CN105952120A - Six-degree-of-freedom wall whitewashing equipment for building - Google Patents
Six-degree-of-freedom wall whitewashing equipment for building Download PDFInfo
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- CN105952120A CN105952120A CN201610343868.0A CN201610343868A CN105952120A CN 105952120 A CN105952120 A CN 105952120A CN 201610343868 A CN201610343868 A CN 201610343868A CN 105952120 A CN105952120 A CN 105952120A
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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
Abstract
The invention relates to six-degree-of-freedom wall whitewashing equipment for a building. The six-degree-of-freedom wall whitewashing equipment comprises a fixed frame, on which six parallel branched chains are arranged. Upper ends of the six parallel branched chains are uniformly arranged on an upper platform. The middle of the upper end surface of the upper platform is provided with a whitewash manipulator through screws. The fixed frame comprises a lower platform. The upper end of the lower platform is symmetrically provided with four universal wheels, by which the six-degree-of-freedom wall whitewashing equipment can be moved at any will below the wall to be whitewashed. Operation is conducted easily. The middle of the upper end surface of the lower platform is provided with a driving shaft via a bearing. The middle of the driving shaft is equipped with a driving gear through a key. The driving gear is engaged with six driving branched chains along an axial direction. The driving branched chains comprise driving motors with bottoms installed on the lower platform via motor seats. The six-degree-of-freedom wall whitewashing equipment for the building can have the functions of stably elevating and automatically whitewashing. A new way for mechanically whitewashing wall surfaces in an automated manner is provided.
Description
Technical field
The present invention relates to building decoration equipment, and a kind of six degree of freedom building wall paints equipment.
Background technology
Along with the fast development of Chinese national economy and the step of urbanization fast forward through, Chinese society's present situation demand to real estate
Measuring increasing, consider from secure context, laws and regulations have been put into effect in country and place in succession, clear stipulaties exterior coating replacement
The hard requirement of outdoor tile, thus increase the workload of external rendering.Simultaneously along with the raising of living standards of the people, house
Maintenance and the frequency redecorated constantly are being accelerated, and wall plaster market still can keep vigorous demand, investigation to show that metope fills
Decorations effect occupies the weight of 80% in the Integral decoration effect of room, say, that the quality of indoor wall decorative effect directly determines
The height of whole house fitting class.
Existing wall plaster basically by manually having painted, but by artificial rendering mode exist labor intensity greatly,
Paint that speed is slow, paint that degree is uneven, work efficiency is low and the defect such as automaticity is low, during artificial rendering
All can there is jitter phenomenon in hand, paint stability poor, reduces rendering quality, and when operator's metope upper section
Paint the most then must stand in and paint on jacking equipment, but jacking equipment also can exist jitter phenomenon in lifting process, paints
Stability is poor, reduce further rendering quality.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of six degree of freedom building wall and paint equipment, can solve existing manually
The labor intensity that rendering metope mode exists is big, it is slow to paint speed, rendering degree is uneven, work efficiency low, automatization's journey
Spend that low, rendering process exists jitter phenomenon, lifting is painted process device and be there is jitter phenomenon, paint stability difference and paint matter
Measure the difficult problems such as low, it is possible to achieve stable lifting automatic plastering function, have that rendering speed is fast, rendering degree uniformly, without people
Work is painted, work efficiency is high, it is good to paint stability and paints quality advantages of higher, eliminates manual operation and equipment lifted
Situation is shaken, it is provided that the new way of metope is painted in a kind of mechanical automation present in journey.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of six degree of freedom building wall paints equipment,
Including fixed frame, described fixed frame being separately installed with six side chains in parallel, the upper end of six side chains in parallel is uniformly arranged on
On upper mounting plate；By screw, rendering mechanical hand is installed in the middle part of described upper mounting plate upper surface；Described fixed frame includes lower platform,
Described lower platform lower surface is symmetrically arranged with four universal wheels, can be arbitrarily mobile to required powder by the present invention by four universal wheels
Whitewash a wall below face, easy and simple to handle, by bearing, power transmission shaft is installed in the middle part of the upper surface of lower platform, key is passed through at the middle part of power transmission shaft
Being provided with travelling gear, travelling gear is meshed with six transmission branch chain the most respectively, by six transmission branch chain from six
The mode that individual angle band nutating gear simultaneously rotates adds transmission twisting resistance, improves the stationarity of transmission, transmission branch chain bag
Including the driving motor that bottom is arranged on lower platform by motor cabinet, the outfan of driving motor is connected with drive shaft by shaft coupling,
The middle part of drive shaft is provided with driving gear by key, drives gear to be meshed with travelling gear, and six in six transmission branch chain
Individual drive shaft upper end is all connected with support platform by bearing, and driving motor drives drive shaft turns, and drive shaft drives and drives gear to turn
Dynamic, thus constitute by six planetary gear mechanisms driving gear driven travelling gear to rotate, improve the steady of transmission
Property；The middle part of described support platform is connected with power transmission shaft by bearing, and there is the six roots of sensation lower surface supporting platform along the square uniform welding of axis
Support column, the lower surface of six roots of sensation support column is installed on lower platform, and six roots of sensation support column plays the most fixing function supporting platform,
So that power transmission shaft can be stable under the drive of planetary gear mechanism rotate on platform supporting；Described power transmission shaft upper
