CN105908952A - Scissor type upper wall processing robot and electrical system thereof - Google Patents
Scissor type upper wall processing robot and electrical system thereof Download PDFInfo
- Publication number
- CN105908952A CN105908952A CN201610221750.0A CN201610221750A CN105908952A CN 105908952 A CN105908952 A CN 105908952A CN 201610221750 A CN201610221750 A CN 201610221750A CN 105908952 A CN105908952 A CN 105908952A
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- platform
- brush dust
- cylinder
- reservoir
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention relates to the field of building machinery, and specifically discloses a scissor type upper wall processing robot and an electrical system thereof. The robot main body comprises a bottom travelling device, distance sensors, an elevating device, a back and forth moving platform, a left and right moving platform, a reservoir, a plastering device, a paint spraying device, a polishing device and a photoelectric sensor. The electrical system comprises a programmable controller, a sensor unit, a hydraulic unit, a servo motor unit and a servo controller. Integrated operations of polishing, putty plastering and emulsion paint spraying on an upper wall can be achieved without workers and multiple equipment, manpower is saved, health risks of the workers are reduced, efficiency is improved, economic benefits are increased, and polishing, plastering and paint spraying effects are better compared with traditional equipment.
Description
Technical field
The present invention relates to building machinery field, a kind of scissor-type roof machining robot and electricity system thereof.
Background technology
At building field, the roof of building is often through pouring or floor formation.The building roof wall surface that this floor is formed is past
Toward rough.For follow-up construction processes, such as coating or scrape mud, all have adverse effect.Accordingly, it would be desirable to it is right
The surface of this roof flattens.
In decorating house, must Puttying.Because metope Puttying is to ensure that the important step of interior decoration quality, putty
(fillering) is a kind of ornament materials of smooth surface of wall, is a kind of thick slurry coating material, is that coating paints front requisite one
Plant product.Painting imposes on priming paint or is directly coated with and imposes on object, in order to remove rugged defect on coated article surface.
In prior art, the groundwork step that roof processes is:
1, the smooth process of roof: building roof is carried out grinding process, makes building roof smooth, and, when roof is seamed
During gap, with special crack resistence agent, roof seam mouth groove is carried out joint filling process, then be pasted onto seam with kraft paper+milky white adhesive
Place；
2, Puttying: roof one, on special bracing frame, is not leaked by putty station by holding the scraper plate being stained with putty
Whole scrape, after all scraping, whole surface of wall is processed, it is ensured that whole metope must be smooth, no
Must there is skin effect phenomenon；
3, spraying emulsion paint: the processing method of emulsion paint has three kinds: a, roller coating, benefit: economical and practical；B, spraying,
Benefit: surface is more smooth；C, stamp, be suitable for the construction of little area, benefit: attractive in appearance.Before emulsion paint is sprayed
First putty surface will be carried out grinding process, the effect of polishing is to make surface of wall more smooth attached with enhancing metope emulsion paint
The effect puted forth effort.The construction requirement surfacing to be reached of emulsion paint is smooth, without stream pendant, pollution-free, color and luster is consistent, straight
Smooth.
In prior art, above-mentioned steps has two ways to complete: 1, be accomplished manually, and its defect is to operate expense complicated, time-consuming
Power, inefficiency and lost labor, it is unfavorable for that workman's is healthy simultaneously；2, machine completes, but existing machine
Equipment works independently often, fights separately, and the equipment of roof polishing is specifically designed to roof polishing, and the equipment sprayed paint is used specially
In spraying paint, the equipment of brush putty is specifically designed to brush putty, therefore, whole process to complete above-mentioned operation, generally requires multiple stage different
Equipment work can complete, and the most just increases the Financial cost of unit in charge of construction, meanwhile, the roof polishing of existing machinery equipment
Flatness, brush putty smoothness and the uniformity of spraying paint the most undesirable.
In consideration of it, existing one of being badly in need of replaces artificial, advantage of lower cost, and can integration roof is polished, brush
Putty and spraying emulsion paint, and polishing, brush putty and spraying effect all preferably New type high effective installation.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of scissor-type roof machining robot and electricity system thereof,
It compensate for artificial process roof bothersome arduously affects healthy defect, and existing machinery equipment cannot do
To roof being polished simultaneously, brush putty and spraying emulsion paint and make troubles and increase the defect of cost etc..
The technical solution adopted for the present invention to solve the technical problems is: a kind of scissor-type roof machining robot, including bottom
Running gear, range sensor, lowering or hoisting gear, movable platform, move left and right platform, reservoir, brush dust device,
Spray-painting plant, sanding apparatus and electro-optical pickoff；Described lowering or hoisting gear is positioned at bottom line walking apparatus upper end, described before
Rear mobile platform is positioned at lowering or hoisting gear upper end, moves left and right platform and is positioned at movable platform upper end, reservoir, brush dust device,
Spray-painting plant, sanding apparatus and electro-optical pickoff are respectively positioned on and move left and right on platform.
