Building high-altitude crack repairing robot

Abstract

The invention relates to the technical field of building repairing, in particular to a building high-altitude crack repairing robot which is characterized in that a sealing piston which slides in a manner of being attached to the inner wall of a second material pipe is arranged at the end of a fine material pipe, a through groove is formed in the position, right facing the fine material pipe, of the sealing piston, and sealing plugs are arranged at the positions, right facing the other two groups of discharging inner grooves, of the sealing piston; the device has the beneficial effects that rapid positioning of the crack position can be achieved through the flying repairing robot, meanwhile, communication of the discharging pipe and the discharging port of the material tank is achieved through the telescopic adjustable connecting pipe, and accurate adjustment of the discharging amount and the discharging distance is achieved through cooperation of the telescopic adjustable fine material pipe and the three sets of discharging inner grooves; the adaptation to the repaired crack is achieved, and the repairing efficiency and the repairing quality are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of building repair technology, specifically to a robot for repairing high-altitude cracks in buildings. Background Technology

[0002] Currently, hydraulic structures such as high dams and aqueducts are commonly affected by material aging, resulting in defects such as concrete cracking and joint leakage. Traditional inspection and repair methods rely heavily on manual operation platforms for high-altitude work, which suffers from low automation, high safety risks, difficulties in crack repair, and delayed detection of potential hazards. Especially during the operation of hydraulic structures such as high dams and aqueducts, which perform important tasks such as water retention and transportation, it is difficult to create conditions for high-altitude inspection and repair. Manual inspection and repair of high-altitude cracks in hydraulic structures presents numerous challenges, necessitating the development of robots for high-altitude crack repair in hydraulic structures.

[0003] Existing repair devices typically involve mounting the device on a drone, which then transports the spraying equipment to the crack location for repair. However, these devices lack adjustment mechanisms for cracks. For small cracks, the spray volume needs to be reduced and the spraying speed increased to ensure the repair material penetrates the crack. For larger cracks, the spray volume and area need to be increased to improve efficiency. However, existing spray cans are prefabricated and difficult to control the spray volume or adapt to the crack being repaired. Changing the spray cans would be too costly and impractical. Summary of the Invention

[0004] The purpose of this invention is to provide a robot for repairing high-altitude cracks in buildings, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-altitude crack repair robot for buildings, the repair robot comprising a main control frame, a lifting and flight module disposed on the outer side of the main control frame, a material rack for mounting a paint spraying can disposed at the lower end of the main control frame, an activation device for controlling the spraying of the paint spraying can disposed in the material rack, a discharge pipe extending outwards disposed at the discharge port on one side of the material rack, a material gathering trough disposed in the middle of the discharge pipe, and a first material pipe and a second material pipe respectively disposed on both sides of the discharge pipe, the first material pipe containing a material... A sliding, telescopic, and adjustable connecting pipe is provided. One end of the connecting pipe is slidably connected to the discharge port, and the other end of the connecting pipe is connected to the material gathering trough. One end of the second material pipe is connected to the material gathering trough. Three sets of vertically spaced discharge inner grooves are provided at the port of the second material pipe. A fine material tube driven by telescopic rod is provided in the middle discharge inner groove. A sealing piston that slides against the inner wall of the second material tube is provided at the end of the fine material tube. A through groove is provided at the position of the sealing piston facing the fine material tube. A sealing plug is provided at the position of the sealing piston facing the other two sets of discharge inner grooves.

[0006] Preferably, the lifting and flying module includes four sets of propellers arranged in a circular array along the outer side of the main control frame, with an outer protective frame provided on the outside of the propellers, and a vision module arranged parallel to the discharge pipe at the lower end of the main control frame.

[0007] Preferably, a fixing rod is vertically installed at the lower end of the main control frame, a material frame is installed on the fixing rod, a paint sprayer is installed in the material frame, and landing gears extending to the lower end of the material frame are symmetrically arranged on both sides of the main control frame.

