CN106049834B - A kind of outdoor architecture wall plaster machine people based on parallel institution - Google Patents

A kind of outdoor architecture wall plaster machine people based on parallel institution Download PDF

Info

Publication number
CN106049834B
CN106049834B CN201610343654.3A CN201610343654A CN106049834B CN 106049834 B CN106049834 B CN 106049834B CN 201610343654 A CN201610343654 A CN 201610343654A CN 106049834 B CN106049834 B CN 106049834B
Authority
CN
China
Prior art keywords
lifting
welded
plate
chain
painting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610343654.3A
Other languages
Chinese (zh)
Other versions
CN106049834A (en
Inventor
卢贤资
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen class Zhai robot Co., Ltd.
Original Assignee
Shenzhen Class Zhai Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Class Zhai Robot Co Ltd filed Critical Shenzhen Class Zhai Robot Co Ltd
Priority to CN201610343654.3A priority Critical patent/CN106049834B/en
Publication of CN106049834A publication Critical patent/CN106049834A/en
Application granted granted Critical
Publication of CN106049834B publication Critical patent/CN106049834B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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 outdoor architecture wall plaster machine people based on parallel institution, including fixed frame, six side chains in parallel are separately installed with fixed frame, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate;Upper mounting plate upper surface is symmetrically installed with four lifting side chains, lifting side chain includes two mounting posts, No.1 rotary shaft is provided with by bearing between the upper end of two mounting posts, driven pulley is provided with by key in No.1 rotary shaft, slided on the inwall of driven pulley and mutually post steel wire rope, the top of steel wire rope is wrapped on driving pulley, driving pulley is arranged in No. two rotary shafts by key, the both ends of No. two rotary shafts are separately mounted in two lifting plates by bearing, two lifting plate lower ends are welded on upper mounting plate, No. two one end of rotary shaft away from mounting post are provided with lifting motor by shaft coupling.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 outdoor architecture wall plaster machine people based on parallel institution
Technical field
The present invention relates to building decoration equipment, specifically a kind of outdoor architecture wall plaster machine based on parallel institution People.
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 outdoor architecture wall plaster machine based on parallel institution People, can solve existing artificial to paint that labor intensity existing for metope mode is big, paints that speed is slow, rendering degree is uneven, work Make efficiency is low, automaticity is low, rendering process has jitter phenomenon, lifting paint process device jitter phenomenon, powder be present Brush stability difference and paint the problems such as quality is low, it is possible to achieve stable lifting automatic plastering function, have paint speed soon, Rendering degree uniformly, without manually painting, the advantages that operating efficiency is high, good and rendering quality of painting stability is high, eliminate Situation is shaken present in manual operation and equipment 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 outdoor based on parallel institution Building wall rendering robot, including fixed frame, six side chains in parallel, six parallel connections are separately installed with the fixed frame The upper end of side chain is uniformly arranged on upper mounting plate;The upper mounting plate upper surface is symmetrically installed with four lifting side chains, lifts side chain Two mounting posts including being welded on upper mounting plate upper surface, No.1 is provided with by bearing between the upper end of two mounting posts and rotated Axle, driven pulley is provided with by key in No.1 rotary shaft, is slided on the inwall of driven pulley and mutually posts steel wire rope, steel wire rope Top is wrapped on driving pulley, and driving pulley is arranged in No. two rotary shafts by key, every in the both ends of No. two rotary shafts One end is respectively separately mounted in a lifting plate by bearing, and two lifting plate lower ends are welded on upper mounting plate, and No. two turn The one end of moving axis away from mounting post is provided with lifting motor by shaft coupling, and lifting motor is fixedly mounted on motor rack, motor Frame is arranged on upper mounting plate;The bottom of the steel wire rope is wrapped on draw ring, and four draw ring lower ends weldering of four lifting side chains It is connected on traveling table, four lifting travellers is symmetrically arranged with the both ends side wall of traveling table, every lifting traveller rises with every It is connected between drop chute by sliding matching mode, the back of every lifting chute is respectively welded at every of each lifting side chain In mounting post, and the bottom of four lifting chutes is welded on upper mounting plate, passes through four lifting travellers and four lifting chutes Spaced motion enable traveling table smoothly to carry out elevating movement, and the present invention drives work simultaneously by four lifting side chains Dynamic platform makees the mode of elevating movement, and the lifting driving force that traveling table is subject to is uniform, adds the stationary performance of lifting, improves work Make efficiency;Rendering manipulator is provided with by screw in the middle part of the traveling table upper surface.When the present invention starts working, four rise Four lifting motors on descending branch chain start simultaneously at work, and lifting motor drives No. two rotary shafts to rotate, and No. two rotary shafts drive Driving pulley rotates, so as to which by steel wire rope, in driving pulley contractile motion, with the continuous change of steel wire rope, steel wire rope passes through biography Rotation of the movable pulley in No.1 rotary shaft drives draw ring to make elevating movement, and four four draw rings lifted on side chains rise at four Drop and drive traveling table to make stable elevating movement under the spaced motion of traveller and four lifting chutes, traveling table synchronous drive is painted Manipulator makees elevating movement, and motion is painted so that painting manipulator and starting stable automatic lifting of making.