Described bottom line walking apparatus lower end is provided with four movable pulleys, and described movable pulley is Mecanum wheel, described Mike
Na Mu wheel design make bottom line walking apparatus can omnidirectional's arbitrary motion, described bottom line walking apparatus surrounding is provided with four
Range sensor, the effect of described range sensor is so that bottom line walking apparatus can shift to an earlier date anticipation surrounding during advancing
Barrier, it is to avoid collide.Described bottom line walking apparatus is for adjusting by a relatively large margin the position of the present invention.
Described lowering or hoisting gear lower end is rotatably connected on bottom line walking apparatus upper end, and described lowering or hoisting gear upper end is rotatably connected to
Workbench, described lowering or hoisting gear main body is scissor-type mechanism, and scissor-type mechanism is Conventional mechanisms of the prior art, work
Time, the motion of bottom line walking apparatus drives lowering or hoisting gear motion, and the lowering or hoisting gear constructed by scissor-type realizes workbench
Lifting.
Before and after described, mobile platform includes the screw rod being arranged on workbench upper surface along workbench fore-and-aft direction, is arranged on
Workbench upper surface and the motor being connected with a screw rod, before being positioned at above workbench and being connected with a screw rod
Rear movable plate；During work, a motor job drives a screw rod to rotate, and then drives movable plate to seesaw.
The described platform that moves left and right includes being arranged on No. two spiral shells of movable plate upper surface along movable plate left and right directions
Bar, is arranged on movable plate upper surface and No. two motors being connected with No. two screw rods, be positioned at above movable plate and with
What No. two screw rods were connected moves left and right plate；During work, No. two motor work drive No. two screw rods to rotate, and then about drive
Movable plate side-to-side movement.
Before and after described, mobile platform is used to the present invention to the position by a small margin in the roof course of processing with moving left and right platform
Put adjustment.
Described reservoir is fixed on and moves left and right in the middle part of plate upper surface, and described reservoir is used for storing powder of lacquer putty for use on or latex
Paint.
Described brush dust device is positioned at and moves left and right plate right-hand member, and described brush dust device includes brush dust cylinder, brush dust plate and brush dust
Air pump, described brush dust cylinder is fixed on moving left and right on plate on the right side of reservoir；With brush dust cylinder bottom described brush dust plate
Top fixes, and described brush dust plate upper surface is provided with the top board being the level of state, and described top board is for brushing roof
Powder of lacquer putty for use on；Described top board upper end edge moves left and right plate fore-and-aft direction and is provided with a strip powder output slot, described powder output slot
Lower end is provided with powder delivery chamber, and described brush dust air pump is arranged on and moves left and right on plate, and described reservoir, brush dust air pump and
Powder delivery is all connected by flexible pipe between chamber；During work, when roof is brushed powder of lacquer putty for use on by needs, first will mix with water
Powder of lacquer putty for use on pour in reservoir, then, the work of brush dust air pump makes the powder of lacquer putty for use in reservoir enter the powder delivery chamber of brush dust plate
In, then the powder output slot through upper end, powder delivery chamber flows out to top board upper end and is covered with top board upper surface, then, further according to the tool of roof
Body situation, makes brush dust cylinder stretch out, so that the top board being covered with powder of lacquer putty for use on is adjacent to roof, and walking dress bottom resynchronisation adjustment
Put, move forward and backward platform and move left and right platform, it is achieved top board carries out the smooth brushing of powder of lacquer putty for use on to roof.
Described spray-painting plant is positioned at and moves left and right on plate, and spray-painting plant is between reservoir and brush dust device, described
Spray-painting plant includes fixed platform, moving platform, the first cylinder, the second cylinder, the 3rd cylinder, nozzle, spraying air pump and recovery
Plate；Described first cylinder, the second cylinder and the 3rd cylinder connect fixed platform and moving platform respectively, described first cylinder,
Two cylinders, the 3rd cylinder, fixed platform are connected one closed loop four-freedom parallel mechanism of formation, this parallel institution energy with moving platform
The three degree of freedom rotation and the one degree of freedom that realize moving platform move；Described nozzle is arranged in the middle part of described moving platform；Institute
The spraying air pump stated is arranged on and moves left and right on plate, and described reservoir, is connected by flexible pipe between spraying air pump and nozzle
Connect；Described recovery plate is fixed on moving platform, and the liquid outlet of nozzle is positioned at above recovery plate, and reclaims plate along left and right
The left and right directions of movable plate is turned left from the right side and is arranged the most diagonally downward, reclaims plate high order end and is positioned at above reservoir, reclaims plate and uses
The emulsion paint being not attached on roof after reclaiming sprinkling；During work, first ready emulsion paint is poured in reservoir,
When roof is all sprayed emulsion paint by needs, then by spraying air pump, emulsion paint is transported to nozzle and is then ejected on roof, with
Time then pass through the first cylinder, the second cylinder and the 3rd cylinder adjust position and the angle of moving platform, and then adjust the position of nozzle
Put and angle, simultaneously synchronization control bottom line walking apparatus, movable platform and move left and right platform, thus nozzle realize right
Roof even application emulsion paint, a portion emulsion paint is not attached to roof and falls back to reclaim on plate, more recovered plate is sliding
Enter in reservoir, thus avoid the waste of emulsion paint, protect environment simultaneously.
