CN106088547A - A kind of high-altitude vertical wall rendering robot - Google Patents
A kind of high-altitude vertical wall rendering robot Download PDFInfo
- Publication number
- CN106088547A CN106088547A CN201610620545.1A CN201610620545A CN106088547A CN 106088547 A CN106088547 A CN 106088547A CN 201610620545 A CN201610620545 A CN 201610620545A CN 106088547 A CN106088547 A CN 106088547A
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- Prior art keywords
- rendering
- plastering roller
- robot
- roller
- plastering
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Abstract
The invention discloses a kind of high-altitude vertical wall rendering robot, including robot body and drive system, drive system includes the upright driving mechanism that driven machine human agent makees vertically to move up and down and the horizontal drive mechanism driving upright driving mechanism to move horizontally；Robot body includes: the housing being connected with upright driving mechanism, is formed with receiving chamber and housing sidewall is provided with rendering mouth in housing；It is built in the rendering mechanism accommodating chamber, paints mechanism and include that outer rim can protrude from the first plastering roller painting mouth；And drive shell is to the first blower fan painting the motion of mouth opening direction.The present invention makees vertically movable and horizontal movement by drive mechanism driven machine human agent along wall, robot body be formed with gap between the walls, it is easy to groove and the window edge crossing on wall, the first blower fan drive shell is then passed through near wall when painting, making the first plastering roller protruding from rendering mouth be connected to wall to paint, it is conducive to improving the motility painted.
Description
Technical field
The present invention relates to wall plaster technology, especially relate to a kind of high-altitude vertical wall rendering robot.
Background technology
High-altitude vertical wall rendering robot is that the device of operation is painted, with regard to current research both domestic and external in a kind of high-altitude that realizes
From the point of view of situation, this type of rendering robot is broadly divided into three classes: the first kind is high-altitude wall rail mounted, generally when building building just by height
Empty wall track installation is on the wall of exterior wall high-altitude, when carrying out outer high-altitude wall and painting operation, by being fixed on the outstanding of roof
Arm hoisting device drags and makes rendering robot complete to paint work along high-altitude wall guide rail side-to-side movement, but outside being arranged on
The track of wall high-altitude wall but limits the structure of high building and greatly have impact on the outward appearance of monolithic architecture, also limit powder simultaneously
The range of application of brush robotic；Equations of The Second Kind is vac sorb high-altitude rendering robot, relies on vacuum cup to be adsorbed onto by robot
On the wall of exterior wall high-altitude, having been moved by the travel mechanism of self and paint work on the wall of high-altitude, this robot is again
The single sucking disc and multi-sucker two kinds absorption move mode can be divided into yet with the method using vacuum pump evacuation to vacuum
The sealing requirements of sucker is higher, and structure is complicated, involves great expense, and the reliability worked and to the adaptability of high-altitude wall also
Poor；3rd class is magnetic suck high-altitude rendering robot, and this rendering robot is dependent on magnetic suck material and is adsorbed onto high-altitude wall
On face, it is generally of stronger absorption affinity, can be implemented in high-altitude wall by magnetic track, wheel, sucker or foot formula structure
On absorption move, and complete paint operation, but this robot can only in the high-altitude wall general work of certain material, thus should
It is greatly limited by scope.
In view of this, it is provided that a kind of simple in construction, with low cost, applied range, adaptable high-altitude vertical wall
Rendering robot becomes present stage problem demanding prompt solution.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, propose a kind of high-altitude vertical wall rendering robot, solve
The technology that prior art high and medium vertical wall rendering robot range of application is little, bad adaptability, structure complicated, cost of manufacture is high
Problem.
For reaching above-mentioned technical purpose, technical scheme provides a kind of high-altitude vertical wall rendering robot, bag
Including robot body and drive system, it is perpendicular that described drive system includes that a described robot body of driving makees vertically to move up and down
Straight drive mechanism and one drives the horizontal drive mechanism that described upright driving mechanism makees horizontal back and forth movement；Described robot body
Including,
The housing being connected with described upright driving mechanism, is formed in described housing in a receiving chamber and described housing sidewall
It is provided with the rendering mouth connected with described receiving chamber；
Being built in the rendering mechanism in described receiving chamber, described rendering mechanism includes that an outer rim can protrude from described rendering mouth
First plastering roller；And
One drives the first blower fan that described housing moves to described rendering mouth opening direction.
