CN106437105A - Suspended multi-degree of freedom painting machine for high-rise building exterior walls - Google Patents

Suspended multi-degree of freedom painting machine for high-rise building exterior walls Download PDF

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Publication number
CN106437105A
CN106437105A CN201611192638.5A CN201611192638A CN106437105A CN 106437105 A CN106437105 A CN 106437105A CN 201611192638 A CN201611192638 A CN 201611192638A CN 106437105 A CN106437105 A CN 106437105A
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CN
China
Prior art keywords
support
arm
plastering machine
painting
spray gun
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Pending
Application number
CN201611192638.5A
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Chinese (zh)
Inventor
李文娟
赵翔宇
包汉
张元�
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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 Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN201611192638.5A priority Critical patent/CN106437105A/en
Publication of CN106437105A publication Critical patent/CN106437105A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04FFINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00Implements for finishing work on buildings
    • E04F21/02Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06Implements for applying plaster, insulating material, or the like
    • E04F21/08Mechanical implements

Abstract

A suspended multi-degree of freedom painting machine for high-rise building exterior walls comprises a painting machine body, a first suspension frame and a second suspension frame. For achieving the purpose, the suspended multi-degree of freedom painting machine is characterized in that the first suspension frame is provided with an elevator, a steel wire rope is connected to the elevator, and one end of the steel wire rope sequentially bypasses pulleys which are arranged on the first suspension frame and the painting machine body respectively and then is fixed to pulleys arranged on the second suspension frame; the painting machine body is provided with a front painting device and mechanical painting arms, spray gun claws for fixing spray guns are arranged on the top of the front painting device and the tops of the mechanical painting arms respectively, and the bottom ends of the mechanical painting arms are fixed to the surface of the painting machine body through mechanical arm rotating mechanisms. Regular and even wall surfaces are painted through the front painting device, irregular and uneven wall surfaces are painted through the mechanical painting arms, therefore, the painting machine not only can paint the even and regular wall surfaces, but also can paint the irregular and uneven complex wall surfaces, the painting difficulty of the paining machine is reduced, and the painting efficiency is improved.

Description

A kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine
Technical field:
The present invention relates to a kind of external rendering machine is and in particular to a kind of suspension external wall of high-rise building multiple degrees of freedom paints Machine.
Background technology:
In construction, painting operation is a requisite job, but mostly existing building is skyscraper, leads to Paint work and be often work high above the ground, existing mode is many to be completed by the way of artificial work high above the ground, and its operation easier is big, often Often appearance paints uneven, inconsistent phenomenon everywhere it is often necessary to do over again, and not only paints of poor quality, and work efficiency pole Low, significantly can delay Construction Schedule, and this kind of rendering mode danger is larger, to the safety prevention measure mistake painting workman In simple;
Also have in existing mode and carry out high-altitude rendering operation by automatic plastering machine, but the rendering on existing plastering machine Equipment majority can only carry out vertically moving carrying out small range rendering to metope, and its rendering efficiency is low, additionally, existing work high above the ground Plastering machine majority can only paint to the metope of the same side, and is more suitable for painting more regular smooth metope, for some Irregularly irregular complexity metope, its rendering difficulty is larger, or even cannot be carried out painting, and it uses has certain limitation Property it is impossible to meet the rendering demand of different metopes.
Content of the invention:
The present invention is to overcome above-mentioned deficiency, there is provided a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine, it is not More smooth regular metope only can be painted, and irregularly irregular complexity metope, the powder of the plastering machine of reduction can be painted Brush difficulty, improves rendering efficiency.
The suspension external wall of high-rise building multiple degrees of freedom plastering machine of the present invention, including plastering machine body, spray gun load bearing unit Suspend support bodys with two in midair, the technical scheme being adopted for achieving the above object is:One of suspention support body is provided with lifting Machine, elevator is connected with steel wire rope, after one end of steel wire rope bypasses this suspention support body, after the pulley crossed on plastering machine body It is fixed on the pulley on another suspention support body, paint device before described spray gun load bearing unit bag and paint mechanical arm, both It is arranged on plastering machine body, both upper ends are provided with the spray gun pawl for fixing spray gun.
