Wall-climbing robot for repairing outer wall

Abstract

The utility model relates to the technical field of outer wall repairing robots, in particular to a wall-climbing robot for repairing an outer wall. Comprising a wall-climbing robot body and a repairing and loading mechanism, the repairing and loading mechanism comprises a stock bin mechanism, a clamping jaw mechanism, a drilling mechanism, an electric hammer mechanism and a glue injection mechanism, the repairing and loading mechanism is connected with the wall-climbing robot body through a linear module, and the wall-climbing robot body drives the repairing and loading mechanism to move on the outer wall of the building. According to the device, automatic integration of drilling, nail filling, knocking expansion, glue injection and other processes of outer wall repairing is achieved, manual climbing operation is replaced with remote control, tedious arrangement is not needed before operation, rapid evacuation can be achieved after operation is completed, the outer wall repairing risk is reduced, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of exterior wall repair robots, in particular to a wall-climbing robot for exterior wall repair. Background Art

[0002] As houses age, their exterior walls become loose or even fall off, posing serious safety hazards to residents.

[0003] The current solution is to build scaffolding around the exterior wall or add a hanging basket for manual repair, which involves great construction risks and is time-consuming and labor-intensive. Existing repair robots can only perform some simple tasks such as inspection and spray repair, with low operating efficiency. They have not yet achieved automated integration of exterior wall repair processes such as drilling, nailing, tapping expansion, and glue injection, and have certain limitations in engineering practice.

[0004] Chinese patent CN201610865172.4 discloses a device for repairing exterior walls using drones. A gimbal is fixed under the drone, and a cleaning nozzle, a paint nozzle, and a hot air blower are fixed on the gimbal. In addition, a ground unit is provided on the ground: including a cleaning container, a paint container, a power controller, a spacing radar, and a reel. The device can be used to clean, spray, and air-dry the wall, and can be operated remotely. However, the above drone can only perform spray repairs, and cannot perform other repair processes, and cannot meet the actual needs of the project.

[0005] Chinese patent CN202280028774.8 discloses a device that can perform repair work through remote operation after the exterior wall of a building is diagnosed, without the need to set up scaffolding around the building. The device includes a travel path body, a slide, and a repair device body, wherein the repair device body includes a hanging basket, a manipulator, a shooting unit, a fixing device, and a rope, and the operator can remotely control the device through the shooting unit to perform repair work. However, the above-mentioned device needs to build a large number of auxiliary devices (such as slide rails, hanging baskets, etc.) in the early stage of actual use, which is time-consuming and labor-intensive, and the patent only provides the overall construction method and detection method, and does not provide a specific repair process.

[0006] In order to solve the above problems, it is necessary to design a wall-climbing robot for exterior wall repair to realize the full process of exterior wall reinforcement and repair operations, reduce operation risks and improve repair efficiency. Utility Model Content

[0007] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a wall-climbing robot for exterior wall repair, so as to realize a device that can utilize wall-climbing technology to perform reinforcement and repair processes such as drilling, filling nails, tapping expansion, and injecting glue.

[0008] To achieve the above purpose, the technical solution adopted by the utility model is: a wall-climbing robot for exterior wall repair, including a wall-climbing robot body and a repair upper mounting mechanism, the repair upper mounting mechanism including a silo mechanism, a clamping mechanism, a drilling mechanism, an electric hammer mechanism and a glue injection mechanism, the repair upper mounting mechanism is connected to the wall-climbing robot body through a linear module, and the wall-climbing robot body drives the repair upper mounting mechanism to move on the exterior wall of the building.

[0009] Furthermore, the hopper mechanism, clamping mechanism, drilling mechanism, electric hammer mechanism and glue injection mechanism are arranged along a straight line and fixed on the linear module through a repair component mounting plate. The linear module is fixedly connected to the wall-climbing robot body. When switching the repair process, the hopper mechanism, clamping mechanism, drilling mechanism, electric hammer mechanism and glue injection mechanism are allowed to translate along the linear module to a specified position as a whole.

