CN105201182A - Numerical-control intelligent wall painting machine - Google Patents
Numerical-control intelligent wall painting machine Download PDFInfo
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- CN105201182A CN105201182A CN201510333984.XA CN201510333984A CN105201182A CN 105201182 A CN105201182 A CN 105201182A CN 201510333984 A CN201510333984 A CN 201510333984A CN 105201182 A CN105201182 A CN 105201182A
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Abstract
The invention discloses a numerical-control intelligent wall painting machine. The numerical-control intelligent wall painting machine comprises a movable base, a vertical frame rod stretching device erected on the two sides of the base, a plastering device arranged on the vertical frame rod stretching device, an integrated control device arranged on the base and a power device arranged on the base. The plastering device comprises a plastering plate, a plaster hopper, a plaster hopper frame and a plaster hopper frame lifting device used for lifting the plaster hopper frame. The power device comprises a winding machine A and a winding machine B which are installed on the base. A touch screen controller is further arranged on the base through a supporting rod. The touch screen controller is in communication with the integrated control device. An angle adjusting device capable of automatically and intelligently adjusting the slant angle of stretchable vertical frame rods is arranged between the vertical frame rod stretching device and the base. By means of the numerical-control intelligent wall painting machine, many defects of an existing wall painting machine are overcome, the numerical-control intelligent wall painting machine is wide in application range, easy to operate, good in plastering quality, high in plastering efficiency and convenient to transfer, man-machine safety is guaranteed, time, labor and work are saved, and good economy popularizing value is achieved.
Description
Technical field
The present invention relates to construction machinery equipment technical field, especially a kind of numerically controlled intelligent plastering machine.
Background technology
Plastering machine is a kind of machinery being used for whitewashing metope inside and outside house specially, can smear various brick wall and cement wall surface, and current most advanced practicality, most popular plastering machine have two types, and one is hydraulic pressure fixed plastering machine, and another kind is intelligent plastering machine.
One, hydraulic pressure fixed plastering machine, its structure and functional characteristics as follows:
Two vertical rods are inserted on underframe hydraulic stem, can transfer to, plug, and without crossbeam in the middle of vertical rod, rod end has dials slotting crossbeam, and hydraulic stem can make vertical rod rising about 15cm hold out against roof by hydraulic pressure; This type is furnished with several groups of vertical rods different in size, to adapt to height roof, moves into one's husband's household upon marriage, and construction hole etc., dial vertical rod, after passing, then plug vertical rod, set up top crossbeam; Ash bucket and main frame disjunctor, a lifting; Be furnished with an infrared rays vertical collimator, be used for regulating vertical rod verticality; Electric characteristic: be furnished with bat-handle switch (wired or wireless), controls motor; Owner's body is equipped with upper limit position switch, lower position switch.
Main operating process:
(1) vertical rod hue angle is located: plastering machine is shifted onto from metope correct position, one people is the leveling of infrared rays vertical collimator, projection vertical infrared, make infrared rays face and two vertical rod lower ends apart from equal, another people manually adjusts vertical rod upper end respectively, two vertical rods are made to form a plane, simultaneously with infrared parallel line surface.
(2) hydraulic pressure vertical rod is fixed: then repeatedly step on hydrodynamic pressure pedal, and hydraulic stem is extended, and above selects masthead roof, Xia Ding ground.Hand firmly shakes vertical rod, rocks and steps on, until shake motionless vertical rod.
(3) cement mortar is filled to ash bucket.
(4) start vibration motor, main body lifting motor rises, make body edge rise limit vibrations and plaster, after starting to plaster about 2 seconds, continue interpolation cement mortar, until add less than ash bucket; Observe grey ladder jacking condition simultaneously, to block or ash bucket draws distortion etc., show that grey ladder runs into wall nail, steel bar end, convex brick, then close motor.
(5) roof pressure main body upper limit position switch, main body declines, and vibration motor stops.
(6) main body lifting motor drops to underframe pressure limit switch, and main body motor stops.
(7) bleed off hydraulic selector, hydraulic pressure declines, and vertical rod declines.
Mainly there is following defect in hydraulic pressure fixed plastering machine:
(1), vertical rod hue angle locate mode defect: after the time-consuming level-off of infrared rays vertical collimator, could vertical infrared be projected, manual push-and-pull plastering machine is wasted time and energy, two bar vertical rods will be adjusted respectively, and two vertical rod center lines are mutually parallel, simultaneously all equal with infrared rays face; Take a lot of work, a people adjusts infrared rays vertical collimator, people's push-and-pull plastering machine; Accommodation is narrow, limited angle system: at present framework house is more, and brick wall has been non-bearing wall, and crooked body of wall often has, the vertical 90 degree of location of plastering machine, and a lot of body of wall cannot powder; To plaster wall body, the mortar ash smeared, lower Bao Shanghou, thick and hollowing, or depart from; The mortar ash smeared, lower thick thin, plastering plate touches wall, gently then destroys plastering plate, and people's wound ruined by heavy then machine; Bigger error: infrared rays vertical collimator is adjusted uneven, just has error, manual tune also has error; Angle is adjusted improper, and plastering quality is poor, and angle of plastering does not conform to wall, and grey hollowing, disengaging is many.
(2), hydraulic pressure vertical rod fixed form defect: vertical rod is often transferred to, plug special time-consuming, require great effort, take a lot of work, after plugging vertical rod, although about 15CM shorter than roof, but more than door, construction hole height, to move into one's husband's household upon marriage, hole of constructing, two people to coordinate dial-out, plug vertical rod, crossbeam etc.; Need several groups of vertical rods different in size for subsequent use, too heavy, too many, deposit, shift very inconvenience; Pin is stepped on hydraulic pressure pedal and is fixed vertical rod, a hand steered vertical rod, and pin one pin steps on hydraulic pressure pedal, affects vertical rod orientation angle, effort, time-consuming, and increases vertical rod angular deviation.
