CN106671094A - Remotely controlled high-altitude spraying robot - Google Patents

Remotely controlled high-altitude spraying robot Download PDF

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Publication number
CN106671094A
CN106671094A CN201610577694.4A CN201610577694A CN106671094A CN 106671094 A CN106671094 A CN 106671094A CN 201610577694 A CN201610577694 A CN 201610577694A CN 106671094 A CN106671094 A CN 106671094A
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CN
China
Prior art keywords
shower nozzle
nozzle
control
balancing stand
rotary shaft
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.)
Pending
Application number
CN201610577694.4A
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Chinese (zh)
Inventor
年双红
Original Assignee
年双红
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
Priority to CN201610263219 priority Critical
Priority to CN201610263219X priority
Application filed by 年双红 filed Critical 年双红
Publication of CN106671094A publication Critical patent/CN106671094A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • 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
    • E04F21/12Mechanical implements acting by gas pressure, e.g. steam pressure

Abstract

The invention discloses a remotely controlled high-altitude spraying robot. The remotely controlled high-altitude spraying robot comprises a spraying system, a lifting system, a fixer and a control system, wherein the spraying system comprises a balancing frame and a sprayer holder sliding guide rail, and a lifting hook, a material storing barrel, a spraying machine and the sprayer holder sliding guide rail are arranged on the balancing frame; a sprayer holder is connected to the sprayer holder sliding guide rail in a sliding manner, the sprayer holder is driven by a sprayer holder driving mechanism to move to and from along the sprayer holder sliding guide rail, a sprayer is arranged on the sprayer holder, and the sprayer is connected with a discharging opening of the spraying machine through a pipeline provided with a sprayer electromagnetic valve; the lifting system is arranged on the fixer, and the lifting system is connected with the lifting hook through a steel wire rope; the fixer is fixed to a preset fixing position; and the control system controls and is connected with the spraying machine, the sprayer holder driving mechanism, the sprayer electromagnetic valve and the lifting system. High-altitude spraying construction can be efficiently and safely finished on an outer wall of a building, the high-altitude operation of constructors can be avoided through remote control, and the potential safety danger of the constructors is reduced.

Description

The high-altitude spray robot of remotely control
Technical field
The present invention relates to high-altitude spraying field, more particularly to a kind of high-altitude spray robot of remotely control.
Background technology
Existing flush coater major part all can only construct indoors, when skin spraying application is carried out, it is necessary to borrow The auxiliary equipments such as hanging basket or scaffold are helped, and by manually operating to complete personally, causes boundary of works area and working method to be subject to very It is big to limit.Due to the high tens meters of even rice up to a hundred of building, there is greatly potential safety hazard in workman in high-altitude construction, it is annual because The personal injury event that causes of skin construction happens occasionally, when work during, workmen except to control quality, also Must take care at moment, cause work efficiency extremely low.
Further, since the raw material in coating has certain contaminative, some chemical materials can be strong to the body of people Kang Zaocheng certain threat, works in such circumstances for a long time and easily causes actual bodily harm or suffer from certain occupation disease.
The content of the invention
It is an object of the invention to provide a kind of high-altitude spray robot of remotely control, be capable of highly effective and safe complete be directed to The high-altitude spraying application of skin, can avoid workmen in work high above the ground by remotely control, reduce workmen's peace Full hidden danger.
The present invention adopts following technical proposals:
A kind of high-altitude spray robot of remotely control, including paint finishing, jacking system, fixed mount and control system;
The paint finishing includes balancing stand and jet nozzle slides guide rail, and balancing stand top is provided with suspension hook, balancing stand and arranges The suction tube for having storage vat and flush coater, flush coater is arranged in storage vat;Jet nozzle slides guide rail and is fixed on balancing stand, spray The headstock is slided and slidably connect on guide rail jet nozzle, and it is reciprocal that jet nozzle slides guide rail by jet nozzle drive mechanism drives edge jet nozzle It is mobile, shower nozzle is provided with jet nozzle, shower nozzle is provided by the pipeline of shower nozzle electromagnetic valve and is connected with flush coater discharging opening;
The jacking system is arranged on fixed mount, and jacking system passes through steel wire rope connecting shackle;
The fixed mount is fixed on reserved fixed position;
The control system control connection flush coater, jet nozzle drive mechanism, shower nozzle electromagnetic valve and jacking system.
Two storage vats, the bottom connection of two storage vats, the suction tube of flush coater are symmetrically arranged with the balancing stand Storing bottom of the barrel is separately positioned on, liquidometer is provided with storage vat, the signal output part of liquidometer passes through radio transmission apparatus Communicate with control system;The inner bottom surface of storage vat is provided with dirt discharge groove, and the bottom of dirt discharge groove is provided with sewage draining exit, flush coater The entrance of suction tube is arranged in dirt discharge groove.
Multiple balancing stand photographic head and electric expansion bar are provided with the balancing stand, the movable end of electric expansion bar is arranged There is exterior wall contact wheel, range sensor is additionally provided with balancing stand, balancing stand photographic head is by radio transmission apparatus and control system System communication, control system control connection electric expansion bar.
