CN105952120B - A kind of six degree of freedom building wall paints equipment - Google Patents

A kind of six degree of freedom building wall paints equipment Download PDF

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Publication number
CN105952120B
CN105952120B CN201610343868.0A CN201610343868A CN105952120B CN 105952120 B CN105952120 B CN 105952120B CN 201610343868 A CN201610343868 A CN 201610343868A CN 105952120 B CN105952120 B CN 105952120B
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China
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welded
paint
paints
platform
screw
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CN201610343868.0A
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CN105952120A (en
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朱勇
关崇
杨大勇
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朱勇
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Priority to CN201610343868.0A priority Critical patent/CN105952120B/en
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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

Abstract

The present invention relates to a kind of six degree of freedom building wall to paint equipment, including fixed frame, and six side chains in parallel are provided with the fixed frame, and the upper end of six side chains in parallel is uniformly arranged on upper mounting plate;Rendering manipulator is provided with by screw in the middle part of the upper mounting plate upper surface;The fixed frame includes lower platform, the lower platform lower surface is symmetrically arranged with four universal wheels, required paint below metope can be arbitrarily moved to by four universal wheels by of the invention, it is easy to operate, power transmission shaft is provided with by bearing in the middle part of the upper surface of lower platform, the middle part of power transmission shaft is provided with travelling gear by key, and travelling gear is in axial direction meshed with six transmission branch chains respectively, and transmission branch chain includes the driving motor that bottom is arranged on by motor cabinet on lower platform.The present invention can realize stable lifting automatic plastering function, there is provided the new way of metope is painted in a kind of mechanical automation.

Description

A kind of six degree of freedom building wall paints equipment
Technical field
The present invention relates to building decoration equipment, and specifically a kind of six degree of freedom building wall paints equipment.
Background technology
As the step of fast development and the urbanization of Chinese national economy fast forwards through, Chinese society's present situation is to real estate Demand it is increasing, consider from secure context, country and place put into effect laws and regulations in succession, clear stipulaties exterior wall painting Material replaces the hard requirement of outdoor tile, so as to increase the workload of external rendering.Carrying with living standards of the people simultaneously Height, building maintenance and the frequency redecorated constantly are being accelerated, and wall plaster market can still keep vigorous demand, application form Bright wall decoration effect occupies 80% weight in the Integral decoration effect of room, that is to say, that indoor wall decorative effect it is good The bad height for directly determining whole house fitting class.
Existing wall plaster is painted to complete basically by artificial, but by manually painting mode work be present Intensity is big, it is slow to paint speed, paints that degree is uneven, the low defect such as low with automaticity of operating efficiency, due to artificial powder Hand can all have jitter phenomenon during brush, and rendering stability is poor, reduces rendering quality, and work as operator's metope Upper section is painted then not stand and painted on jacking equipment, but jacking equipment can also have shake in lifting process Phenomenon, rendering stability is poor, reduce further rendering quality.
The content of the invention
In order to solve the above problems, the invention provides a kind of six degree of freedom building wall to paint equipment, can solve existing Have it is artificial paint labor intensity existing for metope mode is big, paint speed is slow, rendering degree is uneven, operating efficiency is low, from Dynamicization degree is low, rendering process has jitter phenomenon, lifting paint process device exists jitter phenomenon, paint stability difference and Paint the problems such as quality is low, it is possible to achieve stable lifting automatic plastering function, have paint speed is fast, paint degree uniformly, Without manually painting, operating efficiency is high, it is good to paint stability and paints the advantages that quality is high, eliminates manual operation and equipment Situation is shaken present in lifting process, there is provided the new way of metope is painted in a kind of mechanical automation.