(3) plaster in process, observe ash bucket state defectiveness: by observing ash bucket running status, judged whether obstacle, followed closely by wall when ash bucket rises, steel bar end, convex brick etc. block, and manually close motor, and normal bad grey ladder, stay cord, motor etc. are man-machine dangerous.
(4) upper limit position switch restriction main body rising defectiveness: during grey roof, ladder top, concavo-convex roof, convex place encountered by grey ladder, upper limit position switch touches less than recess, malfunctioning switch, and motor does not stop in time, ladder is stressed is easily out of shape breaking-up greatly for ash, the press-bending of vertical rod frame, restricts and is broken.
(5) the disjunctor defectiveness such as ash bucket and main body motor: have very large fatal crass's risk when main body is elevated, the weight such as grey ladder and main body motor are too large, more than 100kg; Add more than 100kg cement mortar, often reach 250kg-350kg altogether, seriously top-heavy when plastering, vertical rod is unfixing tight, or hydraulic system is made mistakes, or operate miss etc., people pricked by machine, with regard to accident-proneness.
(6) main body ash bucket can only down to having on wheel underframe, plaster trowel is liftoff 20CM, and after vibrations are plastered, plaster trowel end opening opens wide, and cement mortar shakes off a lot; Plaster the edge of a knife without shutoff, and in it, cement mortar pressure is inadequate, and smear rear cement mortar ash, hollowing, comes off.
(7) hopper capability is too little, also will add ash when plastering, inconvenient.
Two, intelligent plastering machine: on market, some are known as intelligent plastering machine, full-automatic wall plastering machine etc., local is automatically actually: vertical collimator controls direct current generator push rod according to vertical angle and stretches, and its structure and principle, functional characteristics are as follows:
(1) fix a square tube and centre fixing pipe by two bars below vertical rod frame to form, three tubular axis line parallels, have beam welding to fix; Three pipes are all welded on plastering machine base; Be made up of two bar telescopic rail square tubes and a middle flexible stressed pipe above riser jacket, top is connected by crossbeam; The little square tube of telescopic rail on generous pipe box (it is long that the outer length of side of little square tube is slightly less than large square tube inner edge) is fixed below vertical rod frame; In the middle of below vertical rod frame, 1 fixing pipe pulls up and down with the stressed pipe side by side parallel that stretches above, and vertical rod frame upper end fixed cross beam has fixed pulley, and fixed pulley is drawn stay cord one end and connected flexible force rod lower end, and stay cord another end connects motor reel; Two rod guide bar lateral separations are less than 70CM; Operating principle: motor pulls a flexible force rod to move up and down, a flexible force rod, by top crossbeam, drives two telescopic rail pipe one startings, fixes roof by top crossbeam.Fixed guide square tube and telescopic rail square tube above erect to ash bucket the railway effect that moves up and down below.
(2) below vertical rod frame, fixed guide square tube is wherein equipped with vertical collimator (publicity is micro computer) in a bar side, inside has chip, power supply, vertical collimator, has angles of display to shield outward; There is direct current generator push rod on Extensible upright rod top, and direct current generator push rod is perpendicular to vertical rod.Vertical collimator and direct current generator push rod are that plastering machine is used for hue angle and locates, and principle is that vertical collimator takes measurement of an angle, chip controls direct current push rod both forward and reverse directions, and plastering machine vertical rod is less than vertical 90 degree, then push rod stretches; Plastering machine vertical rod is greater than vertical 90 degree, then push rod stretches.
(3) plastering machine, is furnished with the independent guide rail angle bar different in size of several bar, is that plastering machine is used for hue angle location, fixing use.
(4) there is V shaped wheel below plastering machine main body, be used for pressing angle bar to fix plastering machine.
(5) ash bucket and main body are splits, and ash bucket slides up and down along vertical rod guide rail pole; Main body is fixed on base.
(6) plastering machine has two to hold up hound, and vertical rod frame is fixed in hound one end, and one end is fixed on main frame, has electronic box and shift knob in the middle of two hounds.
(7) electric characteristic, regular tap controls the motor drawing vertical rod, draws the motor of ash bucket, the motor of vibrations, and vertical collimator controls direct current generator push rod.
Main operating process:
(1) vertical rod hue angle is located: first guide rail angle bar on request V be placed on ground, regulate angle bar from metope suitable distance, one people stablizes angle bar, other people carry on plastering machine on angle bar, two V shaped wheels at the bottom of plastering machine are made to aim at angle bar, plastering machine four-wheel is liftoff, then hand push plastering machine, direct current generator push rod heads on wall, start and draw expansion link motor, make expansion link from roof about 10CM, start direct current generator push rod, push rod stretches according to angle, until vertical collimator display about 90 degree is fluctuated, turn off push rod switch, push rod stops, hold up steady plastering machine by hand, start and draw expansion link motor, roof on vertical rod top.
(2) vertical rod is fixed: hold up steady plastering machine by hand, start motor, pull on flexible force rod and move, flexible force rod, by top crossbeam, drives two telescopic rail pipe one startings, heads on roof by top crossbeam, just turn off motor, firmly shake vertical rod frame with hand, shake and motionlessly just carry out lower step action, shake just point driving switch again, shake vertical rod frame again, shake, then point driving switch, until shake motionless vertical rod frame.
(3) cement mortar is filled to ash bucket.
(4) start vibration motor, main body lifting motor rises, make body edge rise limit vibrations and plaster, after starting to plaster about 2 seconds, continue interpolation cement mortar, until add less than ash bucket; Observe grey ladder jacking condition simultaneously, to block or grey ladder draws distortion etc., show that ash bucket runs into wall nail, steel bar end, convex brick, then close motor.