As a preferred technical solution of the present invention, the fixed frame includes lower platform, the lower platform lower surface Four universal wheels are symmetrically arranged with, can be arbitrarily moved to of the invention below required rendering metope by four universal wheels, behaviour Make simplicity, the upper surface middle part of lower platform is provided with power transmission shaft by bearing, and the middle part of power transmission shaft is provided with driving cog by key Wheel, travelling gear is in axial direction meshed with six transmission branch chains respectively, by six transmission branch chains from six angles simultaneously The mode rotated with nutating gear adds transmission twisting resistance, improves the stationarity of transmission, transmission branch chain is led to including bottom Driving motor of the motor cabinet on lower platform is crossed, the output end of driving motor is connected by shaft coupling with drive shaft, is driven The middle part of axle is provided with drive gear by key, and drive gear is meshed with travelling gear, and six in six transmission branch chains Drive shaft upper end is connected by bearing with supporting table, and driving motor drives drive shaft turns, and drive shaft drives sliding tooth rotation It is dynamic, so as to constitute the planetary gear mechanism rotated by six drive gears with nutating gear, improve the flat of transmission Stability;The middle part of the supporting table is connected by bearing with power transmission shaft, and the lower surface of supporting table has along the square uniform welding of axis Six roots of sensation support column, the lower surface of six roots of sensation support column are installed on lower platform, and six roots of sensation support column, which plays, uniformly fixes supporting table Function, so that power transmission shaft can be rotated stably under the drive of planetary gear mechanism in supporting table;The biography The upper end of moving axis is connected by shaft coupling with turn-screw, and the mode that is connected through a screw thread in the middle part of turn-screw is provided with transmission and slided Block, driving block are regular hexagon structure, and each end face of driving block is welded with a mobile column, the end of every mobile column End is installed on a No.1 line slide rail, is welded on by the regular hexagon structure of driving block on driving block Six roots of sensation mobile column can make stable elevating movement under the drive of turn-screw on six No.1 line slide rails, and each No.1 is straight Line slide rail is arranged in every piece of supporting plate by screw, and the lower end of every piece of supporting plate is welded on lower platform, and six pieces of supporting plates rise To the effect of six No.1 line slide rails of fixed support, stability of the mobile column in corresponding No.1 line slide rail is added;It is described A spacing pillar is welded with the upper end inwall of every piece of supporting plate, the middle part of every limited post offers a square limit Position mouth, the end of every spacing pillar is welded on fixed station, the upper end phase that the middle part of fixed station passes through bearing and turn-screw Even;The upper surface of the every mobile column is provided with a side chain in parallel, and the middle part of each side chain in parallel is located in correspondingly In the square limited mouth of spacing pillar, the square limited mouth of spacing pillar plays a part of limiting side chain range of movement in parallel, leads to Cross six roots of sensation mobile column drives six side chains in parallel to make elevating movement respectively, and six side chain synchronous drive upper mounting plates in parallel make lifting fortune It is dynamic, by the stable drive performance of planetary gear mechanism, the stability in lifting process is improved, so that of the invention It can realize and paint adjustable for height function, need not increase extraneous jacking equipment when required rendering metope is too high, improve work Make efficiency;The side chain in parallel includes the hollow lower thread spindle that lower end is welded in mobile column, passes through spiral shell on hollow lower thread spindle Line connected mode is provided with No.1 ball pivot, and the upper end of No.1 ball pivot is connected through a screw thread mode and is provided with No.1 sleeve, No.1 set The upper end of cylinder is connected through a screw thread mode and is provided with No.1 hydraulic cylinder, and the upper end of No.1 hydraulic cylinder is connected through a screw thread mode and installed There are No. two sleeves, the upper end of No. two sleeves is connected through a screw thread mode and is provided with No. two ball pivots, and the upper end of No. two ball pivots passes through spiral shell Line connected mode is provided with hollow upper thread spindle, and hollow upper thread spindle is welded on the lower surface of upper mounting plate, and the present invention passes through one The prismatic pair P formed when the spherical pair S that is formed during the work of number ball pivot, No.1 hydraulic cylinder extension and formed during No. two ball pivots work Spherical pair S constitutes SPS parallel connection side chains, and the fixed frame in the present invention is used as fixed platform, six SPS parallel connections side chains, upper flat Platform constitutes 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, bearing capacity Greatly, stability is good and the advantages that kinematic accuracy is high, and the six No.1 hydraulic cylinders passed through on six side chains in parallel adjust rigid support Angle, and because the advantages of 6-SPS parallel institutions make it that this invention removes present in manual operation and equipment lifting process Shake situation, 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 traveling table 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 