As a further improvement on the present invention, described front rendering device paints support body and spray gun pawl one, front rendering before including Support body is fixed on the outer top of plastering machine body, and spray gun pawl one paints the top of support body before being fixed on;Described rendering mechanical arm Top is provided with spray gun pawl two, bottom is fixed on the surface of plastering machine body by mechanical arm rotating mechanism.It is arranged such, pass through Spray gun pawl one and the spray gun of the fixing coating of spray gun pawl two, are painted to regular metope with the spray gun on front rendering device, use powder Spray gun on brush mechanical arm paints to irregular metope.
As a further improvement on the present invention, the described front top painting support body is provided with regulation guide rod, adjusts and sets on guide rod There is slide block, slide block connects spray gun pawl one.It is arranged such, scalable spray gun pawl one is in the front position painted on support body.
As a further improvement on the present invention, described mechanical arm rotating mechanism includes motor, drivewheel, driven pulley and rotation Main body, drivewheel and driven pulley engaged transmission, on the output shaft of motor, driven pulley is under rotating mass for drivewheel End, the upper end of rotating mass is rotated with the bottom painting mechanical arm and is connected.Thus driven by Motor drive rotating mass painting Mechanical arm rotates.
As a further improvement on the present invention, described rendering mechanical arm includes arm one, arm two, arm three, and the one of described arm one End is connected with the upper end of rotating mass by shoulder joint rotation pair, the other end rotates secondary one end phase with arm two by elbow joint Even, the other end of arm two is rotated pair by carpal joint and is connected with arm three, and the top of arm three is provided with spray gun pawl two, and described shoulder joint turns The dynamic secondary shoulder motor including being connected and shoulder decelerator, the output shaft of shoulder decelerator is connected with arm one;Described elbow joint turns Dynamic secondary inclusion ancon motor, ancon turbine wheel shaft and ancon worm shaft, the output shaft of ancon motor connects elbow by ancon shaft coupling Portion's worm-wheel shaft, ancon worm-wheel shaft and ancon worm shaft engaged transmission, ancon worm shaft linking arm two;Described carpal joint rotates secondary bag Include wrist motor, wrist worm-wheel shaft and wrist worm shaft, the output shaft of wrist motor connects wrist worm gear by wrist shaft coupling Axle, wrist worm-wheel shaft and wrist worm shaft engaged transmission, wrist worm shaft linking arm three.So constitute and paint mechanical arm, realize Paint the operation of mechanical arm.
As a further improvement on the present invention, it is provided with two-way cylinder in described arm three, described spray gun pawl two is located at two-way gas The top of the push rod of cylinder.Be arranged such, can by two-way cylinder control push rod flexible come to adjust spray gun pawl two stretch out height.
As a further improvement on the present invention, described plastering machine body is additionally provided with fan propeller.It is arranged such, by pushing away Power fan is by plastering machine ontological adsorption theory on metope.
As a further improvement on the present invention, described suspention support body one and suspention support body two all include back seat, support base, frame Body rear support beam, support body front support beam, support bar, drag-line, balancing weight and adjusting bracket, described back seat is provided with balancing weight, after Seat is connected by support body rear support beam with the top of support base, and support body rear support beam connects one end of support body front support beam, support body The other end of front support beam slidably connects adjusting bracket, and steel wire rope connects plastering machine originally after bypassing the pulley of setting on adjusting bracket Body, support body front support beam is provided with vertical support bar, and the two ends of drag-line are separately fixed on support body rear support beam and adjusting bracket, Drag-line midfoot support is on support bar.It is arranged such, for the outer eaves of top layer of different buildings, by the position of the adjustment adjusting bracket that slides Put the distance to adjust plastering machine body with respect to metope, so that plastering machine body can tightly be attached at is painted wall Face.