[0008] Preferably, the material frame is provided with a side block on the side near the fixed rod, and the side block is provided with a vertical through hole. The fixed rod is inserted through the through hole, and a locking bolt pressed against the outer wall of the fixed rod is threaded on the side block in the direction perpendicular to the through hole.

[0009] Preferably, a limiting base plate is provided at the lower end of the fixing rod, and a first spring is vertically sleeved on the outer wall of the lower end of the fixing rod, with the lower end of the first spring pressed against the limiting base plate.

[0010] Preferably, the lower end of the material rack is equipped with an electrically and wirelessly controlled actuator, and the upper end of the paint can is equipped with a press-to-discharge button, which is attached to the lower outer wall of the actuator under the support of the material frame.

[0011] Preferably, the inner diameter of the material trough is larger than the inner diameter of the first material pipe and the second material pipe. The upper outer wall of the first material pipe near the outlet is provided with a sliding groove, and a slider is slidably installed in the sliding groove. The lower end of the slider is provided with a collar that fits onto the outer wall of the middle section of the connecting pipe. The upper end of the slider is provided with a rotating frame, and a right-angle hook is rotatably installed on the rotating frame. One end of the right-angle hook is connected to the slider through a second spring, and the other end of the right-angle hook is provided with a locking block. The outer wall of the end of the sliding groove is provided with a locking groove, and the locking block at the end of the right-angle hook can be rotatably inserted into the locking groove.

[0012] Preferably, the connecting pipe is provided with a tapered outer sleeve at one end near the discharge port, and a wing ring pressed against the inner wall of the material trough at the other end of the connecting pipe.

[0013] Preferably, the outer wall of the second material tube is provided with a telescopic rod parallel to the fine material tube, and the telescopic end of the telescopic rod is connected to the fine material tube through a fixing ring.

[0014] Preferably, the outer wall of the material collection tank is provided with a water inlet sealed with a sealing plug.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes a flying repair robot to quickly locate cracks. Simultaneously, it uses a telescopic and adjustable connecting pipe to connect the discharge pipe to the material tank outlet. By cooperating with a telescopic and adjustable fine material pipe and three sets of discharge inner troughs, it achieves precise adjustment of the discharge volume and discharge distance, adapting to the repair of cracks and greatly improving the efficiency and quality of repair. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Enlarged view of the structure at point A in the middle; Figure 3 This is a schematic diagram of the connecting pipe structure of the present invention; Figure 4 This is a three-dimensional structural diagram of the connecting pipe of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the material frame of the present invention; Figure 6 This is a three-dimensional structural diagram of the discharge pipe of the present invention; Figure 7 This is a three-dimensional structural diagram of the fine material tube of the present invention installed on the discharge tube.

[0017] In the diagram: 1. Main control frame; 2. Material rack; 3. Outer protective frame; 4. Propeller; 5. Vision module; 6. Fixing rod; 7. Material frame; 8. Paint can; 9. Limiting base plate; 10. First spring; 11. Landing gear; 12. Locking bolt; 13. Material gathering trough; 14. Fine material tube; 15. Discharge tube; 151. First material tube; 152. Second material tube; 16. Fixing ring; 17. Sealing piston; 18. Discharge port; 19. Slot; 20. Right-angle hook; 21. Second spring; 22. Collar; 23. Slider; 24. Slide groove; 25. Connecting pipe; 26. Side block; 27. Through hole; 28. Rotating frame; 29. ​​Water inlet; 30. Telescopic rod; 31. Discharge inner trough. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1 to 7 The present invention provides a technical solution: A high-altitude crack repair robot for buildings includes a main control frame 1. A lifting and flight module is provided on the outside of the main control frame 1. The lifting and flight module includes four sets of propellers 4 arranged in a circular array along the outside of the main control frame 1. An outer protective frame 3 is provided on the outside of the propellers 4. A vision module 5 is provided at the lower end of the main control frame 1, which is parallel to the discharge pipe 15.

