Intelligent glue injection equipment for building curtain wall

Abstract

The utility model relates to the technical field of building glue injection, and discloses a building curtain wall intelligent glue injection device which comprises a base, the top of the base is fixedly connected with a rotating seat, the top of the rotating seat is rotationally connected with a first-order mechanical arm, and a third motor is arranged in the middle of the bottom face of the first-order mechanical arm. The top of the first-order mechanical arm is rotationally connected with a second-order mechanical arm, a first motor is arranged at the bottom of the second-order mechanical arm, the top of the second-order mechanical arm is rotationally connected with a third-order mechanical arm, a second motor is arranged at the bottom of the third-order mechanical arm, and a gluing mechanism is arranged at one end of the second motor. And a glue injection head is arranged at one end of the gluing mechanism. According to the utility model, a plurality of mechanical arms are combined to move so as to flexibly adapt to various complicated working tasks and working environments, so that the equipment can easily cope with construction operations in various complicated environments, construction pictures can be obtained through the camera, and the glue injection direction can be corrected in time.

Description

Technical Field

[0001] This utility model relates to the field of building adhesive injection technology, and in particular to an intelligent adhesive injection device for building curtain walls. Background Technology

[0002] Sealant application is a crucial step in building curtain wall construction. The sealant used must possess excellent weather resistance, adhesion, and elasticity to cope with complex and ever-changing external environments. The main function of sealant application is to seal the curtain wall, preventing rainwater leakage and air infiltration. It also effectively buffers displacement caused by temperature changes and wind forces, enhancing the overall stability and safety of the curtain wall, improving the building's waterproofing, sound insulation, and thermal insulation performance, and extending the curtain wall's service life. Currently, in the installation and maintenance of high-rise building curtain walls, traditional manual sealant application methods are not only inefficient but also highly dependent on the skill level of the workers, leading to uneven application and frequent air bubbles. This directly affects the safety and aesthetics of the curtain wall, increasing subsequent repair costs.

[0003] A search revealed Chinese Patent Publication No. CN210546052U, which discloses an intelligent adhesive injection device for building curtain walls. This device includes a three-axis truss, an adhesive injection machine, an adhesive injection robot, a vision system, and a control system. The adhesive injection robot is installed at the bottom of the Z-axis truss of the three-axis truss. The vision system is installed on the Z-axis truss and includes a first vision sensor for preliminary positioning of the curtain wall and feeding back the preliminary positioning information to the control system, and a second vision sensor for precise positioning of the curtain wall and feeding back the precise positioning information to the control system. The control system plans the adhesive injection trajectory based on the curtain wall parameters and directs the adhesive injection robot to perform adhesive injection on the curtain wall. This device has advantages such as high adhesive injection accuracy and convenient operation. However, the above structure is too complex and difficult to adapt to the complex and varied wall conditions of different buildings, limiting its widespread application. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides an intelligent adhesive injection device for building curtain walls, aiming to improve the problem that the existing technology has an overly complex structure, which is difficult to adapt to the complex and ever-changing wall conditions of different buildings, thus limiting its widespread application.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an intelligent adhesive injection device for building curtain walls, comprising a base, a rotating seat fixedly connected to the top of the base, a first-stage robotic arm rotatably connected to the top of the rotating seat, a motor three disposed at the center of the bottom surface of the first-stage robotic arm, a second-stage robotic arm rotatably connected to the top of the first-stage robotic arm, a motor one disposed at the bottom of the second-stage robotic arm, a third-stage robotic arm rotatably connected to the top of the second-stage robotic arm, a motor two disposed at the bottom of the third-stage robotic arm, an adhesive application mechanism disposed at one end of the motor two, and a stabilizing mechanism disposed at the bottom of the base for stabilizing the device.