(5) roof pressure ash bucket upper limit position switch, ash bucket declines, and vibration motor stops.
(6) main body lifting motor drops to underframe pressure limit switch, and main body motor stops.
(7) hold up steady plastering machine by hand, start and draw expansion link motor, make expansion link leave roof, promote plastering machine and work to lower place.
This kind of intelligent plastering machine major defect:
(1) vertical rod hue angle locate mode defect: putting guide rail angle bar wastes time and energy, want more than two people to coordinate during plastering machine upper rail angle bar, take a lot of work, angle bar one moves, then do over again heavily to come, and people pushes away machine ability hue angle, misplaces hand, then people's wound ruined by machine; Current framework house is more, and brick wall has been non-bearing wall, and crooked body of wall often has, the vertical 90 degree of location of plastering machine, and a lot of body of wall cannot powder; Can the body of wall of powder, the mortar ash smeared, if lower Bao Shanghou, thick and hollowing, or depart from, if lower thick thin, plastering plate touches wall, gently then destroys plastering plate, the heavy then machine wound of falling people; Error is comparatively large, and direct current generator push rod inertia is large, and the vertical 90 degree of waving interval of plastering machine vertical rod are larger; Start after drawing expansion link motor, direct current generator push rod can be sliding along metope, direct current generator push rod slip over metope uneven time, plastering machine vertical rod can, along with change vertical angle, make plastering quality be deteriorated; Adjusting angle location for this reason, increase the annexes such as angle bar, building site is deposited, and transfer inconvenience, along with house is different in size, need join many guide rail angle bar different in size.
(2) vertical rod fixed form and structural system defect: 1 force rod, produce stress surface little, and under vibrations are plastered in vibrations, two guide rail square tubes are moved, and rotate around stress point, plastering machine cannot be reinforced; Roof is uneven, or the uneven plastering machine in ground is crooked, crossbeam one end, vertical rod frame top belling, another end and middle unsettled, then vertical rod frame cannot be reinforced, and significantly can move, rotate; Vertical rod frame is too narrow, and width of plastering is narrow, and joint of plastering is many; Fixing unstable, shaking force can not strengthen, gaul, comes off many, fixes loosely, can not plaster, need often to do over again by macroseism; Add ash inconvenience, vertical rod pipe is many, narrow between pipe, cannot add ash between bar; Transition inconvenience, higher than common door after vertical rod frame is flexible, crosses common door inconvenience, crooked passing; Vertical rod frame is not torn open not get off, and dolly closed car, can not load.
(3) plastering in process, by observing ash bucket running status, having judged whether obstacle, be difficult to reaction in time, man-machine dangerous, normal bad machine.
(4) upper limit position switch restriction main body rising defectiveness: during grey roof, ladder top, concavo-convex roof, convex place encountered by grey ladder, upper limit position switch touches less than recess, malfunctioning switch, motor does not stop in time, and the stressed large deformation breaking-up of grey ladder, vertical rod frame are bent, rope is disconnected.
(5) plaster about 20CM under metope, ash smear less than; 20cm-50cm smears unreal, grey hollowing, comes off; It is many that ash machine starts to leak ash.
(6) hopper capability is too little, also will add ash when plastering, inconvenient.
Summary of the invention
Object of the present invention is exactly the problems referred to above and defect of existing for existing plastering machine, and provide a kind of efficiently simple to operate, wide accommodation, man-machine safety is secure, the numerically controlled intelligent plastering machine that automaticity is high.
Concrete scheme of the present invention is: a kind of numerically controlled intelligent plastering machine, include moveable base, be erected at the stand bar stretching device of base both sides, be arranged on the apparatus of plastering on stand bar stretching device, be arranged on the integrated control device on base and power set, apparatus of plastering includes plastering plate, ash bucket, ash ladder and the grey ladder lifting gear for drawing high grey ladder, after plastering plate, vibrating motor is housed, described power set include and are arranged on hoist engine A on base and hoist engine B, described base is also provided with a touch screen controller by support bar, described touch screen controller and integrated control device communicate to connect, be provided with between described stand bar stretching device and base and a set ofly can regulate the adjusting angle device at telescopic vertical hack lever angle of inclination by automated intelligent, described stand bar stretching device includes the two main vertical rods being symmetricly set on base both sides, inside, every root main vertical rod upper end is provided with one section of guide rail, an Extensible upright rod is respectively housed in two guide rails, Extensible upright rod lower end is provided with slide construction, described Extensible upright rod can slide up and down in guide rail, be positioned at upper shelf between two main vertical rods and be provided with a crossbeam, bottom crossbeam, two ends, left and right are arranged with two fixed pulley A and B, between fixed pulley A and B, two fixed pulley C and D are also arranged with equally bottom crossbeam, movable pulley A is provided with between fixed pulley A and C, movable pulley B is provided with between fixed pulley D and B, successively through the fixed pulley A in left side, movable pulley A, fixed pulley C, fixed pulley D, movable pulley B and fixed pulley B is provided with a stay cord A, the lower end of inside wall and corresponding Extensible upright rod that the two ends, left and right of described stay cord A are each passed through two main vertical rods is connected, described one of them bottom of movable pulley A or B is connected with base by stay cord, another movable pulley bottom is connected with described hoist engine A by stay cord, a force snesor A is also provided with in described stand bar stretching device, this force snesor A is for monitoring the pulling force of stay cord A, described grey ladder lifting gear includes the fixed pulley group A, the fixed pulley group B that are arranged on two Extensible upright rod tops and the angle pulley being disposed side by side on grey ladder back, described fixed pulley group A and B includes two fixed pulleys one in front and one in back arranged, through fixed pulley group A, angle pulley, fixed pulley group B, stay cord B is housed successively, one end of stay cord B is connected with base, the other end of stay cord B is connected with hoist engine B, in described grey ladder lifting gear, be also provided with force snesor B, described force snesor B is for monitoring the pulling force of stay cord B, be positioned at and the base below described grey ladder is also provided with two covers lifts ash bucket push rod device, two lift to be provided with between ash bucket push rod device and lift grey ladder round bar, and in the middle part of described grey ladder, corresponding position is provided with and stressedly lifts round bar, described integrated control device and force snesor A, force snesor B, hoist engine A, hoist engine B, adjusting angle device, vibrating motor, push rod device and touch screen controller all establish a communications link each other.