Preferably, described robot body also includes sucker, and the absorption end of described sucker is embedded at described housing sidewall also
Arrange with described rendering mouth homonymy.
Preferably, described sucker is positioned at directly over described rendering mouth and absorption end face and the described rendering mouth position of described sucker
In same perpendicular.
Preferably, described robot body also includes the second blower fan, and described housing is provided with the first air port and the second wind
Mouthful, described first air port, the second air port are oppositely arranged with described rendering mouth, sucker respectively, described first blower fan and the second blower fan
All it is built in described receiving chamber, and arranges respectively close to the first air port and the second air port.
Preferably, described rendering mechanism includes the regulation axle of a rotatable set angle and is coaxially disposed respectively in described tune
Two adjustment disks at nodal axisn two ends, described first plastering roller two ends are connected with two adjustment disks respectively, and described first plastering roller
Outer rim protrudes from described adjustment disk outer rim.
Preferably, described rendering mechanism also includes the second plastering roller, the 3rd plastering roller, the 4th plastering roller, described second powder
Brush roll, the 3rd plastering roller, the 4th equal two ends of plastering roller are connected with two described adjustment disks respectively, and described first plastering roller,
Two plastering rollers, the 3rd plastering roller, the 4th plastering roller set gradually along described regulation axle circumference.
Preferably, described robot body include a cleaning mechanism, described cleaning mechanism include being located at the first plastering roller with
Clearer, the compression roller being located between described regulation axle and described clearer between 4th plastering roller, it is located at described receiving chamber
The sump of bottom and connect the drain pipe of described sump, described compression roller outer rim pushes against in described clearer outer rim.
Preferably, described cleaning mechanism also includes the fixing axle being located between described clearer and described first plastering roller
And it is located at the multiple nozzles on described fixing axle, multiple described nozzles are along the evenly distributed setting in described fixing shaft length direction.
Preferably, described rendering mechanism also includes the fabric guide roll being located between described 3rd plastering roller and the second plastering roller
And two nailing guns respectively close to the setting of described fabric guide roll two ends.
Preferably, described rendering mechanism also include respectively with described first plastering roller, the second plastering roller, the 3rd plastering roller,
4th plastering roller the most multiple material supply tank and the multiple materials connected with described material supply tank one_to_one corresponding supply
Ying Guan, and the notch one_to_one corresponding respectively of multiple described material supply tank be connected to described first plastering roller, second paint
Roller, the 3rd plastering roller, the outer rim of the 4th plastering roller.
Compared with prior art, the present invention makees vertically movable and level by drive mechanism driven machine human agent along wall
Motion, robot body be formed with gap between the walls, it is easy to groove and the window edge crossing on wall, then leads to when painting
Crossing the first blower fan drive shell near wall, make to protrude from and paint the first plastering roller of mouth and be connected to wall and paint, it has
It is beneficial to improve the motility painted.
Accompanying drawing explanation
Fig. 1 is the attachment structure schematic diagram of the high-altitude vertical wall rendering robot of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Refer to Fig. 1, The embodiment provides a kind of high-altitude vertical wall rendering robot, including robot master
Body 1 and drive system 2, described drive system 2 includes that a described robot body of driving 1 makees the vertical driving vertically moved up and down
Mechanism 21 and one drives described upright driving mechanism 21 to make the horizontal drive mechanism 22 of horizontal back and forth movement；Described robot body
1 includes,
The housing 11 being connected with described upright driving mechanism 21, is formed with a receiving chamber and described housing in described housing 11
The rendering mouth 111 connected with described receiving chamber it is provided with on 11 sidewalls；
Being built in the rendering mechanism 12 in described receiving chamber, described rendering mechanism 12 includes that an outer rim can protrude from described rendering
First plastering roller 121 of mouth 111；And
One drives the first blower fan 13 that described housing 11 moves to described rendering mouth 111 opening direction.
Concrete, upright driving mechanism 21 includes a hoist engine 211, connects hoist engine 211 and the steel wire rope 212 of housing 11
And pulley 213, horizontal drive mechanism 22 includes guide rail 221, frame 222, roller 223 and drives motor 224, and hoist engine 211 is solid
Being scheduled in frame 222, and pulley 213 is arranged in frame 222, steel wire rope 212 is walked around pulley 213 and is connected with housing 11, drives
Motor 224 driving rolls 223 drives frame 222 to move along guide rail 221.Wherein, guide rail 221 is layed in the height of metope 3 to be painted
Roof portion, and guide rail 221 is arranged in parallel with metope 3 to be painted.
