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    • 专利摘要:
    Robot for restoration and rehabilitation of buildings comprising a structure (2) of profiles comprising at least two fixed, vertical or longitudinal parallel stringers (3), at least one mobile transverse bar (4), perpendicular to the stringers (3) and movable from end to end between said stringers (3) by motors, and a carriage (5) holding a tool (6) that is also movable and movable from end to end along the bar (4) also transverse by motor, said structure (2) configuring a mobile system of Cartesian coordinates that allows such a tool (6) to be transported to any point on the plane on which the structure (2) is installed, being moved by a controller to which It is linked, and it receives signals from engine position sensors and/or specific sensors provided in the tool (6). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2726918A1
    申请号:ES201830357
    申请日:2018-04-10
    公开日:2019-10-10
    发明作者:Pellico Daniel Lorenzo
    申请人:Evolution Construction System S L；
    IPC主号:
    专利说明:

    [0001]
    [0002] ROBOT FOR REFORMS AND REHABILITATIONS
    [0003]
    [0004] OBJECT OF THE INVENTION
    [0005]
    [0006] The invention, as expressed in the statement of the present specification, refers to a Robot for reforms and rehabilitations that contributes, to the function to which it is intended, advantages and characteristics, which are described in detail below, which represent a remarkable New in the current state of the art.
    [0007]
    [0008] The object of the present invention falls, specifically, in an automated equipment comprising, essentially, a metal structure with three-axis positioning to which different tools can be coupled to perform remotely and / or autonomously practically all tasks necessary in the execution of reforms and rehabilitations for example of buildings or other works, both in internal and external areas as well as on facades, so that it constitutes a robot that works autonomously and, therefore, avoids the need to build scaffolding or supports for the operators and that these should be perched and handle such tools directly on the different surfaces of the building, as it is currently being done.
    [0009]
    [0010] FIELD OF APPLICATION OF THE INVENTION
    [0011]
    [0012] The field of application of the present invention is framed within the construction industry sector, focusing particularly on the field of equipment and facilities for the realization of repairs as well as interior and exterior repairs and façades.
    [0013] BACKGROUND OF THE INVENTION
    [0014]
    [0015] As a reference to the current state of the art, it should be noted that, at least on the part of the applicant, the existence of any other Robot for reforms and rehabilitations, or any other invention of similar application, which has technical, structural and technical characteristics is unknown. constitutive equal or similar to those presented here claimed.
    [0016]
    [0017] EXPLANATION OF THE INVENTION
    [0018]
    [0019] The Robot for reforms and rehabilitations that the invention proposes is therefore configured as a remarkable novelty within its field of application, the distinguishing details being conveniently set forth in the final claims that accompany this description.
    [0020]
    [0021] More specifically, the robot that the invention proposes, as indicated above, consists of an automated equipment that essentially comprises a structure with three-axis positioning to which different tools can be coupled to perform building renovation and rehabilitation tasks among others, for example tools such as demolition of construction elements, horizontal surface levelers, vertical surface levelers, construction material extruders, finishing and polishing discs, adhesive and manipulator extruders, or others, applicable in both internal and external areas as well as on facades, so that it constitutes a robot that works autonomously or remotely controlled and, therefore, avoids the need to build or install scaffolding for operators and that these must be perched on them to manually handle such tools directly on the different surfaces of the building, as is currently being done.
    [0022]
    [0023] For this, said structure is a metal structure of profiles, which can be made of aluminum, steel, carbon fiber or other suitable material, which basically comprises a set of parallel, vertical or longitudinal stringers, one or more crossbars, perpendicular to the stringers, and one or more carriages or attachment point where the tool is incorporated, being perpendicularly linked to each other so that they configure a mobile system of three-axis Cartesian coordinates X, Y, Z that transport the tool so that it can execute the task for which it was entrusted at any point of the plane in front of which the structure is installed. This structure is moved by a controller that receives signals from engine position sensors and other specific sensors with which each tool is equipped.
    [0024]
    [0025] In the event that the robot is designed for renovations and renovations of interiors, the structure, as well as its electromechanical parts, are easily adapted to the place where its installation is necessary because the profiles that form it are adjustable by a sliding system internally or even by simply assembling more profiles if necessary. It should be understood as an interior a space delimited by walls, floors or other elements.
    [0026]
    [0027] Preferably, in said indoor variant, the structure preferably comprises two longitudinal, vertical or horizontal stringers as appropriate, and one or more crossbars that determine, respectively, the X and Y axes through which at least one carriage moves or attachment point of the tool.
    [0028] And, preferably inside the profiles that define said stringers and bar, the mechanical device is arranged that allows the X-axis and the Y-axis to move precisely and controlled via the controller.
    [0029]
    [0030] Preferably, said mechanical device is composed of a belt and pulley connected to the motor that rotates it. In the belt there is an element that fixes the profile or the car that you want to move. This strap can be adjustable to adjust its length according to the adjusted length of the structure. The internal system for movement may vary, and the use of other motorized mechanisms is also possible.
    [0031]
    [0032] The Z axis is located in the carriage or clamping point that loads the tools and is the one that, moving forward or backward, allows the tool to approach or move away from the wall or floor according to the arrangement of the structure. This carriage or clamping point also rotates 360 ° on itself to allow the tool to be placed in a certain position.
