CN101144324A - Wall rendering robot - Google Patents

Wall rendering robot Download PDF

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Publication number
CN101144324A
CN101144324A CNA2007101341111A CN200710134111A CN101144324A CN 101144324 A CN101144324 A CN 101144324A CN A2007101341111 A CNA2007101341111 A CN A2007101341111A CN 200710134111 A CN200710134111 A CN 200710134111A CN 101144324 A CN101144324 A CN 101144324A
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CN
China
Prior art keywords
hinged
motor
plastering
oil cylinder
telescopic arm
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CNA2007101341111A
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Chinese (zh)
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CN100491671C (en
Inventor
赵呈为
赵鑫
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赵呈为
赵鑫
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Priority to CNB2007101341111A priority Critical patent/CN100491671C/en
Publication of CN101144324A publication Critical patent/CN101144324A/en
Application granted granted Critical
Publication of CN100491671C publication Critical patent/CN100491671C/en

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Abstract

The invention relates to an improved equipment on the basis of an original patent wall side plastering machine (the patent number: ZL01218090.4), and the invention is that two groups of mutually independent plane plastering devices and reentrant and outside corners plastering devices are arranged on the revolution support of a crawler belt chassis. Improvement is done to a power driving system of the crawler belt chassis, and a half axis and an electromagnetic clutch are added. The revolution support adopts a gear worm to drive. The weight of a complete machine is reduced, in order to ensure that the whole mechanization is realized for the work of the complete machine such as the plastering, the roughening, the treatment of the reentrant and outside corners during the construction, the labor strength is greatly reduced, the production efficiency is improved, and the maintenance expense is reduced, as well as the service life is prolonged.

Description

Wall rendering robot
Technical field
The present invention relates to a kind of building machinery, be specifically related to the wall surface floating equipment of mortar.
Background technology
Known building construction is all used original tools such as trowel, scraper plate at present basically to floating equipment that whitewashes of interior and exterior wall and technology, and is by manually-operated, that mortar is floating.Labour intensity is very big, and production efficiency is low, and it is of poor quality to whitewash planeness, negative and positive angle straightness accuracy etc.
The utility model patent " wall plastering machine " (patent No. ZL00218090.4) that I declared in 2002 provides a kind of feasible plant equipment for wall plastering, through production practices in a few years, prove this troweling machine production efficiency height, reduce working strength of workers greatly, but also have following unsatisfactory part.
1, the part-structure design is unreasonable.The telescoping cylinder that this troweling machine is plastered the negative and positive angle, be installed in the both sides that grey telescopic arm is changeed on the plane, complex manufacturing technology not only, the angle of negative and positive angle plastering plate is restive, and verticality that handle at the negative and positive angle and levelness are difficult to guarantee that quality is whitewashed in influence.Gearbox in the power drive system of chassis, motor equal-volume are excessive, and clutch configuration is unreasonable.
2, complete machine weight is excessive, and the stair activity inconvenience is dangerous.
3, because the structure design imperfection causes this troweling machine poor reliability.
Summary of the invention
The present invention does further to improve according to the upward genus shortcoming that my former patent " wall changes grey machine " exists, and is that apparatus of plastering harmonizing yinyang angle, plane apparatus of plastering is made as separate two parts, is installed on the rotating disk respectively.Two semiaxis of crawler body transmission adopted and electromagnetic clutch drive two caterpillar drives.Pivoting support adopts the worm and gear transmission, and weight reduction is put forth effort in the complete machine design.