To achieve these goals, the present invention is realized using following technical scheme:A kind of six degree of freedom building wall flour Brush equipment, including fixed frame, six side chains in parallel are installed on the fixed frame, the upper end of six side chains in parallel is uniformly pacified On upper mounting plate;Rendering manipulator is provided with by screw in the middle part of the upper mounting plate upper surface;Under the fixed frame includes Platform, the lower platform lower surface are symmetrically arranged with four universal wheels, of the invention will can arbitrarily be moved by four universal wheels Painted to required below metope, it is easy to operate, power transmission shaft is provided with by bearing in the middle part of the upper surface of lower platform, in power transmission shaft Portion is provided with travelling gear by key, and travelling gear is in axial direction meshed with six transmission branch chains respectively, passes through six biographies The mode that dynamic side chain rotates with nutating gear simultaneously from six angles adds transmission twisting resistance, improves the steady of transmission Property, transmission branch chain includes the driving motor that bottom is arranged on by motor cabinet on lower platform, and the output end of driving motor passes through connection Axle device is connected with drive shaft, and the middle part of drive shaft is provided with drive gear by key, and drive gear is meshed with travelling gear, and Six drive shaft upper ends in six transmission branch chains are connected by bearing with supporting table, and driving motor drives drive shaft turns, Drive shaft drives drive gear to rotate, so as to constitute the Planetary Gear Transmission rotated by six drive gears with nutating gear Mechanism, improve the stationarity of transmission;The middle part of the supporting table is connected by bearing with power transmission shaft, the lower surface edge of supporting table The square uniform welding of axis has six roots of sensation support column, and the lower surface of six roots of sensation support column is installed on lower platform, and six roots of sensation support column rises To the function of uniform fixed supporting table, so that power transmission shaft can propped up stably under the drive of planetary gear mechanism Rotated on support platform;The upper end of the power transmission shaft is connected by shaft coupling with turn-screw, and the middle part of turn-screw is connected by screw thread The mode of connecing is provided with driving block, and driving block is regular hexagon structure, is welded on each end face of six end faces of driving block A mobile column is connected to, the end of every mobile column is installed on a No.1 line slide rail, passes through positive the six of driving block The six roots of sensation mobile column that side shape structure to be welded on driving block can be slided under the drive of turn-screw in six No.1 straight lines Make stable elevating movement on rail, each No.1 line slide rail is installed in one piece of supporting plate by screw, under supporting plate End is welded on lower platform, and six pieces of supporting plates play a part of six No.1 line slide rails of fixed support, add mobile column and exist The stability of corresponding No.1 line slide rail;It is welded with a spacing pillar on the upper end inwall of every piece of supporting plate, every The middle part of spacing pillar offers a square limited mouth, and the end of spacing pillar is welded on fixed station, in fixed station Portion is connected by bearing with the upper end of turn-screw;The upper surface of the every mobile column is mounted on a side chain in parallel, and The middle part of each side chain in parallel is located in the square limited mouth of corresponding spacing pillar, and the square limited mouth of spacing pillar plays The effect of side chain range of movement in parallel is limited, drives six side chains in parallel to make elevating movement respectively by six roots of sensation mobile column, six Side chain synchronous drive upper mounting plate in parallel makees elevating movement, by the stable drive performance of planetary gear mechanism, improves liter Stability during drop, so that the present invention, which can realize, paints adjustable for height function, when required rendering metope is too high Shi Wuxu increases extraneous jacking equipment, improves operating efficiency;The side chain in parallel includes the sky that lower end is welded in mobile column Thread spindle under the heart, mode is connected through a screw thread on hollow lower thread spindle No.1 ball pivot is installed, the upper end of No.1 ball pivot passes through spiral shell Line connected mode is provided with No.1 sleeve, and the upper end of No.1 sleeve is connected through a screw thread mode and is provided with No.1 hydraulic cylinder, No.1 The upper end of hydraulic cylinder is connected through a screw thread mode and is provided with No. two sleeves, and the upper end of No. two sleeves is connected through a screw thread mode and installed There are No. two ball pivots, the upper end of No. two ball pivots is connected through a screw thread mode and is provided with hollow upper thread spindle, hollow upper thread spindle welding Formed on the lower surface of upper mounting plate, when spherical pair S that the present invention is formed when being worked by No.1 ball pivot, No.1 hydraulic cylinder extension Prismatic pair P and the spherical pair S that is formed during the work of No. two ball pivots constitute SPS parallel connection side chains, and the fixed frame in the present invention As fixed platform, six SPS parallel connections side chains, upper mounting plate 6-SPS parallel institutions, 6-SPS parallel institutions are constituted as moving platform With six-freedom degree, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and motion essence The advantages that high is spent, the rendering manipulator driven on upper mounting plate is moved simultaneously by six No.1 hydraulic cylinders on six side chains in parallel Make stable lifting automatic plastering function, and caused this invention removes manual operation due to the advantages of 6-SPS parallel institutions and Situation is shaken present in equipment lifting process, rendering stability is good, and rendering degree is uniform, and operating efficiency is high.