    [0033]
    [0034] This Z-axis movement is carried out by means of a telescopic system, so that a continuous piece that can impact with the columns of the Y-axis is not necessary and can be carried out by means of a hydraulic piston, an electric or pneumatic actuator or even with a mechanism electric rack and pinion type ...
    [0035]
    [0036] The main support of the structure, that is to say the two longitudinal stringers thereof, have an upper and lower adjustment that allows the structure to be anchored strongly to ceilings and floors or to each other facing walls as the structure is arranged, that is, vertical or horizontally, the crossbar being the one that moves from one end to the other between the stringers and the carriage or attachment point of the tool which moves along said bar and can also rotate on itself.
    [0037]
    [0038] Following the characteristics of the invention, it should be noted that, in a variant embodiment of the robot, applicable for renovations and renovations on facades, the robot is configured from a conceptually identical structure but large in size, adapted to external areas and vertical or with inclination greater than 0 ° and which, moreover, is preferably self-assembling and climbing, which does not require the intervention of skilled labor in work at height for its assembly, disassembly and operation. It should be understood as a facade a space not delimited by walls, floors or other elements.
    [0039]
    [0040] For this, the structure, in addition to two or more parallel and vertical stringers and at least one bar that respectively constitute the Y and X axes and where the carriage moves with the Z axis that holds the tool, also includes a self-elevating platform that it is raising and auto anchoring the elements of said robot structure to the structure of the building or construction in which you want to work
    [0041]
    [0042] For this, the stringers in this case are made up of a series of columns that would represent the Y axis, which are arranged one above the other and that have in their upper part a plate that is anchored by means of specific screws to the structure of the building. And, along these columns the bar or bars that constitute the X axis are arranged, with the particularity of not being a continuous bar, since, so that the entire X axis can move freely along the Y axis without stumbling over the above-mentioned anchors of the columns to the structure of the building, said X-axis bar is divided into segments in the encounter with each column.
    [0043] And, along this X axis defined by the bar segments, the carriage where the tools are transported is arranged.
    [0044]
    [0045] Preferably, in this case the car has four pairs of wheels that allow it to go through the encounter that divides the segments of the bar without problems of destabilization or loss of precision, thanks to its configuration as a guide.
    [0046]
    [0047] The controller is responsible for making the car does not collide with the column anchors to the structure of the building, although there are still disconnection systems arranged in the car, so that when the car can go through They disconnect the movement.
    [0048]
    [0049] The Z axis is what makes the tools approach or move away from the wall on which it is necessary to work, this Z axis is transported in the car mentioned above and uses a telescopic system for it, so that a piece is not necessary continuous that can impact with the columns of the Y axis. This telescopic system, as with the variant of the structure used for internal surfaces of the building or construction, can be driven by a hydraulic piston, an electric or pneumatic actuator or even with a electric mechanism type rack and pinion structure ...
    [0050]
    [0051] Additionally, the structure comprises a second crossbar or X axis that operates manually and outside the controller. This second X axis transports a cabin where you can climb a person to identify problems and monitor the tasks that the team is executing.
    [0052] One of the fundamental objectives of the robot of the invention is to prevent human exposure during the assembly or disassembly of the structure, for this, as already noted above, an autonomous system has been devised to raise the columns that constitute the stringers in the variant for facades and fix them to the structure of the building.
    [0053]
    [0054] Said system comprises a lifting platform from which the successive overlapping columns are raised and an anchoring mechanism in this platform that makes the holes in the construction structure on which one wants to work and bolts the anchoring plates of the column to the structure of the building.
    [0055]
    [0056] With all this, the described Robot for reforms and rehabilitations consists, then, in an innovative structure of unknown characteristics until now for the purpose to which it is intended, reasons that together with its practical utility, provide it with sufficient foundation to obtain the privilege of exclusivity requested.