End is connected with turn-screw by shaft coupling, and the middle part of turn-screw is threaded connection mode and is provided with driving block, and transmission is sliding
Block is regular hexagon structure, and six end faces of driving block are respectively welded the six roots of sensation and move post, and the six roots of sensation moves the end of post and pacifies respectively
It is contained on six line slide rails, by the regular hexagon structure of driving block, the six roots of sensation being welded on driving block is moved
Post can make stable elevating movement under the drive of turn-screw on six line slide rails, and six line slide rails pass through
Screw is separately mounted in six pieces of gripper shoes, and six pieces of lower ends supported are respectively welded on lower platform, and six pieces of gripper shoes play fixing
Support the effect of six line slide rails, add the mobile post stability at a corresponding line slide rail；Described six pieces of supports
Being respectively welded the spacing pillar of the six roots of sensation on the upper end inwall of plate, the middle part of six roots of sensation limited post offers six square limited mouths respectively,
The end of the spacing pillar of the six roots of sensation is respectively welded on fixed station, and the middle part of fixed station is connected with the upper end of turn-screw by bearing；
The described six roots of sensation moves the upper surface of post and is separately installed with six side chains in parallel, and the middle part of each side chain in parallel is all located in corresponding limit
In the square limited mouth of position pillar, the square limited mouth of spacing pillar plays the effect limiting side chain range of movement in parallel, by six
Root moves post and drives six side chains in parallel to make elevating movement respectively, and six side chains in parallel synchronize to drive upper mounting plate to make elevating movement, borrow
Help the stable drive performance of planetary gear mechanism, improve the stability in lifting process, so that the present invention can be real
Now paint adjustable for height function, when required rendering metope is too high without increasing extraneous jacking equipment, improve work efficiency；
Described side chain in parallel includes the hollow lower thread spindle that lower end is welded on mobile post, and hollow lower thread spindle is threaded connection mode
Being provided with a ball pivot, the upper end of a ball pivot is threaded connection mode and is provided with a sleeve, and the upper end of a sleeve is passed through
Thread connecting mode is provided with a hydraulic cylinder, and the upper end of a hydraulic cylinder is threaded connection mode and is provided with No. two sleeves, and two
The upper end of number sleeve is threaded connection mode and is provided with No. two ball pivots, and the upper end of No. two ball pivots is threaded connection mode and is provided with
Hollow upper thread spindle, hollow upper thread spindle is welded on the lower surface of upper mounting plate, is formed when the present invention is by a ball pivot job
Spherical pair S formed when the moving sets P formed when spherical pair S, a hydraulic cylinder extension and No. two ball pivot work constitutes SPS
Side chain in parallel, and the fixed frame in the present invention forms as moving platform as fixed platform, six SPS parallel connection side chains, upper mounting plates
6-SPS parallel institution, 6-SPS parallel institution has six-freedom degree, and 6-SPS parallel institution has that dynamic response is good, rigidity
High, bearing capacity big, good stability and kinematic accuracy advantages of higher, by six hydraulic cylinders on six side chains in parallel with
Shi Yundong drives the mechanical hand that paints on upper mounting plate to make stable lifting automatic plastering function, and excellent due to 6-SPS parallel institution
Point makes to this invention removes shake situation present in manual operation and equipment lifting process, paints stability good, paints journey
Uniformly, work efficiency is high for degree.
As a preferred technical solution of the present invention, described rendering machinery hands includes by fixing that screw is arranged on upper mounting plate
Sheet, is welded with rendering pillar in the middle part of the upper surface of stator, the end painting pillar is welded with rendering support plate, paints the interior of support plate
Wall two ends are symmetrically welded with two pieces and paint baffle plate, and the inwall of two pieces of rendering baffle plates is separately installed with two No. two straight lines by screw
Slide rail；Being symmetrically installed with two No. two hydraulic cylinders on the inwall of described rendering support plate, the top of two No. two hydraulic cylinders is provided with powder
Brush slide block, the two ends painting slide block are symmetrically welded with two rendering travellers, and two are painted traveller ends and are separately mounted to two No. two
On line slide rail, No. two hydraulic cylinders drive rendering slide block steady under two limited support motions painting traveller and No. two line slide rails
Fixed moves back and forth；The upper surface of described rendering slide block is symmetrically welded with two L-types and paints plates, two L-types paint plate end it
Between by bearing rendering side chain is installed, paint side chain and can paint two L-types under the effect of external force and rotate between plate, pass through
Paint side chain and metope is carried out automatic plastering work；It is respectively welded two pieces of vertical boatswain chairs on the outer wall of described two pieces of rendering baffle plates,
It is welded with horizontal boatswain chair between two pieces of vertical boatswain chair lower ends, is provided with annular chuck in the middle part of horizontal boatswain chair upper surface, in annular chuck
Being provided with charging basket, lay the coating painting metope in charging basket, annular chuck plays the spacing and fixing effect supporting charging basket；
The upper surface of described horizontal boatswain chair is symmetrically installed with two paint pumps by screw, and the import of two paint pumps is entered by two respectively
Material pipe is connected with charging basket respectively, and paint pump is by the coating in feed pipe extraction charging basket, and two coating delivery side of pump are respectively by two
Root discharge nozzle is connected with the two ends painting side chain, and the coating that paint pump extracts from charging basket flows to paint side chain by discharge nozzle；Institute
State rendering side chain and include that being arranged on two L-types by bearing paints two connecting shafts on plate, is respectively provided with inside two connecting shafts
Have two feeding-passages, two feeding-passages and two discharge nozzles to be connected, by the discharge nozzle coating that comes of conveying enter into into