No. two are provided with the inwall of every piece of rendering baffle plate Line slide rail;Two No. two hydraulic cylinders, the top peace of two No. two hydraulic cylinders are symmetrically installed with the inwall for painting support plate Equipped with sliding block is painted, the both ends for painting sliding block are symmetrically welded with two rendering travellers, and every is painted traveller end and is arranged on one On No. two line slide rails, No. two hydraulic cylinders drive under two limited support motions for painting traveller and No. two line slide rails and painted Sliding block is stable to be moved back and forth;The upper surface for painting sliding block is symmetrically welded with two L-types and paints plate, and two L-types paint plate Rendering side chain is provided with by bearing between end, paints between side chain can paint plate in the presence of external force in two L-types and turns It is dynamic, automatic plastering work is carried out to metope by painting side chain;One piece is welded with the outer wall of every piece of rendering baffle plate to hang down Straight boatswain chair, horizontal boatswain chair is welded between two pieces of vertical boatswain chair lower ends, annular chuck, ring are provided with the middle part of horizontal boatswain chair upper surface Charging basket is installed in shape chuck, the coating for painting metope is laid in charging basket, annular chuck plays spacing and fixed supporting material The effect of bucket;The upper surface of the horizontal boatswain chair is symmetrically installed with two paint pumps by screw, and the import of each paint pump is led to Cross a feed pipe with charging basket to be connected, paint pump extracts the coating in charging basket by feed pipe, and the outlet of each paint pump passes through A piece discharge nozzle is connected with painting the both ends of side chain, and paint pump is conveyed to rendering branch from the coating that charging basket extracts by discharge nozzle Chain;The side chain that paints includes passing through two connecting shafts that bearing is arranged on two L-types rendering plates, is set inside each connecting shaft A feeding-passage is equipped with, two feeding-passages are connected with two discharge nozzles, and the coating to come by discharge nozzle conveying enters Into feeding-passage;Rendering cylinder is welded between two connecting shafts, is painted uniform in the axial direction on the outer wall of cylinder Flexible render hair is provided with, cylinder interior is painted and is provided with and collect cavity volume, collects two chargings on cavity volume and two connecting shafts Passage is connected, and the painting entered in feeding-passage, which is expected to collect in cavity volume, to be collected, and paints cylinder interior in the axial direction Tapping channel is evenly arranged with, is connected inside tapping channel with collecting cavity volume, tapping channel outside and the bottom of flexible render hair Portion is connected, and collects cavity volume and evenly distributes coating to tapping channel, and coating is supplied into flexible render hair by tapping channel.When After the present invention starts working, first the flexible render hair painted on side chain is close on required rendering metope, two No. two hydraulic pressure Cylinder is first started working, and No. two hydraulic cylinders drive to paint and slided under two limited support motions for painting traveller and No. two line slide rails The stable stretching motion of block work, paints the rendering side chain that sliding block drives two L-types to paint between plates and is synchronized with the movement, when rendering side chain On flexible render hair be close to needed for paint metope when No. two hydraulic cylinders be stopped, now two paint pumps start simultaneously at work Make, two paint pumps extract the coating in charging basket by two feed pipes, again lead to coating respectively by the high pressure of paint pump Cross in two feeding-passages that two discharge nozzles are delivered in two connecting shafts, remittance is expected in the painting entered in two feeding-passages Collection cavity volume is collected, and is collected cavity volume and is evenly distributed coating to tapping channel, coating is supplied into flexible powder by tapping channel Bristle, the flexible render hair of plastering machine tool on hand stablize to metope oneself is driven under the lifting auxiliary of six side chains in parallel Move lifting and paint motion, rendering speed is fast, and rendering degree is uniform, and operating efficiency is high.
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 four Four lifting motors on individual lifting side chain start simultaneously at work, and lifting motor drives No. two rotary shafts to rotate, No. two rotary shafts Driving pulley is driven to rotate, so as to which in driving pulley contractile motion, with the continuous change of steel wire rope, steel wire rope leads to by steel wire rope Crossing rotation of the driven pulley in No.1 rotary shaft drives draw ring to make elevating movement, and four four draw rings lifted on side chains are four Root lifts drives traveling table to make stable elevating movement, traveling table synchronous drive under the spaced motion of traveller and four lifting chutes Paint manipulator and make elevating movement, at the same time, two paint pumps start simultaneously at work, and two paint pumps pass through two feed pipes The coating in charging basket is extracted, coating is delivered to two connecting shafts by two discharge nozzles respectively again by the high pressure of paint pump On two feeding-passages in, the painting entered in two feeding-passages expects that collecting cavity volume is collected, collect cavity volume will apply Material is evenly distributed to tapping channel, and coating is supplied into flexible render hair by tapping channel, auxiliary in the lifting of six side chains in parallel The automatic lifting for helping the flexible render hair of lower drive plastering machine tool on hand to stablize metope paints motion, and rendering speed is fast, Rendering degree is uniform, and