    [0057]
    [0058] DESCRIPTION OF THE DRAWINGS
    [0059]
    [0060] In order to complement the description that is being made and in order to help a better understanding of the characteristics of the invention, the present specification is attached, as an integral part thereof, some planes in which, with an illustrative and non-limiting nature, has represented the following:
    [0061]
    [0062] Figures 1 and 2 show two perspective views of an example of the Robot for reforms and renovations of buildings and other constructions, according to the invention, in its interior variant, installed respectively in an upright position to act on a wall and in horizontal position to act on a floor, appreciating the main parts and elements that it comprises as well as their configuration and arrangement;
    [0063]
    [0064] Figure number 3.- Shows an enlarged perspective view of the carriage and / or attachment point of the tool that has the structure of the robot of the invention;
    [0065]
    [0066] Figure number 4.- Shows an enlarged perspective view of one of the adjustments that incorporate the stringers of the structure to fix it between floor and ceiling or between walls and other opposite elements;
    [0067]
    [0068] Figure number 5.- Shows a schematic perspective view of a portion of the structure and the inner mechanical device that moves it;
    [0069]
    [0070] Figure number 6.- Shows a perspective view of another example of realization of the Robot for reforms and renovations of buildings and other constructions, according to the invention, in this case in its variant to act on the facade, appreciating the configuration and arrangement of its main parts;
    [0071]
    [0072] Figure 7 shows an enlarged perspective view of the overlapping columns that make up the stringers of the structure in its facade variant, appreciating its configuration and the elements that comprise;
    [0073]
    [0074] Figure number 8.- Shows a perspective view of the detail of the carriage or attachment point of the tool that the robot has in its facade variant, with the wheels inserted in the bar guide formed by segments through which it runs ;
    [0075] Figure number 9.- Shows a perspective view of the optional people transfer cabin incorporated in a second crossbar of the structure in its facade variant;
    [0076]
    [0077] Figures 10 and 11. - They show perspective views of the platform for the elevation of columns represented in two phases of operability, specifically elevated on a first column and raising a second column in Figure 9, and with said second column a once inserted in the structure to then proceed to the elevation of the platform on said second column in Figure 10;
    [0078]
    [0079] Figure number 12.- Shows an enlarged perspective view of the upper part of the lifting platform, showing the interlocking mechanisms of the column it incorporates; Y
    [0080]
    [0081] Figures 13 to 21 show perspective views of the different tools that the robot of the invention incorporates, specifically: - Figure 13 is a perspective of an adjustable demolishing tool, - Figure 14 is a perspective of a surface grader horizontal,
    [0082] - Figure 15 is a perspective of an extruder of construction material, - Figures 16 and 17 are perspectives of a vertical surface grader,
    [0083] - Figures 18 and 19 are perspectives of a finishing and polishing disc, assembled and exploded respectively,
    [0084] - and Figures 20 and 21 are perspectives of an adhesive extruder and manipulator.
    [0085] PREFERRED EMBODIMENT OF THE INVENTION
    [0086]
    [0087] In view of the aforementioned figures, and according to the numbering adopted, it can be observed in them two examples of non-limiting realization of the Robot for reforms and rehabilitations recommended, which includes the parts and elements that are indicated and described in detail to continuation.
    [0088]
    [0089] Thus, as can be seen in said figures, the robot (1) in question is configured essentially from a structure (2) of profiles that can be made of aluminum, steel, carbon fiber or other material, which comprises, one or more fixed, vertical or longitudinal parallel stringers (3), at least one mobile transverse bar (4), perpendicular to the stringers (3) and movable from end to end between said stringers (3) by corresponding motors, and at minus a carriage (5) for holding a tool (6), among any of those necessary to perform the required work, which is also mobile and movable from end to end along the crossbar (4) also by motor (not shown), so that said structure (2) configures a mobile system of Cartesian coordinates, of at least two X and Y axes, which allows such a tool (6) to be transported to any point on the plane in front of which the structure is installed (2) being moved by a controller (not shown) to which it is linked, via cable or wireless mode and that receives signals from position sensors of the motors and / or other specific sensors provided in the tool (6).
    [0090]
    [0091] According to figures 1 and 2, it is observed how, in a variant of the robot (1) applicable for renovations and rehabilitations of interior surfaces of the construction, the structure (2) and its electromechanical parts, adapt to different spaces and that the profiles that both the stringers (3) and the bar (4) are of adjustable length, for example by internal sliding system or assembly of profile segments.
    [0092]
    [0093] Preferably, in said indoor variant, the structure (2) comprises two longitudinal stringers (3), a transverse bar (4) and a tool carriage (5), the profiles defining said stringers (3) and hollow bar (4) incorporating in its interior the mechanical device that allows the bar (4) or X axis to move over the stringers (3) or Y axis in a precise and controlled way via controller.
    [0094]
    [0095] Preferably, said mechanical device is composed of a belt or chain (19) and pulley (20) connected to the motor (21) which rotates it, elements schematically illustrated in Figure 5 and replaceable by others, this belt or chain (19) being ) adjustable to adjust its length according to the variable length of the structure (2).
    [0096]
    [0097] In addition, as seen in Figure 3, as well as in Figure 8 of another variant explained below, the clamping carriage (5) also comprises a perpendicular profile (9) that allows moving the tool (6) that holds on what constitutes the third axis or Z axis of the mobile Cartesian coordinate system, that is, forward or backward as well as its 360 ° rotation to allow the tool (6) to be placed in a certain position.
    [0098]
    [0099] For this, the carriage (5) is associated with a telescopic mechanism (not shown) of a hydraulic piston, an electric or pneumatic actuator or a rack and pinion type electric mechanism ...
    [0100]
    [0101] According to Figure 4, it is observed how, preferably in the structure (2) of this indoor variant, the stringers (3) have an upper and lower adjustment (10) for anchoring to ceilings and floors or to walls or other facing elements. Said adjustment (10) can be manual or automatic adjustable by means of hydraulic, pneumatic or electromechanical system with pressure sensor to determine the adjustment that will be necessary to give it.
    [0102]
    [0103] In accordance with Figure 6, a variant of the robot (1) applicable for reforms and renovations of facades is observed, where the structure (2) of stringers (3) and bars (4) is self-assembling and climbing for which it comprises a platform (11) auto elevable and auto anchored to the structure of the building or construction.