[0010] Furthermore, the silo mechanism is arranged perpendicular to the wall of the building, and includes a silo steering gear, a groove wheel and a silo. The silo has a plurality of holes distributed at intervals, and the silo is stopped by the groove wheel to allow the clamping mechanism to take materials.

[0011] Furthermore, the clamping mechanism includes a clamping jaw, a material picking and placing electric cylinder, an electric clamping jaw, a clamping jaw rotating servo, and a clamping jaw shifting electric cylinder.

[0012] Furthermore, the drilling mechanism includes a drilling motor and an electric drill downward pressure cylinder, the electric hammer mechanism includes an electric hammer downward pressure cylinder, a hammer head, a striker and an electric hammer servo, and the glue injection mechanism includes a glue barrel, a glue injection head moving cylinder, a glue injection head and a glue extrusion cylinder.

[0013] Furthermore, the material picking and releasing electric cylinder extends, the electric clamp retracts, and then the material picking and releasing electric cylinder completes the material picking, and the silo steering gear drives the groove wheel to drive the silo to rotate one division, waiting for the next material picking.

[0014] Furthermore, the silo is used to store expansion nails, and the electric hammer servo works to drive the hammer head to complete the knocking action. The striker knocks the expansion pin in the expansion nail downward so that the end of the expansion nail expands to complete the expansion process.

[0015] Furthermore, when performing repair work, the exterior wall repair climbing robot stops moving and performs material taking, drilling, nailing, tapping expansion, and glue injection operations in sequence. After the repair is completed, the exterior wall repair climbing robot moves down to the next repair position for repair.

[0016] Furthermore, the exterior wall repair and climbing robot is used in conjunction with a fall arrester and a hanging basket. The fall arrester is arranged on the roof above the exterior wall repair and climbing robot and is connected to the exterior wall repair and climbing robot via its steel wire rope. The hanging basket is located on one side of the exterior wall repair and climbing robot and its height is adjusted by a winch arranged on the roof. Cables and a power supply device are placed in the hanging basket, and the power supply device is connected to the wall climbing robot.

[0017] The utility model adopts a wall-climbing robot body based on the negative pressure adsorption principle, which can firmly adsorb to conventional building walls (walls made of typical building materials such as latex paint, real stone paint, imitation stone paint, glass surfaces, etc.), and can support the exterior wall repair climbing robot to perform drilling, nail filling, knocking expansion, and glue injection operations with stable adsorption.

[0018] Compared with the prior art, the advantages of the utility model are: 1. The wall-climbing robot body is used to build a repair upper mechanism to complete the exterior wall repair work, which can be remotely controlled, replacing traditional manual operations, avoiding manual high-altitude operations, and greatly reducing the risks of exterior wall repair operations; 2. Before the exterior wall repair operation, there is no need for cumbersome arrangements (such as building scaffolding, building manned hanging baskets, etc.), and the site can be evacuated quickly after the operation is completed, which improves the overall operation efficiency compared with traditional manual operations; 3. The automated integration of processes such as drilling, filling nails, tapping expansion, and injecting glue in exterior wall repairs is realized, thereby improving the efficiency of exterior wall repair operations.

[0019] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 Schematic diagram of the implementation of the exterior wall repair climbing robot

[0022] Figure 2 This is a schematic diagram of the overall structure of the exterior wall repair climbing robot;

[0023] Figure 3 for Figure 2 A schematic diagram of the main view;

[0024] Figure 4 is a structural schematic diagram of the silo mechanism 2;

[0025] Figure 5is a structural schematic diagram of the clamping mechanism 3;

[0026] Figure 6 is a schematic structural diagram of the drilling mechanism 4;

[0027] Figure 7 It is a structural schematic diagram of the electric hammer mechanism 5;

[0028] Figure 8 is a structural schematic diagram of the glue injection mechanism 6;