operating efficiency is high, and due to the fixed frame in the present invention as fixed platform, six SPS parallel connections side chains, on Platform constitutes 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, bearing capacity Greatly, stability is good and the advantages that kinematic accuracy is high, and the present invention is by the premium properties of 6-SPS parallel institutions so that plastering machine Tool hand can remain steady during lifting automatic plastering is carried out, and eliminate and deposited in manual operation and equipment lifting process Shake situation, it is good to paint stability, paints that quality is high, 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, lifting automatic plastering is being carried out so that painting manipulator by the premium properties of 6-SPS parallel institutions During can remain steady, eliminate and situation shaken present in manual operation and equipment lifting process, paint stable Performance is good, paints quality height, and operating efficiency is high;
3rd, the present invention drives traveling table to put down by way of four four lifting motors lifted on side chain work simultaneously Steady elevating movement so that the lifting driving force that traveling table is subject to is uniform, adds the stationary performance of lifting, improves work effect Rate;
4th, 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;
5th, 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;
6th, 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 that the present invention removes fixed frame, side chain in parallel and the structural representation painted after manipulator;
Fig. 6 is that the present invention removes fixed frame, side chain in parallel and the front view painted after manipulator;
Fig. 7 is that the present invention removes fixed frame, side chain in parallel and the top view painted after manipulator;
Fig. 8 is the structural representation that the present invention paints manipulator;
Fig. 9 is the full sectional view that the present invention paints manipulator;
Figure 10 is the right view that the present invention paints manipulator;
Figure 11 is Fig. 9 of the present invention I to partial enlarged drawing;
Figure 12 is Fig. 9 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 12, a kind of outdoor architecture wall plaster machine people based on parallel institution, including fixed frame 1, six side chains 2 in parallel are separately installed with the fixed frame 1, and the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3 On;The upper surface of upper mounting plate 3 is symmetrically installed with four lifting side chains 83, and lifting side chain 83 includes being welded on the upper end of upper mounting plate 3 Two mounting posts 831 in face, are provided with No.1 rotary shaft 831a between the upper end of two mounting posts 831 by bearing, and No.1 turns Driven pulley 832 is provided with by key on moving axis 831a, is slided on the inwall of driven pulley 832 and mutually posts steel wire rope 833, steel wire The top of rope 833 is wrapped on driving pulley 834, and driving pulley 834 is arranged on No. two rotary shaft 834a by key, and No. two turn Every one end in moving axis 834a both ends is respectively separately mounted in a lifting plate 835 by bearing, two lifting plates 835 Lower end is welded on upper mounting plate 3, and No. two one end of rotary shaft 834a away from mounting post 831 are provided with lifting motor by shaft coupling 836, lifting motor 836 is fixedly mounted on motor rack 836a, and motor rack 836a is arranged on upper mounting plate 3;The steel wire rope 833 Bottom be wrapped on draw ring 837, and four lower ends of draw ring 837 of four lifting side chains 83 are welded with traveling table 84, living Four lifting travellers 85 are symmetrically arranged with the both ends side wall of dynamic platform 84, between every lifting traveller 85 and every lifting chute 86 It is connected by sliding matching mode, the back of every lifting chute 86 is respectively welded at every mounting post of each lifting side chain 83 On 831, and the bottom of four lifting chutes 86 is welded on upper mounting plate 3, is slided by four lifting travellers 85 and four liftings The spaced motion of groove 86 enables traveling table 84 smoothly to carry out elevating movement, and the present invention is same by four lifting side chains 83 When drive traveling table 84 to make the mode of elevating movement, the lifting driving force that traveling table 84 is subject to is uniform, adds the steady of lifting Performance, improve operating efficiency;It is provided with the middle part of the upper surface of traveling table 84 by screw and paints manipulator 9.Work as the present invention During start-up operation, four lifting motors 836 on four lifting side chains 83 start simultaneously at work, and lifting motor 836 drives No. two Rotary shaft 834a is rotated, and No. two rotary shaft 834a drive driving pulley 834 to rotate, so that by steel wire rope 833 in driving pulley 834 Contractile motion, with the continuous change of steel wire rope 833, steel wire rope 833 is by driven pulley 832 on No.1 rotary shaft 831a Rotate and drive draw ring 837 to make elevating movement, four four draw rings 837 lifted on side chains 83 lift travellers 85 and four at four Lift and drive traveling table 84 to make stable elevating movement under the spaced motion of chute 86, the synchronous drive of traveling table 84 paints manipulator 9 make elevating movement, and motion is painted so that painting manipulator 9 and starting stable automatic lifting of making.