    [0104]
    [0105] More specifically, in this second variant, as seen in said figure 6 and in figure 7, the stringers (3) that constitute the Y axis of the mobile Cartesian system of the structure (2) are preferably vertical and are formed by columns ( 31) superimposed on top of each other that have, in their upper part, an anchor plate (12) for fixing, by means of specific screws, to the structure of the building, while the transverse bar (4), which constitutes the X axis of the Cartesian mobile system, it is divided into two or more segments (41) coinciding the space of such divisions with the meeting of the columns (31) of each stringer (3) to be able to move freely along the Y axis that make up without tripping with the anchors (12) thereof, as seen in Figure 8.
    [0106]
    [0107] In addition, preferably, in this case the profiles defining said segments (41) of the bar (4) are configured as a guide and the carriage (5) for the tool has four pairs of wheels (13) that allow it to pass through the space that separates said segments (41) without destabilizing or losing precision.
    [0108] As in the case of the previous variant, and as seen in Figure 8, the carriage (5) is incorporated in a perpendicular profile (9) that acts as a Z axis by moving the tool (6) so that it approaches or away from the wall on which you need to work, which, preferably, is telescopic and can be operated by a hydraulic piston mechanism, an electric or pneumatic actuator or even with an electric mechanism type rack and pinion structure ...
    [0109]
    [0110] Additionally, the structure (2) of the facade variant comprises a second crossbar or additional bar
    [0111]
    [0112] In a preferred embodiment the structure (2) comprises an additional bar
    [0113]
    [0114]
    [0115] According to figures 10 to 12, the self-elevating platform (11) comprising the robot (1) of the invention in its variant of structure (2) for facade is observed in detail, which, in the preferred embodiment consists of a profile reinforcement formed, as a crane, from a vertical lower part (111), which defines a column-adjustable housing (31) that make up the beams (3) and preferably equipped with an automatic lifting mechanism on them (not shown), and a horizontal upper part (112) that, like any crane, has a pulley mechanism and cables for the lifting of said columns (31) from the ground and their displacement within the lower vertical part, as shown in figures 10 and 11, for which said columns (31) are provided at their upper base with such an anchoring system as a hook ring (15) for attaching the hook of the platform (11), which serves at the same time for hooking with the lower base of the column (31) that is fixed superiorly, preferably, through a bolt ( 16) inserted into a cavity through a hole provided for that purpose, or with another similar means.
    [0116]
    [0117] In addition, the horizontal upper part (112) of this platform (11), as seen in Figure 12, also incorporates the means for making the holes in the structure of the building and screwing the column anchor plates (12) ( 31) which comprise a tool for drilling (17) with an air injector, as well as screw stores (18) and tool changer.
    [0118]
    [0119] With this, the operating stages for the climbing of the platform (11) and forming the stringers (3) of the structure (2) as well as the screwing of the column anchors to the construction structure are the following:
    [0120]
    [0121] - Anchoring the first column (31) and positioning the platform (11) manually and at level 0 with a perfect leveling.
    [0122] - Automatic lifting of the platform (11) to the next height, above said first column (31).
    [0123] - Lifted by steel cable or other similar system as follows column (31), with its plate (12) anchoring to the wall already incorporated, up to the height necessary to place it at the level of the bottom (111) of the platform (11).
    [0124] - Horizontal guidance of this new column (31) to the vertical with the lower column (31) already fixed and on which the platform (11) is incorporated and support on it.
    [0125] - Drilling tool drive (17).
    [0126] - Cleaning by injection of compressed air from the hole made in the building structure.
    [0127] - Automated tool change.
    [0128] - Preparation of screws and screwing of the support.
    [0129] - Completion and repetition of the process.
    [0130]
    [0131] Preferably, the mechanism of the platform (11) for lifting and placing the column (31) in its position consists of a carriage where a motor is positioned that lifts the column by means of steel cable and once the column (31) is in position This car enters the position where the column should be. Once in this position the engine lowers the column so that the anchors between columns (31) are locked.
    [0132]
    [0133] In one embodiment, the platform has at its bottom an automatic system to unlock the bolt (16) or similar means used in the hitch of the columns to allow automated dismantling of the columns (31).
    [0134]
    [0135] And the mechanism for anchoring the columns (31) to the building structure consists of a drilling tool (17) that has at least two drills preferably driven by the same motor and separated from each other exactly the distance between the gaps of the plate (12). These drills move in the direction of the wall by means of a rail and preferably driven by rack and pinion.
    [0136]
    [0137] Once the holes have been made, the drill bits are replaced by a screwing tool, the screw is collected in the storage and the column is screwed to the construction.
    [0138]
    [0139] To do this, the structure (11) has two screw stores (18) that move apart or close to each other to allow the tool to take the screws and free up space later to move towards the wall.
    [0140]
    [0141] This process is repeated in a synchronized and controlling way in all columns (31) that will be elevated in a fully automated way.
    [0142]
    [0143] The lifting platform (11) also preferably has a folding system that allows the whole as a whole to be able to lower the structure through the previously hoisted columns. This is necessary for cases of maintenance or breakage of some of the parts.
    [0144]
    [0145] As for the tool (6) that incorporates the robot (1) of the invention, as seen in Figures 13 to 21, it preferably consists of an adjustable demolition (60), a horizontal surface leveler (61 ), an extruder of construction material (62), a vertical surface leveler (63), a finishing and polishing disc (64), or an adhesive and manipulator extruder (65), allowing the interchangeable placement of any of them .