Jet nozzle is provided with the balancing stand and slides guide rails fixing support, upper nozzle frame slides guide rail and lower nozzle frame is slided Guide rail slides guide rails fixing support and fixes with the front side surface of balancing stand by jet nozzle respectively;Upper nozzle frame slides guide rail and lower spray The headstock is slided and be respectively arranged with guide rail jet nozzle.
The jet nozzle slides guide rail and adopts arc-shaped guide rail.
The jet nozzle includes shower nozzle fixed plate, rotary shaft, X to rotary drive motor and Y-direction rotary drive motor;Rotate Axle is rotated with shower nozzle fixed plate and is connected, and rotary shaft driven gear is provided with rotary shaft, and X is on the output shaft of rotary drive motor Rotary shaft driving gear is provided with, rotary shaft driven gear and rotary shaft driving gear are engaged;Along footpath on the side surface of rotary shaft To the vertical hole of shower nozzle feed pipe is offered, shower nozzle feed pipe transverse holes, shower nozzle are offered on the end face of rotary shaft side vertically The vertical hole of feed pipe turns on shower nozzle feed pipe transverse holes, is provided with the vertical hole of shower nozzle feed pipe and shower nozzle feed pipe transverse holes Shower nozzle feed pipe, the upper end of shower nozzle feed pipe rotates with the adapter of shower nozzle pan feeding and is connected, and feeds in shower nozzle on the side surface of rotary shaft Manage vertical hole location and offer circular groove, the shower nozzle driven gear being set in the adapter of shower nozzle pan feeding is located in circular groove, Y-direction rotation Shower nozzle driving gear is provided with the output shaft of motor, shower nozzle driving gear and shower nozzle driven gear are engaged;The top of shower nozzle Portion is provided with shower nozzle photographic head, and shower nozzle photographic head is communicated by radio transmission apparatus with control system.
The rotary shaft driven gear and rotary shaft driving gear adopt bevel gear, X to rotary drive motor edge to turn Moving axis is radially fixed in shower nozzle fixed plate;Rotary shaft is rotated by bearing with shower nozzle fixed plate and is connected;Shower nozzle driving gear and Shower nozzle driven gear adopts roller gear, and Y-direction rotary drive motor installation cavity is radially offered on the side surface of rotary shaft, Y-direction rotary drive motor is arranged on Y-direction rotary drive motor and installs intracavity.
The lower end of the shower nozzle pan feeding adapter is set in the upper end of shower nozzle feed pipe, and shower nozzle feed pipe is taken over shower nozzle pan feeding Between be provided with sealing ring;Shower nozzle fixed plate includes left shower nozzle fixed plate and right shower nozzle fixed plate.
The jacking system includes lifting motor, and the output shaft for lifting motor is connected with flake down axle, flake down axle On be provided with flake down groove, steel wire rope is wrapped on flake down axle using flake down groove, and on flake down axle pulse codr is additionally provided with;Pulse Encoder is communicated by radio transmission apparatus with control system.
The fixed mount includes base, and base upper end is provided with rectangle through hole, in rectangle through hole rectangular tube is provided with Part, is provided with directive wheel on rectangular pipe fittings, gravity sensor is provided with directive wheel, and gravity sensor passes through radio transmission apparatus Communicate with control system;Rectangular pipe fittings driving means are provided with base, rectangular pipe fittings driving means drive rectangular pipe fittings in square Move axially back and forth along rectangle through hole in shape through hole, control system control connection rectangular pipe fittings driving means;Base bottom It is provided with walking mechanism.
, suitable for external wall of high-rise building and the outer surface spraying operation of large tank, workmen can be by control for the present invention System processed completes the monitoring in whole work progress and spray coating operations.In the present invention, workmen can be balanced and erect the beginning Position control, the control of balancing stand lifting distance, the control of balancing stand rising or falling speed, the movement control of balancing stand work surface, shower nozzle are erected Beginning position control, the control of jet nozzle travel distance, the control of the jet nozzle speed of travel, the selection of flush coater open and close controlling, shower nozzle, shower nozzle X is to the control of the Spin Control with Y-direction, the balancing stand realized by rectangular pipe fittings driving means and skin spacing, by electronic Obstacle avoidance and depth of parallelism adjustment and the balancing stand bottom position monitoring by range sensor realization that expansion link is realized.When to table When the skin of face rule is sprayed, staff can preset spraying route by control system, according to setting Spraying original position, shower nozzle quantity and shower nozzle spray angle, balancing stand rising or falling speed and lifting distance for getting well etc. realize spray automatically Apply.When spraying to the erratic skin in surface, staff can manually control, and be imaged using shower nozzle The working condition and spraying effect of head Real Time Observation shower nozzle, using the position of the whole paint finishing of balancing stand photographic head monitor in real time Put, be finely adjusted to complete obstacle avoidance using electric expansion bar when barrier is run into.Also using X to rotation in spraying process Turn motor and Y-direction rotary drive motor controls shower nozzle in X to the anglec of rotation with Y-direction, by jet nozzle drive mechanism control Shower nozzle translational speed processed, is finally and successfully completed spray coating operations.