Described sanding apparatus is positioned at and moves left and right on the left of plate upper surface, described sanding apparatus include fixed station, polishing motor,
Mill and polishing cylinder, described polishing motor is arranged on fixed station upper center, and described mill is connected with polishing motor,
Described mill uses P120/180 molding sand paper or P320/400 molding sand paper to make, described fixed station with move left and right plate it
Between by polishing cylinders connect；During work, when roof is polished by needs, then polishing cylinder is made to stretch out so that mill
Card be adjacent to roof, then, polishing motor work strip movable grinding disc roof is polished, in like manner, synchronization control bottom line
Walking apparatus, movable platform and move left and right platform, and then adjust the position of mill, so that mill realizes roof
Uniform grinding.The time of sanding apparatus work is: 1, brushes before powder of lacquer putty for use on and polishes roof, so that follow-up putty
Powder is more easy to brush smooth；2, brushed after powder of lacquer putty for use on about sky, before spray emulsion paint, the powder of lacquer putty for use on brushed polished,
Emulsion paint is all sprayed after being easy to.
Described electro-optical pickoff is arranged on and moves left and right on the left of plate upper surface, and electro-optical pickoff is positioned at a sanding apparatus left side
Side；Described electro-optical pickoff is used for judging that the surface roughness of roof, the working time of electro-optical pickoff are: 1,
Sanding apparatus before brushing powder of lacquer putty for use on carry out polishing for the first time work time, it is judged that whether sanding apparatus polishes roof, does not polishes
Sanding apparatus is then made to work on；2, during brushing powder of lacquer putty for use on, it is judged that whether brush dust device brushes flat powder of lacquer putty for use on, does not brushes flat then
Brush dust device is made to work on；3, brushed after powder of lacquer putty for use on about 3 days, it is judged that the powder of lacquer putty for use on of exsiccation is the most smooth, no
Smooth place makes sanding apparatus work on to carry out second time polishing operation；4, carried out second time at sanding apparatus to beat
After mill operation, when spray-painting plant carries out spraying emulsion paint to roof, it is judged that spraying is the most uniform, does not sprays smooth, continue spray
It is coated with.
The electricity system of a kind of scissor-type roof machining robot, described electricity system includes Programmable Logic Controller, sensor
Unit, hydraulic pressure unit, servomotor unit and servo controller；
The output port of described Programmable Logic Controller connects sensor unit, hydraulic pressure unit, servomotor unit and SERVO CONTROL
Device, for controlling sensor unit, hydraulic pressure unit, servomotor unit and the work of servo controller；
Described sensor unit includes range sensor and electro-optical pickoff, and the signal that sensor unit is analyzed can be real-time
Feed back to Programmable Logic Controller, after Programmable Logic Controller receives the feedback information of sensor unit then finish message is backward
Servomotor unit and servo controller send dependent instruction；
Described hydraulic pressure unit is for controlling the lifting work of lowering or hoisting gear；
Described servomotor unit is used in a number motor of control and No. two motors and bottom line walking apparatus and road wheel phase
The work of the motor connected；
Described servo controller is for controlling the work of brush dust device, spray-painting plant and sanding apparatus, and servo controller energy
The enough selectable independent work controlled in brush dust device, spray-painting plant and sanding apparatus；
Described mopping device, spray-painting plant and sanding apparatus all includes enabling signal, stops signal, automatic signal, initial point
Signal, endpoint signal, operating point put in place signal and initial point reset signal.
Beneficial effect:
1, the present invention is capable of the integration operation of the polishing to roof, brush putty and spray emulsion paint, it is not necessary to artificial, also
Operate without multiple devices, save artificial, alleviate the healthy hidden danger of workman, improve efficiency, and add economy
Benefit.
2, the bottom line walking apparatus of the present invention uses Mecanum wheel, so that the present invention is to roof polishing, brush putty
More flexible with change in location when spraying paint, it is more beneficial for the concrete condition according to roof and adjusts polishing position, brush dust position in real time
With position of spraying paint.
3, present invention employs movable platform and move left and right platform so that the present invention is to roof polishing, brush putty
Can finely tune with position when spraying paint, it is simple to control the present invention and to precisely polishing, the brush putty of roof and spray paint.
4, the emulsion paint of the present invention uses spraying method, and then makes being attached on roof of emulsion paint more flat smooth.
5, it is provided with the recovery plate for reclaiming emulsion paint on the spray-painting plant of the present invention, sprays and be not attached to the breast of roof
Shellac varnish can fall recovery plate, more recovered plate enters reservoir, thus be of value to saving emulsion paint and protect environment.
6, the spray-painting plant of the present invention uses the parallel connection that three degree of freedom rotates and one degree of freedom moves that can realize moving platform
Mechanism, so that spraying position is more easy to control, spraying effect is more preferably.
