Building outer wall moving operation platform with rope-driven rotor wing and wind pressure collaboration

Abstract

The invention discloses a rope-driven rotor wing wind pressure collaborative building outer wall mobile operation platform, and belongs to the technical field of building outer wall operation equipment. The tail end platform, the rope traction module and the mobile upper computer are integrated, movement in any direction of the outer wall is achieved through parallel driving of ropes and combination of rotors, meanwhile, wind pressure cooperative adjustment of the rotors with the four cantilevers arranged in a rectangular and symmetrical mode is combined, the mobile platform is tightly attached to the outer wall for operation, and the platform leaves the outer wall for operation; and the shaking amplitude of the platform meets the operation requirement after leaving the outer wall. The platform does not need to be attached to an outer wall in a sealed mode, is matched with various wall faces such as concrete, metal, ceramic tiles and glass, can span protrusions and recesses of the outer wall face, and meets the requirement for long-time operation through endurance. The robot can selectively carry end actuators for detection, cleaning and the like, is suitable for scenes such as building outer wall detection, wall surface cleaning, teaching demonstration and the like, and has the remarkable advantages of light weight, accurate distance control, low cost, large moving range, high coverage rate and high safety.

Description

Technical Field

[0001] This invention relates to the field of mobile construction equipment for exterior walls, specifically a cable-driven rotor-wind pressure coordinated mobile construction platform for exterior walls. Background Technology

[0002] Currently, external wall movable devices in the construction industry are mainly divided into four categories, and their core defects are as follows: (1) Pure rope suspension mechanism (such as construction scaffolding, suspended platform): can only achieve vertical movement of "straight up and down", cannot move horizontally, and has a limited operating range; it is greatly affected by airflow and has poor stability.

[0003] (2) Vacuum adsorption platform mechanism (such as glass cleaning robot): It relies on vacuum suction cup negative pressure adsorption, and is only suitable for smooth and non-porous glass and dense concrete walls. It cannot effectively seal porous or rough walls; the suction cup is prone to fall off when crossing obstacles, which poses a high safety risk.

[0004] (3) Wind pressure mechanism: It relies on the negative pressure of the rotor to adhere to the wall, which has insufficient obstacle crossing ability. All power sources are self-powered, resulting in poor endurance and inability to meet long-term operation requirements.

[0005] (4) Magnetic adsorption platform mechanism (such as steel structure bridge inspection robot): It is only compatible with magnetic walls such as steel and alloys, and cannot be used on non-magnetic walls such as concrete, brick, and glass. The coverage of applicable scenarios is low.

[0006] While existing publicly available technologies employ rotor designs, they are still limited to vertical movement and rely solely on the rotor providing pressure. They fail to simultaneously address the complex operational requirements of "multi-dimensional movement + multi-material adaptation + rotor forward control for close-fitting operation against external walls and rotor reverse control for obstacle crossing while maintaining high stability."

[0007] Therefore, to address the aforementioned needs, this invention patent proposes an integrated core technology platform combining "rope drive + four-cantilever rotor wind pressure coordination," which can simultaneously overcome the shortcomings of four types of existing equipment in the external wall moving platform. The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] The technical problem this invention aims to solve is to overcome the above-mentioned technical defects and provide a rope-driven rotor-wind pressure coordinated mobile work platform for building exterior walls, breaking through the "movement dimension limitation" of pure rope mechanisms: it achieves horizontal, vertical, and diagonal multi-directional movement through rope drive, covering the entire exterior wall working surface; it improves adaptability to working conditions: relying on rope drive and four-cantilever rotor-wind pressure coordination, it eliminates the need for sealing and fitment, adapting to various wall surfaces such as concrete, metal, ceramic tiles, and glass; it enhances stability and distance control accuracy: combining rotor speed / direction adjustment and angle sensor feedback, it ensures that the platform swaying amplitude in the airflow environment when the end platform detaches from the exterior wall meets operational requirements, and achieves precise and controllable distance from the wall; it provides rope guidance: solving the problem of traditional pulley ropes easily jumping and getting stuck in the fixed gap of the pulley, requiring a new guiding device; it enhances obstacle crossing ability: by generating reverse thrust through rotor reversal, it achieves large distances away from the wall, allowing it to significantly traverse wall protrusions and depressions; it balances portability and endurance: adopting a lightweight design to meet the needs of long-term continuous operation.