Description of the drawings
Fig. 1 is the structural representation of balancing stand in the present invention;
Fig. 2 is the structural representation of paint finishing in the present invention;
Fig. 3 is the side structure schematic view of paint finishing in the present invention;
Fig. 4 is the structural representation of jet nozzle in the present invention;
Fig. 5 is the structural representation of jacking system in the present invention;
Fig. 6 is the structural representation of fixed mount in the present invention;
Fig. 7 is the use state schematic diagram of the present invention.
Specific embodiment
The high-altitude spray robot of remotely control of the present invention, including paint finishing, jacking system, the and of fixed mount 10 Control system.
The paint finishing is used to carry out coating spraying to skin surface.Paint finishing includes balancing stand 1 and spray The headstock slides guide rail 2, and the top of balancing stand 1 is provided with suspension hook 3, for being engaged the liter to realize paint finishing with jacking system Drop.Storage vat 4 and flush coater 5 are provided with balancing stand 1, the suction tube 6 of flush coater 5 is arranged in storage vat 4.Storage vat 4 is used In storage coating, flush coater 5 is sprayed coating in skin surface by shower nozzle 7.Jet nozzle slide guide rail 2 be fixed on it is flat On weighing apparatus frame 1, jet nozzle slides and jet nozzle 8 is slidably connected on guide rail 2, and jet nozzle 8 is sprayed by the drives edge of jet nozzle drive mechanism 19 The headstock slides guide rail 2 and moves back and forth.Be provided with shower nozzle 7 on jet nozzle 8, shower nozzle 7 be provided by the pipeline of shower nozzle electromagnetic valve 9 with The discharging opening of flush coater 5 connects.
The jacking system is moved up and down for providing power drive paint finishing.Jacking system is arranged on fixed mount 10 On, jacking system passes through the connecting shackle 3 of steel wire rope 11.
The fixed mount 10 is used to provide fixing point for jacking system, and fixed mount 10 is fixed on reserved fixed position, For example it is fixed on building roof;
The control system is used to control each device to realize remotely control.Control system control connection flush coater 5, jet nozzle Drive mechanism 19, shower nozzle electromagnetic valve 9 and jacking system.
The present invention is made with detailed description below in conjunction with drawings and Examples:
Embodiment:
As shown in Figures 1 to 7, paint finishing includes that balancing stand 1 and jet nozzle slide guide rail 2;Balancing stand 1 is by left plate 1-1, the right side Side plate 1-2, epipleural 1-3 and lower side panel 1-4 are constituted, and epipleural 1-3 upper surfaces are provided with suspension hook 3, for jacking system phase Coordinate to realize moving up and down for paint finishing.
The upper surface of the inner underside plate 1-4 of balancing stand 1 is symmetrically arranged with two storage vats 4, and the bottom of two storage vats 4 connects It is logical, it is easy to a barrel inside courtyard to circulate mutually, keep the balance of balancing stand 1.Liquidometer 12 is provided with storage vat 4, liquidometer 12 Signal output part is communicated with control system by radio transmission apparatus and is shown by control system, is easy to operator real-time Check addition coating.The inner bottom surface of storage vat 4 is provided with dirt discharge groove 13, and the bottom of dirt discharge groove 13 is provided with sewage draining exit 14, spray The suction tube 6 of painting machine 5 is separately positioned on the bottom of storage vat 4, and the entrance of suction tube 6 is arranged in dirt discharge groove 13.
The leading flank of such as left plate 1-1, right plate 1-2, epipleural 1-3 and lower side panel 1-4 is provided with multiple on balancing stand 1 Balancing stand photographic head 15 and electric expansion bar 16, the movable end of electric expansion bar 16 is provided with exterior wall contact wheel 17.The present embodiment In can be respectively provided with four electric expansion bars 16 in the front side surface corner of balancing stand 1.Balancing stand photographic head 15 is used for monitor in real time The position of whole paint finishing, the obstacle for running into and spraying state, balancing stand photographic head 15 is by radio transmission apparatus and control System communicates;Electric expansion bar 16 is used to adjust the distance between balancing stand 1 and skin, with hide the obstacle for running into and The depth of parallelism between control balancing stand 1 and skin, control system control connection electric expansion bar 16.On balancing stand 1 such as The lower surface of lower side panel 1-4 is provided with range sensor, for monitoring the lower surface of balancing stand 1 with ground and the distance of barrier. When the bottom of balancing stand 1 from the ground or other barriers distance be less than 1 meter when, range sensor pass through alarm device automatic sounding Report to the police, spray coating operations are already close to coda or run into barrier for prompting.