    [0146]
    [0147] Going further into the details, the adjustable demolition (60) is formed by a device coupled to the carriage (5) of the structure (2) that contains some roughing rollers (601) that are turned electromechanically and allow demolition of the coating on which it is located. The tool has a system for regulating the distance at which the rollers (601) are located on it.
    [0148]
    [0149] In addition, said adjustable demolition (60) or other tool (6) that produces waste in a similar manner may comprise a vacuum device and automatic waste collection (7, 8), which although it is represented in Figures 1 to 3 for the structure (2) in its interior variant, it is also applicable for the structure (2) in its exterior and facade variant.
    [0150]
    [0151] For this, the tool (6), as seen in figures 1 and 2, is connected by means of a hose (7) for the transport of waste to a vacuum pump that collects the waste.
    [0152]
    [0153] This vacuum pump is located on a robotized cart (8) that moves controlled by the same controller of the structure (2) and based on the position of the tool (6) to lengthen or shorten the distance in order not to hinder or create bends in the hose (7).
    [0154]
    [0155] In addition, the hose (7) flows into a second robotic cart (8 ’) which is in turn an automatic bagger. Preferably, the connection of the hose (7) to this second cart (8 ') is carried out by means of a valve that is automatically anchored and disengaged in such a way that when it needs to move to the unloading area of the bags it can do.
    [0156]
    [0157] The process works as follows:
    [0158]
    [0159] Once the bags of the cart (8 ') are full the controller sends the signal for the tool (6) and the vacuum pump to stop, once stopped sends the signal to the hose valve to disassemble the second cart (8 ') from the first (8). After this, the cart (8 ') moves guided by the controller to the location previously specified for unloading the bags and subsequently re-anchored to the first cart (8) to continue the process.
    [0160]
    [0161] According to Figure 14, an example of the tool (6) is observed when it is constituted by a horizontal surface grader (61), which is formed by a manifold (611) connected to a helical transport pump through which a building material in a liquid state, which can be cement based among others, which allows the building material to leave evenly and be deposited on the surface with the necessary amount.
    [0162]
    [0163] For this, said manifold (611) is connected to a main pipe (612) that has a valve (613) installed that allows it to be closed or opened remotely and synchronized with the main and / or secondary pumps and with the sensors that mark the position of the carriage (5) or its perpendicular profile (9) constituting the Z axis of the structure (2). This tool (61) can have depth sensors installed to determine the distance to the surface where the material will be deposited and send this signal to the controller.
    [0164]
    [0165] In addition, next to the manifold (611) a ruler (614) is installed which, subject to a fixation (615) integral with a support (616) that allows its sliding, performs, thanks to a quick return mechanism (617) moved by a motor (618), a longitudinal movement that makes the deposited material can also be pressed (due to the vibration produced by this mechanism) perfectly leveled. Can be installed also, if necessary, elements that produce vibration in this rule (614) to increase the vibration capacity. An anti-vibration system can be arranged in the fixation (615) of this tool with the main support (616) to avoid transferring the vibration to the rest of it.
    [0166]
    [0167] Preferably, said fixation (615) of the ruler (614) comprises linear guides that allow the longitudinal sliding of the ruler (614), which is connected to the manifold (611) through an axis to allow rotation and with the support (616) of the tool by means of two actuators (619) that can be pneumatic or electric so that, by their action, the orientation of the ruler (614) can be changed with respect to the perpendicular plane.
    [0168]
    [0169] These actuators (619) can be synchronized with the depth sensors installed in the tool (61) to adapt to the terrain where the material is being deposited.
    [0170]
    [0171] According to Figure 15, another example of the tool (6) is observed, in this case consisting of an extruder of construction material (62), which comprises a square tube (621) connected to the pipe (622) where it is transported a constructive material in a liquid state, which can be cement based among others, to deposit in the place determined by the controller an amount of specific material forming layers on top of each other.
    [0172]
    [0173] Said tool (62) is constituted by the same main pipe and the valve of the previous tool, to which, in this case, the said square tube (621) of greater length is coupled to be able to reach the lower dimensions of the excavations that are below the level of support bases of the uprights (3) of the structure (2). This construction material extruder tool (62) is specifically used to create structures of construction material that can, among other things, serve as formwork for subsequent reception of structural material to form, for example, benches or other decorative elements.
    [0174]
    [0175] In Figures 16 and 17, another example of the type of tool that the robot (1) of the invention can incorporate, specifically a vertical surface grader (63), is intended to make continuous coatings with different materials on vertical walls of walls and walls .
    [0176]
    [0177] Said bulldozer (63) comprises a duct (632) of guiding and oscillating movement that releases a certain amount of construction material and being connected to a conduit (630) of compressed air manages to project the material on the vertical support. The tool also has a mobile, vibratory and articulated ruler (634) which, thanks to pneumatic or electric actuators (639) guided by the controller, aligns the material on the surface. The tool can have sensors to measure the depth to said surface in addition to a flow meter at the outlet of the pipes (632, 630) that send information to the controller to guide the movement. The opening and closing of both construction material and compressed air is carried out by means of valves (633) and by means of a controller and based on the position of the lower head of the perpendicular profile (9) to which the tool is attached and constitutes the axis “ Z "of the structure (2).
