CN105908952B - A kind of scissor-type roof machining robot and its electricity system - Google Patents

A kind of scissor-type roof machining robot and its electricity system Download PDF

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Publication number
CN105908952B
CN105908952B CN201610221750.0A CN201610221750A CN105908952B CN 105908952 B CN105908952 B CN 105908952B CN 201610221750 A CN201610221750 A CN 201610221750A CN 105908952 B CN105908952 B CN 105908952B
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China
Prior art keywords
plate
platform
brush dust
cylinder
spray
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Expired - Fee Related
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CN201610221750.0A
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CN105908952A (en
Inventor
刘恒
吕辉
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Huainan Normal University
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Huainan Normal University
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Publication of CN105908952A publication Critical patent/CN105908952A/en
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Publication of CN105908952B publication Critical patent/CN105908952B/en
Expired - Fee Related legal-status Critical Current
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04FFINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00Implements for finishing work on buildings
    • E04F21/02Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06Implements for applying plaster, insulating material, or the like
    • E04F21/08Mechanical implements
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04FFINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00Implements for finishing work on buildings
    • E04F21/02Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/16Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels

Abstract

The present invention relates to building machinery field, specifically a kind of scissor-type roof machining robot and its electricity system, robot body of the invention include 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 photoelectric sensor;The electricity system of the present invention, described electricity system include programmable controller, sensor unit, hydraulic pressure unit, servomotor unit and servo controller;The present invention can realize that polishing, the integration of brush putty and spray emulsion paint to roof operate, without artificial, operated without multiple devices, save artificial, alleviate the healthy hidden danger of worker, efficiency is improved, and adds economic benefit, and the polishing effect of the present invention, brush dust effect and spray painting effect are more preferable for legacy equipment.

Description

A kind of scissor-type roof machining robot and its electricity system
Technical field
The present invention relates to building machinery field, specifically a kind of scissor-type roof machining robot and its electricity system System.
Background technology
In building field, the floor of building is often through pouring or floor is formed.This floor forms the roof of building, with Form ceiling.But the surface of this roof is often rough.For follow-up construction processes, such as coating or scrape Mud, all have adverse effect.Therefore, it is necessary to be flattened to the surface of this roof.
, must Puttying in decorating house.Because metope Puttying is to ensure the important step of interior decoration quality, greasy Sub (fillering) is a kind of decoration gel material of smooth surface of wall, is a kind of thick slurry coating material, is essential before coating paints A kind of product.Painting is imposed on priming paint or directly applied and imposes on object, to remove the defects of being uneven on coated article surface.
In the prior art, the groundwork step of roof processing is:
1st, the smooth processing of roof:Grinding process is carried out to building roof, makes building roof smooth, also, when roof is seamed During gap, joint filling processing is carried out to roof seam mouth groove with special crack resistence agent, then seam is pasted onto with brown paper+milky white adhesive Place;
2nd, Puttying:Putty station is stained with the scraper plate of putty to roof one not on special support frame, by holding The whole of leakage is scraped, and after all scraping, whole surface of wall is handled, ensure whole metope must be it is smooth, no There must be skin effect phenomenon;
3rd, emulsion paint is sprayed:The processing method of emulsion paint has three kinds:A, roller coating, benefit:It is economical and practical;B, spray, benefit: Surface is more smooth;C, stamp, it is adapted to small area construction, benefit:It is attractive in appearance.Will be first to putty before being sprayed to emulsion paint Surface carries out grinding process, and the effect of polishing is the effect for making surface of wall more smooth and strengthening metope emulsion paint adhesive force. The construction requirement of emulsion paint to reach surfacing it is smooth, without stream pendant, pollution-free, color and luster is consistent, straight smoothness.
In the prior art, above-mentioned steps have two ways completion:1st, it is accomplished manually, its defect is complex operation, time-consuming expense Power, operating efficiency be low and lost labor while the health for being unfavorable for worker;2nd, machine is completed, but existing machinery equipment Often work independently, fight separately, the equipment of roof polishing is polished dedicated for roof, and the equipment of spray painting is dedicated for spray Therefore paint, the equipment of brush putty, whole will complete above-mentioned operation, generally require more distinct device works dedicated for brush putty Work can be completed, and so just increase the financial cost of unit in charge of construction, meanwhile, the polishing of the roof of existing machinery equipment it is smooth Degree, brush putty smoothness and the spray painting uniformity are all undesirable.
In consideration of it, it is existing be badly in need of it is a kind of replace artificial, advantage of lower cost, and be capable of being polished roof of integration, Brush putty and spraying emulsion paint, and polishing, brush putty and the preferable New type high effective installation of spraying effect.