Jet nozzle is provided with balancing stand 1 and slides guide rails fixing support 18, jet nozzle slides guide rails fixing support 18 and can be fixed on The front side surface of balancing stand 1, could be secured to the other positions of balancing stand 1, ensure that jet nozzle slides guide rail 2 positioned at balancing stand Between 1 and skin.In the present embodiment, jet nozzle slides guide rail 2 and slides guide rail 2-1 and lower spray including upper nozzle frame The headstock slides guide rail 2-2, and upper nozzle frame slides guide rail 2-1 and lower nozzle frame is slided guide rail 2-2 and slided by jet nozzle respectively and led Rail fixed mount 18 is fixed with the front side surface of balancing stand 1;Upper nozzle frame slides guide rail 2-1 and lower nozzle frame is slided on guide rail 2-2 It is respectively arranged with jet nozzle 8.Jet nozzle 8 slides guide rail 2 and moves back and forth by the drives edge jet nozzle of jet nozzle drive mechanism 19.Shower nozzle Frame drive mechanism 19 can drive jet nozzle 8 to slide in jet nozzle using electric rotating machine or linear electric motors with chain or other forms Moving back and forth on guide rail 2, belongs to routine techniquess, will not be described here.Jet nozzle slides guide rail 2 and arc-shaped guide rail may also be employed, With realize to circular tank or other there are the spray coating operations of arc spraying position.
Fixed sprinkler frame 8 is adopted because the jet nozzle 8 used by existing flush coater 5 is most of, causes the spray angle cannot Adjustment, when the changeable sprayed surface of different, moulding is run into, tends not to meet spraying and requires, makes boundary of works area and work It is extremely restricted as mode.Therefore the jet nozzle 8 of special construction is designed with the present invention, can be existed according to actually used demand X realizes that spray angle is omnibearing and freely adjusts, to meet the demand of spray coating operations to rotating freely with Y-direction.
The jet nozzle 8 includes shower nozzle fixed plate, rotary shaft 20, X to rotary drive motor 21 and Y-direction rotary drive motor 22;Rotary shaft 20 is rotated with shower nozzle fixed plate and is connected, and shower nozzle fixed plate includes left shower nozzle fixed plate 23 and right shower nozzle fixed plate 24, The two ends of rotary shaft 20 are rotated with left shower nozzle fixed plate 23 and right shower nozzle fixed plate 24 by bearing 25 be connected respectively, i.e., along rotation 360 degree of rotations of axis of axle 20.It is arranged with using the rotary shaft of bevel gear at right shower nozzle fixed plate 24 in rotary shaft 20 Driven gear 26, X to rotary drive motor 21 is radially fixed in right shower nozzle fixed plate 24 along rotary shaft 20, and X is to rotation driving It is arranged with the output shaft of motor 21 using the rotary shaft driving gear 27 of bevel gear, rotary shaft driven gear 26 and rotary shaft Driving gear 27 is engaged.When X works to rotary drive motor 21, can be driven by rotary shaft driving gear 27 and rotary shaft Gear 26 drives rotary shaft 20 to rotate along 360 degree of the axis of rotary shaft 20, realize X to rotate freely.The side table of rotary shaft 20 The vertical hole 28 of shower nozzle feed pipe is radially offered on face, on the end face of the side of rotary shaft 20 shower nozzle feed pipe is offered vertically Transverse holes 29, the vertical hole 28 of shower nozzle feed pipe turns on shower nozzle feed pipe transverse holes 29.Shower nozzle feed pipe 30 is arranged on by shower nozzle In the passage that the vertical hole 28 of feed pipe is formed with shower nozzle feed pipe transverse holes 29, upper end and the shower nozzle pan feeding of shower nozzle feed pipe 30 connect Pipe 31 rotates connection.In the present embodiment, the lower end of shower nozzle pan feeding adapter 31 is set in outside the upper end of shower nozzle feed pipe 30, and is sprayed Sealing ring 32 is provided between head feed pipe 30 and shower nozzle pan feeding adapter 31, upper end and the spray of shower nozzle feed pipe 30 can either be realized The rotation connection of head pan feeding adapter 31, can play good sealing effectiveness again.Shower nozzle pan feeding adapter 31 is shower nozzle feeding mouth Extension, if shower nozzle feeding mouth length is shorter or when not having extension, also manually can arrange connecting tube on shower nozzle feeding mouth.Turn Offer at the vertical position of hole 28 of shower nozzle feed pipe that to be provided with shower nozzle in circular groove 33, circular groove 33 driven on the side surface of moving axis 20 Gear 34, shower nozzle driven gear 34 adopts roller gear, shower nozzle driven gear 34 to be set in shower nozzle pan feeding adapter 31, rotary shaft Y-direction rotary drive motor installation cavity is radially offered on 20 side surface, Y-direction rotary drive motor 22 is arranged on Y-direction rotation Motor installs intracavity, and shower nozzle driving gear 35, shower nozzle driving gear are provided with the output shaft of Y-direction rotary drive motor 22 35 also correspond to adopt roller gear, and shower nozzle driving gear 35 and shower nozzle driven gear 34 to engage.When Y-direction rotary drive motor 22 During work, shower nozzle driving gear 35 can be passed through and shower nozzle driven gear 34 drives shower nozzle 71 along the axis of shower nozzle pan feeding adapter 31 360 degree of rotations, realize rotating freely for Y-direction.The top of shower nozzle 7 is provided with shower nozzle photographic head 36, and shower nozzle photographic head 36 passes through nothing Line transmission equipment communicates with control system, with the working condition and spraying effect of Real Time Observation shower nozzle 7.