[0029] In the figure: 1. Wall-climbing robot body; 2. Material bin mechanism; 3. Gripper mechanism; 4. Drilling mechanism; 5. Electric hammer mechanism; 6. Glue injection mechanism; 7. Linear module mounting plate; 8. Repair component mounting plate; 9. Linear module; 10. Material bin servo; 11. Groove wheel; 12. Material bin; 13. Gripper; 14. Material picking and releasing cylinder; 15. Electric gripper; 16. Gripper rotation servo; 17. Gripper shift cylinder; 18. Drilling motor; 19. Electric drill downward pressure cylinder; 20. Electric hammer downward pressure cylinder; 21. Hammer head; 22. Strike pin; 23. Electric hammer servo; 24. Glue barrel; 25. Glue injection head moving cylinder; 26. Glue injection head; 27. Glue extrusion cylinder. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0032] In the following description, the term "vertical direction" refers to the plane where the building's outer wall is located, and the term "horizontal direction" refers to the plane orthogonal to the vertical direction. In the following description, the terms "up / down", "left / right" can be used to describe the direction of movement, the location of a specific place, etc. Basically, they are based on Figure 1 , and along Figure 1 The upper and lower sides of the paper direction and the position are "up / down" as they are, and the left and right sides are "left / right".

[0033] Figure 1 Schematic diagram of the wall climbing robot for repairing exterior walls according to an embodiment of the utility model. Figure 1 , Figure 2As shown, the exterior wall repair climbing robot includes a wall climbing robot body 1 and a repair upper mounting mechanism arranged in the moving direction of the wall climbing robot body. The wall climbing robot body 1 is adsorbed on the exterior wall of the building by negative pressure and moves on the exterior wall of the building by tracks.

[0034] In the case of a higher working height, a supply hanging basket can be added. The hanging basket is located at a height similar to that of the exterior wall repair climbing robot, and its height is adjusted by a winch arranged on the roof or a hoist installed on the hanging basket. Cables and a power supply device are placed in the hanging basket, and the power supply device is connected to the climbing robot through a cable.

[0035] Taking the case of a high working height as an example, the specific implementation process is as follows:

[0036] 1. Arrange a fall arrester, a winch and a hanging basket above the building. The fall arrester is connected to the exterior wall repair climbing robot to prevent the exterior wall repair climbing robot from falling accidentally. Cables and power supply devices are placed in the hanging basket to reduce the load of the exterior wall repair climbing robot. The height of the hanging basket is remotely adjusted according to the position of the exterior wall repair climbing robot.

[0037] 2. Place the exterior wall repair climbing robot on the wall to be repaired. During the actual operation, the exterior wall repair climbing robot moves in a straight line from top to bottom along a specific path until all repair work on a vertical path is completed. Then move the exterior wall repair climbing robot to the left (or right) a certain distance to perform the repair work on the next path. Repeat this process until all repair points on the target wall of the building are repaired.

[0038] 3. When performing the repair work, the exterior wall repair climbing robot stops moving and performs material picking, drilling, nailing, tapping expansion, and glue injection operations in sequence. After the repair is completed, the exterior wall repair climbing robot moves down to the next repair position for repair.

[0039] Figure 2 is a schematic diagram of the overall structure of the exterior wall repair climbing robot, Figure 3 for Figure 2 The main view of the diagram. Figure 2 and Figure 3 As shown, the utility model includes several parts including a wall-climbing robot body 1, a silo mechanism 2, a clamping mechanism 3, a drilling mechanism 4, an electric hammer mechanism 5, a glue injection mechanism 6, a linear module 9, etc., wherein the linear module 9 is fixed to the wall-climbing robot 1 through a linear module mounting plate 7, and each repair component is fixed to the linear module 9 through a repair component mounting plate 8.

