CN107893523A - A kind of automation wall plastering machine based on 4DOF - Google Patents

A kind of automation wall plastering machine based on 4DOF Download PDF

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Publication number
CN107893523A
CN107893523A CN201711093840.7A CN201711093840A CN107893523A CN 107893523 A CN107893523 A CN 107893523A CN 201711093840 A CN201711093840 A CN 201711093840A CN 107893523 A CN107893523 A CN 107893523A
Authority
CN
China
Prior art keywords
axis
contiguous block
nozzle
automation
combined
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
CN201711093840.7A
Other languages
Chinese (zh)
Inventor
高强
周敏
段现银
雷成名
罗刚
王丹妮
苏梅月
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
Original Assignee
Wuhan University of Science and Engineering WUSE
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 Wuhan University of Science and Engineering WUSE filed Critical Wuhan University of Science and Engineering WUSE
Priority to CN201711093840.7A priority Critical patent/CN107893523A/en
Publication of CN107893523A publication Critical patent/CN107893523A/en
Pending legal-status Critical Current

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Classifications

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

Abstract

The invention discloses a kind of automation wall plastering machine based on 4DOF, including bottom bracket, bottom plate, Y-axis movement combined mechanism, control system, mainboard, C axle rotation combinations mechanism, nozzle, X-axis movement combined mechanism, Z axis movement combined mechanism;The described Y-axis movement combined mechanism machine nozzle that can make to plaster is moved forward and backward along Y-axis;The described X-axis movement combined mechanism machine nozzle that can make to plaster is moved left and right along Y-axis;The described Z axis movement combined mechanism machine nozzle that can make to plaster moves up and down along Z axis;The described C axle rotation combinations mechanism machine nozzle that can make to plaster is rotated around C axles.Present invention novelty simple in construction, it is reasonable in design, low manufacture cost, automation and intelligence degree are high, the motion for four frees degree of machine nozzle of plastering can be realized, suitable for the requirement of plastering of variously-shaped different, complicated metopes, and plaster machine nozzle spraying efficiency high, speed is fast, stability is high.