The fixed frame 1 includes lower platform 11, and the lower surface of lower platform 11 is symmetrically arranged with four universal wheel 11a, By four universal wheel 11a can by it is of the invention arbitrarily be moved to needed for paint below metope, it is easy to operate, lower platform 11 it is upper Power transmission shaft 12 is provided with by bearing in the middle part of end face, the middle part of power transmission shaft 12 is provided with travelling gear 13, travelling gear by key 13 are in axial direction meshed with six transmission branch chains 14 respectively, and biography is driven simultaneously from six angles by six transmission branch chains 14 The mode that moving gear 13 rotates adds transmission twisting resistance, improves the stationarity of transmission, transmission branch chain 14 passes through including bottom Motor cabinet is arranged on the driving motor 141 on lower platform 11, and the output end of driving motor 141 passes through shaft coupling and drive shaft 142 It is connected, the middle part of drive shaft 142 is provided with drive gear 143 by key, and drive gear 143 is meshed with travelling gear 13, and Six upper ends of drive shaft 142 in six transmission branch chains 14 are connected by bearing with supporting table 15, and driving motor 41, which drives, to be driven Moving axis 142 rotates, and drive shaft 142 drives drive gear 143 to rotate, and transmission is driven by six drive gears 143 so as to constitute The planetary gear mechanism that gear 13 rotates, improve the stationarity of transmission;The middle part of the supporting table 15 by bearing with Power transmission shaft 12 is connected, and there is six roots of sensation support column 16 lower surface of supporting table 15 along the square uniform welding of axis, six roots of sensation support column 16 Lower surface is installed on lower platform 11, and six roots of sensation support column 16 plays the function of uniformly fixed supporting table 15, so that transmission What axle 12 can be stablized under the drive of planetary gear mechanism rotates in supporting table 15;The upper end of the power transmission shaft 12 leads to Cross shaft coupling with turn-screw 17 to be connected, the middle part of turn-screw 17 is connected through a screw thread mode and is provided with driving block 18, passes Movable slider 18 is regular hexagon structure, and each end face of driving block 18 is welded with a mobile column 19, every mobile column 19 End be installed on a No.1 line slide rail 110, biography is welded on by the regular hexagon structure of driving block 18 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, each No.1 line slide rail 110 are arranged in every piece of supporting plate 111 by screw, the lower end of every piece of supporting plate 111 It is welded on lower platform 11, six pieces of supporting plates 111 play a part of six No.1 line slide rails 110 of fixed support, add shifting Stability of the dynamic post 19 in corresponding No.1 line slide rail 110;One is welded with the upper end inwall of every piece of supporting plate 111 Spacing pillar 112, the middle part of every limited post 112 offer a square limited mouth, the end weldering of every 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;The every mobile column 19 upper surface is provided with a side chain 2 in parallel, and the middle part of each side chain 2 in parallel is located in corresponding spacing pillar 112 In square limited mouth, the square limited mouth of spacing pillar 112 plays a part of limiting the range of movement of side chain 2 in parallel, passes through the six roots of sensation Mobile column 19 drives six side chains 2 in parallel to make elevating movement respectively, and six synchronous drive upper mounting plates 3 of side chain 2 in parallel make lifting fortune It is dynamic, by the stable drive performance of planetary gear mechanism, the stability in lifting process is improved, so that of the invention It can realize and paint adjustable for height function, need not increase extraneous jacking equipment when required rendering metope is too high, improve work Make efficiency;The side chain in parallel 2 includes lower end and is welded on hollow lower thread spindle 21 in mobile column 19, on hollow lower thread spindle 21 The mode of being connected through a screw thread 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 set Cylinder 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, and the upper end of No.1 hydraulic cylinder 24 leads to Cross thread connecting mode and No. two sleeves 25 are installed, the upper end of No. two sleeves 25 is connected through a screw thread mode and is provided with 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, and hollow upper thread spindle 27 is welded on On the lower surface of upper mounting plate 3, when spherical pair S, No.1 hydraulic cylinder 24 that the present invention is formed when being worked by No.1 ball pivot 22 stretch The spherical pair S that the prismatic pair P of formation and No. two ball pivots 26 are formed when working constitutes SPS parallel connections side chain 2, and consolidating in the present invention Determine frame 1 and constitute 6-SPS parallel institutions, 6-SPS as moving platform as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 Parallel institution has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, passes through six Six No.1 hydraulic cylinders 24 regulation rigid support angle on side chain 2 in parallel, and because the advantages of 6-SPS parallel institutions causes this Invention, which eliminates, shakes situation present in manual operation and equipment lifting process, rendering stability is good, and rendering degree is uniform, Operating efficiency is high.
The stator 91 for painting manipulator 9 and including being arranged on by screw on traveling table 84, the upper end of stator 91 Middle face, 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 of support plate 93 Two pieces of rendering baffle plates 94 are symmetrically welded with, No. two line slide rails are provided with by screw 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 On a No. two line slide rail 94a, No. two hydraulic cylinders 95 paint traveller 96a's and No. two line slide rail 94a at two Lower drive of limited support motion paints moving back and forth for the stabilization of sliding block 96;The upper surface for painting sliding block 96 is symmetrically welded with two Individual L-type paints 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 outside It can be rotated in the presence of power between two L-types paint plate 97, automatic plastering work is carried out to metope by painting side chain 98; One piece of vertical boatswain chair 99 is welded with the outer wall of every piece of rendering baffle plate 94, water is welded between two pieces of vertical lower ends of boatswain chair 99 Flat