As a further improvement on the present invention, described suspention support body one and the suspention back seat of support body two and the bottom of support base It is provided with multiple Universal self-locking castors.It is arranged such, can be easy to suspend support body one in midair and suspend moving horizontally of support body two in midair.
As a further improvement on the present invention, described rendering mechanical arm is two, and two are painted the mechanical nearly plastering machine of arm rest The left and right sides of body is symmetricly set on the surface of plastering machine body.It is arranged such, spray range can be expanded, improve spraying effect Rate.
The invention has the beneficial effects as follows:The present invention using suspension system, plastering machine body is lifted on metope, by carrying Rise machine travel steel wire rope plastering machine body is moved up and down, by two suspention support bodys along roof movement realize right Plastering machine body carries out the movement of horizontal level, adjusts the distance that plastering machine body is with respect to metope by slidable adjustment frame, After adjusting the position of plastering machine body, by fan propeller, plastering machine ontological adsorption theory is fixed on metope, therefore passes through outstanding Crane system can carry out stable support to plastering machine body, and plastering machine body can be carried out with the position adjustments of any direction, operation Simplicity, plastering machine body can be firmly secured on metope by fan propeller.
The invention has the beneficial effects as follows:The present invention can be painted to polytype metope by painting system, specifically It is to be painted by the front metope smooth to rule of fixing spray gun on device that paint, paint mechanical arm to injustice by two Whole irregular metope is painted, and wherein paints the surface that mechanical arm is fixed on plastering machine body by mechanical arm rotation unit On, drive rendering mechanical arm to be rotated at any angle on the surface of plastering machine body by mechanical arm rotation unit, thus The position that the spray gun on mechanical arm is with respect to metope is painted in adjustment, can make spray gun thereon from a distance to powder by painting mechanical arm Brush machine body moves, or is distally moved by plastering machine body, convenient paint mechanical arm to mechanical rotary device as the center of circle, with The metope of any position from the circular spraying area drawn as radius is sprayed, and paints mechanical arm itself by arm First, arm two, arm three and rotation to each other are secondary is constituted, and has four degree of freedom, using flexible, can paint in region in its circle Arbitrarily mobile, therefore can be easy to irregularly irregular metope is sprayed, thus entering to the metope around plastering machine body Row sprays comprehensively, and it is the center of circle, is sprayed with certainly belonging to it as the circular interval that radius is drawn with mechanical rotary device Region, so can greatly expand rendering area, reduce the position adjustment number of times to plastering machine body for the suspension system, save position Adjustment time, substantially increases rendering efficiency further.
Brief description:
Fig. 1 is the overall structure diagram of the present invention;
Fig. 2 is the structural representation of the suspention support body one of the present invention;
Fig. 3 is the structural representation of the plastering machine body of the present invention;
Fig. 4 is the structural representation of the rendering mechanical arm of the present invention, and (a) is profile, (b) is side view;
Fig. 5 is the structural representation of the front rendering device of the present invention;
Fig. 6 is the structural representation of the mechanical arm rotating mechanism of the present invention;
Shown in figure, 1 is fan propeller, 2 is plastering machine body, 3 is Universal self-locking castor, 4 is elevator, 5 is counterweight Block, 7 be support body rear support beam, 8 be control chamber, 9 be support body front support beam, 10 be steel wire rope, 11 be adjusting bracket, 12 be adjust Block, 13 be road wheel, 14 be pulley, 15 be front rendering device, 16 plastering machine housings, 17 be mechanical arm rotation unit, 18 be powder Brush mechanical arm, 20 be push rod, 22 be plane bearing, 24 be motor, 25 be rolling bearing, 26 be end cap, 28 be decelerator, 31 be Front plastering support connecting portion, 32 be steady pin, 33 be front rendering support body, 34 be adjust guide rod, 35 be drivewheel, 36 be gear shaft, 37 is gear abutment sleeve, 38 is pin, 39 is bearing catch, 40 is bracing strut, 41 is rotating mass, 42 is in rotating mass Lid, 43 be upper end cover, 44 be back seat, 45 be support base, 47 be support bar, 48 be drag-line, 181 be arm one, 182 be arm two, 183 For arm three, 184 be shoulder joint rotate secondary, 185 be elbow joint rotate secondary, 186 be carpal joint rotate pair, 191 be spray gun pawl one, 192 be spray gun pawl 2,201 be two-way cylinder, 211 be ancon worm shaft, 212 be wrist worm shaft, 231 be ancon worm-wheel shaft, 232 be wrist worm-wheel shaft, 241 be shoulder motor, 242 be ancon motor, 243 be wrist motor, 271 be ancon shaft coupling, 272 For wrist shaft coupling, 281 be shoulder decelerator, 341 be slide block.