The content 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 its electricity system System, it compensate for artificial heap roof and handle bothersome laborious, the defects of influenceing health, and existing machinery equipment can not Accomplish simultaneously to polish to roof, brush putty and spraying emulsion paint and the defects of make troubles and increase 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 Paint device, sanding apparatus and photoelectric sensor;Described lowering or hoisting gear is located at bottom running gear upper end, described front and rear shifting Moving platform is located at lowering or hoisting gear upper end, moves left and right platform and is located at movable platform upper end, reservoir, brush dust device, spray painting Device, sanding apparatus and photoelectric sensor, which are respectively positioned on, to be moved left and right on platform.
Described bottom running gear lower end is provided with four movable pulleys, and described movable pulley is Mecanum wheel, described The design of Mecanum wheel enables the arbitrary motion of bottom running gear omnidirectional, and described bottom running gear surrounding is provided with Four range sensors, the effect of the range sensor, which is so that bottom running gear is expert at during, to be prejudged in advance The barrier of surrounding, avoid colliding.Described bottom running gear is used to adjust the position of the present invention by a relatively large margin It is whole.
Described lowering or hoisting gear lower end is rotatably connected on bottom running gear upper end, and described lowering or hoisting gear upper end, which rotates, to be connected It is 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 When making, running gear motion in bottom drives lowering or hoisting gear motion, and the lowering or hoisting gear constructed by scissor-type realizes workbench Lifting.
Described movable platform includes the No.1 screw rod that workbench upper surface is arranged on along workbench fore-and-aft direction, peace The No.1 motor being connected mounted in workbench upper surface and with No.1 screw rod, is connected above workbench and with No.1 screw rod Movable plate;During work, the work of No.1 motor drives No.1 screw rod to rotate, and then drives movable plate to move forward and backward.
The described platform that moves left and right includes being arranged on the two of movable plate upper surface along movable plate left and right directions Number screw rod, No. two motors being connected installed in movable upper surface and with No. two screw rods, above movable plate and Plate is moved left and right with what No. two screw rods were connected;During work, No. two motor work drive No. two screw rods to rotate, and then drive left and right Movable plate side-to-side movement.
Described movable platform with move left and right platform be used to the present invention it is small size in roof process Spend position adjustment.
Described reservoir, which is fixed on, to be moved left and right in the middle part of plate upper surface, and described reservoir is used to store powder of lacquer putty for use on or breast Shellac varnish.
Described brush dust device positioned at moving left and right plate right-hand member, described brush dust device include brush dust cylinder, brush dust plate and Brush dust air pump, described brush dust cylinder are fixed on moving left and right on plate on the right side of reservoir;Described brush dust plate bottom and brush dust Cylinder head is mutually fixed, and described brush dust plate upper surface is provided with the top plate being horizontal, and described top plate is used for roof Brush powder of lacquer putty for use on;Described top plate upper end edge moves left and right plate fore-and-aft direction and is provided with a strip powder output slot, and described goes out Powder tank lower end is provided with out powder chamber, and described brush dust air pump is arranged on and moved left and right on plate, and described reservoir, brush dust air pump And go out between powder chamber and be connected by flexible pipe;During work, when needing to brush powder of lacquer putty for use on to roof, then it will be mixed first with water Powder of lacquer putty for use on pour into reservoir, then, brush dust air pump, which works, causes the powder of lacquer putty for use in reservoir to enter brush dust plate and go out powder chamber It is interior, then flow out to top plate upper end through going out the powder output slot of powder chamber upper end and be covered with top plate upper surface, then, further according to the specific of roof Situation, stretch out brush dust cylinder, so that the top plate for being covered with powder of lacquer putty for use on is adjacent to roof, resynchronisation adjustment bottom running gear, Move forward and backward platform and move left and right platform, realize that top plate carries out the smooth brushing of powder of lacquer putty for use on to roof.