boatswain chair 910, the horizontal upper surface of boatswain chair 910 middle part are provided with annular chuck 911, charging basket 912 are provided with annular chuck 911, The coating for painting metope is laid in charging basket 912, annular chuck 911 plays a part of spacing and fixed support charging basket 912;Institute The upper surface for stating horizontal boatswain chair 910 is symmetrically installed with two paint pumps 913 by screw, and the import of each paint pump 913 passes through A piece feed pipe 914 is connected with charging basket 912, and paint pump 913 extracts the coating in charging basket 912, each coating by feed pipe 914 The outlet of pump 913 is connected by a discharge nozzle 915 with painting the both ends of side chain 98, the painting that paint pump 913 extracts from charging basket 912 Material is conveyed to by discharge nozzle 915 and paints side chain 98;The rendering side chain 98 includes being arranged on two L-types rendering plates by bearing Two connecting shafts 981 on 97, each connecting shaft 981 are internally provided with feeding-passage a 981a, two feeding-passage 981a It is connected with two discharge nozzles 915, conveying the coating to come by discharge nozzle 915 enters in feeding-passage 981a;Described two It is welded between root connecting shaft 981 and paints cylinder 982, is uniformly arranged in the axial direction on the outer wall of rendering cylinder 982 flexible Hair 983 is painted, cylinder 982 is painted and is internally provided with and collect cavity volume 982a, collect two on cavity volume 982a and two connecting shafts 981 Individual feeding-passage 981a is connected, and the painting entered in feeding-passage 981a is expected to collect to be collected in cavity volume 982a, paints Tapping channel 982b is evenly arranged with inside cylinder 982 in the axial direction, tapping channel 982b inside is with collecting cavity volume 982a phases Connection, be connected with the bottom of flexible render hair 983 outside tapping channel 982b, collect cavity volume 982a by coating evenly distribute to Tapping channel 982b, coating is supplied by flexible render hair 983 by tapping channel 982b.After the present invention starts working, first will The flexible render hair 983 painted on side chain 98 is painted on metope needed for being close to, and two No. two hydraulic cylinders 95 are first started working, and two Number hydraulic cylinder 95 drives rendering sliding block 96 to make under two limited supports motions for painting traveller 96a and No. two line slide rail 94a Stable stretching motion, paint the rendering side chain 98 that sliding block 96 drives two L-types to paint between plate 97 and be synchronized with the movement, when rendering branch Flexible render hair 983 on chain 98 is close to required No. two hydraulic cylinders 95 when painting metope and is stopped, now two paint pumps 913 start simultaneously at work, and two paint pumps 913 extract the coating in charging basket 912 by two feed pipes 914, by paint pump Coating is delivered to two feeding-passages in two connecting shafts 981 by 913 high pressure by two discharge nozzles 915 respectively again In 981a, the painting entered in two feeding-passage 981a expects that collecting cavity volume 982a is collected, and collecting cavity volume 982a will apply Material, which evenly distributes, gives tapping channel 982b, and coating is supplied into flexible render hair 983 by tapping channel 982b, in six branch in parallel The lower automatic lifting for driving 983 pairs of metopes of flexible render hair on plastering machine tool hand 9 to be stablized of lifting auxiliary of chain 2 paints fortune Dynamic, 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 four lifting side chains 83 on four lifting motors 836 start simultaneously at work, lifting motor 836 drives No. two rotary shaft 834a Rotate, No. two rotary shaft 834a drive driving pulleys 834 to rotate, so as to by steel wire rope 833 in the contractile motion of driving pulley 834, With the continuous change of steel wire rope 833, steel wire rope 833 is driven by rotation of the driven pulley 832 on No.1 rotary shaft 831a Draw ring 837 makees elevating movement, and four four draw rings 837 lifted on side chains 83 lift travellers 85 and four lifting chutes at four Traveling table 84 is driven to make stable elevating movement under 86 spaced motion, the synchronous drive of traveling table 84 is painted manipulator 9 and lifted Motion, at the same time, two paint pumps 913 start simultaneously at work, and two paint pumps 913 extract material by two feed pipes 914 Coating in bucket 912, coating is delivered to two companies by two discharge nozzles 915 respectively again by the high pressure of paint pump 913 In two feeding-passage 981a in spindle 981, the painting entered in two feeding-passage 981a expects that collecting cavity volume 982a enters Row collects, and collects cavity volume 982a and evenly distributes coating and gives tapping channel 982b, is supplied coating by tapping channel 982b soft Property paint hair 983,983 pairs of metopes 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 stablized paints motion, and rendering speed is fast, and rendering degree is uniform, and operating efficiency is high, and due in the present invention Fixed frame 1 constitute 6-SPS parallel institutions as moving platform as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3, 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, this hair The bright premium properties by 6-SPS parallel institutions so that paint manipulator 9 can be with during lifting automatic plastering is carried out Remain steady, eliminate and situation is shaken present in manual operation and equipment lifting process, rendering stability is good, paints Quality is high, and operating efficiency is high, solves and existing artificial paints that labor intensity existing for metope mode is big, it is slow to paint speed, paints Degree is uneven, operating efficiency is low, automaticity is low, rendering process has jitter phenomenon, lifting is painted process device and deposited In jitter phenomenon, paint stability difference and paint the problems such as quality is low, 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 (5)