It is described to paint mechanical hand including being arranged on by screw on upper mounting plate as a preferred technical solution of the present invention Stator, be welded with rendering pillar in the middle part of the upper surface of stator, the end for painting pillar is welded with rendering support plate, paints branch The inwall both ends of plate are symmetrically welded with two pieces of rendering baffle plates, and by screw one two is mounted on the inwall of every piece of rendering baffle plate Number line slide rail;Two No. two hydraulic cylinders, the top of two No. two hydraulic cylinders are symmetrically installed with the inwall for painting support plate Rendering sliding block is installed, the both ends for painting sliding block are symmetrically welded with two rendering travellers, and every is painted traveller end and is installed in On one No. two line slide rail, No. two hydraulic cylinders drive under the limited support motion of two rendering travellers and No. two line slide rails Paint moving back and forth for sliding block stabilization;The upper surface for painting sliding block is symmetrically welded with two L-types and paints plate, two L-type powder Rendering side chain is provided with by bearing between brush board end, paint side chain in the presence of external force can two L-types paint plates it Between rotate, by paint side chain come to metope carry out automatic plastering work;It is welded with the outer wall of two pieces of renderings baffle plate One piece of vertical boatswain chair, painted with two pieces between two pieces of vertical boatswain chair lower ends being connected of baffle plates and be welded with horizontal boatswain chair, horizontal boatswain chair Annular chuck is provided with the middle part of upper surface, charging basket is installed in annular chuck, the coating for painting metope, ring are laid in charging basket Shape chuck plays a part of spacing and fixed support charging basket;The upper surface of the horizontal boatswain chair is symmetrically installed with two by screw Paint pump, the import of two paint pumps are connected by a feed pipe with charging basket, and paint pump is extracted in charging basket by feed pipe Coating, the outlets of two paint pumps is connected by a discharge nozzle with painting side chain, the coating that paint pump extracts from charging basket Rendering side chain is conveyed to by discharge nozzle;Two for painting side chain and including being arranged on two L-types by bearing and painting on plate Connecting shaft, a feeding-passage is provided with inside each connecting shaft, each feeding-passage is connected with a discharge nozzle, leads to The coating that discharge nozzle conveying comes is crossed to enter in feeding-passage;Rendering cylinder is welded between two connecting shafts, is painted Flexible render hair is evenly arranged with the outer wall of cylinder in the axial direction, cylinder interior is painted and is provided with and collect cavity volume, collect appearance Chamber is connected with two feeding-passages in two connecting shafts, and the painting entered in feeding-passage, which is expected to collect in cavity volume, to be converged Collection, paint cylinder interior and be evenly arranged with tapping channel in the axial direction, be connected inside tapping channel with collecting cavity volume, discharge It is connected outside passage with the bottom of flexible render hair, collects cavity volume and evenly distribute coating to tapping channel, it is logical by discharging Coating is supplied flexible render hair by road.After the present invention starts working, the flexible render hair painted on side chain is first close to institute It need to paint on metope, two No. two hydraulic cylinders are first started working, and No. two hydraulic cylinders paint traveller and No. two line slide rails at two Lower drive of limited support motion paint sliding block and make stable stretching motion, paint sliding block and drive two L-types to paint between plates Paint side chain to be synchronized with the movement, when painting the flexible render hair on side chain and being close to required rendering metope, No. two hydraulic cylinders stop works Make, now two paint pumps start simultaneously at work, and two paint pumps extract the coating in charging basket by two feed pipes, by painting Expect that coating is delivered in two feeding-passages in two connecting shafts by the high pressure of pump by two discharge nozzles respectively again, enter Expect that collecting cavity volume is collected to the painting in two feeding-passages, collect cavity volume and evenly distribute coating to tapping channel, lead to Cross tapping channel and coating is supplied into flexible render hair, plastering machine tool on hand soft is driven under the lifting auxiliary of six side chains in parallel Property paint the automatic lifting stablize to metope of hair and paint motion, it is fast to paint speed, and it is uniform to paint degree, operating efficiency height.
As a preferred technical solution of the present invention, using mutual between six transmission branch chains and six roots of sensation support column Staggeredly mode is arranged on lower platform, had both been added the stationary performance of transmission, and had been also increased uniform branch of the support column to supporting table Support performance.
As a preferred technical solution of the present invention, the central axis of the lower platform and the central axis phase of upper mounting plate Overlap, it is high and lower platform and upper mounting plate holding can be made all the time the advantages that stability is good by the rigidity of 6-SPS parallel institutions It is parallel, so that painting manipulator can remain steady during lifting automatic plastering is carried out, eliminate artificial behaviour Make and situation is shaken present in equipment lifting process, rendering stability is good, paints quality height, and operating efficiency is high.
During work, can arbitrarily it be moved to of the invention below required rendering metope by four universal wheels first, first root Adjusted according to actual demand and paint height, six driving motors in six transmission branch chains start simultaneously at work, six driving motors Six drive shaft turns are driven respectively, and six drive shafts drive six drive gears to rotate, and six drive gears drive driving cog Wheel motion, travelling gear drive drive axis, and power transmission shaft drives turn-screw to rotate, and turn-screw drives driving block fortune It is dynamic, because the regular hexagon structure of driving block to be welded on drive of the six roots of sensation mobile column on driving block in turn-screw Lower to make stable elevating movement on six No.1 line slide rails, six roots of sensation mobile column drives six side chains in parallel to lift respectively Move, the rendering manipulator on six side chain synchronous drive upper mounting plates in parallel makees elevating movement, by planetary gear mechanism Stable drive performance, improve the stability in lifting process so that the present invention can realize paint it is adjustable for height Function, it need not increase extraneous jacking equipment when required rendering metope is too high, operating efficiency be improved, when the present invention reaches suitable Driving motor is stopped when painting height;Then the flexible render hair painted on side chain is close to required rendering metope again On, two No. two hydraulic cylinders are first started working, and No. two hydraulic cylinders are in two limited supports for painting traveller and No. two line slide rails Lower drive of motion paints the stable stretching motion of sliding block work, and it is same to paint the rendering side chain that sliding block drives two L-types to paint between plate Step motion, when painting the flexible render hair on side chain and being close to required rendering metope, No. two hydraulic cylinders are stopped;Now lead to Six No.1 hydraulic cylinders crossing on six side chains in parallel while move and drive the rendering manipulator on upper mounting plate to make elevating movement, with This simultaneously, two paint pumps start simultaneously at work, and two paint pumps extract the coating in charging basket by two feed pipes, by painting Expect that coating is delivered in two feeding-passages in two connecting shafts by the high pressure of pump by two discharge nozzles respectively again, enter Expect that collecting cavity volume is collected to the painting in two feeding-passages, collect cavity volume and evenly distribute coating to tapping channel, lead to Cross tapping channel and coating is supplied into flexible render hair, plastering machine tool on hand soft is driven under the lifting auxiliary of six side chains in parallel Property paint the automatic lifting stablize to metope of hair and paint motion, it is fast to paint speed, and it is uniform to paint degree, operating efficiency height, And because the fixed frame in the present invention as fixed platform, six SPS parallel connections side chains, upper mounting plates constitutes 6- as moving platform SPS parallel institutions, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy The advantages that high, the present invention are carrying out lifting automatic powder by the premium properties of 6-SPS parallel institutions so that painting manipulator It can remain steady during brush, eliminate and situation is shaken present in manual operation and equipment lifting process, paint steady Qualitative energy is good, paints quality height, and operating efficiency is high.