Adjusting angle device described in the present invention includes the rotating shaft being horizontally installed on base bottom, inside main bottom of upright rod, the right and left is each is vertically provided with a rail plate groove, the end, both sides of described rotating shaft is all stretched in corresponding rail plate groove, two rail plate groove tops are respectively provided with the baffle plate of one piece of Intermediate Gray perforation, spring is equipped with above two baffle plates, spring at front end is provided with push rod, described spring is fixedly located on the inside wall of main vertical rod, and the push rod of spring rotates with the end of described rotating shaft through the perforation on corresponding baffle plate and contacts; In described main vertical rod middle and lower part, transverse strands is provided with a cross bar, cross bar is one in front and one in back provided with two direction force rods down; The motor push rod of an adjusting angle is fixed with on described base top, drive motors in described motor push rod is stepper motor or servomotor, motor push rod front end is provided with a promotion termination, described promotion termination puts in two force rods centres and can promote two force rods and makes it swing, described main vertical rod is also provided with an angular transducer, described angular transducer and motor push rod, communicates to connect between integrated control device and touch screen controller.
Two ends, grey ladder left and right described in the present invention are equipped with limit guide rail roller set, described limit guide rail roller set can along the main vertical rod scroll-up/down of both sides, one section of movable guiding rail is respectively provided with above the main vertical rod of both sides, described movable guiding rail is sleeved in corresponding Extensible upright rod, two movable guiding rail upper ends are arranged with two grooved mouths in the inner part, part is coordinated to be equipped with guideway switches at each movable guiding rail with the contact of main vertical rod, one piece of postive stop baffle stretched out also is provided with at the lateral surface of each movable guiding rail, ash ladder drives movable guiding rail to slide up and down together with Extensible upright rod by guideway switches and postive stop baffle.
Extensible upright rod in the present invention described in two is tubular structure, two Extensible upright rod upper inner are symmetrical is provided with two grooved mouths corresponding with grooved mouth on movable guiding rail, Extensible upright rod top the right and left erection described in two has a balancing pole, the two ends of described balancing pole are respectively provided with a root post, linear bearing or linear slider is provided with in two Extensible upright rod tops are equal, balancing pole can slide up and down at grooved mouth, slides up and down in the linear bearing of two columns then in Extensible upright rod or linear slider.
Front end, termination is promoted and circular arc rod-like structure is arranged in force rod contact position described in the present invention.
The A of movable pulley described in the present invention or be also provided with pulling force buffer spring A between B bottom and base, is also provided with pulling force buffer spring B between described stay cord B bottom and base.
Multi-axis foot is all equipped with in Extensible upright rod top in the present invention described in two, and two main bottom of upright rods are equipped with multi-axis foot equally.
Be provided with spring assembly below ash bucket described in the present invention, this spring assembly by ash bucket pressure or can rise; Described grey ladder is provided with plastering plate varied angle strut device, and described grey ladder upper and lower is respectively equipped with upper limit position switch and lower position switch.
Force snesor A described in the present invention can be located on stay cord A or in the bottom of hoist engine A, and force snesor B can be located on stay cord B or in the bottom of hoist engine B.
Integrated control device described in the present invention includes the programmable logic controller of internal or external analog quantity modular converter, driver and drive circuit, wherein programmable logic controller is used for the inclination angle signal being gathered main vertical rod by angular transducer, gathered the pulling force signal of stay cord A and stay cord B by force snesor A and force snesor B respectively, and the pulling force signal of inclination angle signal and stay cord A and stay cord B is transferred to touch screen controller after treatment; Touch screen controller and programmable logic controller real-time communication, and realize man-machine interaction; Programmable logic controller is run by driver drives motor push rod, and controls the operation of hoist engine A, hoist engine B and vibrating motor and motor push rod by the drive circuit that contactor or relay are formed.
Main operating process of the present invention:
1. plastering machine is shifted onto from the suitable position of metope, the space namely between plastering plate and metope meets depth of plastering;
2. set the various running parameter of plastering machine by touch screen controller, the angle of inclination parameter of such as telescopic vertical hack lever, (its size has reacted the size that telescopic vertical hack lever withstands the power on roof and ground to the pulling force parameter of stay cord A, namely withstand when great power firmly but be unlikely to the bending of telescopic vertical hack lever), touch-screen also can show the pulling force size of stay cord B, warning value is set to stay cord B pulling force size, prevents from plastering when encountering obstacle and can process in time.
3. mainly contain following three kinds of mode of operations:
A. fully automatic mode, only need press touch screen controller automatic button, plastering machine completes all operations automatically:
1. automatically angle orientation is adjusted; 2. ground, roof fixation; 3. automatically wait on time add ash; 4. automatic vibration is plastered; If 5. apparatus of plastering runs into obstruction meeting automatic alarm and shows the size of obstruction force, then manually removing barriers to press the button works on again; 6. automatic plastering is to wall top; 7. grey ladder declines and troweling red dog, drops to end meeting and automatically reminds; 8. lifting ash bucket push rod device can stretch out liftoff for grey ladder jack-up, and integrated control device can send instruction and telescopic vertical hack lever is left roof put down.