[0040] The silo mechanism 2, the clamping mechanism 3, the drilling mechanism 4, the electric hammer mechanism 5 and the glue injection mechanism 6 are arranged along a straight line and fixed on the linear module through a repair component mounting plate 8. When switching different processes, the silo mechanism 2, the clamping mechanism 3, the drilling mechanism 4, the electric hammer mechanism 5 and the glue injection mechanism 6 are driven to translate as a whole along the linear module 9 to a specified position.

[0041] Figure 4 It is a structural schematic diagram of the silo mechanism 2. The silo mechanism 2 is arranged perpendicular to the wall of the building. The silo mechanism 2 includes a silo servo 10, a groove wheel 11 and a silo 12. The silo 12 has a plurality of holes distributed at intervals for storing a plurality of expansion nails. The silo 12 is stopped by the groove wheel 11 for the clamping mechanism 3 to take materials.

[0042] Figure 5 Schematic diagram of the structure of the clamping mechanism 3, the clamping mechanism 3 includes a clamping jaw 13, a material picking and placing electric cylinder 14, an electric clamping jaw 15, a clamping jaw rotating servo 16, and a clamping jaw shifting electric cylinder 17, which are used to realize the nail filling operation.

[0043] Figure 6 Schematic diagram of the structure of the drilling mechanism 4, the drilling mechanism 4 includes a drilling motor 18 and an electric drill lower pressure cylinder 19, which are used to perform drilling operations.

[0044] Figure 7 2 is a schematic diagram of the structure of the electric hammer mechanism 5. The electric hammer mechanism 5 includes an electric hammer pressing cylinder 20, a hammer head 21, a striker 22 and an electric hammer servo 23, which are used to realize the striking expansion operation.

[0045] Figure 8 : is a structural schematic diagram of the glue injection mechanism 6, which includes a glue barrel 24, a glue injection head moving electric cylinder 25, a glue injection head 26 and a glue extrusion electric cylinder 27, which are used to realize the glue injection operation.

[0046] The specific repair method is as follows: first, ensure that the linear module 9 is in the original position. At this time, after the robot receives the repair execution command, the material picking and releasing electric cylinder 14 extends, the electric clamp 15 retracts, and then the material picking and releasing electric cylinder 14 completes the material picking. At this time, the silo servo 10 drives the groove wheel 11 to drive the silo 12 to rotate one division, waiting for the next material picking. If the material at the bottom of the silo 12 is taken out, the entire material picking process requires one more step of the clamp moving upward, that is, the clamp shifting electric cylinder 17 drives the material picking clamp assembly to move upward as a whole. After the material is taken, the drilling motor 18 works, and the electric drill down pressure cylinder 19 moves downward to complete the drilling work. After the drilling is completed and the electric drill down pressure cylinder 19 returns to its original position, the linear module 9 drives all the repair mechanisms to translate as a whole, so that the clamping jaw mechanism 3 moves to the drilling position. At this time, the clamping jaw rotating servo 16 rotates 90°, so that the expansion nail is aligned with the drilled hole on the wall, and the material taking and discharging electric cylinder 14 moves downward to put the expansion nail into the hole. The electric clamp 15 opens to complete the material discharge, and then the three electric components of the clamping jaw mechanism return to their original positions, and the linear module 9 drives all the repair mechanisms to translate as a whole, so that the striker 22 on the electric hammer mechanism 5 is aligned with the inner hole of the expansion nail, and the electric hammer down pressure cylinder 20 moves downward, so that the striker 22 extends into the expansion nail, and then the electric hammer servo 23 works, driving the hammer head 21 to complete the knocking action. When knocking, the striker 22 knocks the expansion pin in the expansion nail downward so that the end of the expansion nail expands and completes the expansion process of the expansion nail, and then the various components of the electric hammer mechanism 5 return to their original positions, and the linear module 9 drives all the repair mechanisms to translate as a whole, so that the glue injection mechanism 6 moves to the working position. At this time, the glue injection head 26 is aligned with the inner hole of the expansion nail, and the glue injection head moving cylinder 25 moves downward so that the glue injection head 26 extends into the expansion nail, and then the glue extrusion cylinder 27 works to inject adhesive glue into the inner hole of the expansion nail, and then the various components of the glue injection mechanism 6 return to their original positions, and the linear module 9 drives all the repair mechanisms to translate as a whole, so that all the repair mechanisms installed on the linear module 9 are in place. At this time, the wall-climbing robot 1 starts to move to the next position to be repaired. After the robot stops, the upper mounted mechanisms are ready to start the next round of repair work.