The jet nozzle 8 and shower nozzle 7 of particular design and the attachment structure of jet nozzle 8, can realize shower nozzle 7 in X in the present invention To rotating freely with Y-direction, and the wrapping phenomena of shower nozzle feed pipe 30 will not occur, can be sprayed according to actually used demand Apply freely adjusting for angle, it is adaptable to the changeable sprayed surface of different, moulding, drastically increase spray efficiency and spraying Effect.
Jacking system includes lifting motor 37, and lifting motor 37 can be using servomotor or motor.Rise The output shaft of drop motor 37 is connected with flake down axle 38, and flake down groove is provided with flake down axle 38, and steel wire rope 11 utilizes flake down groove It is wrapped on flake down axle 38, pulse codr is additionally provided with flake down axle 38, pulse codr is by radio transmission apparatus and control System communication processed.Pulse codr is capable of detecting when that the rotary angle position and speed of the output shaft for lifting motor 37 becomes Change, to coordinate the lifting distance and speed of control system control balancing stand 1.
The fixed mount 10 includes base 39, and the upper end of base 39 is provided with rectangle through hole 40, rectangle through hole 40 and sets Rectangular pipe fittings 41 are equipped with, lifting motor 37, flake down axle 38 and pulse codr may be provided on rectangular pipe fittings 41.Rectangle The front end of pipe fitting 41 can arrange directive wheel 42 to coordinate steel wire rope 11 to work.Gravity sensor is provided with directive wheel 42, is used for Whether detection balancing stand 1 is in vacant state.When balancing stand 1 is reduced to ground or stops decline by obstacle, gravity sensor Control system can be sent a signal to by radio transmission apparatus, be quit work by control system control lifting motor 37. Rectangular pipe fittings driving means, control system control connection rectangular pipe fittings driving means are provided with base 39.Rectangular pipe fittings drive Device drives rectangular pipe fittings 41 to move axially back and forth along rectangle through hole 40 in rectangle through hole 40.Rectangular pipe fittings driving means Can be using electric rotating machine or motor, rectangular pipe fittings driving means drive rectangular pipe fittings 41 in rectangle through hole 40 along rectangle Through hole 40 moves axially back and forth category routine techniquess, will not be described here.Fastening screw 43 and high low-key are provided with base 39 Knothole 44 is adjusted with carrying out base 39, and the bottom of base 39 is provided with walking mechanism 45, can complete a longitudinal work surface spray Apply and run to next work surface after work.
, suitable for external wall of high-rise building and the outer surface spraying operation of large tank, workmen can be by control for the present invention System processed completes the monitoring in whole work progress and spray coating operations.In the present invention, it is initial that workmen can be balanced frame 1 Position control, the control of the lifting distance of balancing stand 1, the control of the rising or falling speed of balancing stand 1, the movement control of the work surface of balancing stand 1, jet nozzle The control of 8 original positions, the control of the travel distance of jet nozzle 8, the control of the speed of travel of jet nozzle 8, the open and close controlling of flush coater 5, shower nozzle 7 are selected Select, balancing stand 1 and the skin spacing control that shower nozzle X is realized to the Spin Control with Y-direction, by rectangular pipe fittings driving means System, the obstacle avoidance realized by electric expansion bar 16 and depth of parallelism adjustment and the bottom position of balancing stand 1 realized by range sensor Put monitoring.When the skin to surface rule is sprayed, staff can preset spraying by control system Route, according to the spraying original position, the quantity of shower nozzle 7 and the spray angle of shower nozzle 7, the rising or falling speed of balancing stand 1 and lifting that set Distance etc. realizes spraying automatically.When spraying to the erratic skin in surface, staff can be manually Control, it is real-time using balancing stand photographic head 15 using the working condition and spraying effect of the Real Time Observation shower nozzle 7 of shower nozzle photographic head 36 The position of whole paint finishing is monitored, is finely adjusted to complete obstacle avoidance using electric expansion bar 16 when barrier is run into. In spraying process also shower nozzle 7 is controlled in X to the rotation with Y-direction using X to rotary drive motor 21 and Y-direction rotary drive motor 22 Gyration, by jet nozzle drive mechanism 19 translational speed of shower nozzle 7 is controlled, and is finally and successfully completed spray coating operations.
What is sprayed concretely comprises the following steps:
The first step, by balancing stand photographic head 15 position of balancing stand 1 is observed, then using the lifting adjustment balancing stand of motor 37 1 height, and the spacing of the position of balancing stand 1 and skin is adjusted using rectangular pipe fittings driving means, finally transport balancing stand 1 The original position of balancing stand 1 of row to setting.
Second step, by selecting corresponding jet nozzle 8 to determine the selection of shower nozzle 7, and is observed by shower nozzle photographic head 36 The position of shower nozzle 7, then shower nozzle 7 is carried out in X to the angle with Y-direction to rotary drive motor 21 and Y-direction rotary drive motor 22 by X Adjustment, makes shower nozzle 7 just to skin, one or more shower nozzles 7 is run to the original position of shower nozzle 7 of setting.