In material passage；It is welded with rendering cylinder between described two connecting shafts, paints and be evenly arranged with in the axial direction on the outer wall of cylinder
Flexible render hair, rendering cylinder interior is provided with collects cavity volume, collects two feeding-passages in cavity volume and two connecting shafts and is connected
Logical, enter into the painting in feeding-passage expect collect cavity volume in collect, paint cylinder interior and be evenly arranged with in the axial direction
Tapping channel, tapping channel internal with collect cavity volume and be connected, tapping channel is outside to be connected with the bottom of flexible render hair, remittance
Coating to tapping channel, is supplied flexible render hair by tapping channel by coating uniform distribution by collection cavity volume.When the present invention starts work
After work, the flexible render hair painted on side chain being first close to required rendering on metope, two No. two hydraulic cylinders are first started working,
No. two hydraulic cylinders drive rendering slide block to make stable flexible fortune under two limited support motions painting traveller and No. two line slide rails
Dynamic, paint slide block and drive the rendering side chain between two L-types rendering plates to be synchronized with the movement, when the flexible render hair painted on side chain is tight
When being attached to required rendering metope, No. two hydraulic cylinders quit work, and now two paint pumps start simultaneously at work, and two paint pumps pass through
Coating in two feed pipe extraction charging baskets, coating is delivered to two by two discharge nozzles again by high pressure by paint pump respectively
In two feeding-passages in individual connecting shaft, enter into the painting in two feeding-passages and expect that collecting cavity volume collects, and collects appearance
Coating to tapping channel, is supplied flexible render hair by tapping channel, at the liter of six side chains in parallel by coating uniform distribution by chamber
Fall drives rendering machinery flexible render hair on hand that metope carries out stable automatic lifting rendering and moves under assisting, paint speed soon,
Rendering degree is uniform, and work efficiency is high.
As a preferred technical solution of the present invention, between described six transmission branch chain and six roots of sensation support column, use interlaced side
Formula is arranged on lower platform, has both added the stationary performance of transmission, too increases the support column even support performance to supporting platform.
As a preferred technical solution of the present invention, the central axis of described lower platform coincides with the central axis of upper mounting plate,
The advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform and upper mounting plate keeping parallelism all the time, from
And make to paint mechanical hand and can remain steady during carrying out lifting automatic plastering, eliminate manual operation and equipment liter
Shaking situation present in fall process, paint stability good, paint quality height, work efficiency is high.
During work, first passing through four universal wheels can be arbitrarily mobile to required rendering metope, first according to reality by the present invention
Height is painted in demand regulation, and six driving motors in six transmission branch chain start simultaneously at work, and six driving motors drive respectively
Six drive shaft turns, six drive shafts drive six to drive pinion rotation, and six drive the motion of gear driven travelling gear, pass
Moving gear drives drive axis, and power transmission shaft drives turn-screw to rotate, and turn-screw drives driving block motion, due to transmission
The regular hexagon structure of slide block makes the six roots of sensation being welded on driving block move post can be at six No. one under the drive of turn-screw
Making stable elevating movement on line slide rail, the six roots of sensation moves post and drives six side chains in parallel to make elevating movement respectively, and six parallel connections are propped up
Chain synchronizes to drive the rendering mechanical hand on upper mounting plate to make elevating movement, by the stable drive performance of planetary gear mechanism, carries
Stability in high lifting process, so that the present invention can realize painting adjustable for height function, when required rendering metope
Without increasing extraneous jacking equipment time too high, improve work efficiency, when the present invention reaches properly to paint height, driving motor stops
Only work；The flexible render hair painted on side chain is close to required rendering on metope the most again, and two No. two hydraulic cylinders first start
Work, No. two hydraulic cylinders drive rendering slide block to make stable under two limited support motions painting traveller and No. two line slide rails
Stretching motion, paints slide block and drives the rendering side chain between two L-types rendering plates to be synchronized with the movement, when the flexible powder painted on side chain
When bristle is close to required rendering metope, No. two hydraulic cylinders quit work；Now by six hydraulic pressure on six side chains in parallel
Cylinder moves simultaneously and drives the rendering mechanical hand on upper mounting plate to make elevating movement, and meanwhile, two paint pumps start simultaneously at work,
Two paint pumps are by the coating in two feed pipe extraction charging baskets, and coating is passed through two again by high pressure by paint pump respectively
Discharge nozzle is delivered in two feeding-passages in two connecting shafts, enters into the painting in two feeding-passages and expects that collecting cavity volume enters
Row collects, and collects cavity volume by coating uniform distribution to tapping channel, by tapping channel, coating is supplied flexible render hair, six
The lifting auxiliary lower drive rendering machinery of individual parallel connection side chain flexible render hair on hand carries out stable automatic lifting and paints fortune metope
Dynamic, it is fast to paint speed, and degree of painting is uniform, and work efficiency is high, and due to the fixed frame in the present invention as fixed platform, six
Individual SPS parallel connection side chain, upper mounting plate constitute 6-SPS parallel institution as moving platform, and 6-SPS parallel institution has dynamic response
Good, rigidity high, bearing capacity big, good stability and kinematic accuracy advantages of higher, the present invention is excellent by 6-SPS parallel institution
Optimum energy can remain steady so that paint mechanical hand during carrying out lifting automatic plastering, eliminates manual operation
Shaking situation present in equipment lifting process, paint stability good, paint quality height, work efficiency is high.