Before rendering, the rendering mouth 111 place sidewall that can arrange housing 11 is oppositely arranged and forms certain interval with metope 3,
This gap general is 20～50cm, arranges relative to the thickness of metope 3 with window edge with specific reference to the projection on metope 3.When needs powder
During brush, driving the first blower fan 13 to act on, the first blower fan 13 produces thrust makes housing 11 move to metope 3, until the first plastering roller
121 outer rims are connected to metope 3, and then rotatable first plastering roller 121 paints, and by drive system 2 driven machine people
Main body 1 is moved, and then realizes the mobile rendering of metope 3, it is possible to arrange a metope travel mechanism 14 and upright driving mechanism 21 and
Horizontal drive mechanism 22 matches and moves at metope 3, and metope travel mechanism 14 can use the conventional travel mechanism of this area, at this
Do not repeat.Wherein, the present embodiment the first plastering roller 121 can be vertically arranged and also can be horizontally disposed with, and the present embodiment preferably employs water
Flat setting, corresponding rendering mouth 111 is also horizontally disposed with.And, the present embodiment the first plastering roller 121 can use the shrinker of routine
Structure is accommodated in receiving intracavity, only when needs paint metope 3, first plastering roller 121 outer rim is protruded from rendering mouth
111., it is conducive to strengthening the protection to the first plastering roller 121.
In order to increase the stability during rendering of the present embodiment robot body 1, described robot body 1 also includes sucker
15, the absorption end of described sucker 15 is embedded at described housing 11 sidewall and arranges, i.e. when the first wind with described rendering mouth 111 homonymy
When machine 13 acts on, sucker 15 acts on the active force producing absorption metope 3 simultaneously, by making while the first blower fan 13 and sucker 15
By the stability ensureing robot body 1, it is to avoid it rotates situation.Wherein, described sucker 15 is positioned at described rendering mouth 111
The absorption end face of surface and described sucker 15 and described rendering mouth 111 are positioned at same perpendicular, thus ensure that housing 11
It is in vertical state, increases the controllability to robot body 1.Wherein, the sucker 15 of the present embodiment specifically may be configured as two
Individual, two suckers 4 are arranged in order setting in the horizontal direction, thus ensure that robot body 1 is positioned at level, it is to avoid during rendering
Shake.
Further, described robot body 1 also includes the second blower fan 16, the first blower fan 13 and the second blower fan 16 when arranging
May be disposed at housing 11 outside and may also set up receiving intracavity, the first blower fan 13 and the second blower fan 16 are preferably arranged at by the present embodiment
Accommodate intracavity, its air-flow being conducive to producing stable equilibrium, improves the stability in the large of robot body 1.Concrete, this enforcement
Example is provided with the first air port 112 and the second air port 113,113 points of the 112, second air port, described first air port on described housing 11
Not being oppositely arranged with described rendering mouth 111, sucker 15, the 112, second air port 113, the i.e. first air port all sets away from metope 3 side
Putting, described first blower fan 13 and the second blower fan 16 are all built in described receiving chamber, and respectively close to the first air port 112 and the second wind
Mouth 113 is arranged, so that the first blower fan 13 is identical with the absorption affinity of sucker 15 with the thrust that the second blower fan 16 produces.Wherein, for
The air-flow avoiding the first air port 112 and the second air port 113 to produce interacts, can by the first air port 112 and the second air port 113
It is arranged on different perpendiculars, two sides specifically housing 11 can being provided parallel to away from the side of metope 3 side,
First air port 112 and the second air port 113 are respectively arranged on two sides.
Paint described in the present embodiment mechanism 12 include the regulation axle 122 of a rotatable set angle and be coaxially disposed respectively in
Two adjustment disks 123 at described regulation axle 122 two ends, described first plastering roller 121 two ends are respectively with two adjustment disks 123 even
Connecing, and described first plastering roller 121 outer rim protrudes from described adjustment disk 123 outer rim, it can rotate to drive by regulation axle 122 and adjust
Joint dish 123 rotates, and then makes the first plastering roller 121 relative accommodation axle 122 rotate, and i.e. when needs paint, rotatably regulates axle
122 make the first plastering roller 121 coordinate protrudes from rendering mouth 111, in order to paint operation, and when need not paint, can be by the
One plastering roller 121 rotates and is accommodated in receiving intracavity, it is to avoid it collides with metope 3 and damages, and it is conducive to extending the first plastering roller
The service life of 121.