The present invention realizes with following technical scheme: a kind of wall rendering robot, comprise crawler body, be installed in pivoting support, the control box on crawler body top, comprise that also the negative and positive angle apparatus of plastering, the plane that are installed in the pivoting support upper end change apparatus for ash and hydraulic power unit; Described crawler body comprise the steel work rectangle frame, by support be installed in the frame lower end road wheel, be fixed on bed panel, the driven wheel that is installed in the vehicle frame bottom, directive wheel, motor, gearbox, track takeup and the crawler belt of vehicle frame upper end; Described pivoting support comprises by the central axis sliding fit and is installed in rotating disk on the bed panel, drives rotating disk motor rotating, gearbox;
Make isometrical curved annular groove on the upper surface of described rotating disk lower surface and bed panel respectively, many steel balls are installed in this groove; Described hydraulic power unit is installed on the upper surface of rotating disk, and hydraulic power mechanism comprises fuel tank, oil pump, motor and the band transmission width of cloth; Described oil pump is connected with control box by petroleum pipeline; Described motor is connected with control box by electric wire; It is characterized in that: the clutch on the described crawler body is an electromagnetic clutch, and is connected with control box by electric wire; Described gearbox both sides are installed two clutches respectively, and the output shaft of clutch is connected with semiaxis, and the other end of semiaxis is connected with driven wheel, and semiaxis is connected with vehicle frame by bearing support;
Make worm gear on the periphery of described rotating disk, the worm component that is meshed with worm gear is installed on the upper surface of bed panel, and the gearbox that is connected with worm component, motor are installed on the upper surface of bed panel;
Described motor is connected with control box by electric wire; Described negative and positive angle apparatus of plastering and plane apparatus of plastering are separate, are installed in respectively on the upper surface of rotating disk on pivoting support top;
Described negative and positive angle apparatus of plastering comprises telescopic arm multiple-joint oil tank, leading arm, negative and positive angle plastering plate and connects the connecting rod of telescopic arm multiple-joint oil tank harmonizing yinyang angle plastering plate; The lower end of the lower end of the piston rod of described telescopic arm multiple-joint oil tank and the slide bar of leading arm is vertically fixed on respectively on the upper surface of rectangle movable plate, and the guide pad sliding fit of movable plate lower end is installed in the guide groove of guide rail, and guide rail is fixed on the upper surface of rotating disk; The piston rod that is horizontally fixed on the oil cylinder on the rotating disk upper surface is connected with movable plate; The jointed shaft of upper arm and left arm, right arm the extension hinged and gusset support is hinged, the stage casing and the oil cylinder of underarm are hinged in the parallelogram connection-rod by geometrical clamp and telescopic arm multiple-joint oil tank and leading arm upper end, the piston rod and the carriage of oil cylinder are hinged, and carriage is fixed on telescopic arm multiple-joint oil tank and the leading arm; The cylinder body of V-arrangement double bar link one end and oil cylinder is hinged, and the other end and gusset support are hinged; Motor is vertically fixed on the gusset support, and the gear of installing on the motor shaft is meshed with tooth bar on being fixed on slide plate, and the slide plate sliding fit is installed in the guide groove of gusset support, and the negative and positive angle is changeed hawk and is fixed on the slide plate; Described telescopic arm multiple-joint oil tank, oil cylinder, oil cylinder are connected with control box by petroleum pipeline respectively; Described motor is connected with control box by electric wire;
Described plane apparatus of plastering comprises telescopic arm multiple-joint oil tank, leading arm, plane plastering plate and motor, gearbox, also comprises the holder, corner connecting rod, angle oil cylinder I, the angle oil cylinder II that connect plane plastering plate and telescopic arm multiple-joint oil tank; The guide pipe lower end of the cylinder body of described telescopic arm multiple-joint oil tank and adjacent and parallel with it leading arm is hinged by geometrical clamp and corner support, and the corner support is fixed on the upper surface of rotating disk; The piston rod end of corner oil cylinder is hinged by geometrical clamp and telescopic arm multiple-joint oil tank and leading arm, and cylinder ends is hinged by cylinder bracket and rotating disk; Described holder is fixed on the upper end of telescopic arm multiple-joint oil tank, and triangle corner connecting rod lower end and holder are hinged, and upper end and motor are hinged, and gearbox is connected with the output shaft of motor, and the plane is changeed hawk and is connected with the output shaft of gearbox; Angle oil cylinder 1 one ends and holder are hinged, and the other end and motor are hinged; Angle oil cylinder II one end and corner connecting rod lower end are hinged, and the other end and gearbox are hinged; Described corner oil cylinder, telescopic arm multiple-joint oil tank, angle oil cylinder I, angle oil cylinder II are connected with control box by petroleum pipeline respectively; Described motor is connected with control box by electric wire.
Good effect of the present invention is:
1, negative and positive angle apparatus of plastering and plane apparatus of plastering are independently installed, more reasonable structure, and Installation and Debugging are convenient, the glacing flatness that handle at the negative and positive angle, easier assurance has improved negative and positive angle plastering quality.