7, the present invention is provided with electro-optical pickoff, and it can interpolate that the roughness of roof is the most qualified, and then by collection
Information is sent to the control terminal of the present invention, determines sanding apparatus, brush dust device and the work of spray-painting plant, when roughness not
Meet the requirements, then said apparatus works on until roughness meets, thus the polishing effect of the present invention, brush dust effect and spray
Paint effect is more preferable for legacy equipment.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the overall schematic of the present invention；
Fig. 2 be the present invention move left and right platform and the structural representation of lower part；
Fig. 3 be the present invention move left and right plate and the structural representation of upper part；
Fig. 4 is the partial schematic diagram of Fig. 3；
Fig. 5 is partly cut-away's schematic diagram of brush dust plate of the present invention；
Fig. 6 is the electricity system schematic diagram of the present invention；
In figure: bottom line walking apparatus 1, range sensor 2, lowering or hoisting gear 3, movable platform 4, move left and right platform
5, reservoir 6, brush dust device 7, spray-painting plant 8, sanding apparatus 9, electro-optical pickoff 10, movable pulley 11, work
Platform 41, motor 42 of 31, screw rod, movable plate 51, No. two motors 52 of 43, No. two screw rods, left and right are moved
Move plate 53, brush dust cylinder 71, brush dust plate 72, brush dust air pump 73, top board 721, powder output slot 722, powder delivery chamber 723, determine
Platform 81, moving platform the 82, first cylinder the 83, second cylinder the 84, the 3rd cylinder 85, nozzle 86, spraying air pump 87,
Reclaim plate 88, fixed station 91, polishing motor 92, mill 93, polishing cylinder 94.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with
It is specifically illustrating, the present invention is expanded on further.
As it is shown in figure 1, a kind of scissor-type roof machining robot of the present invention, including include bottom line walking apparatus 1,
Range sensor 2, lowering or hoisting gear 3, movable platform 4, move left and right platform 5, reservoir 6, brush dust device 7,
Spray-painting plant 8, sanding apparatus 9 and electro-optical pickoff 10；Described lowering or hoisting gear 3 is positioned at bottom line walking apparatus 1 upper end,
Before and after described, mobile platform 4 is positioned at lowering or hoisting gear 3 upper end, moves left and right platform 5 and is positioned at movable platform 4 upper end,
Reservoir 6, brush dust device 7, spray-painting plant 8, sanding apparatus 9 and electro-optical pickoff 10 are respectively positioned on and move left and right platform
On 5.
As depicted in figs. 1 and 2, a kind of scissor-type roof machining robot of the present invention, described bottom walking dress
Putting 1 lower end and be provided with four movable pulleys 11, described movable pulley 11 is Mecanum wheel, the design of described Mecanum wheel
Make bottom line walking apparatus 1 can omnidirectional's arbitrary motion, described bottom line walking apparatus 1 surrounding is provided with four Distance-sensings
Device 2, the effect of described range sensor 2 is so that bottom line walking apparatus 1 can shift to an earlier date anticipation surrounding during advancing
Barrier, it is to avoid collide.Described bottom line walking apparatus 1 is for adjusting by a relatively large margin the position of the present invention.
Described lowering or hoisting gear 3 lower end is rotatably connected on bottom line walking apparatus 1 upper end, and described lowering or hoisting gear 3 upper end rotates
Connecting and have workbench 31, described lowering or hoisting gear 3 main body is scissor-type mechanism, and scissor-type mechanism is routine of the prior art
Mechanism, during work, bottom line walking apparatus 1 motion drives lowering or hoisting gear 3 to move, and the lifting constructed by scissor-type is filled
Put 3 liftings realizing workbench 31.
Before and after described, mobile platform 4 includes the screw rod being arranged on workbench 31 upper surface along workbench 31 fore-and-aft direction
41, it is arranged on workbench 31 upper surface and the motor 42 being connected with a screw rod 41, is positioned at above workbench 31
And movable plate 43 before and after being connected with a screw rod 41；During work, motor 42 job drives a screw rod 41 turns
Dynamic, and then drive movable plate 43 to seesaw.
The described platform 5 that moves left and right includes being arranged on movable plate 43 upper surface along movable plate 43 left and right directions
No. two screw rods 51, are arranged on movable plate 43 upper surface and No. two motors 52 being connected with No. two screw rods 51, are positioned at
Plate 53 is moved left and right above movable plate 43 and with No. two screw rods 51 are connected；During work, No. two motors 52 work
Drive No. two screw rods 51 to rotate, and then drive moves left and right plate 53 side-to-side movement.
Before and after described, mobile platform 4 is used to the present invention in the roof course of processing by a small margin with moving left and right platform 5
Position adjustment.
As shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 5, a kind of scissor-type roof machining robot of the present invention, described
Reservoir 6 is fixed on and moves left and right in the middle part of plate 53 upper surface, and described reservoir 6 is used for storing powder of lacquer putty for use on or emulsion paint.