  1. A kind of 1. outdoor architecture wall plaster machine people based on parallel institution, it is characterised in that:Including fixed frame (1), institute State and six side chains (2) in parallel are separately installed with fixed frame (1), the upper end of six side chains (2) in parallel is uniformly arranged on upper put down On platform (3);Upper mounting plate (3) upper surface is symmetrically installed with four lifting side chains (83), and lifting side chain (83) includes being welded on Two mounting posts (831) of upper mounting plate (3) upper surface, No.1 is provided with by bearing between the upper end of two mounting posts (831) Rotary shaft (831a), driven pulley (832), the inwall of driven pulley (832) are provided with by key in No.1 rotary shaft (831a) Steel wire rope (833) is mutually posted in upper slip, and the top of steel wire rope (833) is wrapped on driving pulley (834), driving pulley (834) It is arranged on by key on No. two rotary shafts (834a), every one end in the both ends of No. two rotary shafts (834a) is respectively distinguished by bearing On a lifting plate (835), two lifting plate (835) lower ends are welded on upper mounting plate (3), No. two rotary shafts The one end of (834a) away from mounting post (831) is provided with lifting motor (836), the fixed peace of lifting motor (836) by shaft coupling On motor rack (836a), motor rack (836a) is arranged on upper mounting plate (3);The bottom of the steel wire rope (833) is wrapped in On draw ring (837), and four draw ring (837) lower ends of four lifting side chains (83) are welded with traveling table (84), traveling table (84) four lifting travellers (85), every lifting traveller (85) and every lifting chute (86) are symmetrically arranged with both ends side wall Between be connected by sliding matching mode, every lifting chute (86) back be respectively welded at it is each lifting side chain (83) it is every In root mounting post (831), and the bottom of four lifting chutes (86) is welded on upper mounting plate (3);On the traveling table (84) It is provided with the middle part of end face 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) be installed, driving block (18) is regular hexagon structure, driving block (18) it is every Individual end face is welded with a mobile column (19), and the end of every mobile column (19) is installed in a No.1 line slide rail (110) on, each No.1 line slide rail (110) is arranged on every piece of supporting plate (111) by screw, every piece of supporting plate (111) Lower end be welded on lower platform (11);A spacing pillar is welded with the upper end inwall of every piece of supporting plate (111) (112), the middle part of every limited post (112) offers a square limited mouth, the end welding of every spacing pillar (112) On fixed station (113), the middle part of fixed station (113) is connected by bearing with the upper end of turn-screw (17);The every shifting The upper surface of dynamic post (19) is provided with a side chain (2) in parallel, and the middle part of each side chain (2) in parallel be located in it is corresponding spacing In the square limited mouth of pillar (112);
    The stator (91) for painting manipulator (9) and including being arranged on by screw on traveling table (84), stator (91) It is welded with the middle part of upper surface and paints pillar (92), the end for painting pillar (92) is welded with rendering support plate (93), paints support plate (93) inwall both ends are symmetrically welded with two pieces and paint baffle plate (94), are installed on every piece of inwall for painting baffle plate (94) by screw There are No. two line slide rails (94a);Two No. two hydraulic cylinders (95) are symmetrically installed with the inwall for painting support plate (93), The top of two 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 powder Brush traveller (96a), every is painted traveller (96a) end and is arranged 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 every piece outer wall for painting baffle plate (94), two pieces are vertically hung Horizontal boatswain chair (910) is welded between plate (99) lower end, annular chuck (911) is provided with the middle part of horizontal boatswain chair (910) upper surface, Charging basket (912) is installed in annular chuck (911);The upper surface of the horizontal boatswain chair (910) is symmetrically installed with two by screw Individual paint pump (913), the import of each paint pump (913) are connected by a feed pipe (914) with charging basket (912), each to apply The outlet of material pump (913) is connected by a discharge nozzle (915) with painting the both ends of side chain (98).
  2. A kind of 2. outdoor architecture wall plaster machine people based on parallel institution according to claim 1, it is characterised in that: Two connecting shafts (981) painted side chain (98) and include being arranged on two L-types by bearing and painting on plate (97), Mei Gelian Spindle (981) is internally provided with a feeding-passage (981a), and two feeding-passages (981a) are connected with two discharge nozzles (915) It is logical;It is welded between two connecting shafts (981) and paints cylinder (982), is painted on the outer wall of cylinder (982) in the axial direction Flexible render hair (983) is evenly arranged with, cylinder (982) is painted and is internally provided with and collect cavity volume (982a), collect cavity volume (982a) is connected with two feeding-passages (981a) on two connecting shafts (981), and it is internal along axis side to paint cylinder (982) To tapping channel (982b) is evenly arranged with, it is connected inside tapping channel (982b) with collecting cavity volume (982a), tapping channel It is connected outside (982b) with the bottom of flexible render hair (983).
  3. A kind of 3. outdoor architecture wall plaster machine people based on parallel institution according to claim 1, it is characterised in that: It is arranged between six transmission branch chains (14) and six roots of sensation support column (16) using interlaced mode on lower platform (11).
  4. A kind of 4. outdoor architecture wall plaster machine people based on parallel institution according to claim 1, it is characterised in that: The central axis of the central axis and upper mounting plate (3) of the lower platform (11) coincides.
  5. A kind of 5. outdoor architecture wall plaster machine people based on parallel institution according to claim 1, it is characterised in that: The side chain in parallel (2) includes the hollow lower thread spindle (21) that lower end is welded in mobile column (19), hollow lower thread spindle (21) On be connected through a screw thread mode No.1 ball pivot (22) be installed, 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) are connected through a screw thread mode and are provided with No.1 hydraulic cylinder (24), No.1 hydraulic pressure The upper end of cylinder (24) 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 is provided with No. two ball pivots (26), and 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).
CN201610343654.3A 2016-05-22 2016-05-22 A kind of outdoor architecture wall plaster machine people based on parallel institution Active CN106049834B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610343654.3A CN106049834B (en) 2016-05-22 2016-05-22 A kind of outdoor architecture wall plaster machine people based on parallel institution