[0009] To solve the above problems, the technical solution of the present invention is: a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform, comprising: The end platform includes a rectangular shell with a cavity inside. A rope connection node is fixed on the top of the shell for connecting ropes. Four horizontal cantilever arms are symmetrically arranged at the four corners of the outer end of the shell. A brushless motor and a propeller are provided at the end of each horizontal cantilever arm. The rope traction module includes a rope guiding component and a motor power component, which are used to drive the end platform to move in multiple directions. The mobile host computer is connected to the end platform and the rope traction module via a local area network to ensure bidirectional data transmission and interaction, thereby enabling the mobile control of the end platform and the rope traction module.

[0010] Preferably, a distance sensor is provided at the end of the housing closest to the wall, a distance sensor is provided at the end of the housing away from the wall, a vision detection module is provided on the side of the housing away from the wall, an angle sensor, a lithium battery and an end processor are provided inside the housing, and a status indicator light and an emergency stop button are provided at the end of the housing away from the wall.

[0011] Preferably, the four corners of the shell are provided with support wheel modules. The support wheel modules can move actively or be dragged by ropes. When moving actively, the propellers at the ends of the four horizontal cantilever arms work simultaneously to generate wind pressure, so as to press the end platform against the outer wall, and the product of pressure and friction coefficient is greater than the platform's own weight.

[0012] Preferably, the bottom of the housing is provided with an actuator fixing connection hole, and the actuator fixing connection hole adopts a threaded connection, so that when replacing the end effector, it is not necessary to open the inside for fixing.

[0013] Preferably, the motor power assembly includes a power fixing frame, which is fixedly connected to the top roof. An actuator motor is fixedly connected to the upper end of the power fixing frame. The output end of the actuator motor is equipped with a reducer, and the other end of the reducer is equipped with a coupling. The other end of the coupling is equipped with a winding drum, and a rotatable reciprocating screw is provided on one side of the winding drum. One end of the rope is connected to the rope connection node through a buckle, and the other end of the rope is wound around the surface of the winding drum through a rope limiter.

[0014] Preferably, the mobile host computer has a built-in electronic control submodule and a communication module. The electronic control submodule is based on a microcontroller and connects to a distance sensor, an angle sensor, and a brushless motor drive circuit to achieve precise positioning of the building facade through positioning technology, and the data is transmitted to the terminal via a protocol connection. The microcontroller is networked with the terminal platform through a local area network, and has preset modes for moving close to the exterior wall, obstacle crossing adjustment, and distance control, and the mode switching / command response time meets the preset time. The microcontroller is used as the terminal control system, which interacts with the actuator motor controller through a communication protocol and undertakes calculation and data processing functions. The communication module supports the construction of a local area network system and realizes interconnection and communication of all devices through a network protocol.

[0015] As a preferred embodiment, the building exterior wall mobile operation platform relies on parallel ropes to drive the end platform to move on the building exterior wall, and relies on the wind pressure generated by the rotors of the four horizontal cantilever arms to control the distance from the wall and control the angle balance.

[0016] As a preferred option, the rotor has two functions: the first is to maintain the traditional forward control to generate wind pressure and work close to the outer wall, and the second is to develop the function of reverse control of the rotor to move away from the wall, which has obstacle-crossing ability and stability.

[0017] As a preferred embodiment, the rope guide assembly overcomes the problem of ropes easily jumping in extreme situations and solves the problem of rope guidance from the actuator motor to the end platform. The motor power assembly can realize rope routing through a reciprocating lead screw.

[0018] Preferably, the execution modes of the actuator include three modes: close-to-exterior wall moving operation, obstacle crossing and adjustment operation, and distance control operation, and the three modes can be switched according to the platform's working conditions.