    [0178]
    [0179] The rule (634), subject to a fixation (635) that links it to a support (636) and moved by actuators (639) with fast return mechanism (637), makes a turn to engage on the surface to be treated and able do so the aligned of the material while it is projected on the wall through the nozzle (631) provided at the end of the pipe (632).
    [0180]
    [0181] At the same time that the material is projected, the ruler (634) is leveling. The material outlet nozzle (631) swings horizontally mechanically within a guide rail (638) so that the material is placed on the wall of the wall across the entire width that the ruler (634) covers.
    [0182]
    [0183] The vertical surface leveling tool (63) can vary its curvature to adapt to different shapes, for this it will be necessary to change the assembly formed by ruler (634) and oscillating guide rail (638) of the projection nozzle (631). The structure can also be formed with flexible materials that change their curvature with electric or pneumatic actuators.
    [0184]
    [0185] According to figures 18 and 19, another option of the tool (6) is observed, specifically as a finishing and polishing disc (64) which comprises a rotating motor (641) of high rpm (revolutions per minute) that rotates a rigid protection disk (644) to which discs of different materials are coupled, preferably a finishing disc (643) of materials such as polyurethane, Teflon, plastic polymers, or other, to provide different types of finishes to the wall by rotating movements and of pressure, which fixed by means of Velcro strips on a support disk (644) of plastic that, in turn, is fixed to the protection disk (642), being attached, like this one, to the axis of rotation and support (645) of the rotation motor (641).
    [0186]
    [0187] The finishing and polishing disc tool (64) has a pipe (646) with a spray nozzle (647) to spray water on the wall. It also has pressure sensors that determine the effort to be made by the tool on the wall and the amount of water to be sprayed, all of which is determined by the controller and also based on the position of the car or perpendicular profile (9) of the "Z" axis in which it is engaged.
    [0188]
    [0189] In addition, the tool (64) is articulated by means of an electric positioning motor (648) with position sensor that allows its rotation in 180 ° and has a depth measurement system to adapt to different surfaces.
    [0190]
    [0191] Finally, Figures 20 and 21 show the tool as an adhesive and manipulator extruder (65), which comprises a manifold (651) connected to the pipe (652) of construction materials with grooved outlet through which it goes out and deposited in the wall or the wall determined an adhesive material on which a plate or cladding panel (22) will be placed which can be for example ceramic.
    [0192]
    [0193] In addition, the same adhesive and manipulator extruder tool (65) has a vacuum manipulator installed which, composed of a suction cup (655) connected to a vacuum duct (656), manages to collect said coating (22) from the stock made in a specific place. apply it on the wall or other support in the exact position and precisely using pressure sensors that guarantee perfect placement.
    [0194]
    [0195] The tool (65) changes the function thanks to a positioning motor (654) that moves a support (653) at a right angle to which the suction cup (655) and the collector (651) are coupled by rotating them in the perpendicular plane of “ XY. " You can also have position sensors that send these signals to the controller.
    [0196]
    [0197] The material outlet in the manifold (651) has a flowmeter and a pressure sensor also connected to the controller. And the suction cup (655) of the vacuum handling system has a pressure sensor and an actuator connected to the controller. All these sensors send information to the controller and together with the position data of the perpendicular profile that constitutes the “Z” axis of the structure (2) of the robot (1) the orders are sent to execute.
    [0198]
    [0199] Describing sufficiently the nature of the present invention, as well as the way of putting it into practice, it is not considered necessary to make its explanation more extensive so that any person skilled in the art understands its scope and the advantages that derive from it, stating that, within its essentiality, it may be carried out in other embodiments that differ in detail from that indicated by way of example, and to which it will also achieve the protection that is sought provided that it does not alter, change or modify its fundamental principle .
    权利要求:
    Claims (33)
    [1]
    1 Robot for restorations and reforms and, rehabilitations characterized by comprising a structure (2) of profiles comprising, one or more fixed, vertical or longitudinal parallel stringers (3), at least one mobile transverse bar (4), perpendicular to the stringers (3) and movable from end to end between said stringers (3) by motors, and at least one carriage (5) holding a tool (6) that is also movable and movable from end to end along the bar (4) also transverse by motor, said structure (2) configuring a mobile system of Cartesian coordinates that allows transporting such a tool (6) to any point of the plane in front of which the structure (2) is installed, being moved by a controller to the one that is linked, and that receives signals from engine position sensors and / or specific sensors provided in the tool (6).
    [2]
    2. - Robot for reforms and rehabilitations, according to claim 1, characterized in that, in a variant embodiment with structure (2) applicable to interiors, the stringers (3) and the bar (4) are of adjustable length.
    [3]
    3. - Robot for reforms and rehabilitations, according to claim 2, characterized in that the profiles defining said stringers (3) and said bar (4) are hollow and incorporate inside a mechanical device that allows the bar (4) or X axis moves on the stringers (3) or Y axis and that the carriage (5) holding a tool (6) can also be moved on the bar (4) precisely and controlled via the controller.
