipe adopts a quick connector, which is convenient for installation and disassembly, and at the same time ensures the sealing of the connection to prevent hydraulic oil leakage. The shell of the hydraulic drive system is made of steel plate, and the hydraulic drive system is fixed on the hydraulic cylinder through an I-beam connector. The hydraulic drive system and the I-beam connector are welded, and the I-beam connector and the hydraulic cylinder are welded.

[0096] The sensing control system in the application at least includes a wind sensor, a gravity center sensor, and a displacement sensor.

[0097] The wind sensor is an ultrasonic wind speed and direction instrument installed at the top of the truss, which can monitor the wind speed (measurement range 0-60 m / s, accuracy ±0.1 m / s) and direction in real time. The sensor transmits data to the control system, which adjusts the truss section shape and lifting speed in advance according to the wind size and direction to reduce the impact of wind load.

[0098] The gravity center sensor is composed of multiple weighing sensors evenly distributed at the bottom of the truss body, forming a gravity center monitoring network. The gravity center sensor monitors the distribution of equipment and personnel on the platform in real time and calculates the overall gravity center position. When the gravity center deviates beyond the safe range, the control system automatically adjusts the truss attitude to maintain balance.

[0099] The displacement sensor is a linear displacement sensor installed at each joint and adjustable section of the truss, with an accuracy of ±0.1 mm. By monitoring the displacement changes of each part, the lifting height and section deformation degree of the truss are accurately controlled to ensure the accuracy of the system operation.

[0100] The application conducts safety evaluation tests on the honeycomb aluminum alloy wallboard structure, tests the strength and fatigue degree of the honeycomb aluminum alloy wallboard structure after repeated deformation, and under the design load, the cycle number is greater than 5x10 4 times without visible cracks, corresponding to 5-10 years of actual use, the fatigue life requirement is met; the ultimate strength attenuation rate is less than or equal to 15% after fatigue test, the residual deformation is less than or equal to 1mm, and the strength attenuation limit meets the requirements; the cycle number is 1x10 5 times, the crack length is less than or equal to 0.5mm, and the propagation rate is less than or equal to 1x10-7 mm / cycle, crack propagation control is in compliance with requirements.

[0101] In the construction, there are many inaccessible positions, such as the top of high-rise buildings, recesses or protruding parts of complex special-shaped structures, etc. The lift generated by the rotor enables the multi-rotor unmanned aerial vehicle to take off vertically, directly cross the obstacles and easily reach the places that the traditional construction equipment is difficult to reach, which provides the possibility for construction. During the operation, the unmanned aerial vehicle needs to operate at different heights and positions according to the construction requirements. The multi-rotor unmanned aerial vehicle spraying structure can quickly adjust the height and horizontal position of the unmanned aerial vehicle by precisely controlling the rotation speed and direction, so that the unmanned aerial vehicle can accurately hover above the position where the operation is required, and meet the requirements of different construction points. For example, when spraying the outer wall of a sculpture with a unique shape or a super high-rise curved building, the unmanned aerial vehicle can flexibly approach the operation surface, solving the problem that the telescopic arm cannot operate due to height and shape restrictions. The multi-rotor unmanned aerial vehicle uses existing technologies to achieve the purpose of the present application, and the improvement points are mainly as follows: Figure 1 、 9 -11, four spherical grooves 501 are arranged on the rotor platform 50, the second oil supply pipe 30112 passes through the middle part of the rotor platform 50 to the top of the rotor platform 50; the multi-rotor unmanned aerial vehicle 51 has a plurality of rotors 511, and the bottom has a circular ball 512 matched with the spherical groove 501, after the multi-rotor unmanned aerial vehicle 51 lands on the rotor platform 50, the second oil supply pipe 30112 is inserted into the feed bin 516; the multi-rotor unmanned aerial vehicle 51 has an unmanned aerial vehicle spraying system 515, and the feed bin 516 has an unmanned aerial vehicle oil supply pipe 513, the unmanned aerial vehicle oil supply pipe 513 extends outward, and the end has an unmanned aerial vehicle nozzle 514.

[0102] The height of the rotor platform is 35-45mm, the length and width of the rotor platform are 500-600mm, and the diameter of the spherical groove 501 is 35-45mm.

[0103] In the present application, an ultrasonic wind speed and direction instrument is installed on the self-adaptive truss lifting system 10 or the spraying body 301, the measurement range is 0-60m / s, and the accuracy is ±0.1m / s. When the wind speed is greater than the set threshold, the cross section of the honeycomb-shaped modular unit 101 is stopped from expanding.