[0019] The advantages of this invention compared to existing technologies are: (1) The invention makes a comprehensive breakthrough in the movement dimension: the two-rope drive breaks the "straight up and down" limitation of the traditional pure rope mechanism, realizes horizontal + vertical + diagonal multi-directional movement, can cover the entire exterior wall working surface, and greatly expands the working range; (2) Improved operating scenarios of the present invention: the four cantilever rotor wind pressure collaboration does not require sealing and bonding, and is suitable for various wall surfaces such as concrete, metal, ceramic tile, glass, and porous brick, solving the pain point of narrow adaptability of existing equipment; (3) The rotor of the present invention has two functions. The first is to maintain the traditional forward control to generate wind pressure and work close to the outer wall. The second is to control the rotor in the reverse direction to move away from the wall and overcome obstacles while maintaining high stability.

[0020] (4) The present invention has strong stability: through the adjustment of rotor speed difference and sensor feedback, the platform sway amplitude is controlled within a specified range, preferably within ±5°, and the distance from the wall can be precisely adjusted within a specified range, preferably within 0.01m-1m. It has strong resistance to airflow interference and can work in strong winds. (5) The obstacle crossing ability of the present invention is significantly improved: it can cross wall protrusions and protrusions, and the crossing ability for testing and selection is not less than 1m, filling the gap of insufficient obstacle crossing ability of existing equipment; (6) The invention is lightweight and cost-effective: the overall structure is lightweight, highly portable, has low manufacturing cost, and its battery life meets the requirements of long-term operation. (7) The invention has strong safety: the rotor power is provided by the lithium battery built into the end platform, and the rope drive power is provided by a 220V wired connection, which realizes the separation of power supply for mobile operation and task operation. The power supply for mobile operation is fixed, which improves the ability to quickly land when the end platform is out of power and may detach from the wall, thus ensuring safety.

[0021] (8) The invention is multifunctional and adaptable: it can be equipped with different end actuators such as detection and cleaning, and is suitable for multiple scenarios such as exterior wall detection, cleaning, and teaching demonstration, and is highly practical. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the end platform device of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform of the present invention. Figure 1 .

[0023] Figure 2 This is a schematic diagram of the end platform device of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform of the present invention. Figure 2 .

[0024] Figure 3 This is a schematic diagram of the internal structure of the end platform of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform of the present invention.

[0025] Figure 4 This is a schematic diagram of the motor drive component structure of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform according to the present invention.

[0026] Figure 5 This is a schematic diagram of the rope guide component structure of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform of the present invention.

[0027] Figure 6 This is a schematic diagram of the wall-mounted operation of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform according to the present invention.

[0028] Figure 7 This is a schematic diagram of the off-wall operation of a rope-driven rotor wind pressure coordinated building exterior wall mobile operation platform according to the present invention.

[0029] Figure 8 This is a schematic diagram of a rope-driven rotor wind pressure coordinated mobile working platform for building exterior walls, according to the present invention, for wall-riding operations.

[0030] As shown in the figure: 1. Distance sensor; 2. Propeller; 3. Emergency stop button; 4. Vision inspection module; 5. Support wheel module; 6. Rope connection node; 7. Status indicator light; 8. Horizontal cantilever; 9. Distance sensor; 10. Actuator fixing connection hole; 11. Lithium battery; 12. End processor; 13. Angle sensor; 14. Actuator motor; 15. Winding drum; 16. Reciprocating lead screw; 17. Coupling; 18. Reducer; 19. Rope limiter; 20. Power fixing frame; 21. Mounting support threaded rod; 22. Limit plate; 23. End platform; 24. Rope guide assembly; 25. Motor power assembly. Detailed Implementation

[0031] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0032] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0033] To make the content of this invention easier to understand, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0034] like Figures 1 to 8 As shown, a rope-driven rotor wind pressure coordinated mobile operation platform for building exterior walls includes an end platform 23, a rope traction module, an end execution module, and a mobile host computer.