The beneficial effects of the invention are as follows:
1st, the planetary gear mechanism that the present invention is rotated with nutating gear simultaneously by six drive gears, so as to band Dynamic six side chains in parallel are stable in six roots of sensation mobile column to be moved up and down, so that the present invention can realize rendering height adjustable Function, when it is required rendering metope it is too high when need not increase extraneous jacking equipment, improve operating efficiency;
2nd, the fixed frame in the present invention constitutes as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform 6-SPS parallel institutions, 6-SPS parallel institutions have six-freedom degree, by 6-SPS parallel institutions premium properties so that Painting manipulator can remain steady during lifting automatic plastering is carried out, and eliminate manual operation and equipment lifted Situation is shaken present in journey, rendering stability is good, paints quality height, and operating efficiency is high;
3rd, the present invention paints the limited support motion lower band of traveller and No. two line slide rails by No. two hydraulic cylinders at two Move rendering sliding block and make stable stretching motion so that the flexible render hair painted on side chain can be close to required rendering wall all the time On face, rendering degree is uniform, and operating efficiency is high;
4th, the present invention by two paint pumps say coating by feeding-passage, collect cavity volume, tapping channel is conveyed to flexibility Hair is painted, drives the flexible render hair of plastering machine tool on hand to carry out metope under the stable lifting auxiliary of six side chains in parallel steady Fixed automatic lifting paints motion, and rendering speed is fast, and rendering degree is uniform, and operating efficiency is high;
5th, the present invention, which solves, existing artificial paints that labor intensity existing for metope mode is big, it is slow to paint speed, paints journey Spend uneven, operating efficiency is low, automaticity is low, rendering process has jitter phenomenon, lifting paint process device exist Jitter phenomenon, paint stability difference and paint the problems such as quality is low, it is possible to achieve stable lifting automatic plastering function, have Paint speed is fast, paint degree uniformly, without manually painting, operating efficiency is high, it is good to paint stability and rendering quality height etc. Advantage, eliminate and shake situation present in manual operation and equipment lifting process, there is provided wall is painted in a kind of mechanical automation The new way in face.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the full sectional view between fixed frame of the present invention, side chain in parallel and upper mounting plate;
Fig. 3 is Fig. 2 of the present invention A-A to sectional view;
Fig. 4 is Fig. 2 of the present invention B-B direction sectional view;
Fig. 5 is the structural representation that the present invention paints manipulator;
Fig. 6 is the full sectional view that the present invention paints manipulator;
Fig. 7 is the right view that the present invention paints manipulator;
Fig. 8 is Fig. 6 of the present invention I to partial enlarged drawing;
Fig. 9 is Fig. 6 of the present invention C-C to sectional view.