Described brush dust device 7 is positioned at and moves left and right plate 53 right-hand member, and described brush dust device 7 includes brush dust cylinder 71, brush
Powder plate 72 and brush dust air pump 73, described brush dust cylinder 71 is fixed on moving left and right on plate 53 on the right side of reservoir 6；Institute
Fixing with brush dust cylinder 71 top bottom the brush dust plate 72 stated, described brush dust plate 72 upper surface is provided with horizontal
The top board 721 of state, described top board 721 is for brushing powder of lacquer putty for use on to roof；Described top board 721 upper end edge moves left and right
Plate 53 fore-and-aft direction is provided with a strip powder output slot 722, and described powder output slot 722 lower end is provided with powder delivery chamber 723,
Described brush dust air pump 73 is arranged on and moves left and right on plate 53, and described reservoir 6, brush dust air pump 73 and powder delivery chamber
All it is connected by flexible pipe between 723；During work, when roof is brushed powder of lacquer putty for use on by needs, first will mix with water
Powder of lacquer putty for use on is poured in reservoir 6, and then, brush dust air pump 73 work makes the powder of lacquer putty for use in reservoir 6 enter brush dust plate 72
Powder delivery chamber 723 in, then the powder output slot 722 through upper end, powder delivery chamber 723 flows out to top board 721 upper end and is covered with top board 721
Upper surface, then, further according to the concrete condition of roof, makes brush dust cylinder 71 stretch out, so that be covered with the top of powder of lacquer putty for use on
Plate 721 is adjacent to roof, and resynchronisation adjusts bottom line walking apparatus 1, movable platform 4 and moves left and right platform 5, it is achieved
Top board 721 carries out the smooth brushing of powder of lacquer putty for use on to roof.
Described spray-painting plant 8 is positioned at and moves left and right on plate 53, and spray-painting plant 8 is positioned at reservoir 6 and brush dust device 7
Between, described spray-painting plant 8 includes fixed platform 81, moving platform the 82, first cylinder the 83, second cylinder the 84, the 3rd gas
Cylinder 85, nozzle 86, spraying air pump 87 and recovery plate 88；Described first cylinder the 83, second cylinder 84 and the 3rd cylinder 85
Connect fixed platform 81 and moving platform 82 respectively, described first cylinder the 83, second cylinder the 84, the 3rd cylinder 85, allocate
Platform 81 is connected one closed loop four-freedom parallel mechanism of formation with moving platform 82, and this parallel institution can realize moving platform 82
Three degree of freedom rotates and one degree of freedom moves；Described nozzle 86 is arranged in the middle part of described moving platform 82；Described spray
It is coated with air pump 87 to be arranged on and move left and right on plate 53, and described reservoir 6, passes through between spraying air pump 87 and nozzle 86
Flexible pipe is connected；Described recovery plate 88 is fixed on moving platform 82, and the liquid outlet of nozzle 86 is positioned at recovery plate 88
Top, and reclaim plate 88 and turn left from the right side and arrange the most diagonally downward along moving left and right the left and right directions of plate 53, reclaim plate 88
High order end is positioned at above reservoir 6, reclaims the emulsion paint that plate 88 is not attached on roof after reclaiming sprinkling；During work,
First ready emulsion paint is poured in reservoir 6, when roof is all sprayed emulsion paint by needs, then by spraying air pump 87
Emulsion paint is transported to nozzle 86 be then ejected on roof, then passes through first cylinder the 83, second cylinder 84 and simultaneously
Three cylinders 85 adjust position and the angle of moving platform 82, and then adjust position and angle, the synchronization control simultaneously of nozzle 86
Bottom line walking apparatus 1, movable platform 4 and move left and right platform 5, thus nozzle 86 realizes roof even application breast
Shellac varnish, a portion emulsion paint is not attached to roof and falls back to reclaim on plate 88, more recovered plate 88 slips into reservoir
In 6, thus avoid the waste of emulsion paint, protect environment simultaneously.
Described sanding apparatus 9 is positioned at and moves left and right on the left of plate 53 upper surface, described sanding apparatus 9 include fixed station 91,
Polishing motor 92, mill 93 and polishing cylinder 94, described polishing motor 92 is arranged on fixed station 91 upper center, institute
The mill 93 stated is connected with polishing motor 92, and described mill 93 uses P120/180 molding sand paper or P320/400 type
Sand paper is made, and described fixed station 91 is connected by polishing cylinder 94 between plate 53 with moving left and right；During work, when
Need roof is polished, then make polishing cylinder 94 stretch out so that the card of mill 93 is adjacent to roof, then, polishing
Roof is polished by motor 92 work strip movable grinding disc 93, in like manner, synchronization control bottom line walking apparatus 1, movable flat
Platform 4 and move left and right platform 5, and then adjust the position of mill 93, so that mill 93 realizes the uniform grinding to roof.
The time of sanding apparatus 9 work is: 1, brushes before powder of lacquer putty for use on and polishes roof, so that follow-up powder of lacquer putty for use on is more easy to be coated with
Brush flat whole；2, brushed after powder of lacquer putty for use on about 3 days, before spray emulsion paint, the powder of lacquer putty for use on brushed polished, it is simple to
The most all spray emulsion paint.