[0035] The end platform 23 includes a rectangular shell with an internal cavity to ensure airtightness in the engineering environment. A rope connection node 6 is fixedly installed on the top of the shell for connecting buffer ropes. Four horizontal cantilever arms 8 are symmetrically installed at the four corners of the outer end of the shell to ensure that the four rotors are arranged in a "rectangular symmetrical layout". The upper and lower sets of horizontal cantilever arms 8 are arranged separately to increase the size of the rotors. A brushless motor and a propeller 2 are installed at the end of the horizontal cantilever arm 8. The output end of the brushless motor is connected to the propeller 2, and the brushless motor can drive the propeller 2 to rotate, thereby generating positive and negative wind pressure.

[0036] Specifically, one end of the horizontal cantilever 8 is fixed to the cantilever interface of the housing with bolts, and the other end has a motor mounting slot. The end of the cantilever is chamfered to avoid scratching the wall. Each set of rotors contains a brushless motor and a blade (parameters are matched according to the working conditions). The output shaft of the brushless motor is tightly connected to the blade. The four sets of rotors are symmetrically distributed in a rectangle with "upper left, upper right, lower right, and lower left". The lithium battery 11 and the end processor 12 required for the actuator motor are fixedly installed inside the housing cavity, providing power and control support for the system. The end platform 23 also includes an angle sensor 13, a distance sensor 9, and a distance sensor 1 to provide position and orientation information for the end platform. At the same time, the main body provides a status indicator light 7 and an emergency stop button 3 at the top of the frame to monitor the machine's operating status in real time and execute a stop operation.

[0037] The rope traction module can adopt a two-rope parallel under-drive scheme to achieve multi-directional movement of the building facade. Specifically, it includes a rope guide assembly 24 and a motor power assembly 25. The rope guide assembly 24 includes a frame, with a mounting support threaded rod 21 fixedly connected to one end inside the frame. A limit plate 22 is fixedly connected to the other end of the mounting support threaded rod 21. Rope limiters 19 are fixedly connected to both sides of the upper end of the frame. The frame is mounted on the exterior wall or ring beam. The motor power assembly 25 includes a power fixing frame 20, which is fixedly connected to the exterior wall. At the end, an actuator 14 is fixedly connected to the upper end of the power fixed frame 20. A reducer 18 is installed at the output end of the actuator 14. A coupling 17 is installed at the other end of the reducer 18. A winding drum 15 is installed at the other end of the coupling 17. A rotatable reciprocating screw 16 is installed on one side of the winding drum 15. One end of the rope is connected to the rope connection node 6 through a buckle. The other end of the rope is wound around the surface of the winding drum 15 through a rope limiter 19. The rope is wound and unwound by the forward and reverse rotation of the actuator 14, which drives the end platform 23 to move stably along the plane of the outer wall.

[0038] The end-efficiency execution module can be equipped with different execution units according to job requirements, adapting to multiple application scenarios: The visual inspection module 4 is installed at the lower end of the housing. The visual inspection module 4 integrates infrared and RGB camera inspection heads. The infrared mode detects water seepage and hollow areas in the exterior wall, and the RGB mode detects cracks in the wall surface. The close-up observation effect is significant. The hollow drum tapping module is subsequently expanded through the actuator fixing connection hole 10, integrating a tapping module and a sound receiving module. By tapping with controllable force and combining acoustic feedback, the hollow drum condition of the wall is judged. The actuator fixing connection hole 10 is opened at the bottom of the housing. The cleaning module, which can be further expanded through the actuator fixing connection hole 10, is adapted to clean wall dust and stains, and realizes the function of exterior wall cleaning.

[0039] The main body module is symmetrically equipped with support wheel legs 5 at the bottom to assist the robot body in contacting the outer wall, improve the stability of movement, reduce the risk of scratching the wall, and provide buffer support when working close to the wall.