Specific embodiment:
With reference to Fig. 1, this suspension external wall of high-rise building multiple degrees of freedom plastering machine, carry list including plastering machine body 2, spray gun Unit and two suspention support bodys, with reference to Fig. 2, suspention support body 1 is provided with elevator 4, and elevator 4 is connected with steel wire rope 10, described Suspention support body 1 and suspention support body 2 62 all include back seat 44, support base 45, support body rear support beam 7, support body front support beam 9, Support bar 47, drag-line 48, balancing weight 5 and adjusting bracket 11, described back seat 44 is provided with balancing weight 5, back seat 44 and support base 45 Top pass through support body rear support beam 7 be connected, support body rear support beam 7 connect support body front support beam 9 one end, support body front support beam 9 other end slidably connects adjusting bracket 11, and one end of adjusting bracket 11 is provided with regulating block 12, by regulating block 12 to adjusting bracket 11 Positioned, suspention support body 1 support body front support beam 9 on and adjusting bracket 11 on, suspention support body 2 62 adjusting bracket 11 on and The top of plastering machine body 2 is equipped with pulley 14, and one end of steel wire rope 10 connects elevator 4, and the other end bypasses suspension successively After the pulley 14 on pulley 14 and plastering machine body 2 on the support body front support beam 9 of body 1, adjusting bracket 11, it is fixed on suspention On pulley 14 on the adjusting bracket 11 of support body 2 62, support body front support beam 9 is provided with vertical support bar 47, the two ends of drag-line 48 It is separately fixed on support body rear support beam 7 and adjusting bracket 11, drag-line 48 midfoot support, on support bar 47, suspends support body 1 He in midair The bottom of the back seat 44 of suspention support body 2 62 and support base 45 is provided with multiple Universal self-locking castors 3.
With reference to Fig. 1, Fig. 3 and Fig. 5, described painting system includes plastering machine body 2 and spray gun load bearing unit, and described spray gun holds Carrier unit paints device 15 and paints mechanical arm 18 before including, both upper ends are provided with the spray gun pawl for fixing spray gun, institute State plastering machine body 2 to include plastering machine shell 16, spray gun, apply expects pipe, paint pump and coating case, spray gun passes through to apply expects pipe and coating Case connects, and paint pump is located in painting expects pipe, and, in plastering machine housing, the top of plastering machine body 2 sets for coating case and paint pump Paint device 15 before having, the surface of plastering machine housing 16 is arranged with two rendering mechanical arms 18, front rendering in the left and right sides The top of device 15 is provided with spray gun pawl 1, and the top painting mechanical arm 18 is arranged with two spray gun pawls 2 192, spray gun pawl 1 and spray gun pawl 192 all for fixing spray gun.With reference to Fig. 1, plastering machine body 2 is additionally provided with fan propeller 1.With reference to Fig. 3, Plastering machine body 2 is additionally provided with road wheel 13 on the surface of metope
With reference to Fig. 5, described front rendering device 15 paints support body 33 before including, adjusts guide rod 34 and spray gun pawl 1, front powder Brush holder body 33 includes crossbeam 342, supporting linkage 343 and front plastering support connecting portion 31, and crossbeam 342 passes through supporting linkage 343 It is connected with front plastering support connecting portion 31, front plastering support connecting portion 31 is fixed on plastering machine body 2 by steady pin 32, crossbeam 342 is rectangle mount structure, and the top of crossbeam 342 has notch, and described regulation guide rod 34 is laterally located at the rectangle frame of crossbeam 342 Interior, adjust guide rod 34 and be provided with slide block 341, the bottom of spray gun pawl 1 is stretched in notch and is connected with slide block 341,
With reference to Fig. 4 (b), described rendering mechanical arm 18 all includes arm 1, arm 2 182, arm 3 183, described arm 1 One end rotated by shoulder joint secondary 184 be connected with the upper end of rotating mass 41, the other end passes through elbow joint rotation pair 185 and arm 2 182 one end is connected;The other end of arm 2 182 is rotated secondary 186 by carpal joint and is connected with arm 3 183, so constitutes and has The rendering mechanical arm 18 of four-degree-of-freedom.Wherein, it is provided with two-way cylinder 201, the top of the push rod 20 of two-way cylinder 201 in arm 3 183 End connects spray gun pawl 2 192.Shoulder joint rotates secondary 184, elbow joint rotation secondary 185 and the both sides of carpal joint rotation secondary 186 are all provided with There is end cap 26.