    [4]
    4. - Robot for reforms and rehabilitations, according to claim 3, characterized in that said mechanical device is composed of a belt or chain and pulley connected to the motor that turns it, this belt or chain being adjustable to adjust its length according to the variable length of the structure.
    [5]
    5. - Robot for reforms and rehabilitations, according to any of claims 2 to 4, characterized in that the stringers (3) have an upper and lower adjustment (10) for anchoring to ceilings, floors, walls or elements that delimit the space Where you want to install.
    [6]
    6. - Robot for reforms and rehabilitations, according to claim 1, characterized in that, in a variant embodiment with structure (2) applicable to facades, the stringers (3) of the structure (2) are always vertical and are made up of columns (31) superimposed on top of each other that have, at their top and / or bottom, an anchor plate (12) for fixing, by means of specific screws, to the structure of the construction.
    [7]
    7. Robot for reforms and rehabilitations, according to any of the preceding claims, characterized in that the transverse bar (4) is divided into segments (41) coinciding with the space of such divisions with the meeting of the stringers (3).
    [8]
    8. Robot for reforms and rehabilitations, according to claim 7, characterized in that the transverse bars (4) can have independent movements and each transport a carriage (5).
    [9]
    9. - Robot for reforms and rehabilitations, according to any of claims 7-8, characterized in that the carriage (5) for the tool (6) has wheels or supports through which it slides along the transverse bars (4) sufficiently rigid (13) to pass through the space that separate said segments (41) without destabilizing or losing precision.
    [10]
    10. - Robot for reforms and rehabilitations, according to any of claims 6 to 11, characterized in that the structure (2) comprises an additional bar
    [11]
    11. Robot for reforms and rehabilitations, according to any of claims 6 to 10, characterized in that the structure (2) comprises an additional bar
    [12]
    12. Robot for reforms and rehabilitations, according to any of claims 6 to 11, characterized in that the structure (2) comprises a platform (11) self-elevating and self-anchored to the structure of the building.
    [13]
    13. - Robot for reforms and rehabilitations, according to claim 12, characterized in that the self-elevating platform (11) consists of a profile armature shaped, as a crane, from a vertical lower part (111), which defines a adjustable housing to the columns (31) that make up the stringers (3) and equipped with an automatic lifting mechanism on them, and a horizontal upper part (112) that It has a pulley mechanism and cables for lifting the columns (31) from the ground and moving inside the vertical lower part.
    [14]
    14. - Robot for renovations and rehabilitations, according to claim 13, characterized in that the horizontal upper part (112) of the platform (11) incorporates means for making holes in the structure of the construction and screwing the anchoring plates (12) of the column (31), these means for making holes and screwing plates comprise a tool for drilling and screwing (17) with air injector, automatic screw stores (18) and automatic tool changer.
    [15]
    15. - Robot for reforms and rehabilitations, according to any one of claims 6 to 14, characterized in that the columns (31) are provided at its upper base with a hook ring (15) for coupling the platform lifting hook (11 ), which serves at the same time to engage with the lower base of the column (31) that is fixed superiorly, for example, through a bolt (16) or similar means.
    [16]
    16. Robot for renovations and rehabilitations, according to any of claims 15, characterized in that the platform has at its bottom an automatic system to unlock the bolt (16) or similar means used in the hitch of the columns to allow automated disassembly of the columns (31).
    [17]
    17. - Robot for reforms and rehabilitations, according to any of claims 12 to 16, characterized in that the lifting platform (11) is foldable to lower it from the structure (2) through the previously hoisted columns (31).
    [18]
    18. - Robot for reforms and rehabilitations, according to any of the preceding claims characterized in that the carriage (5) for holding the tool (6) includes a profile perpendicular (9) to the mobile transverse bar (4) that moves the tool ( 6) that holds thus constituting the Z axis, that is, forward or backward in the direction of the element on which you want to work.
    [19]
    19. - Robot for reforms and rehabilitations, according to any of claim 18 characterized in that the perpendicular profile rotates 360 ° to allow the tool (6) to be placed in a certain position and / or the perpendicular profile is articulated by an electric motor of positioning (648) with position sensor that allows its rotation in 180 °
    [20]
    20. - Robot for renovations and rehabilitations, according to claim 19, characterized in that the carriage (5) is associated with a telescopic system such as a hydraulic piston mechanism, an electric or pneumatic actuator or a rack and pinion type electric mechanism of such so that said profile when retracting cannot impact with the columns of the Y axis.
    [21]
    21. - Robot for reforms and rehabilitations according to any of claims 1 to 20, characterized in that the tool (6) consists of an adjustable demolition (60) containing electromechanically rotated roughing rollers (601) and distance adjustment system a which the rollers (601) are located on the surface to be worked.
    [22]
    22. - Robot for reforms and rehabilitations, according to claim 21, characterized in that the adjustable demolition (60) is connected to a vacuum device and automatic waste collection (7, 8).
    [23]
    23. - Robot for reforms and rehabilitations, according to claim 22, characterized in that the adjustable demolishing tool (6) is connected by a waste transport hose (7) to a vacuum pump that collects the waste located on a cart (8) robotized controlled by the controller based on the position of the tool (6).