Specific 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 Figures 1 to 9, a kind of six degree of freedom building wall paints equipment, including fixed frame 1, the fixed machine Six side chains 2 in parallel are installed, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3 on frame 1;On the upper mounting plate 3 It is provided with the middle part of end face by screw and paints manipulator 9;The fixed frame 1 includes lower platform 11, the lower end of lower platform 11 Face is symmetrically arranged with four universal wheel 11a, and required rendering metope can be arbitrarily moved to by of the invention by four universal wheel 11a Lower section, it is easy to operate, power transmission shaft 12 is provided with by bearing in the middle part of the upper surface of lower platform 11, the middle part of power transmission shaft 12 passes through key Travelling gear 13 is installed, travelling gear 13 is in axial direction meshed with six transmission branch chains 14 respectively, passes through six transmissions The mode that side chain 14 rotates with nutating gear 13 simultaneously from six angles adds transmission twisting resistance, improves the steady of transmission Property, transmission branch chain 14 include bottom by motor cabinet be arranged on lower platform 11 on driving motor 141, driving motor 141 it is defeated Go out end by shaft coupling with drive shaft 142 to be connected, the middle part of drive shaft 142 is provided with drive gear 143, drive gear by key 143 are meshed with travelling gear 13, and six upper ends of drive shaft 142 in six transmission branch chains 14 by bearing and supporting table 15 be connected, driving motor 41 drive drive shaft 142 rotate, drive shaft 142 drive drive gear 143 rotate, so as to constitute by The planetary gear mechanism that six drive gears 143 rotate with nutating gear 13, improve the stationarity of transmission;The branch The middle part of support platform 15 is connected by bearing with power transmission shaft 12, and there is the six roots of sensation branch lower surface of supporting table 15 along the square uniform welding of axis Dagger 16, the lower surface of six roots of sensation support column 16 are installed on lower platform 11, and six roots of sensation support column 16 plays uniformly fixed supporting table 15 function, so that what power transmission shaft 12 can be stably under the drive of planetary gear mechanism turns in supporting table 15 It is dynamic;The upper end of the power transmission shaft 12 is connected by shaft coupling with turn-screw 17, and the middle part of turn-screw 17 is connected through a screw thread Mode is provided with driving block 18, and driving block 18 is regular hexagon structure, on each end face of 18 6 end faces of driving block A mobile column 19 is welded with, the end of every mobile column 19 is installed on a No.1 line slide rail 110, passes through transmission The six roots of sensation mobile column 19 that the regular hexagon structure of sliding block 18 to be welded on driving block 18 is under the drive of turn-screw 17 Stable elevating movement can be made on six No.1 line slide rails 110, each No.1 line slide rail 110 is installed in by screw In one piece of supporting plate 111, the lower end of supporting plate 111 is welded on lower platform 11, and six pieces of supporting plates 111 play fixed support six The effect of No.1 line slide rail 110, add stability of the mobile column 19 in corresponding No.1 line slide rail 110;Every piece of branch A spacing pillar 112 is welded with the upper end inwall of fagging 111, the middle part of every spacing pillar 112 offers one Square limited mouth, the end of spacing pillar 112 are welded on fixed station 113, and the middle part of fixed station 113 passes through bearing and driving wire The upper end of thick stick 17 is connected;The upper surface of the every mobile column 19 is mounted on a side chain 2 in parallel, and each side chain 2 in parallel Middle part be located in the square limited mouth of corresponding spacing pillar 112, the square limited mouth of spacing pillar 112 plays restriction simultaneously Join the effect of the range of movement of side chain 2, drive six side chains 2 in parallel to make elevating movement respectively by six roots of sensation mobile column 19, six simultaneously The connection synchronous drive upper mounting plate 3 of side chain 2 makees elevating movement, by the stable drive performance of planetary gear mechanism, improves liter Stability during drop, so that the present invention, which can realize, paints adjustable for height function, when required rendering metope is too high Shi Wuxu increases extraneous jacking equipment, improves operating efficiency;The side chain in parallel 2 is welded in mobile column 19 including lower end Hollow lower thread spindle 21, mode is connected through a screw thread on hollow lower thread spindle 21 No.1 ball pivot 22 is installed, No.1 ball pivot 22 Upper end is connected through a screw thread mode and is provided with No.1 sleeve 23, and the upper end of No.1 sleeve 23 is connected through a screw thread mode and is provided with one Number hydraulic cylinder 24, the upper end of No.1 hydraulic cylinder 24 are connected through a screw thread mode and are provided with No. two sleeves 25, No. two sleeves 25 it is upper End is connected through a screw thread mode and is provided with No. two ball pivots 26, the upper ends of No. two ball pivots 26 be connected through a screw thread mode be provided with it is hollow Upper thread spindle 27, hollow upper thread spindle 27 are welded on the lower surface of upper mounting plate 3, the shape when present invention is worked by No.1 ball pivot 22 Into spherical pair S, No.1 hydraulic cylinder 24 stretch when the prismatic pair P that is formed and No. two ball pivots 26 work when the spherical pair S groups that are formed Into SPS parallel connections side chain 2, and the fixed frame 1 in the present invention is as fixed platform, six SPS parallel connections side chains 2, the conduct of upper mounting plate 3 Moving platform constitutes 6-SPS parallel institutions, and 6-SPS parallel institutions have six-freedom degree, and there is 6-SPS parallel institutions dynamic to ring Ying Hao, rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, pass through six one on six side chains 2 in parallel Number hydraulic cylinder 24 moves simultaneously drives the manipulator 9 that paints on upper mounting plate 3 to make stable lifting automatic plastering function, and due to 6- The advantages of SPS parallel institutions, this invention removes situation is shaken present in manual operation and equipment lifting process, to paint Stability is good, and rendering degree is uniform, and operating efficiency is high.