When painting due to reality, need metope 3 is painted at many levels, therefore paint mechanism 12 described in the present embodiment and also wrap
Include the second plastering roller the 124, the 3rd plastering roller the 125, the 4th plastering roller 126, described second plastering roller the 124, the 3rd plastering roller 125,
The 4th equal two ends of plastering roller 126 are connected with two described adjustment disks 123 respectively, and described first plastering roller the 121, second plastering roller
124, the 3rd plastering roller the 125, the 4th plastering roller 126 sets gradually along described regulation axle 122 circumference.It should be noted that second
The mode that plastering roller the 124, the 3rd plastering roller the 125, the 4th plastering roller 126 is connected with two adjustment disks 123 and the first plastering roller 121
Essentially identical with adjustment disk connected mode, and the second plastering roller the 124, the 3rd equal outer rim of plastering roller the 125, the 4th plastering roller 126 is prominent
For adjustment disk 123.Wherein, when specifically painting, rotating regulation axle 122, the first plastering roller 121 moves to painting mouth 111 right
Metope 3 paints, and the first plastering roller 121 is substantially carried out the rendering of substrate insulated mortar, and the first plastering roller 121 is with relatively
The mode that metope 3 is rotated up is painted, it is to avoid during rendering, rendering material gets rid of downwards and causes metope 3 to pollute or paint material waste.
Wherein, the active force that can control sucker the 15, first blower fan the 13, second blower fan 16 during rendering gives to control the first plastering roller 121
The active force of metope 3, and then control the effect painted, improve the flatness and fineness painted；Substrate insulated mortar has painted
After one-tenth 3～7 days, rotatable regulation axle 122, the second plastering roller 124 turned to paint mouth 111, and it is mainly used in anticracking grout powder
Brush, it is essentially identical with substrate insulated mortar that it paints mode, and difference is sucker the 15, first blower fan the 13, second blower fan 16
Active force is different；After anticracking grout paints, the secondary being carried out anticracking grout by the 3rd plastering roller 125 is painted, after rendering
Regulate the active force of sucker the 15, first blower fan the 13, second blower fan 16 and by the 3rd plastering roller 125, cracking resistance screed carried out whole
Concora crush is real；After anticracking grout 2～5 days, carried out the rendering of flexible waterproof putty by the 4th plastering roller 126, and after having painted
Regulate the active force of sucker the 15, first blower fan the 13, second blower fan 16 and by the 4th plastering roller 126, water proof putty layer carried out whole
Concora crush is real.
Wherein, when carrying out ground floor anticracking grout and painting, need to lay alkali resistant glass fibre open weave cloth to metope 3, therefore this reality
Execute and described in example, paint the fabric guide roll 127 that mechanism 12 also includes being located between described 3rd plastering roller 125 and the second plastering roller 124
And two nailing guns 128 respectively close to the setting of described fabric guide roll 127 two ends, when the 3rd plastering roller 125 paints, selvage guide
Roller 127 coordinates and is layed on metope 3 by alkali resistant glass fibre open weave cloth, and by beating near the nailing gun 128 at its two ends is continual
Go out nailing to be fixed on metope 3 by alkali resistant glass fibre open weave cloth.Wherein, in order to ensure the laying effect of fabric guide roll 127, fabric guide roll
Distance between 127 and regulation axle 122 and the identical setting of distance between the 3rd plastering roller 125 and regulation axle 122, and the 3rd powder
In the 3rd plastering roller 125 is same perpendicular with fabric guide roll 127 when brush roll 125 paints, thus ensure that the 3rd plastering roller
125, fabric guide roll 127 is connected to metope 3 simultaneously, its laying effect being conducive to increasing fabric guide roll 127.