Described spray-painting plant is positioned at moving left and right on plate, and spray-painting plant is between reservoir and brush dust device, institute The spray-painting plant stated includes fixed platform, moving platform, the first cylinder, the second cylinder, the 3rd cylinder, nozzle, spraying air pump and recovery Plate;First cylinder, the second cylinder and the 3rd cylinder respectively connect fixed platform and moving platform, first cylinder, second Cylinder, the 3rd cylinder, fixed platform and moving platform connect to form a closed loop four-freedom parallel mechanism, and the parallel institution can be realized The three degree of freedom of moving platform rotates and one degree of freedom movement;Described nozzle is arranged in the middle part of the moving platform;Described Spraying air pump, which is arranged on, to be moved left and right on plate, and is connected between described reservoir, spraying air pump and nozzle by flexible pipe;Institute The recovery plate stated is fixed on moving platform, and the liquid outlet of nozzle reclaims plate edge and move left and right plate above recovery plate Left and right directions turn left from the right side and progressively arrange diagonally downward, recovery plate high order end be located above reservoir, and recovery plate is for reclaiming The emulsion paint being not attached to after sprinkling on roof;During work, ready emulsion paint is poured into reservoir first, when needs pair When roof sprays emulsion paint, then emulsion paint is transported to nozzle by spraying air pump and be then ejected on roof, while then led to The first cylinder, the position of the second cylinder and the 3rd cylinder adjustment moving platform and angle are crossed, and then adjusts position and the angle of nozzle, Synchronous adjustment bottom running gear, movable platform and platform is moved left and right simultaneously, so as to which nozzle is realized to the uniform spray of roof Emulsion paint is applied, a portion emulsion paint is not attached to roof and fallen back on recovery plate, then recovered plate is slipped into reservoir, So as to avoid the waste of emulsion paint, while protect environment.
For described sanding apparatus positioned at moving left and right on the left of plate upper surface, described sanding apparatus includes fixed station, polishing Motor, mill and polishing cylinder, described polishing motor are arranged on fixed station upper center, described mill and motor phase of polishing Connection, described mill are made of P120/P180 molding sand paper or P320/P400 molding sand paper, described fixed station and left and right Connect between movable plate by cylinders of polishing;During work, when needing that roof is polished, then stretch out polishing cylinder, make The card for obtaining mill is adjacent to roof, and then, polishing motor work band movable grinding disc is polished roof, similarly, synchronous adjustment bottom Portion's running gear, move forward and backward platform and move left and right platform, and then adjust the position of mill, so that mill is realized to roof Uniform grinding.Sanding apparatus work time be:1st, roof is polished before brushing powder of lacquer putty for use on, to cause follow-up powder of lacquer putty for use on It is more easy to brush smooth;2nd, about day has been brushed after powder of lacquer putty for use on, the powder of lacquer putty for use on brushed is polished before emulsion paint is sprayed, is easy to Emulsion paint is sprayed afterwards.
Described photoelectric sensor, which is arranged on, to be moved left and right on the left of plate upper surface, and photoelectric sensor fills positioned at polishing Put left side;Described photoelectric sensor is used to judge the surface roughness of roof, and the working time of photoelectric sensor is:1st, brush When sanding apparatus before powder of lacquer putty for use on carries out polishing work for the first time, judge whether sanding apparatus polishes roof, do not polish, make Sanding apparatus works on;2nd, during brushing powder of lacquer putty for use on, judge whether brush dust device brushes flat powder of lacquer putty for use on, do not brush flat, fill brush dust Put and work on;3rd, brushed after powder of lacquer putty for use on about 3 days, judged whether the powder of lacquer putty for use on that is dried is still smooth, and the place of out-of-flatness makes Sanding apparatus works on to carry out second of polishing operation;4th, after sanding apparatus has carried out second of polishing operation, spray painting When device carries out spraying emulsion paint to roof, judge whether spraying is uniform, does not spray smooth, continues to spray.
Described electricity system includes programmable controller, sensor unit, hydraulic pressure unit, servomotor unit and servo Controller;
Output port connection sensor unit, hydraulic pressure unit, servomotor unit and the servo control of the PLC technology Device processed, for controlling sensor unit, hydraulic pressure unit, servomotor unit and the work of servo controller;
Described sensor unit includes range sensor and photoelectric sensor, and the signal of sensor unit analysis can Real-time Feedback is to programmable controller, after programmable controller receives the feedback information of sensor unit, then by finish message Afterwards dependent instruction is sent to servomotor unit and servo controller;
Described hydraulic pressure unit is used for the lifting work for controlling lowering or hoisting gear;
Described servomotor unit is used to control in No.1 motor and No. two motors and bottom running gear and walking Take turns the work for the motor being connected;
Described servo controller is used for the work for controlling brush dust device, spray-painting plant and sanding apparatus, and SERVO CONTROL Device can be in selectable independent control brush dust device, spray-painting plant and sanding apparatus a job;
Described brush dust device, spray-painting plant and sanding apparatus includes enabling signal, stop signal, automatic signal, original Put signal, endpoint signal, operating point signal and origin reset signal in place.