The invention has the beneficial effects as follows:
1, the present invention is by six planetary gear mechanisms driving gear band nutating gear simultaneously to rotate, thus drives six
Side chain in parallel moves stable moving up and down on post in the six roots of sensation, so that the present invention can realize painting adjustable for height function,
When required rendering metope is too high without increasing extraneous jacking equipment, improve work efficiency；
2, the fixed frame in the present invention constitutes 6-SPS as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform
Parallel institution, 6-SPS parallel institution has six-freedom degree, by 6-SPS parallel institution premium properties so that paint
Mechanical hand can remain steady during carrying out lifting automatic plastering, eliminates in manual operation and equipment lifting process and deposits
Shake situation, paint stability good, it is high to paint quality, and work efficiency is high；
3, the present invention is driven under two limited supports painting traveller and No. two line slide rails move by No. two hydraulic cylinders and paints
Slide block makees stable stretching motion so that paints the flexible render hair on side chain and can be close to all the time on required rendering metope, powder
Brush degree is uniform, and work efficiency is high；
4, the present invention by two paint pumps say coating through feeding-passage, collect cavity volume, tapping channel flows to flexible render hair,
Drive rendering machinery flexible render hair on hand that metope carries out stable automatic liter under the stable lifting auxiliary of six side chains in parallel
Fall paints motion, paints speed soon, and degree of painting is uniform, and work efficiency is high；
5, the present invention solves that the labor intensity that existing artificial rendering metope mode exists is big, it is slow to paint speed, rendering degree is uneven
Even, work efficiency is low, automaticity is low, rendering process exists jitter phenomenon, lifting is painted process device to there is shake existing
As, paint stability difference and paint the difficult problems such as quality is low, it is possible to achieve stable lifting automatic plastering function, there is rendering speed
Degree is fast, paint degree uniformly, without artificial painting, work efficiency is high, it is good to paint stability and rendering quality advantages of higher,
Eliminate shake situation present in manual operation and equipment lifting process, it is provided that the new way of metope is painted in a kind of mechanical automation
Footpath.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is fixed frame of the present invention, full sectional view between side chain in parallel and upper mounting plate；
Fig. 3 is that the A-A of Fig. 2 of the present invention is to sectional view；
Fig. 4 is that the B-B of Fig. 2 of the present invention is to sectional view；
Fig. 5 is the structural representation that the present invention paints mechanical hand；
Fig. 6 is the full sectional view that the present invention paints mechanical hand；
Fig. 7 is the right view that the present invention paints mechanical hand；
Fig. 8 is that the I of Fig. 6 of the present invention is to partial enlarged drawing；
Fig. 9 is that the C-C of Fig. 6 of the present invention is to sectional view.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 9, a kind of six degree of freedom building wall paints equipment, including fixed frame 1, described fixed frame 1
On be separately installed with six side chains 2 in parallel, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3；Described upper mounting plate 3
By screw, rendering mechanical hand 9 is installed in the middle part of upper surface；Described fixed frame 1 includes lower platform 11, described lower platform 11 times
End surface symmetric is provided with four universal wheel 11a, can be arbitrarily mobile to required plastering wall by the present invention by four universal wheel 11a
Below face, easy and simple to handle, by bearing, power transmission shaft 12 is installed in the middle part of the upper surface of lower platform 11, the middle part of power transmission shaft 12 leads to
Crossing key and be provided with travelling gear 13, travelling gear 13 is meshed with six transmission branch chain 14 the most respectively, by six
The mode that transmission branch chain 14 rotates from six angles band nutating gear 13 simultaneously adds transmission twisting resistance, improves transmission
Stationarity, transmission branch chain 14 includes the driving motor 141 that bottom is arranged on lower platform 11, driving motor 141 by motor cabinet
Outfan be connected with drive shaft 142 by shaft coupling, the middle part of drive shaft 142 is provided with by key and drives gear 143, drives
Moving gear 143 is meshed with travelling gear 13, and six drive shaft 142 upper ends in six transmission branch chain 14 are equal by bearing
Being connected with supporting platform 15, driving motor 41 drives drive shaft 142 to rotate, and drive shaft 142 drives and drives gear 143 to rotate,