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610343654.3A CN106049834B (en) 2016-05-22 2016-05-22 A kind of outdoor architecture wall plaster machine people based on parallel institution

Publications (2)

Publication Number Publication Date
CN106049834A CN106049834A (en) 2016-10-26
CN106049834B true CN106049834B (en) 2018-01-16

Family

ID=57177373

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610343654.3A Active CN106049834B (en) 2016-05-22 2016-05-22 A kind of outdoor architecture wall plaster machine people based on parallel institution

Country Status (1)

Country Link
CN (1) CN106049834B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107035115B (en) * 2017-06-09 2019-01-29 深圳时代装饰股份有限公司 It is a kind of can accurate adjusting position indoor decoration process equipment
CN107893525A (en) * 2017-12-01 2018-04-10 楼德耀 A kind of multi-use architecture decorates painting device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101691808A (en) * 2009-10-09 2010-04-07 河北工业大学 Plate dry-hanging and mounting robot
CN101693368A (en) * 2009-10-09 2010-04-14 河北工业大学 Large plate installation mechanical arm
CN101862928A (en) * 2010-06-04 2010-10-20 北京工业大学 Robot parallel mechanism with rotation and lifting two degrees of freedom
CN104500646A (en) * 2014-12-22 2015-04-08 东莞中国科学院云计算产业技术创新与育成中心 Intelligent anti-vibration three-dimensional printer for ship
CN104631801A (en) * 2015-02-28 2015-05-20 许博 Architectural coating spraying robot
CN105568906A (en) * 2015-12-24 2016-05-11 广西大学 Multifunctional cleaning mechanism for city cleaning

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7806613B2 (en) * 2005-09-21 2010-10-05 Apla-Tech, Inc. Drywall compound dispensing system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101691808A (en) * 2009-10-09 2010-04-07 河北工业大学 Plate dry-hanging and mounting robot
CN101693368A (en) * 2009-10-09 2010-04-14 河北工业大学 Large plate installation mechanical arm
CN101862928A (en) * 2010-06-04 2010-10-20 北京工业大学 Robot parallel mechanism with rotation and lifting two degrees of freedom
CN104500646A (en) * 2014-12-22 2015-04-08 东莞中国科学院云计算产业技术创新与育成中心 Intelligent anti-vibration three-dimensional printer for ship
CN104631801A (en) * 2015-02-28 2015-05-20 许博 Architectural coating spraying robot
CN105568906A (en) * 2015-12-24 2016-05-11 广西大学 Multifunctional cleaning mechanism for city cleaning

Also Published As

Publication number Publication date
CN106049834A (en) 2016-10-26

Similar Documents

Publication Publication Date Title
CN206824063U (en) A kind of automatic tree whitewashing machine of spary bind lines planetary
CN206512987U (en) A kind of wall plastering equipment for construction
CN203450833U (en) Annular piece alternating feeding device
CN106718680A (en) A kind of Multifunctional spray irrigation equipment for afforestation
CN206487127U (en) Civil engineering work construction bracket
CN108590132B (en) Automatic paint spraying machine
CN109866087A (en) A kind of device and its processing method of full-automation processing graphite alkene self-lubricating guide plate
CN207062370U (en) A kind of multi-arc ion coating pivoted frame and multi-arc ion coating film device
CN206405838U (en) A kind of tubular construction material sanding apparatus
CN207192475U (en) A kind of cable coiling device that can quickly wind cable
CN206621054U (en) A kind of stool for student
CN108031773B (en) A kind of stainless steel wire variable diameter process equipment and its workflow
CN107379964A (en) A kind of small-sized lifting conveyer of municipal gardens civil construction
CN107780628A (en) A kind of inner wall of building flour brush device
CN101972759A (en) Bearing ring bore washing machine
CN206392534U (en) A kind of 200L metal buckets cleaning equipment
CN106216282B (en) A kind of charged electric power apparatus insulation cleaning plant
CN208150557U (en) A kind of scraper-type is closed a position machine
CN107802204A (en) A kind of office building high-altitude glass curtain wall cleaning intelligent robot
CN206735494U (en) A kind of hot-dip galvanizing steel wire spooling equipment
CN107378715A (en) A kind of construction site reinforcing bar derusting dolly
CN107084085B (en) A kind of micro hydraulic turbine easy to remove
CN201862601U (en) Inner bore cleaning machine of bearing ring
CN108756165B (en) Automatic paint spraying machine for decoration wall surface
CN205074904U (en) Solid of revolution polishing production line

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
CB03 Change of inventor or designer information

Inventor after: Lu Xianzi

Inventor before: Shen Yonggen

TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20171221

Address after: 518000 Guangdong city of Shenzhen province Futian District Huaqiang North Huaqiang North Road, Street No. 1019 building 7 floor D

Applicant after: Shenzhen class Zhai robot Co., Ltd.

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.

CB03 Change of inventor or designer information
GR01 Patent grant
GR01 Patent grant