B. step pattern: the manual operation interface in touch screen controller, by technical operation flow, presses each button successively, step by step safely, completes operations in time, efficiently, flexibly.
C. maintenance mode: during maintenance plastering machine, at maintenance operation interface, manipulate every platform hoist engine or electric pushrod flexibly separately.
Plastering machine functional characteristics of the present invention and beneficial effect:
(1) unmanned automatic calibration location: angular transducer identification vertical rod frame verticality, force snesor A identifies that dynamics fixed by vertical rod frame, and integrated control device automatically performs location according to parameter and programme-control hoist engine A, and accuracy is high, full automation carries out, time saving and energy saving.
(2) can automatically powder just, crooked wall: angular transducer measures wall verticality, and touch screen controller locking or setup parameter, integrated control device controls, and the askew wall of positive wall all can automatic plastering.
(3) fixation, concavo-convex ground and height roof (within 60CM) also can fix tightlies: time fixing, telescopic vertical hack lever lands, on telescopic vertical hack lever, Extensible upright rod bottom stay cord is connected, thus ensure that two ends pulling force is equal, simultaneous retractable vertical rod is flexible both parallel also can difference in height within 6CM, thus is suitable for concavo-convex ground and uneven roof.
(4) Digital Control, touch screen controller parameters: sensor perception environment, by converting digitals such as the programmable logic controller in integrated control device and analog modules, touch screen controller setup parameter, realizes Digital Control plastering machine.
(5) one-touch, automatically identify and complete all processes: a key starts, and integrated control device has established parameter, together with sensor feedback co-controlling according to program and touch screen controller.
(6) white washed wall on earth: the base below ash bucket is installed and lifts ash bucket push rod device for a pair, when starting to plaster wall, ash bucket lands, from foundation powder; When plastering machine moves, ash bucket is lifted liftoff, and conveniently moving is simple.
Instant invention overcomes many defects of existing plastering machine, have wide accommodation, simple to operate, man-machine safety is secure, and plastering quality is good, and efficiency of plastering is high, and transition is convenient, and save time, laborsaving, saving of labor, has good economic promotional value.
Accompanying drawing explanation
Fig. 1 is the main apparent direction structural representation of the present invention;
Fig. 2 is the left apparent direction structural representation of the present invention;
Fig. 3 is that direction structure schematic diagram is tiltedly looked up in front of the present invention;
Fig. 4 tiltedly looks up direction structure schematic diagram after the present invention;
Fig. 5 is structural representation after the present invention;
Fig. 6 is shaft of the present invention and main vertical rod junction structural representation;
Fig. 7 is cross bar and adjusting angle motor connecting structure schematic diagram in the present invention;
Fig. 8 is control structure block diagram of the present invention.
In figure: 1-multi-axis foot, 2-fixed pulley group A, 3-stay cord B, 4-Extensible upright rod, 5-postive stop baffle, 6-movable guiding rail, 7-fixed pulley A, 8-movable pulley A, 9-grey ladder, 10-main vertical rod, 11-base, 12-balancing pole, 13-fixed pulley group B, 14-stay cord A, 15-crossbeam, 16-fixed pulley D, 17-movable pulley B, 18-touch screen controller, 19-limit guide rail roller set, 20-angular transducer, 21-integrated control device, 22-hoist engine B, 23-motor push rod, 24-guideway switches, 25-ash bucket, 26-plastering plate, 27-push rod device, 28-support bar, 29-grooved mouth, 30-plastering plate varied angle strut device, 31-rotating shaft, 32-stressedly lift round bar, 33-angle pulley, 34-force rod, 35-promote termination, 36-baffle plate, 37-rail plate groove, 38-force snesor B, 39-pulling force buffer spring B, 40-cross bar, 41-force snesor A, 42-spring, 43-pulling force buffer spring A, 44-lift grey ladder round bar, 45-hoist engine A, 46-fixed pulley C, 47-fixed pulley B.
Detailed description of the invention
See Fig. 1-Fig. 7, the present invention is a kind of numerically controlled intelligent plastering machine, include moveable base 11, be erected at the stand bar stretching device of base both sides, be arranged on the apparatus of plastering on stand bar stretching device, be arranged on the integrated control device 21 on base and power set, apparatus of plastering includes plastering plate 26, ash bucket 25, ash ladder 9 and the grey ladder lifting gear for drawing high grey ladder, after plastering plate, vibrating motor is housed, described power set include and are arranged on hoist engine A45 on base and hoist engine B22, described base is also provided with a touch screen controller 18 by support bar 28, described touch screen controller and integrated control device communicate to connect, be provided with between described stand bar stretching device and base and a set ofly can regulate the adjusting angle device at telescopic vertical hack lever angle of inclination by automated intelligent, described stand bar stretching device includes the two main vertical rods 10 being symmetricly set on base both sides, inside, every root main vertical rod upper end is provided with one section of guide rail, an Extensible upright rod 4 is respectively housed in two guide rails, Extensible upright rod lower end is provided with slide construction, described Extensible upright rod can slide up and down in guide rail, be positioned at upper shelf between two main vertical rods and be provided with a crossbeam 15, bottom crossbeam, two ends, left and right are arranged with two fixed pulley A7 and B47, between fixed pulley A and B, two fixed pulley C46 and D16 are also arranged with equally bottom crossbeam, movable pulley A8 is provided with between fixed pulley A and C, movable pulley B17 is provided with between fixed pulley D and B, successively through the fixed pulley A in left side, movable pulley A, fixed pulley C, fixed pulley D, movable pulley B and fixed pulley B is provided with a stay cord A14, the lower end of inside wall and corresponding Extensible upright rod that the two ends, left and right of described stay cord A are each passed through two main vertical rods is connected, described one of them bottom of movable pulley A or B is connected with base by stay cord, another movable pulley bottom is connected with described hoist engine A by stay cord, a force snesor A41 is also provided with in described stand bar stretching device, this force snesor A is for monitoring the pulling force of stay cord A, described grey ladder lifting gear includes the fixed pulley group A2, the fixed pulley group B13 that are arranged on two Extensible upright rod tops and the angle pulley 33 being disposed side by side on grey ladder back, described fixed pulley group A and B includes two fixed pulleys one in front and one in back arranged, through fixed pulley group A, angle pulley, fixed pulley group B, stay cord B3 is housed successively, one end of stay cord B is connected with base, the other end of stay cord B is connected with hoist engine B, in described grey ladder lifting gear, be also provided with force snesor B38, described force snesor B is for monitoring the pulling force of stay cord B, be positioned at and the base below described grey ladder be also provided with two covers and lift ash bucket push rod device 27, two and lift to be provided with between ash bucket push rod device and lift grey ladder round bar 44, in the middle part of described grey ladder, corresponding position is provided with and stressedly lifts round bar 32, described integrated control device and force snesor A, force snesor B, hoist engine A, hoist engine B, adjusting angle device, vibrating motor, push rod device and touch screen controller all establish a communications link each other.