Before concrete rendering, need metope 3 is carried out, therefore described in the present embodiment, robot body 1 includes a cleaner
Structure 17, described cleaning mechanism 17 includes the clearer 171 being located between the first plastering roller 121 and the 4th plastering roller 126, is located at institute
State the compression roller 172 between 123 with described clearer 171, be located at the sump 173 bottom described receiving chamber and connect described dirt
The drain pipe 174 of tank 173, described compression roller 172 outer rim pushes against in described clearer 171 outer rim.During cleaning metope 3, first
Rotating regulation axle 122 makes clearer 171 move to paint mouth 111, rotates metope 3 by being adsorbed with the clearer 171 of moisture
It is cleaned, cleans the sewage extrusion in its clearer 171 of the complete compression roller 172 by rotation incorgruous with clearer 171, squeeze
The sewage gone out drops down onto in sump 173, and is drained in sewer by drain pipe 174.Wherein, the clearer 171 of the present embodiment
Including clearer main body 171a and the cleaning sponge 171b that is coated on clearer 171 outer surface, i.e. compression roller 172 pushes against in cleaning
Sponge 171b, and sewage in cleaning sponge 171b is squeezed out.
During cleaning, clearer 171 outer surface one adhesion impurity, it is easily caused cleaning efficiency and reduces, therefore the present embodiment
Described cleaning mechanism 17 also includes the fixing axle 175 being located between described clearer 171 and described first plastering roller 121 and sets
Multiple nozzles 176 on described fixing axle 175, multiple described nozzles 176 are evenly distributed along described fixing axle 175 length direction
Arranging, be that cleaning sponge 171b outer peripheral face is carried out by ejection High-Pressure Water by nozzle 176, the sewage of cleaning can drop down onto dirt
In tank 173 and discharge along drain pipe 174, and nozzle 176 water spray can be the cleaning sponge 171b Clean-moisture of offer.
For the ease of painting the lasting supply of material, paint described in the present embodiment mechanism 12 also include respectively with described first powder
Brush roll the 121, second plastering roller the 124, the 3rd plastering roller the 125, the 4th plastering roller 126 the most multiple material supply tank 129
And the multiple material supply pipes 120 connected with described material supply tank 129 one_to_one corresponding, and multiple described material supply tank 129
Notch one_to_one corresponding respectively be connected to described first plastering roller the 121, second plastering roller 124, the 3rd plastering roller 125,
The outer rim of four plastering rollers 126.During rendering, material can be supplied in material supply pipe 120 by the material supply machine of roof, supply
Material can enter in supply tank 129 for constantly painting.
Corresponding, also can arrange together with material supply pipe 120 for what nozzle 176 supplied water, in order to supply is clear in real time
Clean water demand.
Compared with prior art, the present invention passes through drive mechanism driven machine human agent, makees vertically movable and water along wall
Flat motion, robot body be formed with gap between the walls, it is easy to groove and the window edge crossing on wall, when painting then
By the first blower fan drive shell near wall, make the first plastering roller protruding from rendering mouth be connected to wall and paint, its
Be conducive to improving the motility painted.
The detailed description of the invention of present invention described above, is not intended that limiting the scope of the present invention.Any basis
Various other that the technology design of the present invention is made change and deformation accordingly, should be included in the guarantor of the claims in the present invention
In the range of protecting.
Claims (10)
1. a high-altitude vertical wall rendering robot, it is characterised in that include robot body and drive system, described driving
System includes that the upright driving mechanism and that a described robot body of driving makees vertically to move up and down drives described vertical driving
Mechanism makees the horizontal drive mechanism of horizontal back and forth movement；Described robot body includes,
The housing being connected with described upright driving mechanism, is formed with in a receiving chamber and described housing sidewall setting in described housing
There is the rendering mouth connected with described receiving chamber；
Being built in the rendering mechanism in described receiving chamber, described rendering mechanism includes that an outer rim can protrude from the first of described rendering mouth
Plastering roller；And
One drives the first blower fan that described housing moves to described rendering mouth opening direction.
High-altitude the most according to claim 1 vertical wall rendering robot, it is characterised in that described robot body also wraps
Including sucker, the absorption end of described sucker is embedded at described housing sidewall and arranges with described rendering mouth homonymy.
High-altitude the most according to claim 2 vertical wall rendering robot, it is characterised in that described sucker is positioned at described powder
Directly over brush mouth and absorption end face and the described rendering mouth of described sucker is positioned at same perpendicular.
High-altitude the most according to claim 3 vertical wall rendering robot, it is characterised in that described robot body also wraps
Including the second blower fan, described housing is provided with the first air port and the second air port, described first air port, the second air port are respectively with described
Paint mouth, sucker is oppositely arranged, and described first blower fan and the second blower fan are all built in described receiving chamber, and respectively close to the first wind
Mouth and the second air port are arranged.