[0047] The utility model adopts a wall-climbing robot to build a repair upper mechanism to complete the exterior wall repair work. It is firmly adsorbed on conventional building walls (latex paint, real stone paint, imitation stone paint, glass surface and other typical building material walls). Before the exterior wall repair work, no complicated layout is required, and the site can be evacuated quickly after the work is completed, thereby improving the overall efficiency of the exterior wall repair work.

[0048] The exterior wall repair robot provided by the utility model realizes the automated integration of processes such as drilling, nailing, tapping expansion, and glue injection, replacing traditional manual operations and reducing operation risks.

[0049] It should be noted that, in the present application, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A wall-climbing robot for exterior wall repair, characterized in that: The invention comprises a wall-climbing robot body and a repair upper mounting mechanism, wherein the repair upper mounting mechanism comprises a silo mechanism, a clamping mechanism, a drilling mechanism, an electric hammer mechanism and a glue injection mechanism, and the repair upper mounting mechanism is connected to the wall-climbing robot body through a linear module, and the wall-climbing robot body drives the repair upper mounting mechanism to move on the outer wall of the building.

2. A wall-climbing robot for exterior wall repair as claimed in claim 1, characterized in that: The hopper mechanism, the clamping mechanism, the drilling mechanism, the electric hammer mechanism and the glue injection mechanism are arranged along a straight line and fixed on the linear module through a repair component mounting plate. The linear module is fixedly connected to the wall-climbing robot body. When switching the repair process, the hopper mechanism, the clamping mechanism, the drilling mechanism, the electric hammer mechanism and the glue injection mechanism are allowed to translate along the linear module to a specified position as a whole.

3. A wall-climbing robot for exterior wall repair as claimed in claim 2, characterized in that: The silo mechanism is arranged perpendicular to the wall of the building, and comprises a silo steering gear, a groove wheel and a silo. The silo has a plurality of holes distributed at intervals, and the silo is stopped by the groove wheel to allow the clamping mechanism to take materials.

4. A wall-climbing robot for exterior wall repair as claimed in claim 3, characterized in that: The clamping mechanism comprises a clamping jaw, a material picking and placing electric cylinder, an electric clamping jaw, a clamping jaw rotating steering gear, and a clamping jaw shifting electric cylinder.

5. A wall-climbing robot for exterior wall repair as claimed in claim 4, characterized in that: The drilling mechanism includes a drilling motor and an electric drill pressing cylinder, the electric hammer mechanism includes an electric hammer pressing cylinder, a hammer head, a striker and an electric hammer servo, and the glue injection mechanism includes a glue barrel, a glue injection head moving cylinder, a glue injection head and a glue extrusion cylinder.

6. A wall-climbing robot for exterior wall repair as claimed in claim 5, characterized in that: The silo is used to store expansion nails. The electric hammer servo works to drive the hammer head to complete the knocking action. The striker knocks the expansion pin in the expansion nail downward so that the end of the expansion nail expands to complete the expansion process.

7. The wall-climbing robot for exterior wall repair as claimed in claim 1, characterized in that: The exterior wall repair and climbing robot is used in conjunction with a fall arrester and a hanging basket. The fall arrester is arranged on the roof above the exterior wall repair and climbing robot and is connected to the exterior wall repair and climbing robot via its steel wire rope. The hanging basket is located on one side of the exterior wall repair and climbing robot and its height is adjusted by a winch arranged on the roof. Cables and a power supply device are placed in the hanging basket, and the power supply device is connected to the wall climbing robot.

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