Force snesor A and B described in the present embodiment can be separately positioned on the appropriate location on stay cord A and stay cord B according to actual conditions, or is arranged on the bottom of corresponding hoist engine.
Adjusting angle device described in the present embodiment includes the rotating shaft 31 being horizontally installed on base bottom, inside main bottom of upright rod, the right and left is each is vertically provided with a rail plate groove 37, the end, both sides of described rotating shaft is all stretched in corresponding rail plate groove, two rail plate groove tops are respectively provided with the baffle plate 36 of one piece of Intermediate Gray perforation, spring 42 is equipped with above two baffle plates, spring at front end is provided with push rod, described spring is fixedly located on the inside wall of main vertical rod, and the push rod of spring rotates with the end of described rotating shaft through the perforation on corresponding baffle plate and contacts; In described main vertical rod middle and lower part, transverse strands is provided with a cross bar 40, cross bar is one in front and one in back provided with two directions force rod 34 down; The motor push rod 23 of an adjusting angle is fixed with on described base top, drive motors in described motor push rod is stepper motor or servomotor, motor push rod front end is provided with a promotion termination 35, described promotion termination puts in two force rods centres and can promote two force rods and makes it swing, described main vertical rod is also provided with an angular transducer 20, described angular transducer and motor push rod, communicates to connect between integrated control device 21 and touch screen controller 18.
Two ends, grey ladder left and right described in the present embodiment are equipped with limit guide rail roller set 19, described limit guide rail roller set can along the main vertical rod scroll-up/down of both sides, one section of movable guiding rail 6 is respectively provided with above the main vertical rod of both sides, described movable guiding rail is sleeved in corresponding Extensible upright rod, two movable guiding rail upper ends are arranged with two grooved mouths 29 in the inner part, part is coordinated to be equipped with guideway switches 24 at each movable guiding rail with the contact of main vertical rod, one piece of postive stop baffle stretched out 5 is also provided with at the lateral surface of each movable guiding rail, ash ladder drives movable guiding rail to slide up and down together with Extensible upright rod by guideway switches and postive stop baffle.
Extensible upright rod in the present embodiment described in two is tubular structure, two Extensible upright rod upper inner are symmetrical is provided with two grooved mouths corresponding with grooved mouth on movable guiding rail, Extensible upright rod top the right and left erection described in two has a balancing pole 12, the two ends of described balancing pole are respectively provided with a root post, linear bearing or linear slider is provided with in two Extensible upright rod tops are equal, balancing pole can slide up and down at grooved mouth, slides up and down in the linear bearing of two columns then in Extensible upright rod or linear slider.
Front end, termination 35 is promoted and circular arc rod-like structure is arranged in force rod contact position described in the present embodiment.
The A of movable pulley described in the present embodiment or be also provided with pulling force buffer spring A43 between B bottom and base, is also provided with pulling force buffer spring B 39 between described stay cord B bottom and base.
Multi-axis foot 1 is all equipped with at Extensible upright rod top in the present embodiment described in two, and two main bottom of upright rods are equipped with multi-axis foot equally.
Be provided with spring assembly below ash bucket described in the present embodiment, this spring assembly by ash bucket pressure or can rise; Described grey ladder is provided with plastering plate varied angle strut device 30, and described grey ladder upper and lower is respectively equipped with upper limit position switch and lower position switch.
Integrated control device described in the present embodiment includes the programmable logic controller of internal or external analog quantity modular converter, driver and drive circuit, wherein programmable logic controller is used for the inclination angle signal being gathered main vertical rod by angular transducer, gathered the pulling force signal of stay cord A and stay cord B by force snesor A and force snesor B respectively, and the pulling force signal of inclination angle signal and stay cord A and stay cord B is transferred to touch screen controller after treatment; Touch screen controller and programmable logic controller real-time communication, and realize man-machine interaction; Programmable logic controller is run by driver drives motor push rod, and controls the operation of hoist engine A, hoist engine B and vibrating motor and motor push rod by the drive circuit that contactor or relay are formed.
Main operating process of the present invention:
1. plastering machine is shifted onto from the suitable position of metope, the space namely between plastering plate and metope meets depth of plastering;
2. set the various running parameter of plastering machine by touch screen controller, the angle of inclination parameter of such as telescopic vertical hack lever, (its size has reacted the size that telescopic vertical hack lever withstands the power on roof and ground to the pulling force parameter of stay cord A, namely withstand when great power firmly but be unlikely to the bending of telescopic vertical hack lever), touch-screen also can show the pulling force size of stay cord B, warning value is set to stay cord B pulling force size, prevents from plastering when encountering obstacle and can process in time.