Described electro-optical pickoff 10 is arranged on and moves left and right on the left of plate 53 upper surface, and electro-optical pickoff 10 is positioned at
On the left of sanding apparatus 9；Described electro-optical pickoff 10 is for judging the surface roughness of roof, electro-optical pickoff 10
Working time be: 1, the sanding apparatus 9 before brushing powder of lacquer putty for use on carry out polishing for the first time work time, it is judged that sanding apparatus 9
Whether roof is polished, do not polish, make sanding apparatus 9 work on；2, during brushing powder of lacquer putty for use on, it is judged that brush dust device 7
Whether powder of lacquer putty for use on is brushed flat, do not brush flat, make brush dust device 7 work on；3, brushed after powder of lacquer putty for use on about 3 days, it is judged that
The powder of lacquer putty for use on become dry is the most smooth, and irregular place makes sanding apparatus 9 work on to carry out second time polishing operation；
4, after sanding apparatus 9 has carried out second time polishing operation, when spray-painting plant 8 carries out spraying emulsion paint to roof, it is judged that
Spraying is the most uniform, does not sprays smooth, continues spraying.
The electricity system of a kind of scissor-type roof machining robot, described electricity system includes Programmable Logic Controller, sensor
Unit, hydraulic pressure unit, servomotor unit and servo controller；
The output port of described Programmable Logic Controller connects sensor unit, hydraulic pressure unit, servomotor unit and SERVO CONTROL
Device, for controlling sensor unit, hydraulic pressure unit, servomotor unit and the work of servo controller；
Described sensor unit includes range sensor and electro-optical pickoff, and the signal that sensor unit is analyzed can be real-time
Feed back to Programmable Logic Controller, after Programmable Logic Controller receives the feedback information of sensor unit then finish message is backward
Servomotor unit and servo controller send dependent instruction；
Described hydraulic pressure unit is for controlling the lifting work of lowering or hoisting gear；
Described servomotor unit is used in a number motor of control and No. two motors and bottom line walking apparatus and road wheel phase
The work of the motor connected；
Described servo controller is for controlling the work of brush dust device, spray-painting plant and sanding apparatus, and servo controller energy
The enough selectable independent work controlled in brush dust device, spray-painting plant and sanding apparatus；
Described mopping device, spray-painting plant and sanding apparatus all includes enabling signal, stops signal, automatic signal, initial point
Signal, endpoint signal, operating point put in place signal and initial point reset signal.
During work, when roof is processed by needs, first, the present invention is moved in the position processed as required, by this
The design inventing described Mecanum wheel makes the arbitrary motion of bottom line walking apparatus 1 omnidirectional, moves to the position reserved in advance in advance,
Wherein, in bottom line walking apparatus 1 walking process, described range sensor 2 can shift to an earlier date the barrier of anticipation surrounding, keeps away
Exempting to collide, then, lowering or hoisting gear 3 realizes the rising of workbench 31, after workbench 31 rises to a certain degree,
Workbench 31 upper mechanism can carry out the fine tune on position, and wherein, motor 42 job drives a screw rod 41
Rotate, and then drive movable plate 43 to seesaw；No. two motor 52 work drive No. two screw rods 51 to rotate, and then
Drive moves left and right plate 53 side-to-side movement.
Move left and right the reservoir 6 on plate 53 for storing powder of lacquer putty for use on or emulsion paint.
When roof is brushed powder of lacquer putty for use on by needs, first the powder of lacquer putty for use on mixed with water is poured in reservoir 6, then,
Brush dust air pump 73 work makes the powder of lacquer putty for use in reservoir 6 enter in the powder delivery chamber 723 of brush dust plate 72, then through powder delivery chamber 723
The powder output slot 722 of upper end flows out to top board 721 upper end and is covered with top board 721 upper surface, then, and concrete further according to roof
Situation, makes brush dust cylinder 71 stretch out, so that the top board 721 being covered with powder of lacquer putty for use on is adjacent to roof, bottom resynchronisation adjustment
Running gear 1, movable platform 4 and move left and right platform 5, it is achieved top board 721 carries out the smooth of powder of lacquer putty for use on to roof
Brushing.
When roof is all sprayed emulsion paint by needs, the most ready emulsion paint is poured in reservoir 6, by spraying gas
Emulsion paint is transported to nozzle 86 and is then ejected on roof by pump 87, then passes through first cylinder the 83, second cylinder simultaneously
84 and the 3rd cylinder 85 adjust position and the angle of moving platform 82, and then adjust position and the angle of nozzle 86, simultaneously with
Successive step bottom line walking apparatus 1, movable platform 4 and move left and right platform 5, thus nozzle 86 realizes roof uniform
Spraying emulsion paint, a portion emulsion paint is not attached to roof and falls back to reclaim on plate 88, more recovered plate 88 slips into
In reservoir 6, thus avoid the waste of emulsion paint, protect environment simultaneously.
When roof is polished by needs, then polishing cylinder 94 is made to stretch out so that the card of mill 93 is adjacent to roof, then,
Roof is polished by polishing motor 92 work strip movable grinding disc 93, in like manner, and synchronization control bottom line walking apparatus 1, Qian Houyi
Moving platform 4 and move left and right platform 5, and then adjust the position of mill 93 so that mill 93 realize roof uniform
Polishing.