2, bobbin movement is flexible, and is easy to operate, and stair activity is safe and efficient.
3, complete machine weight reduces, and it is more convenient to move, and is quick.
4, pivoting support adopts the worm and gear transmission, and more reasonable structure need not special brakes, good braking effect.
5, the wall plastering machine after the improvement prolongs application life, reduces repair cost, enhances productivity.
Description of drawings
Below in conjunction with drawings and Examples the present invention is described in further detail.
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the A place partial enlarged drawing of Fig. 1.
Among the figure: 1, crawler body, 1-1, road wheel, 1-2, support, 1-3, vehicle frame, 1-4, driven wheel, 1-5, motor, 1-6, bearing support, 1-7, bed panel, 1-8, directive wheel, 1-9, track takeup, 1-10, crawler belt, 1-11, semiaxis, 1-12, clutch, 1-13, gearbox, 2, pivoting support, 2-1, rotating disk, 2-2, worm component, 2-3, steel ball, 2-4, turntable shaft, 3, control box, 4, negative and positive angle apparatus of plastering, 4-1, guide rail, 4-2, movable plate, 4-3, oil cylinder, 4-4, the telescopic arm multiple-joint oil tank, 4-5, leading arm, 4-6, geometrical clamp, 4-7, carriage, 4-8, oil cylinder, 4-9, parallelogram connection-rod, 4-10, the V-arrangement double bar link, 4-11, negative and positive angle plastering plate, 4-12, the gusset support, 4-13, tooth bar, 4-14, gear, 4-15, motor, 4-16, slide plate, 5, the plane apparatus of plastering, 5-1, the corner support, 5-2, cylinder bracket, 5-3, the corner oil cylinder, 5-4, the telescopic arm multiple-joint oil tank, 5-5, leading arm, 5-6, holder, 5-7, angle oil cylinder I, 5-8, the corner connecting rod, 5-9, angle oil cylinder II, 5-10, motor, 5-11, gearbox, 5-12, the plane plastering plate, 5-13, geometrical clamp, 6, hydraulic power unit, 6-1, motor, 6-2, the band transmission width of cloth, 6-3, fuel tank, 6-4, oil pump.
The specific embodiment
As Fig. 1, Fig. 2, shown in Figure 3, a kind of wall rendering robot, comprise crawler body 1, be installed in pivoting support 2, the control box 3 on crawler body 1 top, comprise that also the negative and positive angle apparatus of plastering 4, the plane that are installed in pivoting support 2 upper ends change apparatus for ash 5 and hydraulic power unit 6; Described crawler body 1 comprise steel work rectangle frame 1-3, by support 1-2 be installed in frame 1-3 lower end road wheel 1-1, be fixed on bed panel 1-7, the driven wheel 1-4 that is installed in vehicle frame 1-2 bottom, directive wheel 1-8, motor 1-5, gearbox 1-13, track takeup 1-9 and the crawler belt 1-10 of vehicle frame 1-3 upper end; Described pivoting support 2 comprises by the central axis sliding fit and is installed in rotating disk 2-1 on the bed panel 1-7, drives rotating disk 2-1 motor rotating, gearbox; Make isometrical curved annular groove on the upper surface of described rotating disk 2-1 lower surface and bed panel 1-7 respectively, many steel ball 2-3 are installed in this groove; Described hydraulic power unit 6 is installed on the upper surface of rotating disk 2-1, and hydraulic power mechanism 6 comprises fuel tank 6-3, oil pump 6-4, motor 6-1 and band transmission width of cloth 6-2; Described oil pump 6-4 is connected with control box 3 by petroleum pipeline; Described motor 6-1 is connected with control box 3 by electric wire; It is characterized in that: the clutch 1-12 on the described crawler body 1 is an electromagnetic clutch, and is connected with control box 3 by electric wire; Described gearbox 1-13 installs two clutch 1-12 respectively in both sides, and the output shaft of clutch 1-12 is connected with semiaxis 1-11, and the other end of semiaxis 1-11 is connected with driven wheel 1-4, and semiaxis 1-11 is connected with vehicle frame 1-3 by bearing support 1-6;
Make worm gear on the periphery of described rotating disk 2-1, the worm component 2-2 that is meshed with worm gear is installed on the upper surface of bed panel 1-7, and gearbox, the motor that is connected with worm component 2-2 is installed on the upper surface of bed panel 1-7;