The stator 91 for painting manipulator 9 and including being arranged on by screw on upper mounting plate 3, the upper surface of stator 91 Middle part, which is welded with, paints pillar 92, and the end for painting pillar 92 is welded with rendering support plate 93, paints the inwall both ends pair of support plate 93 Title is welded with two pieces of rendering baffle plates 94, and by screw No. two line slide rails are mounted on the inwall of every piece of rendering baffle plate 94 94a;Two No. two hydraulic cylinders 95, the top peace of two No. two hydraulic cylinders 95 are symmetrically installed with the inwall for painting support plate 93 Equipped with sliding block 96 is painted, the both ends for painting sliding block 96 are symmetrically welded with two rendering traveller 96a, and every is painted traveller 96a ends It is installed on a No. two line slide rail 94a, No. two hydraulic cylinders 95 paint traveller 96a and No. two line slide rail 94a at two Lower drive of limited support motion paint that sliding block 96 is stable to be moved back and forth;The upper surface for painting sliding block 96 is symmetrically welded with Two L-types paint plate 97, and two L-types are painted between the end of plate 97 and are provided with rendering side chain 98 by bearing, paint side chain 98 and exist It can be rotated in the presence of external force between two L-types paint plate 97, automatic plastering work is carried out to metope by painting side chain 98 Make;One piece of vertical boatswain chair 99 is welded with the outer wall of two pieces of renderings baffle plate 94, two to be connected with two pieces of rendering baffle plates 94 Horizontal boatswain chair 910 is welded between the vertical lower end of boatswain chair 99 of block, annular chuck 911 is provided with the middle part of the horizontal upper surface of boatswain chair 910, Charging basket 912 is installed in annular chuck 911, the coating for painting metope is laid in charging basket 912, annular chuck 911 plays limit Position and the effect of fixed support charging basket 912;The upper surface of the horizontal boatswain chair 910 is symmetrically installed with two paint pumps by screw 913, the import of two paint pumps 913 is connected by a feed pipe 914 with charging basket 912, and paint pump 913 passes through feed pipe 914 extract the coating in charging basket 912, and the outlet of two paint pumps 913 passes through a discharge nozzle 915 and the rendering phase of side chain 98 Even, paint pump 913 is conveyed to by discharge nozzle 915 from the coating that charging basket 912 extracts and paints side chain 98;The rendering side chain 98 wraps Two connecting shafts 981 for being arranged on two L-types by bearing and painting on plate 97 are included, one is provided with inside each connecting shaft 981 Individual feeding-passage 981a, each feeding-passage 981a are connected with a discharge nozzle 915, are come by the conveying of discharge nozzle 915 Coating enter in feeding-passage 981a;It is welded between two connecting shafts 981 and paints cylinder 982, paints cylinder 982 Outer wall on be evenly arranged with flexible render hair 983 in the axial direction, paint cylinder 982 and be internally provided with and collects cavity volume 982a, Collect cavity volume 982a with two feeding-passage 981a in two connecting shafts 981 to be connected, enter in feeding-passage 981a Painting is expected to collect to be collected in cavity volume 982a, is painted inside cylinder 982 and is evenly arranged with tapping channel 982b in the axial direction, It is connected inside tapping channel 982b with collecting cavity volume 982a, tapping channel 982b outsides and the bottom phase of flexible render hair 983 Connection, collect cavity volume 982a and evenly distribute coating and give tapping channel 982b, supplied coating by tapping channel 982b flexible Paint hair 983.After the present invention starts working, the flexible render hair 983 painted on side chain 98 is first close to required rendering wall On face, two No. two hydraulic cylinders 95 are first started working, and No. two hydraulic cylinders 95 paint traveller 96a and No. two line slide rails at two Lower drive of 94a limited support motion paints the stable stretching motion of the work of sliding block 96, paints sliding block 96 and drives two L-types to paint plate Rendering side chain 98 between 97 is synchronized with the movement, when the flexible render hair 983 on rendering side chain 98 is close to required rendering metope No. two hydraulic cylinders 95 are stopped, and now two paint pumps 913 start simultaneously at work, and two paint pumps 913 pass through two chargings Pipe 914 extracts the coating in charging basket 912, again that coating is defeated by two discharge nozzles 915 respectively by the high pressure of paint pump 913 Deliver in two feeding-passage 981a in two connecting shafts 981, the painting entered in two feeding-passage 981a, which is expected, to be collected Cavity volume 982a is collected, and is collected cavity volume 982a and is evenly distributed coating and gives tapping channel 982b, and passing through tapping channel 982b will Coating supply flexible render hair 983, the flexible render on plastering machine tool hand 9 is driven under the lifting auxiliary of six side chains 2 in parallel The automatic lifting that 983 pairs of metopes of hair are stablized paints motion, and rendering speed is fast, and rendering degree is uniform, and operating efficiency is high.
It is arranged between six transmission branch chains 14 and six roots of sensation support column 16 using interlaced mode on lower platform 11, Both the stationary performance of transmission had been added, has also increased even support performance of the support column 16 to supporting table 15.
The central axis of the central axis and upper mounting plate 3 of the lower platform 11 coincides, by the firm of 6-SPS parallel institutions The advantages that degree height and good stability, can make lower platform 11 and the keeping parallelism of upper mounting plate 3 all the time, so that painting manipulator 9 It can remain steady during lifting automatic plastering is carried out, eliminate present in manual operation and equipment lifting process Shake situation, rendering stability is good, paints quality height, and operating efficiency is high.