[0006] Through the above technical solution: the base possesses excellent stability and load-bearing capacity, effectively supporting the equipment's operation in various construction environments. A rotating seat is fixedly connected to the top of the base, and the rotating seat is equipped with high-precision bearing components, ensuring smooth and stable rotation and providing a reliable guarantee for subsequent flexible operation. A first-stage robotic arm is rotatably connected to the top of the rotating seat. A third motor is embedded in the center of the bottom surface of the first-stage robotic arm, which drives the first-stage robotic arm to rotate horizontally around the rotating seat as its axis, thereby flexibly adjusting the equipment's working position. The top of the first-stage robotic arm is rotatably connected to a second-stage robotic arm, and the first motor can drive the second-stage robotic arm to move in the vertical plane. The angle adjustment range can be precisely set according to actual construction needs, meeting the requirements of curtain wall gluing operations at different heights and angles. The top of the second-stage robotic arm is rotatably connected to the third-stage robotic arm, and the bottom of the third-stage robotic arm is equipped with a second motor. The second motor can control the third-stage robotic arm to further fine-tune the angle in the vertical plane, working in coordination with the second-stage robotic arm to greatly improve the accuracy of the gluing position, ensuring that the gluing mechanism can accurately reach every part of the curtain wall that needs gluing. The gluing mechanism is connected to one end of the second motor, which ensures that the gluing amount is uniform and stable, and can adapt to curtain wall gaps of different widths and depths, achieving precise and efficient gluing operations.

[0007] As a further description of the above technical solution:

[0008] The stabilizing mechanism includes a top plate, the top surface of which is fixedly connected to the bottom surface of the base. A scissor arm is provided on the bottom surface of the top plate. A fixed column is rotatably connected to the right end of the scissor arm. A connecting block is provided on the outer wall of the fixed column. A lead screw is threadedly connected to the outer wall of the connecting block. An adjusting motor is fixedly connected to the bottom of the top plate. The output end of the adjusting motor is fixedly connected to one end of the lead screw. A foot is provided at the bottom of the scissor arm.

[0009] The above technical solution involves: a top plate with its top surface fixedly connected to the bottom surface of the base; a scissor arm on the bottom surface of the top plate; a rotatable connection between the right end of the scissor arm and a fixed column; a connecting block on the outer wall of the fixed column; a threaded screw on the outer wall of the connecting block; and an adjusting motor fixedly connected to the bottom of the top plate. The output end of the adjusting motor is fixedly connected to one end of the screw to achieve precise control of the stabilizing mechanism. Feet are provided at the bottom of the scissor arm, effectively supporting the entire structure and ensuring its stability and reliability under various working conditions.

[0010] As a further description of the above technical solution:

[0011] One end of the glue-applying mechanism is equipped with a glue-injecting head, and the bottom of the glue-applying mechanism is fixedly connected with a fixing pile.

[0012] The above technical solution involves a glue-applying head at one end of the glue-applying mechanism to facilitate precise application of glue, and a fixed post at the bottom of the glue-applying mechanism.

[0013] As a further description of the above technical solution:

[0014] The bottom of the three-stage robotic arm is provided with a mounting base, and the bottom of the mounting base is provided with a glue rod.

[0015] The above technical solution involves setting a mounting base at the bottom of the three-stage robotic arm, with a glue stick placed at the bottom of the mounting base to serve as the source of glue and provide the necessary materials for the glue application process.

[0016] As a further description of the above technical solution:

[0017] One end of the fixed pile is rotatably connected to a connecting rod, and the other end of the connecting rod is equipped with a camera.

[0018] The above technical solution involves connecting one end of the fixed pile to the adhesive application mechanism via a connecting rod. The connecting rod is designed to rotate, and a high-precision camera is installed at the other end of the connecting rod. The camera can monitor the adhesive application process in real time, ensuring the quality and accuracy of the adhesive application.

[0019] As a further description of the above technical solution:

[0020] The base has a placement compartment on the top front side and multiple drive wheels on the bottom.

[0021] The above technical solution provides a placement compartment on the top front side of the base, which allows various items to be conveniently placed inside. The bottom of the base is equipped with multiple drive wheels, which enable the base to move smoothly and efficiently on various surfaces.

[0022] As a further description of the above technical solution:

[0023] A controller is provided on the rear outer wall of the base, and a display screen is provided on the outer wall of the controller.

[0024] The above technical solution involves a controller installed on the rear outer wall of the base. The controller controls the movement and operation of the base, and a display screen is installed on the outer wall of the controller. The display screen provides an intuitive user interface, making it easier to monitor and manage the status and functions of the base.

[0025] As a further description of the above technical solution:

[0026] The outer wall of the second-order robotic arm is marked, and the bottom surface of the top plate is fixedly connected to the outer wall of the adjusting motor through a fixing plate.

[0027] The above technical solution involves markings on the outer wall of the second-order robotic arm to help quickly identify different parts and functions of the equipment. The bottom surface of the top plate is fixedly connected to the outer wall of the regulating motor through a fixing plate to ensure the stability of the equipment.