Thus constitute by six planetary gear mechanisms driving gear 143 band nutating gear 13 to rotate, improve the flat of transmission
Stability；The middle part of described support platform 15 is connected with power transmission shaft 12 by bearing, and the lower surface supporting platform 15 is square uniformly along axis
Being welded with six roots of sensation support column 16, the lower surface of six roots of sensation support column 16 is installed on lower platform 11, and six roots of sensation support column 16 plays
The uniformly fixing function supporting platform 15 so that power transmission shaft 12 can be stable under the drive of planetary gear mechanism
Support and rotate on platform 15；The upper end of described power transmission shaft 12 is connected with turn-screw 17, in turn-screw 17 by shaft coupling
Portion is threaded connection mode and is provided with driving block 18, and driving block 18 is regular hexagon structure, six of driving block 18
The six roots of sensation that is respectively welded end face moves post 19, and the six roots of sensation moves the end of post 19 and is separately mounted on six line slide rails 110,
The six roots of sensation being welded on driving block 18 is made to move post 19 at turn-screw 17 by the regular hexagon structure of driving block 18
Drive and lower can make stable elevating movement on six line slide rails 110, six line slide rails 110 pass through screw
Being separately mounted in six pieces of gripper shoes 111, six pieces of lower ends supporting 111 are respectively welded on lower platform 11, six pieces of gripper shoes
111 play the fixing effect supporting six line slide rails 110, add mobile post 19 at a corresponding line slide rail 110
Stability；The spacing pillar of the six roots of sensation 112, six roots of sensation limited post 112 it is respectively welded on the upper end inwall of described six pieces of gripper shoes 111
Middle part offer six square limited mouths respectively, the end of the spacing pillar of the six roots of sensation 112 is respectively welded on fixed station 113, Gu
The middle part determining platform 113 is connected with the upper end of turn-screw 17 by bearing；The described six roots of sensation moves the upper surface of post 19 and is respectively mounted
There are six side chains 2 in parallel, and the middle part of each side chain 2 in parallel be all located in the square limited mouth of corresponding spacing pillar 112,
The square limited mouth of spacing pillar 112 plays the effect limiting side chain 2 range of movement in parallel, moves post 19 by the six roots of sensation and carries respectively
Dynamic six side chains 2 in parallel make elevating movement, and six side chains 2 in parallel synchronize to drive upper mounting plate 3 to make elevating movement, by planet tooth
The stable drive performance of wheel drive mechanism, improves the stability in lifting process, so that the present invention can realize painting height
Spend adjustable function, when required rendering metope is too high without increasing extraneous jacking equipment, improve work efficiency；Described parallel connection
Side chain 2 includes the hollow lower thread spindle 21 that lower end is welded on mobile post 19, the side of being threaded connection on hollow lower thread spindle 21
Formula is provided with a ball pivot 22, and the upper end of a ball pivot 22 is threaded connection mode and is provided with a sleeve 23, a sleeve
The upper end of 23 is threaded connection mode and is provided with a hydraulic cylinder 24, and the upper end of a hydraulic cylinder 24 is threaded connection mode
Being provided with No. two sleeves 25, the upper end of No. two sleeves 25 is threaded connection mode and is provided with No. two ball pivots 26, No. two ball pivots 26
Upper end be threaded connection mode hollow upper thread spindle 27 be installed, hollow upper thread spindle 27 is welded on the lower end of upper mounting plate 3
On face, the moving sets P formed when spherical pair S formed when the present invention is worked by a ball pivot 22, a hydraulic cylinder 24 stretch
Spherical pair S formed when working with No. two ball pivots 26 constitutes SPS parallel connection side chain 2, and fixed frame 1 conduct in the present invention
Fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 constitute 6-SPS parallel institution, 6-SPS parallel institution as moving platform
Having six-freedom degree, 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and motion
Precision advantages of higher, is moved by six hydraulic cylinders 24 on six side chains 2 in parallel simultaneously and drives the rendering on upper mounting plate 3
Stable lifting automatic plastering function made by mechanical hand 9, and owing to the advantage of 6-SPS parallel institution makes to this invention removes manually
Shaking situation present in operation and equipment lifting process, paint stability good, degree of painting is uniform, and work efficiency is high.