[0104] In a specific application example, a 100m high curved building outer wall is sprayed:

[0105] Step 1: The system is installed on the wall Q surface, two parallel slide rails Q1 are installed, the distance is 8m, and the L-shaped support Q2 is fixed: the support spacing is ≤2m, the M10 expansion bolt is embedded to ≥100mm; the parallelism of the laser calibration slide rail is ≤1mm / full length, and the perpendicularity is ≤0.5mm / m;

[0106] Step 2: truss initialization, guide wheel group of adaptive truss lifting system 10 is inserted into slide rail Q1: rotate eccentric shaft 201 to adjust the gap to 0.8mm; spring telescopic rod 104 connects honeycomb module, the initial cross section is 1.2m x 1.2m square;

[0107] Step 3: spraying operation

[0108] Low-altitude operation: (0-30m) mechanical arm starts spraying; truss rises at a constant speed (3m / min), and its binocular vision scans the plane area;

[0109] High-altitude strong wind area: (30-100m), wind pressure sensor detects wind pressure 0.3kPa; control system triggers cross-section deformation: hydraulic cylinder pushes piston rod, pushes corresponding movable side plates on the front and rear sides to 90 degrees with their adjacent fixed integral side plates 10121, and mechanically locks. The cross-section becomes hexagonal, the deformation time is ≤10s, the moment of inertia increases by 55%, and the air bag of the support arm is inflated to 0.3MPa.

[0110] Special-shaped structure area (curved top), mechanical arm identifies the curvature of the curved surface >0.5m -1 , the unmanned aerial vehicle lands on the rotor platform, the spherical ball is embedded in the spherical groove, and the second oil supply pipe is inserted into the feed bin; the positioning error of the unmanned aerial vehicle spraying concave area is ≤0.1mm, and the paint flow is synchronized with the mechanical arm.

[0111] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0112] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An intelligent spraying robot for exterior walls of high-rise buildings, characterized in that: include: An adaptive truss lifting system (10) is a truss main body composed of a plurality of honeycomb modular units (101), each honeycomb modular unit (101) comprising a plurality of wall panels (1012) connected by a plurality of hinges (1011) and a hydraulic drive device, wherein the hydraulic drive device drives the corresponding wall panels (1012) to change positions via a piston rod (102), thereby enabling the cross section of each honeycomb modular unit (101) to switch between a 1-1.4 m square and a polygonal shape, wherein a square cross section is used for low-altitude operations and a polygonal cross section is used for high-altitude operations or in strong winds; Dynamic guide components (20) are provided on both sides of the adaptive truss lifting system (10) and cooperate with two slide rails (Q1) installed on the wall (Q) to provide lifting and lowering guidance for the adaptive truss lifting system (10); The intelligent spraying system (30) comprises at least a spraying body (301) located in the middle of the adaptive truss lifting system (10) and a multi-joint mechanical arm (302) located on the spraying body (301), wherein the multi-joint mechanical arm (302) is equipped with a binocular vision sensor; a wind sensor and a center of gravity sensor are installed on the spraying body (301) and / or the truss body; The control system receives data from the wind sensor and the center of gravity sensor in real time, and triggers the cross-section expansion instruction of the adaptive truss lifting system (10) when the wind pressure is greater than 0.25kPa.

2. The intelligent spraying robot for exterior walls of high-rise buildings according to claim 1, characterized in that: The dynamic guide assembly (20) is a guide wheel group that cooperates with the slide rail (Q1), and the slide rail (Q1) has a slide groove (Q11) that cooperates with the guide wheel group; the guide wheel group adopts a polyurethane rubber-coated wheel, and both ends of the adaptive truss lifting system (10) are fixedly connected to the side of the guide wheel group relative to the guide wheel group. The eccentric shaft (201) of each guide wheel is connected through the steel connector (103) for rotating and adjusting the gap between the guide wheel and the slide rail (Q1).

3. The intelligent spraying robot for exterior walls of high-rise buildings according to claim 1, characterized in that: Each of the honeycomb-shaped modular units (101) is made of a high-strength lightweight alloy material, and two adjacent honeycomb-shaped modular units (101) are connected via a spring telescopic rod (104).