[0028] As a further description of the above technical solution:

[0029] This utility model has the following beneficial effects:

[0030] 1. In this utility model, through the linkage of the first-order robotic arm, the second-order robotic arm, and the third-order robotic arm, and the power output of motor one, motor three, and motor two, the glue-applying mechanism can evenly inject glue into the wall joints through the glue-applying head. The combined movement of the three joints can cover a large working space and flexibly adapt to various complex work tasks and working environments, enabling the equipment to easily cope with construction operations in various complex environments, thus expanding its application range. The camera can acquire construction images and promptly correct the glue-applying direction to ensure that the construction effect meets expectations.

[0031] 2. In this utility model, the camera drives the lead screw to rotate. The lead screw is threadedly connected to the connecting block. The connecting block is fixed to one end of the scissor arm, so that the connecting block pulls the upper right end of the scissor arm to slide on the inner wall of the top plate, and the lower left end of the scissor arm slides on the inner wall of the base. The included angle of the scissor arm becomes smaller, and the base extends downward to support the equipment, making the equipment stable. Attached Figure Description

[0032] Figure 1 This is a front perspective view of an intelligent adhesive injection device for building curtain walls proposed in this utility model;

[0033] Figure 2 This is a partial structural diagram of a second-order robotic arm for an intelligent adhesive injection device for building curtain walls proposed in this utility model;

[0034] Figure 3 This is a partial structural diagram of the drive wheel of an intelligent adhesive injection device for building curtain walls proposed in this utility model;

[0035] Figure 4 This is a partial structural breakdown diagram of the scissor arm of an intelligent adhesive injection device for building curtain walls proposed in this utility model;

[0036] Figure 5 This is a partial structural diagram of the injection head of an intelligent adhesive injection device for building curtain walls proposed in this utility model.

[0037] Legend:

[0038] 1. Base; 2. Stabilizing mechanism; 201. Top plate; 202. Scissor arm; 203. Fixing column; 204. Connecting block; 205. Lead screw; 206. Adjusting motor; 207. Foot; 3. Rotating seat; 4. First-order robotic arm; 5. Second-order robotic arm; 6. Motor 1; 7. Third-order robotic arm; 8. Motor 2; 9. Motor 3; 10. Glue application mechanism; 11. Glue injection head; 12. Glue stick; 13. Placement compartment; 14. Drive wheel; 15. Controller; 16. Display screen; 17. Sign; 18. Mounting base; 19. Fixing post; 20. Connecting rod; 21. Camera; 22. Fixing plate. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] Please see the appendix Figure 1 - Appendix Figure 3 An embodiment of this utility model provides an intelligent adhesive injection device for building curtain walls, comprising a base 1, a rotating seat 3 fixedly connected to the top of the base 1, a first-stage robotic arm 4 rotatably connected to the top of the rotating seat 3, a motor 9 disposed in the middle of the bottom surface of the first-stage robotic arm 4, a second-stage robotic arm 5 rotatably connected to the top of the first-stage robotic arm 4, a motor 6 disposed at the bottom of the second-stage robotic arm 5, a third-stage robotic arm 7 rotatably connected to the top of the second-stage robotic arm 5, a motor 8 disposed at the bottom of the third-stage robotic arm 7, an adhesive application mechanism 10 disposed at one end of the motor 8, and a stabilizing mechanism 2 disposed at the bottom of the base 1 for stabilizing the device;

[0041] Specifically, the base 1 possesses excellent stability and load-bearing capacity, effectively supporting the equipment's operation in various construction environments. A rotating seat 3 is fixedly connected to the top of the base 1. The rotating seat 3 is internally equipped with high-precision bearing components, ensuring smooth and stable rotation and providing a reliable guarantee for subsequent flexible operation. A first-order robotic arm 4 is rotatably connected to the top of the rotating seat 3. A motor 9 is embedded in the center of the bottom surface of the first-order robotic arm 4. The motor 9 drives the first-order robotic arm 4 to rotate horizontally around the rotating seat 3, thereby flexibly adjusting the equipment's working position. The top of the first-order robotic arm 4 is rotatably connected to a second-order robotic arm 5. The motor 6 can drive the second-order robotic arm 5 to perform angular movements in the vertical plane. The angle adjustment range can be precisely set according to actual construction needs, which can meet the requirements of curtain wall grouting operations at different heights and angles. The top of the second-stage robotic arm 5 is rotatably connected to the third-stage robotic arm 7, and the bottom of the third-stage robotic arm 7 is equipped with a second motor 8. The second motor 8 can control the third-stage robotic arm 7 to further fine-tune the angle in the vertical plane. Working in coordination with the second-stage robotic arm 5, it greatly improves the accuracy of the grouting position, ensuring that the grouting mechanism 10 can accurately reach every part of the curtain wall that needs grouting. The grouting mechanism 10 is connected to one end of the second motor 8. The grouting mechanism 10 ensures that the amount of grouting is uniform and stable, and can adapt to curtain wall gaps of different widths and depths, so as to achieve precise and efficient grouting operations.