According to construction situation, the specific works step of the present invention is:
(1) sanding apparatus 9 operation for the first time: polishing coarse roof, electro-optical pickoff 10 judges sanding apparatus
Whether 9 polish roof, does not polishes, and makes sanding apparatus 9 work on；
(2) brush dust device 7 works: after (1st) step has been polished, and by good for reservoir 6 internal modulation powder of lacquer putty for use on, brush dust fills
Putting the roof brushing powder of lacquer putty for use on of 7 air exercise milleds, during brushing powder of lacquer putty for use on, electro-optical pickoff 10 judges brush dust device 7 whether
Powder of lacquer putty for use on is brushed flat, does not brushes flat, make brush dust device 7 work on, be all coated with after brushing, by the putty in reservoir 6
Powder empties and clears up reservoir 6；
(3) sanding apparatus 9 second time operation: after (2nd) step brush dust completes about 3 days, treat that powder of lacquer putty for use on becomes dry, it is judged that
The powder of lacquer putty for use on that (2nd) step is brushed is the most smooth after exsiccation, the place that do not polishes then make sanding apparatus 9 work on
Polish flat；
(4) spray-painting plant 8 works: after (3rd) step, and roof is carried out spraying emulsion paint, photoelectricity by spray-painting plant 8
Formula sensor 10 judges that spraying is the most uniform, does not sprays and the most then continues spraying.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these changes and improvements are all
Fall in scope of the claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (3)
1. a scissor-type roof machining robot, it is characterised in that: include bottom line walking apparatus (1), range sensor (2),
Lowering or hoisting gear (3), movable platform (4), move left and right platform (5), reservoir (6), brush dust device (7), spray paint dress
Put (8), sanding apparatus (9) and electro-optical pickoff (10)；Described lowering or hoisting gear (3) is positioned at bottom line walking apparatus (1) upper end,
Before and after described, mobile platform (4) is positioned at lowering or hoisting gear (3) upper end, moves left and right platform (5) and is positioned on movable platform (4)
End, reservoir (6), brush dust device (7), spray-painting plant (8), sanding apparatus (9) and electro-optical pickoff (10) are respectively positioned on a left side
Move right on platform (5)；Wherein:
Described bottom line walking apparatus (1) lower end is provided with four movable pulleys (11), and described movable pulley (11) is Mecanum
Wheel, described bottom line walking apparatus (1) surrounding is provided with four range sensors (2)；
Described lowering or hoisting gear (3) lower end is rotatably connected on bottom line walking apparatus (1) upper end, described lowering or hoisting gear (3) upper end
Being rotatably connected to workbench (31), described lowering or hoisting gear (3) main body is conventional scissor-type mechanism；
Before and after described, mobile platform (4) includes be arranged on workbench (31) upper surface along workbench (31) fore-and-aft direction No. one
Screw rod (41), is arranged on workbench (31) upper surface and the motor (42) being connected with a screw rod (41), is positioned at work
Movable plate (43) before and after above platform (31) and being connected with a screw rod (41)；
The described platform (5) that moves left and right includes being arranged on movable plate (43) upper end along movable plate (43) left and right directions
No. two screw rods (51) in face, are arranged on movable plate (43) upper surface and No. two motors being connected with No. two screw rods (51)
(52), it is positioned at movable plate (43) top and moves left and right plate (53) with No. two screw rods (51) are connected；
Described reservoir (6) is fixed on and moves left and right in the middle part of plate (53) upper surface；
Described brush dust device (7) is positioned at and moves left and right plate (53) right-hand member, and described brush dust device (7) includes brush dust cylinder
(71), brush dust plate (72) and brush dust air pump (73), described brush dust cylinder (71) is fixed on the left and right on reservoir (6) right side and moves
On dynamic plate (53)；Described brush dust plate (72) bottom fixes with brush dust cylinder (71) top, described brush dust plate (72) upper end
Face is provided with the top board (721) being the level of state；Described top board (721) upper end edge moves left and right plate (53) fore-and-aft direction and arranges
A strip powder output slot (722), described powder output slot (722) lower end is had to be provided with powder delivery chamber (723), described brush dust gas
Pump (73) is arranged on and moves left and right on plate (53), and described reservoir (6), between brush dust air pump (73) and powder delivery chamber (723)
All it is connected by flexible pipe；
Described spray-painting plant (8) is positioned at and moves left and right on plate (53), and spray-painting plant (8) is positioned at reservoir (6) and fills with brush dust
Putting between (7), described spray-painting plant (8) includes fixed platform (81), moving platform (82), the first cylinder (83), the second cylinder
(84), the 3rd cylinder (85), nozzle (86), spraying air pump (87) and recovery plate (88)；Described first cylinder (83), second
Cylinder (84) and the 3rd cylinder (85) connect fixed platform (81) and moving platform (82) respectively, described first cylinder (83), second
Cylinder (84), the 3rd cylinder (85), fixed platform (81) are connected one closed loop four-freedom parallel mechanism of formation with moving platform (82),
This parallel institution can realize the three degree of freedom rotation of moving platform (82) and move with one degree of freedom；Described nozzle (86) is installed
At described moving platform (82) middle part；Described spraying air pump (87) is arranged on and moves left and right on plate (53), and described reservoir
(6), it is connected by flexible pipe between spraying air pump (87) and nozzle (86)；Described recovery plate (88) is fixed on moving platform (82)
On, the liquid outlet of nozzle (86) is positioned at recovery plate (88) top, and reclaims plate (88) along the left and right moving left and right plate (53)
Turning left from the right side and arrange the most diagonally downward in direction, reclaims plate (88) high order end and be positioned at reservoir (6) top；
Described sanding apparatus (9) is positioned at and moves left and right on the left of plate (53) upper surface, and described sanding apparatus (9) includes fixed station
(91), polishing motor (92), mill (93) and polish cylinder (94), described polishing motor (92) is arranged on fixed station (91)
Upper center, described mill (93) is connected with polishing motor (92), and described mill (93) uses P120/180 molding sand
Paper or P320/400 molding sand paper are made, described fixed station (91) and move left and right between plate (53) by polishing cylinder (94)
It is connected.