Beneficial effect:
1st, the present invention can realize that polishing, the integration of brush putty and spray emulsion paint to roof operate, without artificial, Operated without multiple devices, save manually, alleviate the healthy hidden danger of worker, improve efficiency, and add economic effect Benefit.
2nd, bottom running gear of the invention uses Mecanum wheel so that the present invention roof is polished, brushed it is greasy Change in location is more flexible when son and spray painting, is more beneficial for adjusting polishing position, brush dust position in real time according to the concrete condition of roof Put and position of painting.
3rd, present invention employs movable platform and move left and right platform so that the present invention roof is polished, brushed it is greasy Position can finely tune when son and spray painting, be easy to accurate polishing, brush putty and spray painting of the control present invention to roof.
4th, emulsion paint of the invention uses spraying method, and then so that emulsion paint more flat smooth is attached to roof On.
5th, the recovery plate for reclaiming emulsion paint is provided with spray-painting plant of the invention, sprays and is not attached to roof Emulsion paint can fall on recovery plate, then recovered plate enters reservoir, so as to be beneficial to save emulsion paint and environmental protection.
6th, spray-painting plant use of the invention can realize that the three degree of freedom of moving platform rotates and one degree of freedom movement Parallel institution, so that spraying position is more easy to control, spraying effect is more preferably.
7th, the present invention is provided with photoelectric sensor, and it can interpolate that whether the roughness of roof is qualified, and then will collection Information be sent to the control terminal of the present invention, determine the work of sanding apparatus, brush dust device and spray-painting plant, when roughness not Meet the requirements, then said apparatus works on until roughness meets, so as to polishing effect, brush dust effect and the spray painting of the present invention Effect is more preferable for legacy equipment.
Brief description of the drawings
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 its lower part structural representation;
Fig. 3 be the present invention move left and right plate and its upper part structural representation;
Fig. 4 is Fig. 3 partial schematic diagram;
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 running gear 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, photoelectric sensor 10, movable pulley 11, workbench 31, No.1 spiral shell Bar 41, No.1 motor 42, move forward and backward the screw rod 51, two of plate 43, two motor 52, move left and right plate 53, brush dust cylinder 71, brush Powder plate 72, brush dust air pump 73, top plate 721, powder output slot 722, go out powder chamber 723, fixed platform 81, moving platform 82, the first cylinder 83, Two cylinders 84, the 3rd cylinder 85, nozzle 86, spraying air pump 87, recovery plate 88, fixed station 91, polishing motor 92, mill 93, beat Grind cylinder 94.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in figure 1, a kind of scissor-type roof machining robot of the present invention, including including bottom running gear 1, Range sensor 2, lowering or hoisting gear 3, move forward and backward platform 4, move left and right platform 5, reservoir 6, brush dust device 7, spray-painting plant 8th, sanding apparatus 9 and photoelectric sensor 10;Described lowering or hoisting gear 3 is located at the upper end of bottom running gear 1, described front and rear shifting Moving platform 4 is located at the upper end of lowering or hoisting gear 3, moves left and right platform 5 and is located at the movable upper end of platform 4, reservoir 6, brush dust device 7th, spray-painting plant 8, sanding apparatus 9 and photoelectric sensor 10, which are respectively positioned on, moves left and right on platform 5.
As depicted in figs. 1 and 2, a kind of scissor-type roof machining robot and its electricity system of the present invention, it is described The lower end of bottom running gear 1 four movable pulleys 11 are installed, described movable pulley 11 is Mecanum wheel, the Mecanum The design of wheel enables the arbitrary motion of 1 omnidirectional of bottom running gear, the described surrounding of bottom running gear 1 be provided with four away from From sensor 2, the effect of the range sensor 2 is so that bottom running gear 1 can prejudge four in advance during traveling The barrier in week, avoids colliding.Described bottom running gear 1 is used to adjust the position of the present invention by a relatively large margin It is whole.
The described lower end of lowering or hoisting gear 3 is rotatably connected on the upper end of bottom running gear 1, and the described upper end of lowering or hoisting gear 3 turns Dynamic to be connected with workbench 31, the described main body of lowering or hoisting gear 3 is scissor-type mechanism, and scissor-type mechanism is routine of the prior art Mechanism, during work, the motion of bottom running gear 1 drives lowering or hoisting gear 3 to move, and passes through the lowering or hoisting gear 3 that scissor-type constructs Realize the lifting of workbench 31.