During work, can arbitrarily it be moved to of the invention below required rendering metope by four universal wheel 11a first, first Regulation is painted highly according to the actual requirements, and six driving motors 141 in six transmission branch chains 14 start simultaneously at work, six biographies Dynamic motor 141 drives six drive shafts 142 to rotate respectively, and six drive shafts 142 drive six drive gears 143 to rotate, six Drive gear 143 moves with nutating gear 13, and travelling gear 13 drives power transmission shaft 12 to rotate, and power transmission shaft 12 drives turn-screw 17 rotate, and turn-screw 17 drives driving block 18 to move, because the regular hexagon structure of driving block 18 to be welded on biography Six roots of sensation mobile column 19 on movable slider 18 can be made stable under the drive of turn-screw 17 on six No.1 line slide rails 110 Elevating movement, six roots of sensation mobile column 19 drive six side chains 2 in parallel to make elevating movement respectively, in six synchronous drives of side chain 2 in parallel Rendering manipulator 9 on platform 3 makees elevating movement, by the stable drive performance of planetary gear mechanism, improves lifting During stability so that the present invention, which can realize, paints adjustable for height function, when required rendering metope is too high Extraneous jacking equipment need not be increased, improve operating efficiency, driving motor 141 stops when the present invention reaches suitable rendering height Work;Then the flexible render hair 983 painted on side chain 98 is close on required rendering metope again, two No. two hydraulic cylinders 95 First start working, No. two hydraulic cylinders 95 drive under two limited support motions for painting traveller 96a and No. two line slide rail 94a Paint sliding block 96 and make stable stretching motion, it is synchronous to paint the rendering side chain 98 that sliding block 96 drives two L-types to paint between plate 97 Motion, when painting the flexible render hair 983 on side chain 98 and being close to required rendering metope, No. two hydraulic cylinders 95 are stopped;This When by six No.1 hydraulic cylinders 24 on six side chains 2 in parallel simultaneously move drive upper mounting plate 3 on rendering manipulator 9 rise Drop motion, at the same time, two paint pumps 913 start simultaneously at work, and two paint pumps 913 are extracted by two feed pipes 914 Coating in charging basket 912, coating is delivered to two by two discharge nozzles 915 respectively again by the high pressure of paint pump 913 In two feeding-passage 981a in connecting shaft 981, the painting that enters in two feeding-passage 981a, which is expected, collects cavity volume 982a Collected, collect cavity volume 982a and evenly distribute coating and give tapping channel 982b, supplied coating by tapping channel 982b Flexible render hair 983,983 pairs of walls of flexible render hair on plastering machine tool hand 9 are driven under the lifting auxiliary of six side chains 2 in parallel The automatic lifting that face is stablized paints motion, and rendering speed is fast, and rendering degree is uniform, and operating efficiency is high, and due to the present invention In fixed frame 1 constitute 6-SPS parallel machines as moving platform as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 Structure, 6-SPS parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, The present invention is by the premium properties of 6-SPS parallel institutions so that painting manipulator 9 during lifting automatic plastering is carried out It can remain steady, eliminate and situation is shaken present in manual operation and equipment lifting process, rendering stability is good, It is high to paint quality, operating efficiency is high, solve it is existing it is artificial paint labor intensity existing for metope mode is big, it is slow to paint speed, Rendering degree is uneven, operating efficiency is low, automaticity is low, rendering process has jitter phenomenon, lifting rendering process is set It is standby jitter phenomenon to be present, paint the problems such as stability difference is low with quality is painted, reach purpose.
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 (4)

1. a kind of six degree of freedom building wall paints equipment, it is characterised in that:Including fixed frame (1), the fixed frame (1) On six side chains (2) in parallel are installed, the upper end of six side chains (2) in parallel is uniformly arranged on upper mounting plate (3);The upper mounting plate (3) it is provided with the middle part of upper surface by screw and paints manipulator (9);
The fixed frame (1) includes lower platform (11), and lower platform (11) lower surface is symmetrically arranged with four universal wheels (11a), the upper surface middle part of lower platform (11) are provided with power transmission shaft (12) by bearing, and the middle part of power transmission shaft (12) is pacified by key Equipped with travelling gear (13), travelling gear (13) is in axial direction meshed with six transmission branch chains (14) respectively, transmission branch chain (14) driving motor (141) that bottom is arranged on by motor cabinet on lower platform (11), the output end of driving motor (141) are included It is connected by shaft coupling with drive shaft (142), the middle part of drive shaft (142) is provided with drive gear (143), sliding tooth by key Wheel (143) is meshed with travelling gear (13), and six drive shaft (142) upper ends on six transmission branch chains (14) pass through bearing It is connected with supporting table (15);The middle part of the supporting table (15) is connected by bearing with power transmission shaft (12), supporting table (15) There is six roots of sensation support column (16) lower surface along the square uniform welding of axis, and the lower surface of six roots of sensation support column (16) is installed in lower platform (11) on;The upper end of the power transmission shaft (12) is connected by shaft coupling with turn-screw (17), and the middle part of turn-screw (17) leads to Cross thread connecting mode and driving block (18) is installed, driving block (18) is regular hexagon