[0042] Please see the appendix Figure 4 - Appendix Figure 5 The stabilizing mechanism 2 includes a top plate 201, the top surface of which is fixedly connected to the bottom surface of the base 1. A scissor arm 202 is provided on the bottom surface of the top plate 201. A fixed column 203 is rotatably connected to the right end of the scissor arm 202. A connecting block 204 is provided on the outer wall of the fixed column 203. A lead screw 205 is threadedly connected to the outer wall of the connecting block 204. An adjusting motor 206 is fixedly connected to the bottom of the top plate 201. The output end of the adjusting motor 206 is fixedly connected to one end of the lead screw 205. A foot 207 is provided at the bottom of the scissor arm 202.

[0043] Specifically, the top surface of the top plate 201 is fixedly connected to the bottom surface of the base 1. A scissor arm 202 is provided on the bottom surface of the top plate 201. The right end of the scissor arm 202 is connected to the fixed column 203 by a rotatable connection. A connecting block 204 is provided on the outer wall of the fixed column 203. A lead screw 205 is threadedly connected to the outer wall of the connecting block 204. An adjusting motor 206 is fixedly connected to the bottom of the top plate 201. The output end of the adjusting motor 206 is fixedly connected to one end of the lead screw 205 to achieve precise control of the stabilizing mechanism 2. The bottom of the scissor arm 202 is provided with feet 207. These feet 207 can effectively support the entire structure and ensure its stability and reliability under various working conditions.

[0044] Please see the appendix Figure 1 - Appendix Figure 3 One end of the glue application mechanism 10 is provided with a glue injection head 11, and the bottom of the glue application mechanism 10 is fixedly connected with a fixed post 19. The bottom of the three-stage robotic arm 7 is provided with a mounting base 18, and the bottom of the mounting base 18 is provided with a glue rod 12. One end of the fixed post 19 is rotatably connected with a connecting rod 20, and the other end of the connecting rod 20 is provided with a camera 21.

[0045] Specifically, one end of the glue application mechanism 10 is equipped with a glue injection head 11 for precise application of glue. A sturdy fixing post 19 is fixedly connected to the bottom of the glue application mechanism 10. A mounting base 18 is set at the bottom of the three-stage robotic arm 7. A glue stick 12 is placed at the bottom of the mounting base 18 as the source of glue and to provide the necessary materials for the glue application process. One end of the fixing post 19 is connected to the glue application mechanism 10 through a connecting rod 20. The connecting rod 20 is designed to rotate. A high-precision camera 21 is installed at the other end of the connecting rod 20. The camera 21 can monitor the glue application process in real time to ensure the quality and accuracy of the glue application.

[0046] Please see the appendix Figure 3 - Appendix Figure 5 The base 1 has a placement compartment 13 on the top front side, multiple drive wheels 14 on the bottom of the base 1, a controller 15 on the outer rear side of the base 1, a display screen 16 on the outer wall of the controller 15, an identification mark 17 on the outer wall of the second-order robotic arm 5, and the bottom surface of the top plate 201 is fixedly connected to the outer wall of the adjustment motor 206 through a fixing plate 22.

[0047] Specifically, a placement compartment 13 is provided on the top front side of the base 1 to facilitate the placement of various items. The bottom of the base 1 is equipped with multiple drive wheels 14, which enable the base 1 to move smoothly and efficiently on various surfaces. A controller 15 is provided on the outer rear wall of the base 1 to control the movement and operation of the base 1. A display screen 16 is provided on the outer wall of the controller 15, which provides an intuitive user interface to facilitate the monitoring and management of the status and functions of the base 1. The outer wall of the second-order robotic arm 5 is marked with labels 17 to help quickly identify different parts and functions of the equipment. The bottom surface of the top plate 201 is fixedly connected to the outer wall of the adjusting motor 206 through a fixing plate 22 to ensure the stability of the equipment.