Described movable platform 4 includes the No.1 spiral shell that the upper surface of workbench 31 is arranged on along the fore-and-aft direction of workbench 31 Bar 41, the No.1 motor 42 being connected installed in the upper surface of workbench 31 and with No.1 screw rod 41, above workbench 31 and The movable plate 43 being connected with No.1 screw rod 41;During work, the work of No.1 motor 42 drives No.1 screw rod 41 to rotate, and then Movable plate 43 is driven to move forward and backward.
The described platform 5 that moves left and right includes being arranged on the movable upper surface of plate 43 along the movable left and right directions of plate 43 No. two screw rods 51, No. two motors 52 being connected installed in the movable upper surface of plate 43 and with No. two screw rods 51, before being located at Afterwards plate 53 is moved left and right above movable plate 43 and with what No. two screw rods 51 were connected;During work, No. two work of motor 52 drive two Number screw rod 51 rotates, and then drives and move left and right the side-to-side movement of plate 53.
Described movable platform 4 with move left and right platform 5 be used to the present invention it is small in roof process Amplitude positions adjust.
As shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 5, a kind of scissor-type roof machining robot of the present invention and its electricity system System, described reservoir 6, which is fixed on, to be moved left and right in the middle part of the upper surface of plate 53, and described reservoir 6 is used to store powder of lacquer putty for use on or breast Shellac varnish.
Described brush dust device 7 includes brush dust cylinder 71, brush positioned at the right-hand member of plate 53, described brush dust device 7 is moved left and right Powder plate 72 and brush dust air pump 73, described brush dust cylinder 71 are fixed on moving left and right on plate 53 on the right side of reservoir 6;Described brush The bottom of powder plate 72 is mutually fixed with the top of brush dust cylinder 71, and the described upper surface of brush dust plate 72 is provided with the top plate being horizontal 721, described top plate 721 is used to brush powder of lacquer putty for use on to roof;The described upper end edge of top plate 721 moves left and right the fore-and-aft direction of plate 53 A strip powder output slot 722 is provided with, the described lower end of powder output slot 722 is provided with out powder chamber 723, described brush dust air pump 73 Installed in moving left and right on plate 53, and described reservoir 6, brush dust air pump 73 and going out between powder chamber 723 is connected by flexible pipe Connect;During work, when needing to brush powder of lacquer putty for use on to roof, then it will pour into reservoir 6, connect with the powder of lacquer putty for use on that water mixes first , brush dust air pump 73, which works, causes the powder of lacquer putty for use in reservoir 6 to go out powder intracavitary into brush dust plate 72, then through going out powder chamber upper end Powder output slot 722 flows out to the upper end of top plate 721 and is covered with the upper surface of top plate 721, then, further according to the concrete condition of roof, makes brush Powder cylinder 71 stretches out, resynchronisation adjustment bottom running gear 1, front and rear so that the top plate 721 for being covered with powder of lacquer putty for use on is adjacent to roof Mobile platform 4 and platform 5 is moved left and right, realize that top plate 721 carries out the smooth brushing of powder of lacquer putty for use on to roof.
Described spray-painting plant 8 positioned at moving left and right on plate 53, and spray-painting plant 8 be located at reservoir 6 and brush dust device 7 it Between, 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 86th, air pump 87 and recovery plate 88 are sprayed;First cylinder 83, the second cylinder 84 and the 3rd cylinder 85 respectively connect fixed platform 81 and moving platform 82, first cylinder 83, the second cylinder 84, the 3rd cylinder 85, fixed platform 81 be connected formation with moving platform 82 One closed loop four-freedom parallel mechanism, the parallel institution can realize three degree of freedom rotation and the one degree of freedom of moving platform 82 It is mobile;Described nozzle 86 is arranged on the middle part of moving platform 82;Described spraying air pump 87 is arranged on and moved left and right on plate 53, And it is connected between described reservoir 6, spraying air pump 87 and nozzle 86 by flexible pipe;Described recovery plate 88 is fixed on dynamic flat On platform 82, the liquid outlet of nozzle 86 reclaims plate 88 along the left and right directions for moving left and right plate 53 positioned at the top of recovery plate 88 Turn left from the right side and progressively arrange diagonally downward, the recovery high order end of plate 88 is located at the top of reservoir 6, and recovery plate 88 is used for after reclaiming sprinkling The emulsion paint being not attached on roof;During work, ready emulsion paint is poured into reservoir 6 first, when needing to roof When spraying emulsion paint, then emulsion paint is transported to nozzle 86 by spraying air pump 87 and be then ejected on roof, while then led to The first cylinder 83, the position of the second cylinder 84 and the 3rd cylinder 85 adjustment moving platform 82 and angle are crossed, and then adjusts nozzle 86 Position and angle, while synchronous adjustment bottom running gear 1, movable platform 4 and platform 5 is moved left and right, so as to nozzle 86 Realize to roof even application emulsion paint, a portion emulsion paint is not attached to roof and fallen back on recovery plate 88, then passes through Recovery plate 88 is slipped into reservoir 6, so as to avoid the waste of emulsion paint, while protects environment.