A kind of scissor-type roof machining robot the most according to claim 1, it is characterised in that: described photo-electric passes
Sensor (10) is arranged on and moves left and right on the left of plate (53) upper surface, and electro-optical pickoff (10) is positioned at sanding apparatus (9) left side.
3. the electricity system of a scissor-type roof machining robot, it is characterised in that: described electricity system includes able to programme
Controller, sensor unit, hydraulic pressure unit, servomotor unit and servo controller；
The output port of described Programmable Logic Controller connects sensor unit, hydraulic pressure unit, servomotor unit and SERVO CONTROL
Device, for controlling sensor unit, hydraulic pressure unit, servomotor unit and the work of servo controller；
Described sensor unit includes range sensor and electro-optical pickoff, and the signal that sensor unit is analyzed can be real-time
Feed back to Programmable Logic Controller, after Programmable Logic Controller receives the feedback information of sensor unit then finish message is backward
Servomotor unit and servo controller send dependent instruction；
Described hydraulic pressure unit is for controlling the lifting work of lowering or hoisting gear；
Described servomotor unit is used in a number motor of control and No. two motors and bottom line walking apparatus and road wheel phase
The work of the motor connected；
Described servo controller is for controlling the work of brush dust device, spray-painting plant and sanding apparatus, and servo controller energy
The enough selectable independent work controlled in brush dust device, spray-painting plant and sanding apparatus；
Described mopping device, spray-painting plant and sanding apparatus all includes enabling signal, stops signal, automatic signal, initial point
Signal, endpoint signal, operating point put in place signal and initial point reset signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610221750.0A CN105908952B (en) | 2016-04-02 | 2016-04-02 | A kind of scissor-type roof machining robot and its electricity system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610221750.0A CN105908952B (en) | 2016-04-02 | 2016-04-02 | A kind of scissor-type roof machining robot and its electricity system |
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| CN105908952A true CN105908952A (en) | 2016-08-31 |
| CN105908952B CN105908952B (en) | 2017-12-29 |
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| CN201610221750.0A Expired - Fee Related CN105908952B (en) | 2016-04-02 | 2016-04-02 | A kind of scissor-type roof machining robot and its electricity system |
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Cited By (7)
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| CN106820553A (en) * | 2017-02-10 | 2017-06-13 | 成都蒲江珂贤科技有限公司 | A kind of wall skin brushing rotary broom |
| CN107893523A (en) * | 2017-11-08 | 2018-04-10 | 武汉科技大学 | A kind of automation wall plastering machine based on 4DOF |
| CN108104442A (en) * | 2018-01-16 | 2018-06-01 | 王朝荣 | A kind of elevating mechanism of plastering machine |
| CN108323328A (en) * | 2018-01-27 | 2018-07-27 | 淮南师范学院 | A kind of water jet seedpod of the lotus picking sheller unit and its electricity system |
| CN109505396A (en) * | 2018-11-26 | 2019-03-22 | 马鞍山迪斯福工业设计有限公司 | A kind of interior automatic mopping apparatus |
| CN110293017A (en) * | 2019-05-27 | 2019-10-01 | 张家港江苏科技大学产业技术研究院 | A kind of Omni-mobile house ornamentation spray robot |
| CN111576802A (en) * | 2020-04-21 | 2020-08-25 | 宁波建辰新型材料有限公司 | Building site is with device of plastering a wall |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110293017A (en) * | 2019-05-27 | 2019-10-01 | 张家港江苏科技大学产业技术研究院 | A kind of Omni-mobile house ornamentation spray robot |
| CN111576802A (en) * | 2020-04-21 | 2020-08-25 | 宁波建辰新型材料有限公司 | Building site is with device of plastering a wall |
| CN111576802B (en) * | 2020-04-21 | 2021-09-28 | 赵凌 | Building site is with device of plastering a wall |
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|---|---|
| CN105908952B (en) | 2017-12-29 |
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