With reference to Fig. 4 (a), described shoulder joint rotates secondary 184 and includes shoulder motor 241 and shoulder decelerator 281, shoulder motor 241 output shaft connects the input shaft of shoulder decelerator 281, and the output shaft of shoulder decelerator 281 is connected with arm 1, starts Shoulder motor 241 control arm 1 carries out flexing outward motion or inside contractile motion;Described elbow joint rotates secondary 185 and includes Ancon motor 242, ancon turbine wheel shaft 231 and ancon worm shaft 211, the output shaft of ancon motor 242 passes through ancon shaft coupling 271 Connect ancon worm-wheel shaft 231, ancon worm-wheel shaft 231 and ancon worm shaft 211 engaged transmission, ancon worm shaft 21 linking arm two 182, start ancon motor 242 and drive ancon worm-wheel shaft 231 to rotate, ancon worm-wheel shaft 231 drives ancon worm shaft 211 to rotate, And then so that arm 2 182 is rotated, make arm 2 182 carry out flexing outward motion or inside contractile motion;Described carpal joint rotates secondary 186 Including wrist motor 243, wrist worm-wheel shaft 232 and wrist worm shaft 212, the output shaft of wrist motor 243 passes through wrist shaft coupling Device 272 connects wrist worm-wheel shaft 232, wrist worm-wheel shaft 232 and wrist worm shaft 212 engaged transmission, and wrist worm shaft 212 connects Arm 3 183, starts wrist motor 243 and drives wrist worm-wheel shaft 232 to rotate, wrist worm-wheel shaft 232 drives wrist worm shaft 212 to revolve Turn, and then so that arm 3 183 is rotated, make arm 3 183 carry out flexing outward motion or inside contractile motion.
With reference to Fig. 6, the bottom that each paints mechanical arm 18 is fixed on plastering machine body 2 by mechanical arm rotating mechanism 17 On surface, described mechanical arm rotating mechanism 17 include motor 24 in plastering machine housing 16, decelerator 28, drivewheel 35, Driven pulley 351 and rotating mass 41, the input shaft of the output shaft connection reducer 28 of motor 24, drivewheel 35 and driven pulley 351 Engaged transmission, on the output shaft of decelerator 28, driven pulley 351 is located at the lower end of rotating mass 41, rotation master for drivewheel 35 The upper end of body 41 is rotated with the bottom of arm 1 and is connected.
Above-mentioned elevator 4, paint pump, motor 24, fan propeller 1, shoulder motor 241, ancon motor 242 and wrist motor 243 are controlled by control chamber 8.