structure, driving block (18) six It is welded with a mobile column (19) on each end face of end face, it is straight that the end of every mobile column (19) is installed in a No.1 On line slide rail (110), each No.1 line slide rail (110) is installed on one piece of supporting plate (111) by screw, supporting plate (111) lower end is welded on lower platform (11);Be welded with the upper end inwall of every piece of supporting plate (111) one it is spacing Pillar (112), the middle part of every spacing pillar (112) offer a square limited mouth, the end weldering of spacing pillar (112) It is connected on fixed station (113), the middle part of fixed station (113) is connected by bearing with the upper end of turn-screw (17);Described in every The upper surface of mobile column (19) is mounted on a side chain (2) in parallel, and the middle part of each side chain (2) in parallel is located in correspondingly In the square limited mouth of spacing pillar (112);
It is described paint manipulator (9) include by screw be arranged on upper mounting plate (3) on stator (91), stator (91) it is upper It is welded with the middle part of end face and paints pillar (92), the end for painting pillar (92) is welded with rendering support plate (93), paints support plate (93) Inwall both ends be symmetrically welded with two pieces paint baffle plates (94), every piece paint baffle plate (94) inwall on be mounted on by screw One No. two line slide rail (94a);Two No. two hydraulic cylinders (95) are symmetrically installed with the inwall for painting support plate (93), two The top of individual No. two hydraulic cylinders (95), which is provided with, paints sliding block (96), and the both ends for painting sliding block (96) are symmetrically welded with two renderings Traveller (96a), every is painted traveller (96a) end and is installed on No. two line slide rails (94a);The rendering sliding block (96) upper surface is symmetrically welded with two L-types and paints plate (97), and two L-types are installed between painting plate (97) end by bearing There is rendering side chain (98);One piece of vertical boatswain chair (99) is welded with the described two pieces outer walls for painting baffle plate (94), with two blocks of powder Brush baffle plate (94) is welded with horizontal boatswain chair (910), horizontal boatswain chair (910) upper end between two pieces of connected vertical boatswain chair (99) lower ends Middle face is provided with annular chuck (911), and charging basket (912) is provided with annular chuck (911);The horizontal boatswain chair (910) Upper surface is symmetrically installed with two paint pumps (913) by screw, and the import of two paint pumps (913) passes through a feed pipe (914) it is connected with charging basket (912), the outlet of two paint pumps (913) passes through a discharge nozzle (915) and rendering side chain (98) It is connected;
Two connecting shafts (981) painted side chain (98) and include being arranged on two L-types by bearing and painting on plate (97), often Be provided with a feeding-passage (981a) inside individual connecting shaft (981), each feeding-passage (981a) with a discharge nozzle (915) it is connected;It is welded between two connecting shafts (981) and paints cylinder (982), is painted on the outer wall of cylinder (982) Flexible render hair (983) is evenly arranged with the axial direction, is painted cylinder (982) and is internally provided with and collect cavity volume (982a), converges Collection cavity volume (982a) is connected with two feeding-passages (981a) on two connecting shafts (981), paints the internal edge of cylinder (982) Axis direction is evenly arranged with tapping channel (982b), is connected inside tapping channel (982b) with collecting cavity volume (982a), goes out It is connected outside material passage (982b) with the bottom of flexible render hair (983).
2. a kind of six degree of freedom building wall according to claim 1 paints equipment, it is characterised in that:Six transmissions It is arranged between side chain (14) and six roots of sensation support column (16) using interlaced mode on lower platform (11).
3. a kind of six degree of freedom building wall according to claim 1 paints equipment, it is characterised in that:The lower platform (11) central axis and the central axis of upper mounting plate (3) coincide.
4. a kind of six degree of freedom building wall according to claim 1 paints equipment, it is characterised in that:The side chain in parallel (2) include the hollow lower thread spindle (21) that lower end is welded in mobile column (19), connected on hollow lower thread spindle (21) by screw thread The mode of connecing is provided with No.1 ball pivot (22), and the upper end of No.1 ball pivot (22) is connected through a screw thread mode and is provided with No.1 sleeve (23), the upper end of No.1 sleeve (23) is connected through a screw thread mode and is provided with No.1 hydraulic cylinder (24), No.1 hydraulic cylinder (24) Upper end is connected through a screw thread mode and is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) is connected through a screw thread mode and installed There are No. two ball pivots (26), the upper end of No. two ball pivots (26) is connected through a screw thread mode and is provided with hollow upper thread spindle (27), hollow Upper thread spindle (27) is welded on the lower surface of upper mounting plate (3).
CN201610343868.0A 2016-05-22 2016-05-22 A kind of six degree of freedom building wall paints equipment Expired - Fee Related CN105952120B (en)

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CA2623299A1 (en) * 2005-09-21 2007-04-05 Apla-Tech, Inc. Drywall compound dispensing system
CN101693368B (en) * 2009-10-09 2011-02-02 河北工业大学 Large plate installation mechanical arm
CN101691808B (en) * 2009-10-09 2011-05-11 河北工业大学 Plate dry-hanging and mounting robot
CN101862928B (en) * 2010-06-04 2012-06-27 北京工业大学 Robot parallel mechanism with rotation and lifting two degrees of freedom
CN104500646B (en) * 2014-12-22 2016-08-24 东莞中国科学院云计算产业技术创新与育成中心 Boats and ships intelligence vibrationproof 3D printer
CN104631801B (en) * 2015-02-28 2016-10-05 哈尔滨工大特种机器人有限公司 A kind of building coating spary robot
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