[0020] By setting up a flying repair robot, the repair of building cracks can be adapted to different sites. The repair process does not affect the normal operation of the building, does not require the construction of a high-altitude work platform, and does not require workers. The high-altitude crack repair robot locates the cracks through vision module 5.

[0021] The lower end of the main control frame 1 is provided with a material rack 2 for mounting the paint can 8. The material rack 2 is provided with an excitation device for controlling the spraying of the paint can 8. The lower end of the main control frame 1 is provided with a vertical fixing rod 6. A material frame 7 is mounted on the fixing rod 6. The paint can 8 is installed in the material frame 7. The two sides of the main control frame 1 are symmetrically provided with lifting frames 11 extending to the lower end of the material frame 7. The side block 26 is provided on the side of the material frame 7 near the fixing rod 6. A vertical through hole 27 is provided on the side block 26. The fixing rod 6 is inserted through the through hole 27. A locking bolt 12 is threaded and rotated on the side block 26 in the direction perpendicular to the through hole 27 and pressed against the outer wall of the fixing rod 6. The lower end of the material rack 2 is provided with an electric wirelessly controlled exciter. The upper end of the paint can 8 is provided with a press-to-discharge button. The press-to-discharge button is attached to the lower outer wall of the exciter under the support of the material frame 7.

[0022] By setting up the material frame 7 and the material rack 2, the paint can 8 is installed on the repair robot. At the same time, the side block 26 slides on the fixed rod 6 to adapt to paint cans 8 of different sizes. The height of the material frame 7 is limited by the locking bolt 12, so that the button of the paint can 8 is adapted to the actuator on the material rack 2. The button of the paint can 8 is pressed by electrically controlling the actuator to achieve the purpose of remote intelligent control of the paint can 8 spraying.

[0023] The material rack 2 is located at the outlet 18 on one side of the paint tank 8 and has an outwardly extending discharge pipe 15. A material gathering trough 13 is provided in the middle of the discharge pipe 15. The two sides of the discharge pipe 15 are respectively a first material pipe 151 and a second material pipe 152. A sliding and telescopic adjustable connecting pipe 25 is provided in the first material pipe 151. One end of the connecting pipe 25 is slidably connected to the outlet 18, and the other end of the connecting pipe 25 is connected to the material gathering trough 13.

[0024] The sliding of the first feed tube 151 connects its end to the discharge port 18.

[0025] One end of the second material pipe 152 is connected to the material collection trough 13. Three sets of vertically spaced discharge inner grooves 31 are provided at the port of the second material pipe 152. A fine material pipe 14 driven by telescopic rod 30 is provided in the middle discharge inner groove 31. A sealing piston 17 that slides against the inner wall of the second material pipe 152 is provided at the end of the fine material pipe 14. A through groove is provided in the position of the sealing piston 17 facing the fine material pipe 14. A sealing plug is provided in the position of the sealing piston 17 facing the other two sets of discharge inner grooves 31.

[0026] By setting up three sets of discharge inner troughs 31, the discharge amount can be controlled. The telescopic rod 30 drives the fine material tube 14 to extend and retract, thereby controlling the discharge distance. In conjunction with the sealing piston 17, different discharge modes can be switched.

[0027] Working principle: First, install the paint can 8 on the material rack 2, and slide the connecting pipe 25 horizontally so that the connecting pipe 25 is connected to the outlet 18 of the paint can 8. Select the appropriate spraying method according to the opening size and depth of the crack to be repaired.

[0028] For small, deep cracks, the telescopic rod 30 drives the fine material tube 14 to extend outward, reducing the gap between the port of the fine material tube 14 and the crack. At the same time as the extension, the sealing piston 17 blocks the discharge inner groove 31 at the upper and lower positions, thereby reducing the discharge port area and the discharge volume. As the discharge volume decreases, the internal pressure increases and the discharge speed increases. Therefore, the repair coating sprayed by the fine material tube 14 is fast, which makes it easy to penetrate into the crack. The short distance makes it easy to accurately locate the crack gap.