For described sanding apparatus 9 positioned at moving left and right on the left of the upper surface of plate 53, described sanding apparatus 9 includes fixed station 91st, polishing motor 92, mill 93 and polishing cylinder 94, described polishing motor 92 is arranged on the upper center of fixed station 91, described Mill 93 with polishing motor 92 be connected, described mill 93 use P120/P180 molding sand paper or P320/P400 molding sand paper It is made, described fixed station 91 is connected between plate 53 with moving left and right by cylinder 94 of polishing;During work, when needing to roof Polished, then stretch out polishing cylinder 94 so that the card of mill 93 is adjacent to roof, and then, the polishing work of motor 92 drives Mill 93 is polished roof, similarly, synchronous adjustment bottom running gear 1, is moved forward and backward platform 4 and is moved left and right platform 5, And then the position of mill 93 is adjusted, so that mill 93 realizes the uniform grinding to roof.Sanding apparatus 9 work time be: 1st, roof is polished before brushing powder of lacquer putty for use on, it is smooth follow-up powder of lacquer putty for use on to be more easy to brush;2nd, brushed about 3 after powder of lacquer putty for use on My god, the powder of lacquer putty for use on brushed is polished before emulsion paint is sprayed, sprays emulsion paint after being easy to.
Described photoelectric sensor 10, which is arranged on, to be moved left and right on the left of the upper surface of plate 53, and photoelectric sensor 10 is located at The left side of sanding apparatus 9;Described photoelectric sensor is used for the surface roughness for judging roof, the working time of photoelectric sensor For:1st, when the sanding apparatus 9 before brushing powder of lacquer putty for use on carries out polishing work for the first time, judge whether sanding apparatus 9 polishes roof, Do not polish, sanding apparatus 9 is worked on;2nd, during brushing powder of lacquer putty for use on, judge whether brush dust device 7 brushes flat powder of lacquer putty for use on, do not brush It is flat then brush dust device 7 is worked on;3rd, brushed after powder of lacquer putty for use on about 3 days, judged whether the powder of lacquer putty for use on that is dried is still smooth, no Smooth place makes sanding apparatus 9 work on to carry out second of polishing operation;4th, second dozen has been carried out in sanding apparatus 9 After grinding operation, when spray-painting plant 8 carries out spraying emulsion paint to roof, judge whether spraying is uniform, does not spray smooth, continues to spray Apply.
Described electricity system includes programmable controller, sensor unit, hydraulic pressure unit, servomotor unit and servo Controller;
Output port connection sensor unit, hydraulic pressure unit, servomotor unit and the servo control of the PLC technology Device processed, for controlling sensor unit, hydraulic pressure unit, servomotor unit and the work of servo controller;
Described sensor unit includes range sensor and photoelectric sensor, and the signal of sensor unit analysis can Real-time Feedback is to programmable controller, after programmable controller receives the feedback information of sensor unit, then by finish message Afterwards dependent instruction is sent to servomotor unit and servo controller;
Described hydraulic pressure unit is used for the lifting work for controlling lowering or hoisting gear;
Described servomotor unit is used to control in No.1 motor and No. two motors and bottom running gear and walking Take turns the work for the motor being connected;
Described servo controller is used for the work for controlling brush dust device, spray-painting plant and sanding apparatus, and SERVO CONTROL Device can be in selectable independent control brush dust device, spray-painting plant and sanding apparatus a job;
Described brush dust device, spray-painting plant and sanding apparatus includes enabling signal, stop signal, automatic signal, original Put signal, endpoint signal, operating point signal and origin reset signal in place.
During work, when needing that roof is processed, then first, the position movement present invention processed as needed, pass through The design of Mecanum wheel of the present invention causes the arbitrary motion of 1 omnidirectional of bottom running gear, is moved to the position set in advance in advance Put, wherein, in the walking process of bottom running gear 1, the range sensor 2 can prejudge the barrier of surrounding in advance, keep away Exempt to collide, then, can be to work after lowering or hoisting gear 3 realizes that the rising of workbench 31, workbench 31 rise to a certain extent Make the fine tune on platform upper mechanism progress position, wherein, the work of No.1 motor 42 drives No.1 screw rod 41 to rotate, and then band Dynamic movable plate 43 moves forward and backward;No. two work of motor 52 drive No. two screw rods 51 to rotate, and then drive and move left and right plate 53 Side-to-side movement.