4. The intelligent spraying robot for exterior walls of high-rise buildings according to claim 1, characterized in that: Each of the honeycomb modular units (101) is a cube structure in an initial state, comprising: Two fixed integral side plates (10121) are arranged opposite to each other along the length direction of the truss body; Four movable side panels (10122) are distributed on the front and rear surfaces, and adjacent movable side panels (10122) are connected by hinges (1011); A mechanical locking member (10123) is provided at the junction of the fixed integral side plate (10121) and the adjacent movable side plate (10122), and comprises: a cantilever spring wedge-shaped block (10124) located at the edge of the fixed integral side plate (10121); a rectangular slot (10125) with anti-slip teeth located on the movable side plate (10122); two piston rods (102) synchronously drive the top middle hinge and the bottom middle hinge; when the angle between the fixed integral side plate (10121) and the adjacent movable side plate (10122) is 90°, the cantilever spring wedge-shaped block (10124) slides into the rectangular slot (10125) with anti-slip teeth to form a mechanical lock, and the hydraulic system reduces the pressure to 5-10 MPa to maintain back pressure compensation.

5. The intelligent spraying robot for exterior walls of high-rise buildings according to claim 2, characterized in that: The invention also includes a lateral support arm (40) arranged every 3-5 m along the wall (Q), wherein the lateral support arm (40) includes a telescopic telescopic arm (401), the telescopic telescopic arm (401) is connected to the steel connecting member (103) via a universal hinge (402), and the end of the telescopic telescopic arm (401) is in contact with the wall (Q) via a rubber buffer pad (404) with an annular airbag (403); the telescopic telescopic arm (401) is electrically connected to the control system, and the control system receives data from a center of gravity sensor and adjusts the support pressure of the telescopic telescopic arm (401) when the center of gravity offset is greater than 5%.

6. The intelligent spraying robot for exterior walls of high-rise buildings according to any one of claims 1 to 5, characterized in that: The spraying body (301) has a spraying material supply box (3011) inside, and a rotor platform (50) is provided on the rotor platform (50), and a multi-rotor drone (51) is provided on the rotor platform (50), and the material supply bin (516) of the multi-rotor drone (51) is connected to the spraying material supply box (3011); a monitoring rod is provided next to the multi-joint mechanical arm (302), and a monitoring module (3021) is provided on the top of the monitoring rod, and a communication module (3022) is provided in the middle of the monitoring rod; an anti-collision module (3012) is provided in the middle of the side panel of the spraying body (301), and a terminal control module (3013) is provided inside.

7. The intelligent spraying robot for exterior walls of high-rise buildings according to claim 6, characterized in that: The spray feed box (3011) contains a spray pump (30113), two oil supply pipes and a connecting valve pipeline. The spray pump (30113) is connected to the connecting valve pipeline. The connecting valve pipeline is divided into two branches. One branch is connected to the first oil supply pipe (30111) to supply oil to the oil supply pipe of the multi-joint robotic arm (302); the other branch is connected to the second oil supply pipe (30112) to supply oil to the supply bin (516) of the multi-rotor drone (51).

8. The intelligent spraying robot for exterior walls of high-rise buildings according to claim 7, characterized in that: The rotor platform (50) is provided with four spherical grooves (501), and the second oil supply pipe (30112) passes through the middle of the rotor platform (50) to the top of the rotor platform (50); the multi-rotor UAV (51) has multiple rotors (511), the bottom of which has a circular sphere (512) adapted to the spherical grooves (501); after the multi-rotor UAV (51) lands on the rotor platform (50) and is positioned, the second oil supply pipe (30112) is inserted into the supply bin (516); the multi-rotor UAV (51) has a UAV spraying system (515), and the supply bin (516) has a UAV oil supply pipe (513), the UAV oil supply pipe (513) extends outward, and the end thereof has a UAV nozzle (514).

9. The intelligent spraying robot for exterior walls of high-rise buildings according to any one of claims 1 to 5, characterized in that: The adaptive truss lifting system (10) or the spraying body (301) is equipped with an ultrasonic wind speed and direction meter with a measurement range of 0-60m / s and an accuracy of ±0.1m / s. When the wind speed exceeds a set threshold, the expansion of the cross section of the honeycomb modular unit (101) is stopped.

10. An intelligent spraying robot for exterior walls of high-rise buildings according to any one of claims 1 to 5, characterized in that: The two slide rails (Q1) are both fixed to the wall (Q) via an L-shaped bracket (Q2).

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