Described motor is connected with control box 3 by electric wire; Described negative and positive angle apparatus of plastering 4 and plane apparatus of plastering 5 are separate, are installed in respectively on the upper surface of rotating disk 2-1 on pivoting support 2 tops;
Described negative and positive angle apparatus of plastering 4 comprises telescopic arm multiple-joint oil tank 4-4, leading arm 4-5, negative and positive angle plastering plate 4-11 and connects the connecting rod of telescopic arm multiple-joint oil tank 4-4 harmonizing yinyang angle plastering plate 4-11; The lower end of the lower end of the piston rod of described telescopic arm multiple-joint oil tank 4-4 and the slide bar of leading arm 4-5 is vertically fixed on respectively on the upper surface of rectangle movable plate 4-2, the guide pad sliding fit of movable plate 4-2 lower end is installed in the guide groove of guide rail 4-1, and guide rail 4-1 is fixed on the upper surface of rotating disk 2-1; The piston rod that is horizontally fixed on the oil cylinder 4-3 on the rotating disk 2-1 upper surface is connected with movable plate 4-2; The jointed shaft of upper arm and left arm is by hinged on geometrical clamp 4-6 and telescopic arm multiple-joint oil tank 4-4 and the leading arm 4-5, right arm extension and gusset support 4-12 is hinged, the stage casing of underarm and oil cylinder 4-8 are hinged among the parallelogram connection-rod 4-9, the piston rod of oil cylinder 4-8 and carriage 4-7 are hinged, and carriage 4-7 is fixed on telescopic arm multiple-joint oil tank 4-4 and the leading arm 4-5; The cylinder body of V-arrangement double bar link 4-10 one end and oil cylinder 4-8 is hinged, and the other end and gusset support 4-12 are hinged; Motor 4-15 is vertically fixed on the gusset support 4-12, the gear 4-14 that installs on the motor 4-15 axle is meshed with tooth bar 4-13 on being fixed on slide plate 4-16, slide plate 4-16 sliding fit is installed in the guide groove of gusset support 4-12, and the negative and positive angle is changeed hawk 4-11 and is fixed on the slide plate 4-16; Described telescopic arm multiple-joint oil tank 4-4, oil cylinder 4-3, oil cylinder 4-8 are connected with control box 3 by petroleum pipeline respectively; Described motor 4-15 is connected with control box 3 by electric wire;
Described plane apparatus of plastering 5 comprises telescopic arm multiple-joint oil tank 5-4, leading arm 5-5, plane plastering plate 5-12 and motor 5-10, gearbox 5-11, also comprises holder 5-6, the corner connecting rod 5-8, angle oil cylinder I5-7, the angle oil cylinder II5-9 that connect plane plastering plate 5-12 and telescopic arm multiple-joint oil tank 5-4; The guide pipe lower end of the cylinder body of described telescopic arm multiple-joint oil tank 5-4 and adjacent and parallel with it leading arm 5-5 is hinged by geometrical clamp 5-13 and corner support 5-1, and corner support 5-1 is fixed on the upper surface of rotating disk 2-1; The piston rod end of corner oil cylinder 5-3 is hinged by geometrical clamp and telescopic arm multiple-joint oil tank 5-4 and leading arm 5-5, and cylinder ends is hinged by cylinder bracket 5-2 and rotating disk 2-1; Described holder 5-6 is fixed on the upper end of telescopic arm multiple-joint oil tank 5-4, triangle corner connecting rod 5-8 lower end and holder 5-6 are hinged, the upper end is hinged with motor 5-10, and gearbox 5-11 is connected with the output shaft of motor 5-10, and the plane is changeed hawk 5-12 and is connected with the output shaft of gearbox 5-11; Angle oil cylinder 15-7-end is hinged with holder 5-6, and the other end and motor 5-10 are hinged; Angle oil cylinder II 5-9-end is hinged with corner connecting rod 5-8 lower end, and the other end and gearbox 5-11 are hinged; Described corner oil cylinder 5-3, telescopic arm multiple-joint oil tank 5-4, angle oil cylinder 15-7, angle oil cylinder II 5-9 are connected with control box 3 by petroleum pipeline respectively; Described motor 5-10 is connected with control box 3 by electric wire.