The reservoir 6 on plate 53 is moved left and right to be used to store powder of lacquer putty for use on or emulsion paint.
When needing to brush powder of lacquer putty for use on to roof, then it will pour into reservoir 6, connect with the powder of lacquer putty for use on that water mixes first , brush dust air pump 73, which works, causes the powder of lacquer putty for use in reservoir 6 to go out powder intracavitary into brush dust plate 72, then through going out powder chamber upper end Powder output slot 722 flows out to the upper end of top plate 721 and is covered with the upper surface of top plate 721, then, further according to the concrete condition of roof, makes brush Powder cylinder 71 stretches out, resynchronisation adjustment bottom running gear 1, front and rear so that the top plate 721 for being covered with powder of lacquer putty for use on is adjacent to roof Mobile platform 4 and platform 5 is moved left and right, realize that top plate 721 carries out the smooth brushing of powder of lacquer putty for use on to roof.
When needing to spray emulsion paint to roof, then ready emulsion paint is poured into reservoir 6 first, pass through spraying Emulsion paint is transported to nozzle 86 and is then ejected on roof by air pump 87, while then passes through the first cylinder 83, the second cylinder 84 Position and angle with the 3rd cylinder 85 adjustment moving platform 82, and then position and the angle of nozzle 86 are adjusted, while synchronous adjustment Bottom running gear 1, move forward and backward platform 4 and move left and right platform 5, so as to which nozzle 86 is realized to roof even application latex Paint, a portion emulsion paint are not attached to roof and fallen back on recovery plate 88, then recovered plate 88 is slipped into reservoir 6, So as to avoid the waste of emulsion paint, while protect environment.
When needing to polish roof, then stretch out polishing cylinder 94 so that the card of mill 93 is adjacent to roof, connects , the polishing work band movable grinding disc 93 of motor 92 is polished roof, similarly, synchronous adjustment bottom running gear 1, is moved forward and backward 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.
According to construction situation, specific works step of the invention is:
(1) subjob of sanding apparatus 1 first:Coarse roof is polished, photoelectric sensor 10 judges sanding apparatus 9 Whether roof is polished, do not polished, sanding apparatus 9 is worked on;
(2) brush dust device 7 works:After the completion of the polishing of (1) step, by the good powder of lacquer putty for use on of the internal modulation of reservoir 6, brush dust device 7 The roof brushing powder of lacquer putty for use on for milled of fighting each other, during brushing powder of lacquer putty for use on, whether photoelectric sensor 10 judges brush dust device 7 by powder of lacquer putty for use on Brush flat, do not brush flat, brush dust device 7 is worked on, all apply after brushing, the powder of lacquer putty for use in reservoir 6 is emptied and cleared up Reservoir 6;
(3) subjob of sanding apparatus second:About 3 days after the completion of (2) step brush dust, treat that powder of lacquer putty for use on is dried, judge (2) step Whether the powder of lacquer putty for use on of brushing is still smooth after exsiccation, and the place not polished then makes sanding apparatus 9 work on to polish flat;
(4) spray-painting plant 8 works:After (3) step, spray-painting plant 8 carries out spraying emulsion paint to roof, and photo-electric passes Sensor 10 judges whether spraying is uniform, does not spray and uniformly then continues to spray.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims (3)

  1. A kind of 1. scissor-type roof machining robot, it is characterised in that:Including bottom running gear (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 photoelectric sensor (10);Described lowering or hoisting gear (3) is located at bottom running gear (1) upper end, institute The movable platform (4) stated is located at lowering or hoisting gear (3) upper end, moves left and right platform (5) and is located on movable platform (4) End, reservoir (6), brush dust device (7), spray-painting plant (8), sanding apparatus (9) and photoelectric sensor (10) are respectively positioned on left and right On mobile platform (5);Wherein:
    Described bottom running gear (1) lower end is provided with four movable pulleys (11), and described movable pulley (11) is Mecanum Wheel, described bottom running gear (1) surrounding are provided with four range sensors (2);
    Described lowering or hoisting gear (3) lower end is rotatably connected on bottom running gear (1) upper end, described lowering or hoisting gear (3) upper end Workbench (31) is rotatably connected to, described lowering or hoisting gear (3) main body is conventional scissor-type mechanism;
    Described movable platform (4) includes being arranged on the No.1 of workbench (31) upper surface along workbench (31) fore-and-aft direction Screw rod (41), the No.1 motor (42) being connected installed in workbench (31) upper surface and with No.1 screw rod (41), positioned at work The movable plate (43) being connected above platform (31) and with No.1 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, No. two motors being connected installed in movable plate (43) upper surface and with No. two screw rods (51) (52), plate (53) is moved left and right above movable plate (43) and with what No. two screw rods (51) were connected;