Described rendering mechanical hand 9 includes the stator 91 being arranged on upper mounting plate 3 by screw, in the upper surface of stator 91
Portion is welded with rendering pillar 92, and the end painting pillar 92 is welded with rendering support plate 93, and the inwall two ends painting support plate 93 are symmetrical
It is welded with two pieces and paints baffle plate 94, the inwall of two pieces of rendering baffle plates 94 is separately installed with two No. two line slide rails by screw
94a；Two No. two hydraulic cylinders 95, the top of two No. two hydraulic cylinders 95 it is symmetrically installed with on the inwall of described rendering support plate 93
Being provided with rendering slide block 96, the two ends painting slide block 96 are symmetrically welded with two rendering traveller 96a, and two are painted traveller 96a end
End is separately mounted on two No. two line slide rail 94a, and No. two hydraulic cylinders 95 paint traveller 96a and No. two line slide rails at two
The lower drive of the limited support motion of 94a paints stable the moving back and forth of slide block 96；The upper surface balanced welding of described rendering slide block 96
Being connected to two L-types and paint plate 97, two L-types are painted and are provided with rendering side chain 98 by bearing between plate 97 end, paint and prop up
Chain 98 can paint two L-types under the effect of external force and rotate between plate 97, carries out metope automatically by painting side chain 98
Paint work；It is respectively welded two pieces of vertical boatswain chairs 99, two pieces of vertical boatswain chairs 99 times on described two pieces of outer walls painting baffle plates 94
It is welded with horizontal boatswain chair 910 between end, is provided with annular chuck 911 in the middle part of horizontal boatswain chair 910 upper surface, in annular chuck 911
Being provided with charging basket 912, lay the coating painting metope in charging basket 912, annular chuck 911 plays spacing and fixing support
The effect of charging basket 912；The upper surface of described horizontal boatswain chair 910 is symmetrically installed with two paint pumps 913, two paintings by screw
The import of material pump 913 is connected with charging basket 912 respectively by two feed pipes 914 respectively, and paint pump 913 is by feed pipe 914
Coating in extraction charging basket 912, the outlet of two paint pumps 913 is respectively by two discharge nozzles 915 and the two of rendering side chain 98
End is connected, and the coating that paint pump 913 extracts from charging basket 912 flows to paint side chain 98 by discharge nozzle 915；Described rendering is propped up
Chain 98 includes that being arranged on two L-types by bearing paints two connecting shafts 981 on plate 97, part in two connecting shafts 981
It is not provided with two feeding-passage 981a, two feeding-passage 981a and two discharge nozzles 915 are connected, by discharge nozzle 915
The coating that conveying comes enters in feeding-passage 981a；Rendering cylinder 982, powder it is welded with between described two connecting shafts 981
Being evenly arranged with flexible render hair 983 on the outer wall of brush cylinder 982 in the axial direction, rendering cylinder 982 is internally provided with and collects
Cavity volume 982a, two the feeding-passage 981a collected in cavity volume 982a and two connecting shafts 981 are connected, and enter into charging logical
Painting in road 981a expect collect cavity volume 982a in collect, paint that cylinder 982 is internal to be evenly arranged with out in the axial direction
Material passage 982b, tapping channel 982b internal with collect cavity volume 982a and be connected, outside tapping channel 982b and flexible render
The bottom of hair 983 is connected, and collects cavity volume 982a by coating uniform distribution to tapping channel 982b, by tapping channel 982b
Coating is supplied flexible render hair 983.After the present invention starts working, first by tight for the flexible render hair 983 on rendering side chain 98
Being attached to required rendering on metope, two No. two hydraulic cylinders 95 are first started working, and No. two hydraulic cylinders 95 paint traveller 96a at two
Drive rendering slide block 96 to make stable stretching motion under moving with the limited support of No. two line slide rail 94a, paint slide block 96 and carry
The rendering side chain 98 that dynamic two L-types are painted between plate 97 is synchronized with the movement, when the flexible render hair 983 painted on side chain 98 is close to
When required rendering metope, No. two hydraulic cylinders 95 quit work, and now two paint pumps 913 start simultaneously at work, two paint pumps
913 extract the coating in charging basket 912 by two feed pipes 914, and coating is led to again by high pressure by paint pump 913 respectively
Cross two discharge nozzles 915 to be delivered in two feeding-passage 981a in two connecting shafts 981, enter into two feeding-passages
Painting in 981a expects that collecting cavity volume 982a collects, and collects cavity volume 982a by coating uniform distribution to tapping channel 982b,
By tapping channel 982b, coating is supplied flexible render hair 983, under the lifting of six side chains 2 in parallel assists, drive plastering machine
Flexible render hair 983 on tool hands 9 carries out stable automatic lifting and paints motion metope, paints speed soon, paints degree equal
Even, work efficiency is high.
Use interlaced mode to be arranged on lower platform 11 between described six transmission branch chain 14 and six roots of sensation support column 16, both increased
Add the stationary performance of transmission, too increase the support column 16 even support performance to supporting platform 15.
The central axis of described lower platform 11 coincides with the central axis of upper mounting plate 3, and the rigidity by 6-SPS parallel institution is high
Advantage can make lower platform 11 and upper mounting plate 3 keeping parallelism all the time with stability is good etc., is entering so that paint mechanical hand 9
Can remain steady during row lifting automatic plastering, eliminate shake shape present in manual operation and equipment lifting process
Condition, paints stability good, paints quality height, and work efficiency is high.