Description

A kind of automation wall plastering machine based on 4DOF
Technical field
The invention belongs to wall plastering technical field, more particularly to a kind of free degree is more, the intelligent metope of automation is smeared Grey machine.
Background technology
With the development of building commercialization, speed of application is improved, reduces the project cycle and obtains higher economic benefit, As the key point of building commercialization.In construction, the smearing of inner-outer wall and decoration account for the 60% of whole construction periods, its In plaster that this just accounts for about 20%.Not only workload is heavy for the rendering plastered work of metope, the manpower labour occupied it is huge to It is timely completed the influence that engineering construction causes sternness.In order to reduce working strength, shorten the duration so that automatic plastering machine is being built Building industry has good prospect.Also the future to building machinery indicates a good developing direction.New type auto mechanical float By plaster machine nozzle and drive plaster machine nozzle movement frame form.Existing mechanical float automaticity and intelligent journey Spend low, the free degree that can be realized is few, it is impossible to meets the needs of complicated wall plastering, in addition existing machine nozzle generally use of plastering Round nozzle structure, spraying rate is low, inefficient, and stability is poor, and the area for spraying metope is small.
The content of the invention
The purpose of the present invention is to solve the deficiencies in the prior art part, there is provided a kind of automation wall based on 4DOF Face mechanical float.Described machine nozzle of plastering can realize the translational motion in 3 directions and the rotary motion in a direction, Zong Gongke To realize 4 free degree motions, and the speed plastered is fast, efficiency high, stability are good, can obtain bigger area of plastering.
To achieve the above object, the technical scheme of use of the invention is as follows:
A kind of automation wall plastering machine based on 4DOF, including bottom bracket, bottom plate, two pieces of mainboards, control system System, X-axis movement combined mechanism, Y-axis movement combined mechanism, Z axis movement combined mechanism, C axle rotation combinations mechanism, and be arranged on Nozzle in C axle rotation combinations mechanism, the C axles rotation combination mechanism drive nozzle level rotary motion;
The control system moves combined mechanism, C axles with X-axis movement combined mechanism, Y-axis movement combined mechanism, Z axis respectively Rotation combination mechanism connects;
Two pieces of described mainboard vertical symmetries are arranged on the both ends of bottom plate, and the Z axis movement combined mechanism is arranged on two pieces On mainboard, the C axles rotation combination mechanism is arranged on X-axis movement combined mechanism, and the X-axis movement combined mechanism moves with Z axis Dynamic combined mechanism vertical connection, the X-axis movement combined mechanism drive C axle rotation combinations mechanism to be moved along floor level, and then Realize that nozzle moves along floor level;The Z axis movement combined mechanism drives X-axis movement combined mechanism to be moved vertically along mainboard, And then realize that nozzle moves vertically along mainboard;
The Y-axis movement combined mechanism and bottom plate are installed on base support, and Y-axis movement combined mechanism drives bottom plate edge Base support moves, and then realizes that nozzle moves along base support.
Preferably, Y-axis movement combined mechanism include two root longs slide polished rod, two connection polished rods, Y-axis contiguous block, Long belt, movable pulley, Y-axis motor, the travelling gear being connected with control system;
Described long polished rod and the connection polished rod of sliding is connected on bottom bracket, and Y-axis contiguous block and Y-axis motor are symmetrical On two connection polished rods, and pass through skin band connection Y-axis contiguous block and Y-axis motor;Described long belt one While being fixed on bottom plate, travelling gear is arranged on Y-axis motor, and Y-axis motor drives long belt by travelling gear Motion, bottom plate move together with long belt.
Preferably, X-axis movement combined mechanism include right-hand member Z axis contiguous block, slide polished rod, cingulum, X-axis contiguous block, Left end Z axis contiguous block, the X-axis motor being connected with control system, right-hand member Z axis contiguous block and left end the Z axis contiguous block It is interior to be provided with gear;
The slip polished rod connection right-hand member Z axis contiguous block and left end Z axis contiguous block, the cingulum both ends respectively with right-hand member Z Axis connection block connects with the gear in left end Z axis contiguous block, and X-axis contiguous block drives X through slip polished rod and cingulum by cingulum Axis connection block slide polished rod on slidably;Described X-axis motor is arranged on right-hand member Z axis contiguous block or left end Z axis connects Connect on block, and be connected with gear, whole X-axis contiguous block horizontal movement is driven by Toothed Belts Gearing.
Preferably, the X-axis movement combined mechanism also includes on right-hand member Z axis contiguous block or left end Z axis contiguous block Limit switch, for realizing the repositioning of the X-axis contiguous block.
Preferably, described Z axis movement combined mechanism includes two groups of Z axis motor, silks being connected with control system Rod guide, screw mandrel;