3. mainly contain following three kinds of mode of operations:
A. fully automatic mode, only need press touch screen controller automatic button, plastering machine completes all operations automatically:
1. automatically angle orientation is adjusted; 2. ground, roof fixation; 3. automatically wait on time add ash; 4. automatic vibration is plastered; If 5. apparatus of plastering runs into obstruction meeting automatic alarm and shows the size of obstruction force, then manually removing barriers to press the button works on again; 6. automatic plastering is to wall top; 7. grey ladder declines and troweling red dog, drops to end meeting and automatically reminds; 8. lifting ash bucket push rod device can stretch out liftoff for grey ladder jack-up, and integrated control device can send instruction and telescopic vertical hack lever is left roof put down.
B. step pattern: the manual operation interface in touch screen controller, by technical operation flow, presses each button successively, step by step safely, completes operations in time, efficiently, flexibly.
C. maintenance mode: during maintenance plastering machine, at maintenance operation interface, manipulate every platform hoist engine or electric pushrod flexibly separately.
Claims (10)
1. a numerically controlled intelligent plastering machine, include moveable base, be erected at the stand bar stretching device of base both sides, be arranged on the apparatus of plastering on stand bar stretching device, be arranged on the integrated control device on base and power set, apparatus of plastering includes plastering plate, ash bucket, ash ladder and the grey ladder lifting gear for drawing high grey ladder, after plastering plate, vibrating motor is housed, it is characterized in that: described power set include and are arranged on hoist engine A on base and hoist engine B, described base is also provided with a touch screen controller by support bar, described touch screen controller and integrated control device communicate to connect, be provided with between described stand bar stretching device and base and a set ofly can regulate the adjusting angle device at telescopic vertical hack lever angle of inclination by automated intelligent, described stand bar stretching device includes the two main vertical rods being symmetricly set on base both sides, inside, every root main vertical rod upper end is provided with one section of guide rail, an Extensible upright rod is respectively housed in two guide rails, Extensible upright rod lower end is provided with slide construction, described Extensible upright rod can slide up and down in guide rail, be positioned at upper shelf between two main vertical rods and be provided with a crossbeam, bottom crossbeam, two ends, left and right are arranged with two fixed pulley A and B, between fixed pulley A and B, two fixed pulley C and D are also arranged with equally bottom crossbeam, movable pulley A is provided with between fixed pulley A and C, movable pulley B is provided with between fixed pulley D and B, successively through the fixed pulley A in left side, movable pulley A, fixed pulley C, fixed pulley D, movable pulley B and fixed pulley B is provided with a stay cord A, the lower end of inside wall and corresponding Extensible upright rod that the two ends, left and right of described stay cord A are each passed through two main vertical rods is connected, described one of them bottom of movable pulley A or B is connected with base by stay cord, another movable pulley bottom is connected with described hoist engine A by stay cord, a force snesor A is also provided with in described stand bar stretching device, this force snesor A is for monitoring the pulling force of stay cord A, described grey ladder lifting gear includes the fixed pulley group A, the fixed pulley group B that are arranged on two Extensible upright rod tops and the angle pulley being disposed side by side on grey ladder back, described fixed pulley group A and B includes two fixed pulleys one in front and one in back arranged, through fixed pulley group A, angle pulley, fixed pulley group B, stay cord B is housed successively, one end of stay cord B is connected with base, the other end of stay cord B is connected with hoist engine B, in described grey ladder lifting gear, be also provided with force snesor B, described force snesor B is for monitoring the pulling force of stay cord B, be positioned at and the base below described grey ladder is also provided with two covers lifts ash bucket push rod device, two lift to be provided with between ash bucket push rod device and lift grey ladder round bar, and in the middle part of described grey ladder, corresponding position is provided with and stressedly lifts round bar, described integrated control device and force snesor A, force snesor B, hoist engine A, hoist engine B, adjusting angle device, vibrating motor, push rod device and touch screen controller all establish a communications link each other.
2. a kind of numerically controlled intelligent plastering machine according to claim 1, it is characterized in that: described adjusting angle device includes the rotating shaft being horizontally installed on base bottom, inside main bottom of upright rod, the right and left is each is vertically provided with a rail plate groove, the end, both sides of described rotating shaft is all stretched in corresponding rail plate groove, two rail plate groove tops are respectively provided with the baffle plate of one piece of Intermediate Gray perforation, spring is equipped with above two baffle plates, spring at front end is provided with push rod, described spring is fixedly located on the inside wall of main vertical rod, and the push rod of spring rotates with the end of described rotating shaft through the perforation on corresponding baffle plate and contacts, in described main vertical rod middle and lower part, transverse strands is provided with a cross bar, cross bar is one in front and one in back provided with two direction force rods down, the motor push rod of an adjusting angle is fixed with on described base top, drive motors in described motor push rod is stepper motor or servomotor, motor push rod front end is provided with a promotion termination, described promotion termination puts in two force rods centres and can promote two force rods and makes it swing, described main vertical rod is also provided with an angular transducer, described angular transducer and motor push rod, communicates to connect between integrated control device and touch screen controller.
3. a kind of numerically controlled intelligent plastering machine according to claim 1, it is characterized in that: two ends, described grey ladder left and right are equipped with limit guide rail roller set, described limit guide rail roller set can along the main vertical rod scroll-up/down of both sides, one section of movable guiding rail is respectively provided with above the main vertical rod of both sides, described movable guiding rail is sleeved in corresponding Extensible upright rod, two movable guiding rail upper ends are arranged with two grooved mouths in the inner part, part is coordinated to be equipped with guideway switches at each movable guiding rail with the contact of main vertical rod, one piece of postive stop baffle stretched out also is provided with at the lateral surface of each movable guiding rail, ash ladder drives movable guiding rail to slide up and down together with Extensible upright rod by guideway switches and postive stop baffle.