    [24]
    24. - Robot for reforms and rehabilitations, according to claim 23, characterized in that the hose (7) flows into a second robotic cart (8 ') which is in turn an automatic waste bagger.
    [25]
    25. Robot for reforms and rehabilitations, according to claim 24, characterized in that the second robotic cart (8 ') which is in turn an automatic waste bagger is detached from the first cart (8) by means of an automatic opening and closing valve so that the second robotic cart (8 ') can move to a point of unloading of the waste bags.
    [26]
    26. - Robot for reforms and rehabilitations, according to any one of claims 1 to 19, characterized in that the tool (6) consists of a horizontal surface grader (61) with a manifold (611) connected to a construction material transport pump in liquid state in a main pipe (612) with valve (613) and sensors, and a ruler (614) with longitudinal sliding moved by a motor (618) with fast return mechanism (617) and actuators (619).
    [27]
    27. - Robot for reforms and rehabilitations, according to any of claims 1 to 19, characterized in that the tool (6) consists of an extruder of construction material (62) comprising a square tube (621) connected to the pipe (622) where it is transported constructive material in a liquid state, to deposit in the place determined by the controller forming layers on top of each other.
    [28]
    28. - Robot for reforms and rehabilitations, according to any one of claims 1 to 19, characterized in that the tool (6) consists of a vertical surface leveler (63) comprising a guiding pipeline (632) and oscillating movement with valves ( 633) and nozzle (631) that releases constructive material, being connected to a compressed air duct (630) to project the material on the vertical surface, and a mobile, vibrating and articulated ruler (634) by pneumatic actuators (639) or electrical guided by the controller.
    [29]
    29. - Robot for reforms and rehabilitations, according to claim 28, characterized in that the vertical surface leveler (63) has sensors and flow meter at the outlet of the pipes (632, 630) that send information to the controller to guide the movement.
    [30]
    30. - Robot for reforms and rehabilitations, according to claim 28 and 29, characterized in that the rule (634) is subject to a fixation (635) that links it to a support (636) and moved by actuators (639) with a mechanism rapid return (637), and the nozzle (631) oscillates horizontally mechanically within a guide rail (638).
    [31]
    31. - Robot for reforms and rehabilitations, according to any one of claims 1 to 20, characterized in that the tool (6) consists of a finishing and polishing disc (64) which comprises a rotating motor (641) of high rpm which spins a rigid plastic support disk (644) to which a finishing disk (643) of materials such as polyurethane, Teflon, plastic polymers, or other, which, in turn, are fixed to the motor shaft (645) and are protected externally by a protective disk (642), the tool also consists of a pipe (646) with a spray nozzle (647) as well as pressure sensors connected to the controller.
    [32]
    32.- Robot for reforms and rehabilitations, according to claim 31, characterized in that the tool (6) finishing and polishing disc (64) is articulated by an electric positioning motor (648) with position sensor that allows its rotation in 180 ° and depth measurement system to adapt to different surfaces.
    [33]
    33. Robot for reforms and rehabilitations, according to any of claims 1 to 20, characterized in that the tool (6) consists of an adhesive and manipulator extruder (65) comprising a manifold (651) connected to a pipe (652) of materials per adhesive material and a vacuum manipulator consisting of a suction cup (655) connected to a vacuum pump (656) that collects, from the planned stock in a specific place, a siding plate or panel (22) and applies it in the wall in the exact position and precisely using pressure sensors connected to the controller.
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    同族专利:
    公开号 | 公开日
    ES2726918B2|2021-08-23|
    WO2019197701A1|2019-10-17|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB2311800A|1996-04-03|1997-10-08|Stephen Mcdermott|Plastering apparatus|
    US20060275552A1|2005-06-04|2006-12-07|Timothy Vendlinski|Method and apparatus for automated paint application|
    CN102605937A|2012-02-24|2012-07-25|刘满仓|Architectural coating machine|
    WO2016166116A1|2015-04-12|2016-10-20|Imprimere Ag|Concrete printer and method for erecting structures using a concrete printer|
    US20170080438A1|2015-09-19|2017-03-23|Ivan John STORR|Assembly for preparing and/or painting large surfaces|
    DE102017108509A1|2017-04-21|2018-10-25|braun project engineering gmbh|System comprising at least one controllably movable first device and at least one disposed thereon second device for applying material|
    法律状态:
    2018-11-16| PC2A| Transfer of patent|Owner name: EVOLUTION CONSTRUCTION SYSTEM, S.L. Effective date: 20181112 |
    2019-10-10| BA2A| Patent application published|Ref document number: 2726918 Country of ref document: ES Kind code of ref document: A1 Effective date: 20191010 |
    2021-08-23| FG2A| Definitive protection|Ref document number: 2726918 Country of ref document: ES Kind code of ref document: B2 Effective date: 20210823 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201830357A|ES2726918B2|2018-04-10|2018-04-10|ROBOT FOR REFORMS AND REHABILITATIONS.|ES201830357A| ES2726918B2|2018-04-10|2018-04-10|ROBOT FOR REFORMS AND REHABILITATIONS.|
    PCT/ES2019/070252| WO2019197701A1|2018-04-10|2019-04-10|Robot for refurbishment and repair|
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