During work, first passing through four universal wheel 11a can be arbitrarily mobile to required rendering metope by the present invention, first basis
Height is painted in actual demand regulation, and six driving motors 141 in six transmission branch chain 14 start simultaneously at work, six transmission electricity
Machine 141 drives six drive shafts 142 to rotate respectively, and six drive shafts 142 drive six to drive gear 143 to rotate, and six are driven
Moving gear 143 band nutating gear 13 moves, and travelling gear 13 drives power transmission shaft 12 to rotate, and power transmission shaft 12 drives driving wire
Thick stick 17 rotates, and turn-screw 17 drives driving block 18 to move, owing to the regular hexagon structure of driving block 18 makes welding
The six roots of sensation on driving block 18 moves post 19 and can make on six line slide rails 110 under the drive of turn-screw 17 surely
Fixed elevating movement, the six roots of sensation moves post 19 and drives six side chains 2 in parallel to make elevating movement respectively, six side chain 2 Timing Belts in parallel
Elevating movement made by rendering mechanical hand 9 on dynamic upper mounting plate 3, by the stable drive performance of planetary gear mechanism, improves
Stability in lifting process, so that the present invention can realize painting adjustable for height function, when required rendering metope is too high
Shi Wuxu increases extraneous jacking equipment, improves work efficiency, and when the present invention reaches properly to paint height, driving motor 141 stops
Only work；The most again the flexible render hair 983 painted on side chain 98 is close on required rendering metope, two No. two hydraulic cylinders
95 first start working, and No. two hydraulic cylinders 95 are under two limited support motions painting traveller 96a and No. two line slide rail 94a
Drive rendering slide block 96 to make stable stretching motion, paint slide block 96 and drive two L-types to paint the rendering side chain between plate 97
98 are synchronized with the movement, and when the flexible render hair 983 painted on side chain 98 is close to required rendering metope, No. two hydraulic cylinders 95 stop
Work；Move the rendering machinery driven on upper mounting plate 3 now by six hydraulic cylinders 24 on six side chains 2 in parallel simultaneously
Hands 9 makees elevating movement, and meanwhile, two paint pumps 913 start simultaneously at work, and two paint pumps 913 are by two chargings
Pipe 914 extracts the coating in charging basket 912, and coating is passed through again two discharge nozzles 915 by high pressure by paint pump 913 respectively
Being delivered in two feeding-passage 981a in two connecting shafts 981, remittance is expected in the painting entered in two feeding-passage 981a
Collection cavity volume 982a collects, and collects cavity volume 982a by coating uniform distribution to tapping channel 982b, by tapping channel 982b
Coating is supplied flexible render hair 983, drives, under the lifting auxiliary of six side chains 2 in parallel, the flexible powder painted on mechanical hand 9
Bristle 983 carries out stable automatic lifting and paints motion metope, paints speed soon, and degree of painting is uniform, and work efficiency is high,
And owing to the fixed frame 1 in the present invention forms as moving platform as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3
6-SPS parallel institution, 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and fortune
Dynamic precision advantages of higher, the present invention by the premium properties of 6-SPS parallel institution so that paint mechanical hand 9 and lifting
Can remain steady during automatic plastering, eliminate shake situation present in manual operation and equipment lifting process, powder
Brush stability is good, and it is high to paint quality, and work efficiency is high, solve the labor intensity that existing artificial rendering metope mode exists big,
Rendering speed is slow, rendering degree is uneven, work efficiency is low, automaticity is low, rendering process exists jitter phenomenon, liter
Fall is painted process device and be there is jitter phenomenon, paint stability difference and paint the difficult problems such as quality is low, has reached purpose.
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, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (4)
1. a six degree of freedom building wall paints equipment, it is characterised in that: include fixed frame (1), described fixed frame (1)
On be separately installed with six side chains in parallel (2), the upper end of six side chains in parallel (2) is uniformly arranged on upper mounting plate (3)；Described flat
By screw, rendering mechanical hand (9) is installed in the middle part of platform (3) upper surface；
Described fixed frame (1) includes that lower platform (11), described lower platform (11) lower surface are symmetrically arranged with four universal wheels (11a),
Being provided with power transmission shaft (12) by bearing in the middle part of the upper surface of lower platform (11), the middle part of power transmission shaft (12) is provided with transmission by key
Gear (13), travelling gear (13) is meshed with six transmission branch chain (14) the most respectively, and transmission branch chain (14) includes the end
The driving motor (141) that is arranged on lower platform (11) by motor cabinet of end, the outfan of driving motor (141) by shaft coupling with
Drive shaft (142) is connected, and the middle part of drive shaft (142) is provided with driving gear (143) by key, drives gear (143) and transmission
Gear (13) is meshed, and six drive shaft (142) upper ends on six transmission branch chain (14) by bearing all with support platform (15)
It is connected；The middle part of described support platform (15) is connected with power transmission shaft (12) by bearing, and the lower surface supporting platform (15) is square along axis
Uniform welding has six roots of sensation support column (16), the lower surface of six roots of sensation support column (16) to be installed on lower platform (11)；Described power transmission shaft
(12) upper end is connected with turn-screw (17) by shaft coupling, and the middle part of turn-screw (17) is threaded connection mode and is provided with
Driving block (18), driving block (18) is regular hexagon structure, and six end faces of driving block (18) are respectively welded the six roots of sensation and move
Dynamic post (19), the six roots of sensation moves the end of post (19) and is separately mounted on six No. one line slide rail (110), six line slide rails