The Z axis motor is separately fixed on mainboard or bottom plate, and the screw mandrel guide rail and screw mandrel are arranged on mainboard, Screw mandrel one end is connected with Z axis motor;Described right-hand member Z axis contiguous block and left end Z axis contiguous block is separately mounted to two groups of silks On bar and screw mandrel guide rail, and right-hand member Z axis contiguous block and left end Z axis contiguous block are on same horizontal linear;Z axis driving electricity Machine drive screw rotates, and right-hand member Z axis contiguous block and left end Z axis contiguous block glide under the driving of screw mandrel along on screw mandrel guide rail It is dynamic, so that nozzle vertically moves.
Preferably, described C axle rotation combinations mechanism includes connection ring, shaft coupling, the steering wheel being connected with control system;
Described connection ring lower part, which rotates, to be embedded into X-axis contiguous block, and connection ring upper part is connected with shaft coupling;It is described Connection ring be used for fixed plaster and machine nozzle and transmit rotary motion;The steering wheel is connected with shaft coupling, and steering wheel passes through shaft coupling Device rotates connection ring, so as to drive nozzle level rotary motion.
Preferably, it is incident to include spray nozzle front end, the straight pipe being fixed in the connection ring, compressed air for described nozzle Pipe;Described spray nozzle front end is heterotypic spray nozzle structure, described straight pipe connection spray nozzle front end and compressed air incident pipe, makes water Cement mortar is sufficiently mixed before not gushing out in straight pipe with air.
Preferably, in addition on steering wheel support the range sensor being connected with control system, and be with control The siren of system connection.
Preferably, described bottom bracket include chassis corner, the two root long connecting rods for connecting chassis corner and Two short connecting rods.
Preferably, in addition to installed in chassis corner bottom mobile universal wheel.
Compared with prior art, the advantages of the present invention are:Compared with existing mechanical float, the present invention plasters The free degree that machine nozzle is realized is more, and structure-integrated degree is high, is moved easily and transports, the present apparatus makes to plaster by control system Machine nozzle can realize the translational motion in 3 directions and the rotary motion in a direction, realize intelligent automation operation, and nozzle moves Dynamic distance is accurate, and displacement error is small.Designed machine nozzle of plastering is passed through the heterotypic spray nozzle of compressed air for a kind of afterbody, with Traditional round nozzle is compared, and the speed plastered is fast, efficiency high, and the speed stability that fluid comes out from jet expansion is high, and Plaster realization area it is big.
Brief description of the drawings
Fig. 1 is a kind of automation wall plastering machine overall structure diagram based on 4DOF of the present invention.
Fig. 2 is a kind of automation wall plastering machine motion schematic diagram based on 4DOF of the present invention.
Fig. 3 is Y-axis movement combining structure schematic diagram of the present invention.
Fig. 4 is X-axis movement combining structure schematic diagram of the present invention.
Fig. 5 is Z axis movement combining structure schematic diagram of the present invention.
Fig. 6 is C axles Composite Structure of Revolution schematic diagram of the present invention.
Fig. 7 is mechanical float nozzle arrangements schematic diagram of the present invention.
Marked in figure:1. move universal wheel;2. bottom bracket;3. bottom plate;4.Y axles move combined mechanism;5. control system; 6. mainboard;7.C axle rotation combinations mechanism;8. nozzle;9.X axles move combined mechanism;10.Z axles move combined mechanism;11. alarm Device;12. range sensor;
301. chassis corners;302. long connecting rods;303. long sliding bars;304. connection polished rods;305. short connecting rods; 306.Y axis connection blocks;307. long belt;308. movable pulley;309.Y axle motors;310. balladeur train;
401. right-hand member Z axis contiguous blocks;402. sliding bar;403. cingulum;404.X axis connection blocks;405. limit switch;406. Left end Z axis contiguous block;407.X axle motors;
501.Z axle motors;502. screw mandrel guide rails;503 screw mandrels;
601. steering wheel supports;602. connection ring;Shaft coupling;604. steering wheel;
701. spray nozzle front end;702. straight pipes;703. compressed air incident pipes.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention Formula is described in further detail.
As shown in figure 1, a kind of automation wall plastering machine based on 4DOF, including mobile universal wheel 1, bottom bracket 2nd, bottom plate 3, Y-axis movement combined mechanism 4, control system 5, mainboard 6, C axle rotation combinations mechanism 7, nozzle 8, X-axis movement combination machine Structure 9, Z axis movement combined mechanism 10, siren 11, range sensor 12.
Described bottom bracket 2 includes chassis corner 301, two root long connecting rods 302 and two short connecting rod 305, bottom Frame corner and connecting rod composition frame structure carry whole mechanical float weight.
Described mobile universal wheel 1 is arranged on the bottom of chassis corner 301, and mechanical float can be made to be moved towards any direction, full Requirement of the complicated job site of foot to mechanical float mobility.