Work process:
Suspention support body 1 and suspention support body 2 62 are horizontally arranged at roof portion, by elevator 4 haulage cable 10 To realize moving up and down of plastering machine body 2, to realize painting by moving horizontally suspention support body 1 and suspention support body 2 62 Moving horizontally of machine body 2, is adsorbed plastering machine body 2 on metope by fan propeller 1.When painting the metope of rule, control The spray gun painting before system on device 15 carries out spraying operation, then drives plastering machine body 2 to enter by elevator 4 haulage cable 10 Row moves, so that the front spray gun painting on device 15 moves up and down and metope is sprayed;Painting irregular wall During face, the spray gun on front rendering device 15 stops spraying operation, starts the spray gun painting on mechanical arm 18 and carries out spraying operation, leads to Cross motor 24 to adjust the vertical rotation location painting mechanical arm 18, to spray to the metope of differing heights, different azimuth Apply, particular by shoulder motor 241, ancon motor 242 and wrist motor 243 control arm 1, arm 2 182 and arm 3 183 Along the secondary anglec of rotation of each autorotation, arm 3 183 is made to push up by the cooperation of arm 1, arm 2 182 and the mutual action of arm 3 183 The spray gun pawl 2 192 in portion is from a distance to plastering machine body 2, or is distally moved by plastering machine body 2, so that spray gun pawl two Spray gun on 192 to mechanical arm rotating mechanism 17 as the center of circle, to paint in the center of circle region that mechanical arm 18 is surrounded by radius Metope sprayed.
Because front rendering device 15 is fixing with respect to plastering machine body 2, and it has been arranged side by side multiple spray guns thereon, therefore It is easy to the rule smooth metope larger to area to spray, so can improve spray efficiency.Certainly, paint mechanical arm 18 also may be used The metope smooth to rule sprays, but spray gun thereon is less than the front spray gun painting device 2, and its movement is more flexible, Therefore be more suitable for irregularly irregular metope is sprayed, so can save control cost, improve spray efficiency.

Claims (10)

1. a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine, including plastering machine body (2), spray gun load bearing unit and two Individual suspention support body it is characterised in that:One of suspention support body is provided with elevator (4), and elevator (4) is connected with steel wire rope (10), after, one end of steel wire rope (10) bypasses this suspention support body, it is fixed on further around after the pulley (14) crossed on plastering machine body (2) On pulley (14) on another suspention support body, paint device (15) before described spray gun load bearing unit bag and paint mechanical arm (18), both are arranged on plastering machine body (2), and both upper ends are provided with the spray gun pawl for fixing spray gun.
2. as claimed in claim 1 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Before described Paint and before device (15) includes, paint support body (33) and spray gun pawl one (191), front rendering support body (33) is fixed on plastering machine body (2) outer top, spray gun pawl one (191) paints the top of support body (33) before being fixed on;The described top painting mechanical arm (18) It is provided with spray gun pawl two (192), bottom is fixed on the surface of plastering machine body (2) by mechanical arm rotating mechanism (17).
3. as claimed in claim 2 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Before described The top painting support body (33) is provided with regulation guide rod (34), adjusts guide rod (34) and is provided with slide block (341), slide block (341) connects Spray gun pawl one (191).
4. as claimed in claim 2 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described machine Tool arm rotating mechanism (17) includes motor (24), drivewheel (35), driven pulley (351) and rotating mass (41), drivewheel (35) With driven pulley (351) engaged transmission, on the output shaft of motor (24), driven pulley (351) is located at rotation master for drivewheel (35) The lower end of body (41), the upper end of rotating mass (41) is rotated with the bottom painting mechanical arm (18) and is connected.
5. as claimed in claim 4 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described powder Brush mechanical arm (18) includes arm one (181), arm two (182), arm three (183), and one end of described arm one (181) is turned by shoulder joint Dynamic pair (184) is connected with the upper end of rotating mass (41), the other end rotates the one of secondary (185) and arm two (182) by elbow joint End is connected, and the other end of arm two (182) is rotated secondary (186) by carpal joint and is connected with arm three (183), the top of arm three (183) It is provided with spray gun pawl two (192), described shoulder joint rotates shoulder motor (241) and the shoulder decelerator that secondary (184) include being connected (281), the output shaft of shoulder decelerator (281) is connected with arm one (181);Described elbow joint rotates secondary (185) and includes ancon electricity Machine (242), ancon turbine wheel shaft (231) and ancon worm shaft (211), the output shaft of ancon motor (242) passes through ancon shaft coupling (271) ancon worm-wheel shaft (231), ancon worm-wheel shaft (231) and ancon worm shaft (211) engaged transmission, ancon worm shaft are connected (21) linking arm two (182);Described carpal joint rotates secondary (186) and includes wrist motor (243), wrist worm-wheel shaft (232) and wrist Portion's worm shaft (212), the output shaft of wrist motor (243) connects wrist worm-wheel shaft (232), wrist by wrist shaft coupling (272) Portion's worm-wheel shaft (232) and wrist worm shaft (212) engaged transmission, wrist worm shaft (212) linking arm three (183).