[0029] For wide and shallow cracks, the opposite approach is used: the telescopic rod 30 drives the fine material tube 14 to contract, causing the sealing piston 17 to be housed in the material collection tank 13, thus avoiding blockage of the inner cavity of the second material tube 152, increasing the output, thereby achieving the purpose of rapid repair and improving repair efficiency.

[0030] Example 2: Based on Example 1, a limiting base plate 9 is provided at the lower end of the fixing rod 6, and a first spring 10 is vertically sleeved on the outer wall of the lower end of the fixing rod 6. The lower end of the first spring 10 is pressed against the limiting base plate 9.

[0031] By setting the limiting base plate 9 and the first spring 10 together, the material frame 7 is prevented from falling off, and it is compatible with paint cans 8 of different heights. The inner diameter of the material trough 13 is larger than the inner diameter of the first material pipe 151 and the second material pipe 152. The upper outer wall of the first material pipe 151 near the outlet 18 is provided with a sliding groove 24. A slider 23 is slidably installed in the sliding groove 24. The lower end of the slider 23 is provided with a collar 22 that fits onto the outer wall of the middle section of the connecting pipe 25. The upper end of the slider 23 is provided with a rotating frame 28. A right-angle hook 20 is rotatably installed on the rotating frame 28. One end of the right-angle hook 20 is connected to the slider 23 through a second spring 21. The other end of the right-angle hook 20 is provided with a locking block. The outer wall of the end of the sliding groove 24 is provided with a locking groove 19. The locking block at the end of the right-angle hook 20 can be rotatably inserted into the locking groove 19.

[0032] By rotating the frame 28 to rotate and install the right-angle hook 20, when adjusting the extension and retraction of the connecting tank 25, press one end of the right-angle hook 20 connected to the second spring 21, causing the other end of the right-angle hook 20 to lift up and slide laterally in the slide groove 24, thereby driving the connecting tank 25 to connect with the discharge port 18. After connection, release the right-angle hook 20, and under the reset force of the second spring 21, the end of the right-angle hook 20 will engage in the slot 19, achieving the purpose of laterally limiting the position of the right-angle hook 20, thereby fixing the position of the connecting pipe 25 and preventing the connection from falling off under the spray pressure of the paint can 8.

[0033] The connecting pipe 25 is provided with a tapered outer sleeve at one end near the discharge port 18, and a wing ring is provided at the other end of the connecting pipe 25 pressed against the inner wall of the material collection tank 13.

[0034] The tapered outer sleeve facilitates the insertion of the connecting pipe 25 into the outlet 18. The wing ring ensures a seal between the connecting pipe 25 and the inner port of the first material pipe 151, preventing paint from seeping out along the gap between the connecting pipe 25 and the first material pipe 151. The outer wall of the second feed tube 152 is provided with a telescopic rod 30 parallel to the fine feed tube 14, and the telescopic end of the telescopic rod 30 is connected to the fine feed tube 14 through a fixing ring 16; the outer wall of the material collection tank 13 is provided with a water inlet 29 sealed by a sealing plug.

[0035] By setting up the water inlet 29, during maintenance, the paint canister 8 can be removed and water can be introduced through the water inlet 29 to clean the inside of the discharge pipe 15, thus preventing the paint from solidifying and sticking inside and causing blockage.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-altitude crack repair robot for buildings, the repair robot comprising a main control frame (1), a lifting and flying module being provided on the outer side of the main control frame (1), a material rack (2) for mounting a paint spraying tank (8) being provided at the lower end of the main control frame (1), an excitation device for controlling the spraying of the paint spraying tank (8) being provided in the material rack (2), and a discharge pipe (15) extending outwards being provided at the discharge port (18) on one side of the paint tank (8) of the material rack (2), characterized in that: A material gathering trough (13) is provided in the middle of the discharge pipe (15). A first material pipe (151) and a second material pipe (152) are respectively provided on both sides of the discharge pipe (15). A sliding and telescopic adjustable connecting pipe (25) is provided inside the first material pipe (151). One end of the connecting pipe (25) is slidably connected to the discharge port (18), and the other end of the connecting pipe (25) is connected to the material gathering trough (13). One end of the second material pipe (152) is connected to the material gathering trough (13), and the second material pipe (152) is connected to the material gathering trough (13). The port of the device is provided with three sets of vertically spaced discharge inner grooves (31). The middle discharge inner groove (31) is provided with a fine material tube (14) driven by telescopic rod (30). The end of the fine material tube (14) is provided with a sealing piston (17) that slides against the inner wall of the second material tube (152). The sealing piston (17) is provided with a through groove in front of the fine material tube (14), and the sealing piston (17) is provided with a sealing plug in front of the other two sets of discharge inner grooves (31).