5. according to the arbitrary described high-altitude vertical wall rendering robot of Claims 1 to 4, it is characterised in that described plastering machine
Structure includes the regulation axle of a rotatable set angle and is coaxially disposed in two adjustment disks at described regulation axle two ends respectively, described
First plastering roller two ends are connected with two adjustment disks respectively, and described first plastering roller outer rim protrudes from described adjustment disk outer rim.
High-altitude the most according to claim 5 vertical wall rendering robot, it is characterised in that described rendering mechanism also includes
Second plastering roller, the 3rd plastering roller, the 4th plastering roller, described second plastering roller, the 3rd plastering roller, the 4th equal two ends of plastering roller are divided
It is not connected with two described adjustment disks, and described first plastering roller, the second plastering roller, the 3rd plastering roller, the 4th plastering roller are along institute
State regulation axle circumference to set gradually.
High-altitude the most according to claim 6 vertical wall rendering robot, it is characterised in that described robot body includes
One cleaning mechanism, described cleaning mechanism includes the clearer being located between the first plastering roller and the 4th plastering roller, is located at described tune
Compression roller between nodal axisn with described clearer, it is located at the sump bottom described receiving chamber and connects the draining of described sump
Pipe, described compression roller outer rim pushes against in described clearer outer rim.
High-altitude the most according to claim 7 vertical wall rendering robot, it is characterised in that described cleaning mechanism also includes
One is located at the fixing axle between described clearer and described first plastering roller and is located at the multiple nozzles on described fixing axle, multiple
Described nozzle is along the evenly distributed setting in described fixing shaft length direction.
9. according to the high-altitude vertical wall rendering robot described in claim 7 or 8, it is characterised in that described rendering mechanism is also
It is located at the fabric guide roll between described 3rd plastering roller and the second plastering roller including one and arranges respectively close to described fabric guide roll two ends
Two nailing guns.
High-altitude the most according to claim 9 vertical wall rendering robot, it is characterised in that described rendering mechanism also wraps
Include respectively with described first plastering roller, the second plastering roller, the 3rd plastering roller, the most multiple material supply of the 4th plastering roller
Groove and the multiple material supply pipes connected with described material supply tank one_to_one corresponding, and the notch of multiple described material supply tank divides
Other one_to_one corresponding is connected to described first plastering roller, the second plastering roller, the 3rd plastering roller, the outer rim of the 4th plastering roller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610620545.1A CN106088547B (en) | 2016-08-02 | 2016-08-02 | A kind of high-altitude vertical wall rendering robot |
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| CN201610620545.1A CN106088547B (en) | 2016-08-02 | 2016-08-02 | A kind of high-altitude vertical wall rendering robot |
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| CN106088547B CN106088547B (en) | 2019-01-08 |
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| CN108043630A (en) * | 2017-12-18 | 2018-05-18 | 广州合成材料研究院有限公司 | A kind of storage tank outer wall cleans automatically, spray equipment |
| CN108532916A (en) * | 2018-04-23 | 2018-09-14 | 蔡宝凤 | Plastering bucket device of building wall surface constructing robot |
| CN111804485A (en) * | 2020-07-14 | 2020-10-23 | 广东博智林机器人有限公司 | Spraying machine, spraying method, device, equipment and storage medium |
| CN114150847A (en) * | 2021-12-31 | 2022-03-08 | 浙江蓝绿双城建筑设计有限公司 | Construction method for preventing external wall thermal insulation mortar from falling off |
| CN115400923A (en) * | 2021-05-26 | 2022-11-29 | 广东博智林机器人有限公司 | Roller coating robot and roller coating mechanism |
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| CN108532916A (en) * | 2018-04-23 | 2018-09-14 | 蔡宝凤 | Plastering bucket device of building wall surface constructing robot |
| CN111804485A (en) * | 2020-07-14 | 2020-10-23 | 广东博智林机器人有限公司 | Spraying machine, spraying method, device, equipment and storage medium |
| CN111804485B (en) * | 2020-07-14 | 2021-12-07 | 广东博智林机器人有限公司 | Spraying machine, spraying method, device, equipment and storage medium |
| CN115400923A (en) * | 2021-05-26 | 2022-11-29 | 广东博智林机器人有限公司 | Roller coating robot and roller coating mechanism |
| CN114150847A (en) * | 2021-12-31 | 2022-03-08 | 浙江蓝绿双城建筑设计有限公司 | Construction method for preventing external wall thermal insulation mortar from falling off |
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| CN106088547B (en) | 2019-01-08 |
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