4. a kind of numerically controlled intelligent plastering machine according to claim 1 or 3, it is characterized in that: the Extensible upright rod described in two is tubular structure, two Extensible upright rod upper inner are symmetrical is provided with two grooved mouths corresponding with grooved mouth on movable guiding rail, Extensible upright rod top the right and left erection described in two has a balancing pole, the two ends of described balancing pole are respectively provided with a root post, linear bearing or linear slider is provided with in two Extensible upright rod tops are equal, balancing pole can slide up and down at grooved mouth, slide up and down in the linear bearing of two columns then in Extensible upright rod or linear slider.
5. a kind of numerically controlled intelligent plastering machine according to claim 2, is characterized in that: circular arc rod-like structure is arranged in described front end, promotion termination and force rod contact position.
6. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: described movable pulley A or be also provided with pulling force buffer spring A between B bottom and base, is also provided with pulling force buffer spring B between described stay cord B bottom and base.
7. a kind of numerically controlled intelligent plastering machine according to claim 1, it is characterized in that: multi-axis foot is all equipped with in the Extensible upright rod top described in two, two main bottom of upright rods are equipped with multi-axis foot equally.
8. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: be provided with spring assembly below described ash bucket, and this spring assembly by ash bucket pressure or can rise; Described grey ladder is provided with plastering plate varied angle strut device, and described grey ladder upper and lower is respectively equipped with upper limit position switch and lower position switch.
9. a kind of numerically controlled intelligent plastering machine according to claim 1, it is characterized in that: described force snesor A can be located on stay cord A or in the bottom of hoist engine A, force snesor B can be located on stay cord B or in the bottom of hoist engine B.
10. a kind of numerically controlled intelligent plastering machine according to claim 1, it is characterized in that: described integrated control device includes the programmable logic controller of internal or external analog quantity modular converter, driver and drive circuit, wherein programmable logic controller is used for the inclination angle signal being gathered main vertical rod by angular transducer, gathered the pulling force signal of stay cord A and stay cord B by force snesor A and force snesor B respectively, and the pulling force signal of inclination angle signal and stay cord A and stay cord B is transferred to touch screen controller after treatment; Touch screen controller and programmable logic controller real-time communication, and realize man-machine interaction; Programmable logic controller is run by driver drives motor push rod, and controls the operation of hoist engine A, hoist engine B and vibrating motor and motor push rod by the drive circuit that contactor or relay are formed.
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| CN201510333984.XA CN105201182B (en) | 2015-06-17 | 2015-06-17 | A kind of numerically controlled intelligent plastering machine |
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| CN105735623A (en) * | 2016-03-04 | 2016-07-06 | 重庆科技学院 | Intelligent tracking plastering device and plastering method thereof |
| CN105804376A (en) * | 2016-04-08 | 2016-07-27 | 中国科学院自动化研究所 | Intelligent wall plastering robot |
| CN105822045A (en) * | 2016-04-06 | 2016-08-03 | 中亿丰建设集团股份有限公司 | Automatic plastering construction method for mortar anchor machine |
| CN105986661A (en) * | 2016-06-07 | 2016-10-05 | 诸葛杨杨 | Rolling wheel type wall painting plastering device |
| CN106760430A (en) * | 2017-01-18 | 2017-05-31 | 佛山意瑞达建筑机械有限公司 | A kind of plastering machine electric-control overturning patter |
| CN106869464A (en) * | 2017-04-14 | 2017-06-20 | 合肥威控节能技术有限公司 | A kind of intelligent metope scraping device |
| CN111270819A (en) * | 2020-02-22 | 2020-06-12 | 北京正升建设工程有限公司 | Wall surface painting method, system and device |
| CN111891990A (en) * | 2020-06-10 | 2020-11-06 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111891967A (en) * | 2020-06-10 | 2020-11-06 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111924743A (en) * | 2020-06-10 | 2020-11-13 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105735623A (en) * | 2016-03-04 | 2016-07-06 | 重庆科技学院 | Intelligent tracking plastering device and plastering method thereof |
| CN105822045A (en) * | 2016-04-06 | 2016-08-03 | 中亿丰建设集团股份有限公司 | Automatic plastering construction method for mortar anchor machine |
| CN105804376A (en) * | 2016-04-08 | 2016-07-27 | 中国科学院自动化研究所 | Intelligent wall plastering robot |
| CN105986661B (en) * | 2016-06-07 | 2018-06-08 | 新力建设集团有限公司 | A kind of roller type is whitewashed a wall apparatus of plastering |
| CN105986661A (en) * | 2016-06-07 | 2016-10-05 | 诸葛杨杨 | Rolling wheel type wall painting plastering device |
| CN106760430A (en) * | 2017-01-18 | 2017-05-31 | 佛山意瑞达建筑机械有限公司 | A kind of plastering machine electric-control overturning patter |
| CN106869464A (en) * | 2017-04-14 | 2017-06-20 | 合肥威控节能技术有限公司 | A kind of intelligent metope scraping device |
| CN111270819A (en) * | 2020-02-22 | 2020-06-12 | 北京正升建设工程有限公司 | Wall surface painting method, system and device |
| CN111891990A (en) * | 2020-06-10 | 2020-11-06 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111891967A (en) * | 2020-06-10 | 2020-11-06 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111924743A (en) * | 2020-06-10 | 2020-11-13 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111924743B (en) * | 2020-06-10 | 2021-08-31 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111891967B (en) * | 2020-06-10 | 2022-03-18 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
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