2. The high-altitude crack repair robot for buildings according to claim 1, characterized in that: The lifting and flying module includes four sets of propellers (4) arranged in a circular array along the outer side of the main control frame (1). An outer protective frame (3) is provided on the outer side of the propellers (4). A vision module (5) is arranged parallel to the discharge pipe (15) at the lower end of the main control frame (1).

3. The high-altitude crack repair robot for buildings according to claim 2, characterized in that: The lower end of the main control frame (1) is vertically provided with a fixing rod (6), a material frame (7) is installed on the fixing rod (6), and a paint spraying tank (8) is installed in the material frame (7). The main control frame (1) is symmetrically provided with landing gear (11) extending to the lower end of the material frame (7) on both sides.

4. The high-altitude crack repair robot for buildings according to claim 3, characterized in that: The material frame (7) is provided with a side block (26) on the side near the fixed rod (6). The side block (26) is provided with a vertical through hole (27). The fixed rod (6) is inserted through the through hole (27). The side block (26) is threaded and rotated in the direction perpendicular to the through hole (27) and a locking bolt (12) is pressed against the outer wall of the fixed rod (6).

5. The high-altitude crack repair robot for buildings according to claim 4, characterized in that: The lower end of the fixed rod (6) is provided with a limiting base plate (9), and a first spring (10) is vertically sleeved on the lower outer wall of the fixed rod (6). The lower end of the first spring (10) is pressed onto the limiting base plate (9).

6. The high-altitude crack repair robot for buildings according to claim 1, characterized in that: The lower end of the material rack (2) is equipped with an electric wirelessly controlled exciter, and the upper end of the paint spray tank (8) is equipped with a press-to-discharge button. The press-to-discharge button is attached to the lower outer wall of the exciter under the support of the material frame (7).

7. The high-altitude crack repair robot for buildings according to claim 1, characterized in that: The inner diameter of the material trough (13) is larger than the inner diameter of the first material pipe (151) and the second material pipe (152). The upper outer wall of the first material pipe (151) near the outlet (18) is provided with a sliding groove (24). A slider (23) is slidably installed in the sliding groove (24). The lower end of the slider (23) is provided with a collar (22) that is sleeved on the outer wall of the middle section of the connecting pipe (25). The upper end of the slider (23) is provided with a rotating frame (28). A right-angle hook (20) is rotatably installed on the rotating frame (28). One end of the right-angle hook (20) is connected to the slider (23) through a second spring (21). The other end of the right-angle hook (20) is provided with a locking block. The outer wall of the end of the sliding groove (24) is provided with a locking groove (19). The locking block at the end of the right-angle hook (20) can be rotatably inserted into the locking groove (19).

8. The high-altitude crack repair robot for buildings according to claim 7, characterized in that: The connecting pipe (25) has a tapered outer sleeve at one end near the discharge port (18), and a wing ring pressed against the inner wall of the material trough (13) at the other end.

9. A building high-altitude crack repair robot according to claim 7, characterized in that: The outer wall of the second material tube (152) is provided with a telescopic rod (30) parallel to the fine material tube (14), and the telescopic end of the telescopic rod (30) is connected to the fine material tube (14) through a fixing ring (16).

10. A building high-altitude crack repair robot according to claim 1, characterized in that: The outer wall of the material collection tank (13) is provided with a water inlet (29) sealed with a sealing plug.

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