6. as claimed in claim 5 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described arm It is provided with two-way cylinder (201), the top of the push rod (20) of two-way cylinder (201) connects spray gun pawl two (192) in three (183).
7. as claimed in claim 1 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described powder Fan propeller (1) is additionally provided with brush machine body (2).
8. as claimed in claim 1 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described outstanding Suspension bracket body one (61) and suspention support body two (62) all include back seat (44), support base (45), support body rear support beam (7), before support body Support beam (9), support bar (47), drag-line (48), balancing weight (5) and adjusting bracket (11), described back seat (44) is provided with counterweight The top of block (5), back seat (44) and support base (45) is connected by support body rear support beam (7), support body rear support beam (7) link One end of body front support beam (9), the other end of support body front support beam (9) slidably connects adjusting bracket (11), steel wire rope (10) around Plastering machine body (2) is connected, support body front support beam (9) is provided with vertical support bar after the pulley overregulating the upper setting of frame (11) (47), the two ends of drag-line (48) are separately fixed on support body rear support beam (7) and adjusting bracket (11), drag-line (48) midfoot support in On support bar (47).
9. as claimed in claim 8 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described outstanding The bottom of the back seat (44) of suspension bracket body one (61) and suspention support body two (62) and support base (45) is provided with multiple Universal self-lockings Castor (3).
10. as claimed in claim 1 a kind of suspension external wall of high-rise building multiple degrees of freedom plastering machine it is characterised in that:Described Paint mechanical arm (18) and be two, two are painted mechanical arm (18) and are symmetricly set near the left and right sides of plastering machine body (2) On the surface of plastering machine body (2).
CN201611192638.5A 2016-12-21 2016-12-21 Suspended multi-degree of freedom painting machine for high-rise building exterior walls Pending CN106437105A (en)

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CN201611192638.5A CN106437105A (en) 2016-12-21 2016-12-21 Suspended multi-degree of freedom painting machine for high-rise building exterior walls

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107989337A (en) * 2017-11-14 2018-05-04 成都菲斯普科技有限公司 A kind of external wall spray equipment
CN108035516A (en) * 2017-11-14 2018-05-15 成都菲斯普科技有限公司 One kind has multivariant external wall flush coater
CN108945124A (en) * 2018-07-26 2018-12-07 湖南大中建筑工程有限公司 A kind of building spray robot
CN109972826A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot
CN109972825A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot
CN109972824A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium
CN109972827A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium
CN110014437A (en) * 2019-05-09 2019-07-16 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium
CN110107061A (en) * 2019-05-09 2019-08-09 广东博智林机器人有限公司 Suspended rack assembly and paint finishing
WO2020224546A1 (en) * 2019-05-09 2020-11-12 广东博智林机器人有限公司 Spray painting robot

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CN108035516A (en) * 2017-11-14 2018-05-15 成都菲斯普科技有限公司 One kind has multivariant external wall flush coater
CN108945124A (en) * 2018-07-26 2018-12-07 湖南大中建筑工程有限公司 A kind of building spray robot
CN108945124B (en) * 2018-07-26 2021-08-31 昆明隆达企业管理咨询有限公司 Building spraying robot
CN109972826A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot
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CN109972827A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium
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CN109972825A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot

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Application publication date: 20170222