3rd step, set jet nozzle 8 travel distance and the speed of travel, and the rising or falling speed of balancing stand 1 and lifting away from From control shower nozzle electromagnetic valve 9 turns on and open flush coater 5.Shower nozzle 7 from the beginning of original position, according to setting the speed of travel and Walking route begins for current spray-coating surface and proceeds by spraying.Complete current after shower nozzle 7 completes the travel distance for setting After the completion of the spray coating operations of spray-coating surface, shower nozzle 7 is back to original position.
4th step, balancing stand 1 is carried out equidistantly according to the rising or falling speed and lifting distance of setting using lifting motor 37 From lifting, after completing lifting distance, shower nozzle 7 starts pin from the beginning of original position according to the speed of travel and walking route of setting Spraying is proceeded by current spray-coating surface.The spraying work of current spray-coating surface is completed after shower nozzle 7 completes the travel distance for setting After the completion of work, shower nozzle 7 is back to original position.
5th step, repeat the above steps, after a whole longitudinal work surface spray coating operations are completed, by the bottom of base 39 Balancing stand 1 is moved to next longitudinal direction work surface by the walking mechanism 45 that end is arranged, and repeat the above steps carry out this and longitudinally work The spray coating operations in face.
The setting of panel can be controlled by following description in the present invention, with the more scientific and reasonable associated components that carry out Control.
The setting of operator control panel each button and the course of work:
Shower nozzle 7 is selected:When the selection of lower nozzle 7 is pressed, screen display:Upper nozzle 7, lower nozzle 7 and double shower nozzles 7, icon is displayed in Above upper nozzle 7, can be according to spraying position needs, the continuous shower nozzle 7 by work required for may be selected.
Shower nozzle 7 is adjusted:When shower nozzle 7 selects upper nozzle 7 or lower nozzle 7(Not optional pair of shower nozzle 7), adjust by lower nozzle 7 Key, key up and down can be pinned with handss and is operated, and be to adjust shower nozzle 7 to the adjustment in from left to right rotation i.e. Y-direction by right and left key, It is that adjustment shower nozzle 7 is rotated down upwards i.e. X adjustment upwards by upper lower key, button is unclamped when position reaches specified location Can.
The position for spraying as needed selects:Automatic left and right, automatic lifting pattern.
Automatically or so:It is the control horizontal spray coating operations of jet nozzle 8.
Walking origin:Walking origin be according to sliding the overall length of guide rail come graduate, pass through by 0 --- what the increment mode of 10 --- 20 --- terminals was calculated, when shower nozzle 7 and its corresponding position is determined, press walking Origin key, screen display upper nozzle 7, lower nozzle 7 and from 0 to terminal progress bar, 0 point in upper nozzle 7 and progress bar of icon There is display position, presses walking origin key and selects upper lower nozzle 7, then determines the position of icon on progress bar by+- keysym, i.e., 0 is set to the walking origin between terminal, the walking origin of upper and lower jet nozzle 8 is respectively provided with, by the walking for setting away from From performing respectively, travel distance is the same.
Travel distance:After walking origin is set, travel distance key is pressed, that is, occurred:60——70——80—— The numerical value of terminal, and have icon to show in 60 positions of numerical value, press+- key selected.The determination of travel distance, is according to spray The horizontal work surface size for applying is determining.The starting point of this distance is the walking origin for arranging, and this distance is to be with origin of walking What the mode that starting point is progressively incremented by was performed.When row to specify apart from when(Jacking system declines), also return to by former distance and set Fixed walking origin, that is, complete a work bout.
Lifting distance:Travel distance is set, lifting distance key is pressed, large, medium and small three patterns of screen display continue to press Can switch in large, medium and small three patterns and can determine that.
The speed of travel:In automatic left and right spraying process, can be constantly adjusted according to practical situation, be by walking Speed key, is controlled with+- key, speed have high, normal, basic three kinds it is optional, continuous key-press can switch between high, normal, basic.If The speed of travel is not provided with, it is defaulted as intermediate value.Rising or falling speed is the intermediate value of acquiescence.
After the operation of the above is completed, further according to the position of shower nozzle 7 for selecting to perform, open corresponding shower nozzle 7 and switch, at this moment Button-up operations have been completed, and selected jet nozzle 8 automatically returns to the walking origin of setting, are carried out by pressing start key Spray coating operations.When completing a work surface or needing to stop, by pressing stop key spraying is stopped.The switch of shower nozzle 7 has big-and-middle Little three flows are available, when open, flow in system default, can press+- key key selected,
Automatic lifting:It is the longitudinal spray coating operations of control jet nozzle 8.
Select, with after the adjustment of shower nozzle 7, to select automatic lifting shower nozzle 7 is completed, by walking origin the position of shower nozzle 7 is determined, press Lower correspondence shower nozzle 7 is switched and start key, and jet nozzle 8 automatically returns to the walking origin of setting, and balancing stand 1 is moved up and down, spray 7 start spray coating operations, and rising or falling speed can be adjusted in spraying process.If not to rising or falling speed setting when arranging, its It is defaulted as intermediate value.
Rising or falling speed:In automatic lifting spraying process, can be constantly adjusted according to practical situation, be by lifting speed Degree key, is controlled with+- key, speed have high, normal, basic three kinds it is optional, continuous key-press can the switching between high, normal, basic.