As shown in Figure 1 and Figure 2, this robot is before construction, operating operation case 3, make rotating disk 2-1 rotate to position shown in Figure 2, again negative and positive angle commentaries on classics apparatus of plastering 4 and plane commentaries on classics apparatus for ash 5 are fallen extreme lower position, again the right side of plane apparatus of plastering 5 in Fig. 1 tilted to maximum angle, take off the negative and positive angle simultaneously and change hawk 4-11 and plane plastering plate 5-12, more than work and just can start motor 1-15 in the crawler body 1 after finishing, operation bobbin movement handle, robot just can upper and lower stair, move forward and backward, and arrive the job location.
As shown in Figure 1 and Figure 2, during the plastering construction of plane, with pulp shooting machine cement mortar is sprayed on metope or the ground earlier.Install plane plastering plate 5-12, corner oil cylinder 5-3 in the operating operation case, telescopic arm multiple-joint oil tank 5-4, angle oil cylinder 15-7, angle oil cylinder II5-9, adjust the position of plane plastering plate 5-12, make it with parallel with metope, open moving motor 5-10, just can be to the strickling of plastering of metope, ground, ceiling.As required, when the metope after plastering is polished, plane plastering plate 5-12 taken off change bistrique, just can carry out the metope polishing.
As Fig. 1, Fig. 2, shown in Figure 3, during negative and positive angle plastering construction, inner corner trim plastering plate or male trowel hawk 4-11 are installed on the gusset support 4-12, by telescopic arm multiple-joint oil tank 4-5, the oil cylinder 4-8 in the operating operation case 3, use negative and positive angle plastering plate 4-11 to be close to the inner corner trim or external corner one end of wall, operation telescopic arm multiple-joint oil tank 4-4 upwards or down moves negative and positive angle plastering plate 4-11, and external corner or inner corner trim is floating straight.When telescopic arm multiple-joint oil tank 4-4 does not reach when smearing the position, angle, starter motor 4-15, gear 13, tooth bar 4-13 drive negative and positive angle plastering plate 4-11 to be continued to move, and whole negative and positive angle is handled well.

Claims (1)

1. wall rendering robot, comprise crawler body (1), be installed in pivoting support (2), the control box (3) on crawler body (1) top, comprise that also the negative and positive angle apparatus of plastering (4), the plane that are installed in pivoting support (2) upper end change apparatus for ash (5) and hydraulic power unit (6); Described crawler body (1) comprise steel work rectangle frame (1-3), by support (1-2) be installed in frame (1-3) lower end road wheel (1-1), be fixed on bed panel (1-7), the driven wheel (1-4) that is installed in vehicle frame (1-2) bottom, directive wheel (1-8), motor (1-5), gearbox (1-13), track takeup (1-9) and the crawler belt (1-10) of vehicle frame (1-3) upper end; Described pivoting support (2) comprises by the central axis sliding fit and is installed in rotating disk (2-1) on the bed panel (1-7), drives rotating disk (2-1) motor rotating, gearbox; Make isometrical curved annular groove on the upper surface of described rotating disk (2-1) lower surface and bed panel (1-7) respectively, many steel balls (2-3) are installed in this groove; Described hydraulic power unit (6) is installed on the upper surface of rotating disk (2-1), and hydraulic power mechanism (6) comprises fuel tank (6-3), oil pump (6-4), motor (6-1) and the band transmission width of cloth (6-2); Described oil pump (6-4) is connected with control box (3) by petroleum pipeline; Described motor (6-1) is connected with control box (3) by electric wire; It is characterized in that: the clutch (1-12) on the described crawler body (1) is an electromagnetic clutch, and is connected with control box (3) by electric wire; Described gearbox (1-13) both sides are installed two clutches (1-12) respectively, the output shaft of clutch (1-12) is connected with semiaxis (1-11), the other end of semiaxis (1-11) is connected with driven wheel (1-4), and semiaxis (1-11) is connected with vehicle frame (1-3) by bearing support (1-6);
Make worm gear on the periphery of described rotating disk (2-1), the worm component that is meshed with worm gear (2-2) is installed on the upper surface of bed panel (1-7), and the gearbox, the motor that are connected with worm component (2-2) are installed on the upper surface of bed panel (1-7);