(110) being separately mounted on six pieces of gripper shoes (111) by screw, the lower end of six pieces of gripper shoes (111) is respectively welded at lower platform
(11) on；The spacing pillar of the six roots of sensation (112), six roots of sensation limited post (112) it is respectively welded on the upper end inwall of described six pieces of gripper shoes (111)
Middle part offer six square limited mouths respectively, the end of the spacing pillar of the six roots of sensation (112) is respectively welded on fixed station (113),
The middle part of fixed station (113) is connected with the upper end of turn-screw (17) by bearing；The described six roots of sensation moves the upper surface of post (19) respectively
Six side chains in parallel (2) are installed, and to be all located in the square of corresponding spacing pillar (112) spacing at the middle part of each side chain (2) in parallel
In Kou；
Described rendering mechanical hand (9) includes the stator (91) being arranged on upper mounting plate (3) by screw, the upper end of stator (91)
Middle face is welded with rendering pillar (92), and the end painting pillar (92) is welded with rendering support plate (93), paints the interior of support plate (93)
Wall two ends are symmetrically welded with two pieces and paint baffle plate (94), and the inwall of two pieces of renderings baffle plate (94) is separately installed with two by screw
No. two line slide rails (94a)；Two No. two hydraulic cylinders (95) it are symmetrically installed with on the inwall of described rendering support plate (93), two No. two
The top of hydraulic cylinder (95) is provided with rendering slide block (96), and the two ends painting slide block (96) are symmetrically welded with two rendering travellers
(96a), two rendering traveller (96a) ends are separately mounted on two No. two line slide rails (94a)；Described rendering slide block (96)
Upper surface be symmetrically welded with two L-types and paint plate (97), two L-types are painted and are provided with powder by bearing between plate (97) ends
Brush side chain (98)；It is respectively welded two pieces of vertical boatswain chairs (99), two pieces of vertical boatswain chairs on the outer wall of described two pieces of renderings baffle plate (94)
(99) it is welded with horizontal boatswain chair (910) between lower end, in the middle part of horizontal boatswain chair (910) upper surface, is provided with annular chuck (911), annular
Charging basket (912) is installed in chuck (911)；The upper surface of described horizontal boatswain chair (910) is symmetrically installed with two paint pumps by screw
(913), the import of two paint pumps (913) is connected with charging basket (912) respectively by two feed pipes (914) respectively, two coating
The outlet of pump (913) is connected with the two ends painting side chain (98) by two discharge nozzles (915) respectively；
Described rendering side chain (98) includes that being arranged on two L-types by bearing paints two connecting shafts (981) on plate (97), two
Connecting shaft (981) is internal is respectively arranged with two feeding-passages (981a), two feeding-passages (981a) and two discharge nozzles (915)
It is connected；It is welded with rendering cylinder (982) between described two connecting shafts (981), paints on the outer wall of cylinder (982) along axis side
To being evenly arranged with flexible render hair (983), rendering cylinder (982) is internally provided with and collects cavity volume (982a), collects cavity volume (982a)
It is connected with two feeding-passages (981a) on two connecting shafts (981), paints cylinder (982) inside and the most uniformly set
Be equipped with tapping channel (982b), tapping channel (982b) internal with collect cavity volume (982a) and be connected, outside tapping channel (982b)
It is connected with the bottom of flexible render hair (983).
A kind of six degree of freedom building wall the most according to claim 1 paints equipment, it is characterised in that: described six transmissions
Interlaced mode is used to be arranged on lower platform (11) between side chain (14) and six roots of sensation support column (16).
A kind of six degree of freedom building wall the most according to claim 1 paints equipment, it is characterised in that: described lower platform (11)
The central axis of central axis and upper mounting plate (3) coincide.
A kind of six degree of freedom building wall the most according to claim 1 paints equipment, it is characterised in that: described side chain (2) in parallel
The hollow lower thread spindle (21) being welded on mobile post (19) including lower end, hollow lower thread spindle (21) is threaded connection mode
Being provided with a ball pivot (22), the upper end of a ball pivot (22) is threaded connection mode and is provided with a sleeve (23), a set
The upper end of cylinder (23) is threaded connection mode and is provided with a hydraulic cylinder (24), and the upper end of a hydraulic cylinder (24) is by screw thread even
The mode of connecing is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) is threaded connection mode and is provided with No. two ball pivots (26),
The upper end of No. two ball pivots (26) is threaded connection mode and is provided with hollow upper thread spindle (27), and hollow upper thread spindle (27) is welded on
On the lower surface of upper mounting plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343868.0A CN105952120B (en) | 2016-05-22 | 2016-05-22 | A kind of six degree of freedom building wall paints equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343868.0A CN105952120B (en) | 2016-05-22 | 2016-05-22 | A kind of six degree of freedom building wall paints equipment |
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| CN105952120A true CN105952120A (en) | 2016-09-21 |
| CN105952120B CN105952120B (en) | 2018-03-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109441071A (en) * | 2018-12-07 | 2019-03-08 | 叶强 | A kind of automatic control wall brushing platform |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105952120B (en) | 2018-03-06 |
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Effective date of registration: 20171123 Address after: 250014 Shandong Province, Lixia District of Ji'nan City Luoyuan Street No. 2 Applicant after: Zhu Yong Address before: 246001, room 3, building 80, No. 409, Tianzhu mountain road, Anqing Development Zone, Anhui, China Applicant before: ANQING HAINA INFORMATION TECHNOLOGY CO., LTD. |
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