As shown in figure 3, described Y-axis movement combined mechanism 4, which includes two root longs, slides 303, two connection polished rods of polished rod 304th, Y-axis contiguous block 306, long belt 307, movable pulley 308, Y-axis motor 309, the driving cog being connected with control system 5 Wheel 310.Described long slip polished rod 303 and connection polished rod 304 is connected with chassis corner 301, Y-axis contiguous block 306 and Y-axis driving Motor 309 is symmetrically mounted among two connection polished rods 304, and connects Y-axis contiguous block 306 and Y-axis drive by long belt 307 Dynamic motor 309.Described one side of long belt 307 is fixed on the lower face of bottom plate 3, and travelling gear 310 is arranged on Y-axis driving electricity On machine 309, Y-axis contiguous block 306 drives long belt 307 to move by travelling gear 310, and bottom plate 3 can be with long belt 307 together Motion, so as to make the nozzle 8 of mechanical float be moved forward and backward along Y-axis, as shown in Figure 2.
Described control system 5 is fixed on the side of mainboard 6, by toward the program energy that correlation is inputted in control system 5 Mechanical float is realized the motion of 4 frees degree, realize the automation mechanized operation of mechanical float.Described mainboard 6 and bottom plate 3 connects Form the support of mechanical float upper part.Described range sensor 12 is connected with control system 5, and is arranged on steering wheel support 601 Above, the distance of plaster machine nozzle 8 and metope can be monitored at any time;Described siren 11 connects control system 5, when distance passes When the distance that sensor monitors plaster machine nozzle 8 and metope has anomalous variation (such as metope is uneven), the control police of control system 5 Report device 11 sends alarm, so as to carry out plastered work to rough metope and to the metope for the structure that has levels.
As shown in figure 4, described X-axis movement combined mechanism 9 includes right-hand member Z axis contiguous block 401, slides polished rod 402, cingulum 403rd, X-axis contiguous block 404, limit switch 405, left end Z axis contiguous block 406, the X-axis motor being connected with control system 5 407;Gear is provided with the right-hand member Z axis contiguous block 401 and left end Z axis contiguous block 406.Described slip polished rod 402 connects the right side Hold Z axis contiguous block 401 and left end Z axis contiguous block 406, the both ends of cingulum 403 respectively with right-hand member Z axis contiguous block 401 and left end Z Gear connection in axis connection block 406, X-axis contiguous block 404 drive X-axis connection through slip polished rod 402 and cingulum, and by cingulum On polished rod 402 is slided slidably, cingulum 403 engages block 404 with the rack inside X-axis contiguous block 404.Described X-axis is driven Dynamic motor 407 is arranged on right-hand member Z axis contiguous block 401 or left end Z axis contiguous block 406, and is connected with gear, passes through cingulum 403 Transmission can drive the whole side-to-side movement of X-axis contiguous block 404, so as to so that nozzle 8 on X-axis contiguous block 404 along X Axle moves left and right, as shown in Figure 2.Described limit switch 405 is arranged on left end Z axis contiguous block 406, and each mechanical float terminates During with restarting work, limit switch can help nozzle 8 to return to the position of original starting point.
As shown in figure 5, described Z axis movement combined mechanism 10 includes the two groups of Z axis being connected with control system 5 driving electricity Machine 501, screw mandrel guide rail 502, screw mandrel 503.Described Z axis motor 501 is fixed on the bottom plate 3 of mainboard 6, and described screw mandrel is led Rail 502 and screw mandrel 503 are arranged on mainboard 6, and the one end of screw mandrel 503 is connected with Z axis motor 501.Described right-hand member Z axis connection Block 401 and left end Z axis contiguous block 406 are respectively symmetrically arranged on two groups of screw mandrels 503 and screw mandrel guide rail 502, Z axis motor 501 drive screws 503 rotate, and right-hand member Z axis contiguous block 401 and left end Z axis contiguous block 406 can be along under the driving of screw mandrel 503 Screw mandrel guide rail 502 slides up and down, so as to so that nozzle 8 moves up and down along Z axis, as shown in Figure 2.
As shown in fig. 6, described C axle rotation combinations mechanism 7 include steering wheel support 601, connection ring 602, shaft coupling 603, The steering wheel 604 being connected with control system 5.The described lower part of connection ring 602 is embedded into X-axis contiguous block 404, and can turn Dynamic, the upper part of connection ring 602 is connected with shaft coupling 603.Described connection ring 602 is used for fixed plaster machine nozzle 8 and transmission Rotary motion.Described steering wheel 604 is arranged on steering wheel support 601, and steering wheel support 601 is fixed on X-axis contiguous block 404, rudder Machine 604 is connected with shaft coupling 603, and steering wheel 604 rotates connection ring 602 by shaft coupling 603, and nozzle 8 can be driven to rotate, from And nozzle 8 can be made to carry out horizontal revolving motion, as shown in Figure 2.
As shown in fig. 7, described nozzle 8 includes spray nozzle front end 701, the straight pipe being fixed in the connection ring 602 702nd, compressed air incident pipe 703.Described spray nozzle front end 701 is a kind of heterotypic spray nozzle structure, and change plasters machine nozzle always It is the structure of round nozzle, bigger area of plastering can be obtained.Described straight pipe 702 connects spray nozzle front end 701 and compression Air incidence pipe 703 can be such that cement mortar is sufficiently mixed before not gushing out in straight pipe with air.Described Compressed air incident pipe 703 is located at nozzle tail end, a total of 6 air incidence mouths, can improve the speed of plastering of mechanical float, imitate Rate and stability.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.