Described motor is connected with control box (3) by electric wire; Described negative and positive angle apparatus of plastering (4) and plane apparatus of plastering (5) are separate, are installed in respectively on the upper surface of rotating disk (2-1) on pivoting support (2) top;
Described negative and positive angle apparatus of plastering (4) comprises telescopic arm multiple-joint oil tank (4-4), leading arm (4-5), negative and positive angle plastering plate (4-11) and connects the connecting rod of telescopic arm multiple-joint oil tank (4-4) harmonizing yinyang angle plastering plate (4-11); The lower end of the slide bar of the lower end of the piston rod of described telescopic arm multiple-joint oil tank (4-4) and leading arm (4-5) is vertically fixed on respectively on the upper surface of rectangle movable plate (4-2), the guide pad sliding fit of movable plate (4-2) lower end is installed in the guide groove of guide rail (4-1), and guide rail (4-1) is fixed on the upper surface of rotating disk (2-1); The piston rod that is horizontally fixed on the oil cylinder (4-3) on rotating disk (2-1) upper surface is connected with movable plate (4-2); The jointed shaft of upper arm and left arm is by hinged on geometrical clamp (4-6) and telescopic arm multiple-joint oil tank (4-4) and the leading arm (4-5), right arm extension and gusset support (4-12) is hinged, the stage casing of underarm and oil cylinder (4-8) are hinged in the parallelogram connection-rod (4-9), the piston rod of oil cylinder (4-8) and carriage (4-7) are hinged, and carriage (4-7) is fixed on telescopic arm multiple-joint oil tank (4-4) and the leading arm (4-5); The cylinder body of V-arrangement double bar link (4-10) end and oil cylinder (4-8) is hinged, and the other end and gusset support (4-12) are hinged; Motor (4-15) is vertically fixed on the gusset support (4-12), the gear of installing on motor (4-15) axle (4-14) is meshed with the tooth bar (4-13) on being fixed on slide plate (4-16), slide plate (4-16) sliding fit is installed in the guide groove of gusset support (4-12), and the negative and positive angle is changeed hawk (4-11) and is fixed on the slide plate (4-16); Described telescopic arm multiple-joint oil tank (4-4), oil cylinder (4-3), oil cylinder (4-8) are connected with control box (3) by petroleum pipeline respectively; Described motor (4-15) is connected with control box (3) by electric wire;
Described plane apparatus of plastering (5) comprises telescopic arm multiple-joint oil tank (5-4), leading arm (5-5), plane plastering plate (5-12) and motor (5-10), gearbox (5-11), also comprises the holder (5-6), corner connecting rod (5-8), angle oil cylinder I (5-7), the angle oil cylinder II (5-9) that connect plane plastering plate (5-12) and telescopic arm multiple-joint oil tank (5-4); The guide pipe lower end of the cylinder body of described telescopic arm multiple-joint oil tank (5-4) and adjacent and parallel with it leading arm (5-5) is hinged by geometrical clamp (5-13) and corner support (5-1), and corner support (5-1) is fixed on the upper surface of rotating disk (2-1); The piston rod end of corner oil cylinder (5-3) is hinged by geometrical clamp and telescopic arm multiple-joint oil tank (5-4) and leading arm (5-5), and cylinder ends is hinged by cylinder bracket (5-2) and rotating disk (2-1); Described holder (5-6) is fixed on the upper end of telescopic arm multiple-joint oil tank (5-4), triangle corner connecting rod (5-8) lower end and holder (5-6) are hinged, the upper end is hinged with motor (5-10), gearbox (5-11) is connected with the output shaft of motor (5-10), and the plane is changeed hawk (5-12) and is connected with the output shaft of gearbox (5-11); Angle oil cylinder I (5-7) end and holder (5-6) are hinged, and (5-10) is hinged for the other end and motor; Angle oil cylinder II (5-9) end and corner connecting rod (5-8) lower end are hinged, and (5-11) is hinged for the other end and gearbox; Described corner oil cylinder (5-3), telescopic arm multiple-joint oil tank (5-4), angle oil cylinder I (5-7), angle oil cylinder II (5-9) are connected with control box (3) by petroleum pipeline respectively; Described motor (5-10) is connected with control box (3) by electric wire.
CNB2007101341111A 2007-09-30 2007-09-30 Wall rendering robot CN100491671C (en)

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CN100491671C CN100491671C (en) 2009-05-27

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