Default setting:
When automatic left and right is selected, default setting key is pressed, in addition to walking origin and travel distance need to be arranged voluntarily(Screen has prompting Arrange), the speed of travel, rising or falling speed, lifting distance and the flow of shower nozzle 7 are performed by intermediate value.
When automatic lifting is selected, default setting key is pressed, except walking origin need to be arranged voluntarily(Screen has prompting to arrange)Outward, The flow of shower nozzle 7 and rising or falling speed are intermediate values, the speed of travel, travel distance, lifting distance not executable command.
Upper and lower expansion link:When by up or down expansion link, screen display is left, right, double options, and shows icon in upper left, continuously Button can switch in three options, show that icon item is to determine option, then press+- key stretched out or retracted, adjusted with this The distance between balance frame 1 and wall, carry out hiding obstacle or position correction.
Point is left, and point is right, and when selecting manual, by a left side or point right button, jet nozzle 8 is moved to the left or to the right on guide rail is slided It is dynamic, movement is stopped during release.The speed of travel is the intermediate value of acquiescence.
Point rises, point drop, when selecting manual, presses and a little rise or put drop key, and balancing stand 1 is moved up and down, and is stopped during release upper and lower. Rising or falling speed is the intermediate value of acquiescence.
Memory button:When the walking of balancing stand 1 is to certain position, memory button is pressed, system just write down balancing stand 1 at that time automatically Numerical value, be easy to inquiry or measurement distance.
Manual spray process:When metope is irregular needs manual spray, the jet nozzle 8 to be performed, adjustment are selected first The position of good shower nozzle 7, selects manual mode, and by putting, left point is right or point rises a drop, and execution shower nozzle 7 is moved to be needed to spray position One end, by selected jet nozzle 8 to inductive switch and start key, shower nozzle 7 starts spraying, press that a little left point is right or point rise drop a key carry out from Spray coating operations of the one end to the other end.During release, jet nozzle 8 stops movement, and shower nozzle 7 needs that by stop key spraying could be stopped.
Wherein shower nozzle 7 is adjusted and the flow of shower nozzle 7 is in manual, automatic left and right, in automatic lifting pattern, can be according to spraying situation It is adjusted at any time, and shower nozzle 7 selects to change after unlatching is started.
Select automatic left and right pattern:After pressing start key, manual, point rises, puts drop, a point left side, the point right side, walking origin, walking Distance, lifting distance, shower nozzle 7 are selected, rising or falling speed, default setting key just do not open effect, and the speed of travel can adjust, rising or falling speed It is most fast.
Select automatic lifting pattern:After pressing start key, manual, point rises, puts drop, a point left side, the point right side, walking origin, walking Distance, lifting distance, shower nozzle 7 are selected, the speed of travel, default setting key just do not open effect, and rising or falling speed can adjust.
Select manual mode:After pressing start key, walking origin, travel distance, lifting distance, shower nozzle 7 are selected, speed of walking Degree, rising or falling speed, automatic left and right, automatic lifting ,+- key, default setting key just do not open effect, and point rises, puts drop, a point left side, point right button The effect of opening, the speed of travel and rising or falling speed are intermediate values.

Claims (10)

1. the high-altitude spray robot of a kind of remotely control, it is characterised in that:Including paint finishing, jacking system, fixed mount and Control system;
The paint finishing includes balancing stand and jet nozzle slides guide rail, and balancing stand top is provided with suspension hook, balancing stand and arranges The suction tube for having storage vat and flush coater, flush coater is arranged in storage vat;Jet nozzle slides guide rail and is fixed on balancing stand, spray The headstock is slided and slidably connect on guide rail jet nozzle, and it is reciprocal that jet nozzle slides guide rail by jet nozzle drive mechanism drives edge jet nozzle It is mobile, shower nozzle is provided with jet nozzle, shower nozzle is provided by the pipeline of shower nozzle electromagnetic valve and is connected with flush coater discharging opening;
The jacking system is arranged on fixed mount, and jacking system passes through steel wire rope connecting shackle;
The fixed mount is fixed on reserved fixed position;
The control system control connection flush coater, jet nozzle drive mechanism, shower nozzle electromagnetic valve and jacking system.
2. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:It is symmetrical in the balancing stand Two storage vats are provided with, the bottom connection of two storage vats, the suction tube of flush coater is separately positioned on storing bottom of the barrel, storing Liquidometer is provided with bucket, the signal output part of liquidometer is communicated by radio transmission apparatus with control system;Storage vat it is interior Portion bottom surface is provided with dirt discharge groove, and the bottom of dirt discharge groove is provided with sewage draining exit, and the entrance of the suction tube of flush coater is arranged on dirt discharge groove It is interior.
3. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:Arrange on the balancing stand The movable end for having multiple balancing stand photographic head and electric expansion bar, electric expansion bar is provided with exterior wall contact wheel, on balancing stand also Range sensor is provided with, balancing stand photographic head is communicated by radio transmission apparatus with control system, control system control connection Electric expansion bar.
4. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:Arrange on the balancing stand There is jet nozzle to slide guide rails fixing support, upper nozzle frame slides guide rail and lower nozzle frame is slided guide rail and slided by jet nozzle respectively and led Rail fixed mount is fixed with the front side surface of balancing stand;Upper nozzle frame slides guide rail and lower nozzle frame slided and be respectively arranged with guide rail Jet nozzle.
5. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:The jet nozzle is slided leads Rail adopts arc-shaped guide rail.
6. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:The jet nozzle includes spray Head fixed plate, rotary shaft, X are to rotary drive motor and Y-direction rotary drive motor;Rotary shaft is rotated with shower nozzle fixed plate and is connected, Rotary shaft driven gear is provided with rotary shaft, X is provided with rotary shaft driving gear on the output shaft of rotary drive motor, is turned Moving axis driven gear and rotary shaft driving gear are engaged;Shower nozzle feed pipe is radially offered on the side surface of rotary shaft vertical Hole, offers vertically shower nozzle feed pipe transverse holes on the end face of rotary shaft side, the vertical hole of shower nozzle feed pipe feeds with shower nozzle Pipe transverse holes are turned on, and in the vertical hole of shower nozzle feed pipe and shower nozzle feed pipe transverse holes shower nozzle feed pipe, shower nozzle feed pipe are provided with The adapter of upper end and shower nozzle pan feeding rotate and be connected, offer circle in the vertical hole location of shower nozzle feed pipe on the side surface of rotary shaft Groove, the shower nozzle driven gear being set in the adapter of shower nozzle pan feeding is located in circular groove, is arranged on the output shaft of Y-direction rotary drive motor There is shower nozzle driving gear, shower nozzle driving gear and shower nozzle driven gear are engaged;Shower nozzle photographic head, shower nozzle are provided with the top of shower nozzle Photographic head is communicated by radio transmission apparatus with control system.
7. the high-altitude spray robot of remotely control according to claim 6, it is characterised in that:The rotary shaft driven tooth Wheel and rotary shaft driving gear adopt bevel gear, and X to rotary drive motor is radially fixed in shower nozzle fixed plate along rotary shaft On;Rotary shaft is rotated by bearing with shower nozzle fixed plate and is connected;Shower nozzle driving gear and shower nozzle driven gear adopt Cylinder Gear Wheel, radially offers Y-direction rotary drive motor installation cavity on the side surface of rotary shaft, Y-direction rotary drive motor is arranged on Y-direction Rotary drive motor installs intracavity.
8. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:The shower nozzle pan feeding adapter Lower end be set in the upper end of shower nozzle feed pipe, be provided with sealing ring between shower nozzle feed pipe and the adapter of shower nozzle pan feeding;Shower nozzle is consolidated Fixed board includes left shower nozzle fixed plate and right shower nozzle fixed plate.
9. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:The jacking system includes Lifting motor, the output shaft for lifting motor is connected with flake down axle, and flake down groove is provided with flake down axle, and steel wire rope is utilized Flake down groove is wrapped on flake down axle, and on flake down axle pulse codr is additionally provided with;Pulse codr by radio transmission apparatus with Control system communicates.
10. the high-altitude spray robot of remotely control according to claim 1, it is characterised in that:The fixed mount includes Base, base upper end is provided with rectangle through hole, and rectangular pipe fittings are provided with rectangle through hole, and guiding is provided with rectangular pipe fittings Wheel, is provided with gravity sensor on directive wheel, gravity sensor is communicated by radio transmission apparatus with control system;Set on base Rectangular pipe fittings driving means are equipped with, rectangular pipe fittings driving means drive rectangular pipe fittings to run through hole axle along rectangle in rectangle through hole Move forwards, backwards, control system control connection rectangular pipe fittings driving means;Base bottom is provided with walking mechanism.
CN201610577694.4A 2016-04-26 2016-07-21 Remotely controlled high-altitude spraying robot Pending CN106671094A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201610263219 2016-04-26
CN201610263219X 2016-04-26

Publications (1)

Publication Number Publication Date
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107457124A (en) * 2017-08-04 2017-12-12 深圳市玖品空气净化科技有限公司 A kind of smart bridge paint spraying apparatus based on Internet of Things
CN108015782A (en) * 2017-12-28 2018-05-11 武汉英思工程科技股份有限公司 Intelligent construction robot
CN109876987A (en) * 2017-10-27 2019-06-14 宁波市江北区伊人宝贸易有限公司 A kind of electrophoresis rondelle part paint compensating device
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
CN110328658A (en) * 2019-07-15 2019-10-15 上海霄卓机器人有限公司 The high altitude operation robot system of modularization assemble

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107457124A (en) * 2017-08-04 2017-12-12 深圳市玖品空气净化科技有限公司 A kind of smart bridge paint spraying apparatus based on Internet of Things
CN109876987A (en) * 2017-10-27 2019-06-14 宁波市江北区伊人宝贸易有限公司 A kind of electrophoresis rondelle part paint compensating device
CN108015782A (en) * 2017-12-28 2018-05-11 武汉英思工程科技股份有限公司 Intelligent construction robot
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
CN110328658A (en) * 2019-07-15 2019-10-15 上海霄卓机器人有限公司 The high altitude operation robot system of modularization assemble

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Application publication date: 20170517