[0040] The mobile host computer connects all devices via a local area network (LAN). It employs a dual-mode control structure, balancing precise control with emergency safety. Specifically, the mobile host computer communicates with the end platform 23 and the rope traction module via the LAN to ensure bidirectional data transmission and interaction, enabling mobile control of the end platform 23 and the rope traction module. The mobile host computer includes an electronic control submodule and a communication module. Electrical control submodule: Employs RTK positioning technology for precise positioning of the building facade. RTK data is transmitted to the terminal microcontroller (e.g., PLC or Raspberry Pi) via a data protocol connection (e.g., TCP). Centered on a micro-terminal (e.g., ESP32 microcontroller), it connects to a distance sensor (for real-time acquisition of distance from the wall), an angle sensor (to ensure the platform is parallel to the wall), and a brushless motor drive circuit (to independently control four rotor motors). The micro-terminal connects to the terminal network via a local area network and has preset function modes such as "moving close to the exterior wall, obstacle crossing adjustment, and distance control," with a response time ≤100ms. A Raspberry Pi is used as the terminal control system, interacting with the PLC via MODBUS communication to handle calculation and data processing functions. Communication module: Supports the construction of a local area network system, enabling interconnection and communication among all devices via TCP / UDP protocols; Manual emergency sub-module: An emergency stop button 3 is installed on the top of the end platform. Pressing it can directly cut off the rotor operation, preventing the equipment from falling or scraping against the wall and improving operational safety.

[0041] Cooperative control logic: When in a stationary state: the four sets of rotors rotate at high speed, creating uniform wind pressure between the end platform 23 and the wall, so that the end platform 23 is completely in contact with the building facade; the actuators 14 of the two sets of ropes remain stationary.

[0042] When working close to the moving surface: the four sets of rotors rotate at high speed, forming a uniform negative pressure between the end platform 23 and the wall, so that the end platform 23 is completely pressed against the building facade; the distance sensor 1 collects positioning data, and according to the required speed of the end, the PLC calculates the motor rotation speed according to the kinematic equation of the mechanism, and pulls the end platform 23 to move accordingly.

[0043] When stationary away from the wall: the brushless motor reverses to drive the propeller 2 to reverse, generating a reverse thrust to push the end platform 23 away. The angle sensor 13 works, and the control module adjusts the speed difference of the four sets of rotors in real time to counteract the shaking and rotation of the end platform 23; the two sets of actuator motors 14 remain stationary.

[0044] During obstacle clearance movement: The brushless motor reverses, driving propeller 2 to reverse as well, generating reverse thrust to push the end platform 23 away. Angle sensor 13 activates, and the control module adjusts the speed difference of the four sets of rotors in real time to counteract swaying and the rotation of the end platform 23. Distance sensor 1 collects positioning data, and based on the required speed of the end platform 23, the PLC calculates the motor rotation speed according to the kinematic equations of the mechanism, thereby traction of the end platform 23 to move. When overcoming obstacles, the four sets of rotors can accelerate synchronously to achieve "obstacle clearance balance" at different distances, ensuring smooth obstacle clearance. Detailed Implementation

[0045] Based on the actual operational scenario of "detection of hollow areas and cracks in the concrete exterior walls of high-rise buildings," the workflow of this platform is explained in detail: 1. Scene conditions Target of the work: Exterior wall of a five-story building (concrete base + exterior wall plaster layer, with protrusions and depressions of depth conforming to the actual construction engineering field). Job requirements: Inspect the exterior wall for hollow areas and water seepage. The inspection must be carried out by moving the equipment vertically along the wall (height not less than 30m) and horizontally (width not less than 10m). Environmental conditions: Light breeze outdoors.

[0046] 2. Equipment Deployment (1) Place the motor power assembly 25 on the roof near the exterior wall, install the rope guide assembly 24 on the nearest parapet wall, pass the rope through the rope guide assembly 24, cross the parapet wall or the top frame beam, introduce the rope into the exterior wall plane and connect it to the top rope connection node 6 of the end platform 23. (2) Attach the end platform 23 to the wall and mark the orientation of the outer wall by controlling the APP to provide a benchmark for obstacle crossing balance in the later stage; (3) Set up a local area network system covering the entire workspace, connect the motor power component 25 and the terminal control unit, and establish communication between devices; connect the terminal platform 23 to the motor controller, turn on the power, and start the terminal system; (4) Operators log in to the backend control system via APP to complete equipment interconnection and parameter initialization.

[0047] 3. Mobile Operations A planar coordinate system is established with the bottom left corner of the building facade as the origin. The position of the rope exit point is input on the end platform 23. The position and posture of the end platform 23 are observed in real time through the distance sensor 1. The direction of movement, speed or trajectory is input according to the operation requirements. The end platform 23 system calculates the motor speed through parallel rope drive kinematics. The execution motor controller synchronously controls the rope to retract and extend, and pulls the end platform to move along the preset trajectory.