[0048] Working principle: Through the linkage of the first-order robotic arm 4, the second-order robotic arm 5, and the third-order robotic arm 7, and the power output of motor 1 6, motor 3 9, and motor 2 8, the glue application mechanism 10 can evenly inject glue into the wall joints through the glue injection head 11. The combined movement of the three joints can cover a large working space and flexibly adapt to various complex work tasks and working environments, enabling the equipment to easily cope with construction operations in various complex environments, thus expanding its application range. The camera 21 can acquire construction images and correct the glue injection direction in time to ensure that the construction effect meets expectations.

[0049] The camera 21 drives the lead screw 205 to rotate. The lead screw 205 is threadedly connected to the connecting block 204. The connecting block 204 is fixed to one end of the scissor arm 202, so that the connecting block 204 pulls the upper right end of the scissor arm 202 to slide on the inner wall of the top plate 201, and the lower left end of the scissor arm 202 slides on the inner wall of the base 207. The included angle of the scissor arm 202 becomes smaller, and the base 207 extends downward to support the equipment and make the equipment stable.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A smart adhesive injection device for building curtain walls, comprising a base (1), characterized in that: A rotating seat (3) is fixedly connected to the top of the base (1). A first-order robotic arm (4) is rotatably connected to the top of the rotating seat (3). A motor three (9) is provided in the middle of the bottom surface of the first-order robotic arm (4). A second-order robotic arm (5) is rotatably connected to the top of the first-order robotic arm (4). A motor one (6) is provided at the bottom of the second-order robotic arm (5). A third-order robotic arm (7) is rotatably connected to the top of the second-order robotic arm (5). A motor two (8) is provided at the bottom of the third-order robotic arm (7). A glue-applying mechanism (10) is provided at one end of the motor two (8). A stabilizing mechanism (2) is provided at the bottom of the base (1). The stabilizing mechanism (2) is used to stabilize the equipment.

2. The intelligent adhesive injection equipment for building curtain walls according to claim 1, characterized in that: The stabilizing mechanism (2) includes a top plate (201), the top surface of the top plate (201) is fixedly connected to the bottom surface of the base (1), a scissor arm (202) is provided on the bottom surface of the top plate (201), a fixed column (203) is rotatably connected to the right end of the scissor arm (202), a connecting block (204) is provided on the outer wall of the fixed column (203), a lead screw (205) is threadedly connected to the outer wall of the connecting block (204), an adjusting motor (206) is fixedly connected to the bottom of the top plate (201), the output end of the adjusting motor (206) is fixedly connected to one end of the lead screw (205), and a foot (207) is provided at the bottom of the scissor arm (202).

3. The intelligent adhesive injection equipment for building curtain walls according to claim 1, characterized in that: One end of the glue application mechanism (10) is provided with a glue injection head (11), and a fixing pile (19) is fixedly connected to the bottom of the glue application mechanism (10).

4. The intelligent adhesive injection equipment for building curtain walls according to claim 1, characterized in that: The bottom of the three-stage robotic arm (7) is provided with a mounting base (18), and the bottom of the mounting base (18) is provided with a glue rod (12).

5. The intelligent adhesive injection equipment for building curtain walls according to claim 3, characterized in that: One end of the fixed pile (19) is rotatably connected to a connecting rod (20), and the other end of the connecting rod (20) is equipped with a camera (21).

6. The intelligent adhesive injection equipment for building curtain walls according to claim 1, characterized in that: The base (1) has a placement compartment (13) on the top front side and multiple drive wheels (14) on the bottom.

7. The intelligent adhesive injection equipment for building curtain walls according to claim 1, characterized in that: A controller (15) is provided on the rear outer wall of the base (1), and a display screen (16) is provided on the outer wall of the controller (15).

8. The intelligent adhesive injection equipment for building curtain walls according to claim 2, characterized in that: The outer wall of the second-order robotic arm (5) is marked (17), and the bottom surface of the top plate (201) is fixedly connected to the outer wall of the regulating motor (206) through the fixing plate (22).

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