    Described reservoir (6), which is fixed on, to be moved left and right in the middle part of plate (53) upper surface;
    For described brush dust device (7) positioned at plate (53) right-hand member is moved left and right, 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) are fixed on moving left and right on the right side of reservoir (6) On plate (53);Described brush dust plate (72) bottom at the top of brush dust cylinder (71) with mutually fixing, described brush dust plate (72) upper surface It is provided with the top plate (721) being horizontal;Described top plate (721) upper end edge moves left and right plate (53) fore-and-aft direction and is provided with One strip powder output slot (722), described powder output slot (722) lower end are provided with out powder chamber (723), described brush dust air pump (73) it is arranged on and moves left and right on plate (53), and described reservoir (6), brush dust air pump (73) and goes out equal between powder chamber (723) It is connected by flexible pipe;
    Described spray-painting plant (8), which is located at, to be moved left and right on plate (53), and spray-painting plant (8) is located at reservoir (6) and filled with brush dust Between putting (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);First cylinder (83), the second cylinder (84) and the 3rd cylinder (85) respectively connects fixed platform (81) and moving platform (82), first cylinder (83), the second cylinder (84), the 3rd cylinder (85), fixed platform (81) are connected with moving platform (82) forms a closed loop four-freedom parallel mechanism, and this is simultaneously Online structure can realize that the three degree of freedom of moving platform (82) rotates and one degree of freedom moves;Described nozzle (86) is arranged on institute State in the middle part of moving platform (82);Described spraying air pump (87) is arranged on and moved left and right on plate (53), and described reservoir (6), It is connected between spraying air pump (87) and nozzle (86) by flexible pipe;Described recovery plate (88) is fixed on moving platform (82), The liquid outlet of nozzle (86) reclaims plate (88) along the left and right directions for moving left and right plate (53) above recovery plate (88) Turn left from the right side and progressively arrange diagonally downward, recovery plate (88) high order end is located above reservoir (6);
    For described sanding apparatus (9) positioned at moving left and right on the left of plate (53) upper surface, described sanding apparatus (9) includes fixed station (91), polishing motor (92), mill (93) and polishing cylinder (94), described polishing motor (92) are arranged on fixed station (91) End middle part, described mill (93) with polishing motor (92) be connected, described mill (93) use P120 or P180 or Person's P320 or P400 molding sand paper is made, and described fixed station (91) and moves left and right between plate (53) by cylinder of polishing (94) It is connected.
  2. A kind of 2. scissor-type roof machining robot according to claim 1, it is characterised in that:Described photo-electric sensing Device (10), which is arranged on, to be moved left and right on the left of plate (53) upper surface, and photoelectric sensor (10) is located on the left of sanding apparatus (9).
  3. A kind of a kind of 3. electricity system of scissor-type roof machining robot for described in claim 1, it is characterised in that:Institute The electricity system stated includes programmable controller, sensor unit, hydraulic pressure unit, servomotor unit and servo controller;
    Output port connection sensor unit, hydraulic pressure unit, servomotor unit and the SERVO CONTROL of the programmable controller Device, for controlling sensor unit, hydraulic pressure unit, servomotor unit and the work of servo controller;
    Described sensor unit includes range sensor and photoelectric sensor, and the signal of sensor unit analysis can be real-time Programmable controller is fed back to, after programmable 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 used for the lifting work for controlling lowering or hoisting gear;
    Described servomotor unit is used to control in No.1 motor and No. two motors and bottom running gear and road wheel phase The work of the motor of connection;
    Described servo controller is used for the work for controlling brush dust device, spray-painting plant and sanding apparatus, and servo controller energy A job in enough selectable independent control brush dust device, spray-painting plant and sanding apparatus;
    Described brush dust device, spray-painting plant and sanding apparatus includes enabling signal, stop signal, automatic signal, origin letter Number, endpoint signal, operating point signal and origin reset signal in place.
CN201610221750.0A 2016-04-02 2016-04-02 A kind of scissor-type roof machining robot and its electricity system Expired - Fee Related CN105908952B (en)

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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
CN108323328B (en) * 2018-01-27 2019-11-22 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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