[0048] If the actuator motor is driven by synchronous speed, the rope speed needs to be calculated first, as follows: in, For the platform's generalized velocity vector, The translational pose vector of the end-effector platform. For the end-effector rotation pose vector, The Jacobian matrix of the mechanism is calculated using robot theory. Let be the rope length change rate vector, where each element represents the corresponding rope winding and unwinding speed. A positive value indicates the rope is shortening, and a positive speed indicates the rope is shortening. Let be the velocity of the m-th rope. The motor speed can be calculated from the rope velocity. , The nominal rope radius matrix (calculated considering reduction ratio, rope radius, number of winding layers, and winding drum processing radius) represents the geometric relationship between motor speed and rope speed, from which the mapping relationship between motor speed and end effector pose can be obtained: According to the formula, the theoretical motor speed can be calculated from the desired trajectory and its first derivative.

[0049] If the actuator uses synchronous torque for driving, the rope force needs to be calculated. Where W is the static external force (such as gravity), T is the rope tension vector, and J is the structural matrix, which is the transpose of the Jacobian matrix of the mechanism. This is combined with the motor dynamics equations. .in: Here is the moment of inertia matrix of the motor. This represents the friction torque matrix of the motor, with its direction opposite to the direction of rotational speed. Let Γ be the drum radius matrix, Γ be the reduction ratio coefficient matrix, and τ be the motor electromagnetic torque vector. The angular acceleration of the winding drum. Let be the sign function of angular velocity. The integrated motor-platform mechanical equations can then be obtained. ,in, This is the generalized inverse of the structure matrix. This equation couples the end-effector pose requirement, load requirement, and motor torque, providing the underlying dynamic basis for subsequent control algorithms. Here, Q is the redundant tension allocation term, existing only in the redundant constraint configuration. Based on the formula, the theoretical motor torque can be calculated from the desired trajectory.

[0050] To ensure accuracy, feedforward control should simultaneously feed back the pose of the end effector in the task space and the state of the joint space to meet the needs of the task operation.

[0051] 4. Close to mobile operations Based on the mobile operation, the four sets of rotors on the end platform are activated, and their high-speed, obliquely symmetrical rotation generates uniform negative pressure, pressing the end platform 23 tightly against the building's exterior wall. Distance sensors provide real-time feedback on the distance from the wall, ensuring that the end platform 23 remains in close contact with the wall at all times. The control module dynamically adjusts the rotor speed to maintain stability against the wall. The position and orientation of the end platform 23 are monitored in real-time via distance sensor 1. The movement method is the same as the mobile operation.

[0052] 5. Obstacle crossing operations When the end platform 23 encounters a protruding obstacle or a recessed decoration during its movement, the operation procedure is as follows: After the end platform 23 completes the operation in the area in front of the obstacle, the control module automatically switches to the "obstacle crossing adjustment" mode; Angle sensor 13 starts data acquisition, feeds back the angle error between the end platform and the building facade, and adjusts the angle balance between the end platform 23 and the building facade in real time; at the same time, the brushless motor reverses, driving the rotor to reverse and generate reverse thrust, so that the end platform 23 automatically detaches from the exterior wall. The positive and negative rotation direction and rotation speed of the motor control the movement direction of the end platform 23, and the rotor module can precisely control the distance from the wall to complete the obstacle crossing action in a coordinated manner. After overcoming the obstacle, the rotor resumes normal speed, the platform is pressed firmly against the wall again, and the subsequent operation continues. During the obstacle-crossing process, the angle should be kept balanced in real time to prevent overturning.

[0053] The rope-driven electrical components described in this article are wired to an external 220V AC power supply, and the end effector carries the required lithium battery. The main controller can be a conventional known device such as a computer for control. Detailed descriptions of known functions and components are omitted in this disclosure. To ensure device compatibility, the operating methods used are consistent with the parameters of commercially available equipment.

[0054] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A rope-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls, characterized in that, include: The end platform (23) includes a rectangular shell with a cavity inside. A rope connection node (6) is fixedly provided on the top of the shell. The rope connection node (6) is used to connect ropes. Four horizontal cantilever arms (8) are symmetrically provided at the four corners of the outer end of the shell. A brushless motor and a propeller (2) are provided at the end of the horizontal cantilever arms (8). The rope traction module includes a rope guide assembly (24) and a motor power assembly (25), and the rope guide assembly (24) and the motor power assembly (25) are used to drive the end platform (23) to move in multiple directions; The mobile host computer is connected to the terminal platform (23) and the rope traction module via a local area network to ensure bidirectional data flow and interaction, and is used to realize the mobile control of the terminal platform (23) and the rope traction module.

2. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 1, characterized in that: The housing is provided with a distance sensor (9) at the wall end and a distance sensor (1) at the wall end. A vision detection module (4) is provided on the wall side of the housing. An angle sensor (13), a lithium battery (11), and an end processor (12) are provided inside the housing. A status indicator light (7) and an emergency stop button (3) are provided on the wall side of the housing.

3. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 1, characterized in that: The four corners of the shell are provided with support wheel foot modules (5). The support wheel foot modules (5) can move actively or be dragged by ropes. When moving actively, the propellers (2) at the ends of the four horizontal cantilever (8) work simultaneously to generate wind pressure, so as to press the end platform (23) against the outer wall, and the product of pressure and friction coefficient is greater than the platform's own weight.

4. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 1, characterized in that: The bottom of the housing is provided with an actuator fixing connection hole (10), and the actuator fixing connection hole (10) adopts a threaded connection, so that when replacing the end effector, there is no need to open the inside for fixing.

5. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 1, characterized in that: The motor power assembly (25) includes a power fixing frame (20), which is fixedly connected to the top roof. The upper end of the power fixing frame (20) is fixedly connected to the actuator (14). The output end of the actuator (14) is provided with a reducer (18). The other end of the reducer (18) is provided with a coupling (17). The other end of the coupling (17) is provided with a winding drum (15). A rotatable reciprocating screw (16) is provided on one side of the winding drum (15). One end of the rope is connected to the rope connection node (6) through a buckle. The other end of the rope is wound around the surface of the winding drum (15) through the rope limiter (19).

6. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 1, characterized in that, The mobile host computer has a built-in electronic control submodule and a communication module; The electrical control submodule is centered around a microcontroller and connects to a distance sensor, an angle sensor, and a brushless motor drive circuit. It achieves precise positioning of the building facade using positioning technology, and the data is transmitted to the terminal via a protocol connection. The microcontroller is networked with the terminal platform via a local area network (LAN), and has preset modes for moving close to the exterior wall, obstacle crossing adjustment, and distance control. The mode switching / command response time meets preset time limits. The microcontroller serves as the terminal control system, interacting with the motor controller via a communication protocol and undertaking calculation and data processing functions. The communication module supports the construction of a LAN system, enabling interconnection and communication among all devices via network protocols.

7. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 1, characterized in that: The building exterior wall mobile operation platform relies on parallel ropes to drive the end platform (23) to move on the building exterior wall, and relies on the rotors of the four horizontal cantilever (8) to generate wind pressure to control the distance from the wall and control the angle balance.

8. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 7, characterized in that: The rotor has two functions. The first is to maintain the traditional forward control to generate wind pressure and work close to the outer wall. The second is to develop the function of reverse control of the rotor to move away from the wall, which has obstacle-crossing ability and stability.

9. The cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 6, characterized in that: The rope guide assembly (24) overcomes the problem of ropes easily jumping in extreme situations and solves the problem of rope guidance from the actuator motor to the end platform. The motor power assembly (25) can realize the rope routing through the reciprocating screw (16).

10. A cable-driven rotor-wind-pressure coordinated mobile construction platform for exterior walls according to claim 6, characterized in that: The execution modes of the actuator (14) include three modes: close-to-the-outer-wall moving operation, obstacle crossing adjustment operation, and distance control operation, and the three modes can be switched according to the working conditions of the platform.

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