Claims (10)

  1. A kind of 1. automation wall plastering machine based on 4DOF, it is characterised in that:Including bottom bracket (2), bottom plate (3), two Block mainboard (6), control system (5), X-axis movement combined mechanism (9), Y-axis movement combined mechanism (4), Z axis movement combined mechanism (10), C axles rotation combination mechanism (7), and the nozzle (8) in C axle rotation combinations mechanism (7), the C axles rotation group Close mechanism (7) and drive nozzle (8) horizontal revolving motion;
    The control system (5) moves combination machine with X-axis movement combined mechanism (9), Y-axis movement combined mechanism (4), Z axis respectively Structure (10), C axle rotation combinations mechanism (7) connection;
    Two pieces of described mainboard (6) vertical symmetries are arranged on the both ends of bottom plate (3), Z axis movement combined mechanism (10) installation On two pieces of mainboards (6), the C axles rotation combination mechanism (7) is arranged on X-axis movement combined mechanism (9), the X-axis movement Combined mechanism (9) drives C axle rotation groups with Z axis movement combined mechanism (10) vertical connection, the X-axis movement combined mechanism (9) Mechanism (7) is closed along bottom plate (3) horizontal movement, and then realizes nozzle (8) along bottom plate (3) horizontal movement;The Z axis moves combination machine Structure (10) drives X-axis movement combined mechanism (9) to be moved vertically along mainboard (6), and then realizes that nozzle (8) is vertically transported along mainboard (6) It is dynamic;
    The Y-axis movement combined mechanism (4) and bottom plate (3) are installed on base support (2), Y-axis movement combined mechanism (4) band Dynamic bottom plate (3) moves along base support (2), and then realizes that nozzle (8) moves along base support (2).
  2. A kind of 2. automation wall plastering machine based on 4DOF as claimed in claim 1, it is characterised in that:The Y-axis is moved Dynamic combined mechanism (4) includes two root longs and slides polished rod (303), two connection polished rods (304), Y-axis contiguous block (306), long belts (307), movable pulley (308), the Y-axis motor (309) being connected with control system (5), travelling gear (310);
    Described long slip polished rod (303) and connection polished rod (304) are connected on bottom bracket (2), Y-axis contiguous block (306) and Y Axle motor (309) is symmetrically mounted on two connection polished rods (304), and connects Y-axis contiguous block by long belt (307) And Y-axis motor (309) (306);Described long belt (307) is while be fixed on bottom plate (3), travelling gear (310) peace On Y-axis motor (309), Y-axis motor (309) drives long belt (307) to move by travelling gear (310), Bottom plate (3) moves together with long belt (307).
  3. A kind of 3. automation wall plastering machine based on 4DOF as claimed in claim 2, it is characterised in that:The X-axis is moved Dynamic combined mechanism (9) includes right-hand member Z axis contiguous block (401), slides polished rod (402), cingulum (403), X-axis contiguous block (404), a left side Hold Z axis contiguous block (406), the X-axis motor (407) being connected with control system (5), the right-hand member Z axis contiguous block (401) With left end Z axis contiguous block (406) in be provided with gear;
    Slip polished rod (402) the connection right-hand member Z axis contiguous block (401) and left end Z axis contiguous block (406), the cingulum (403) Both ends are connected with the gear in right-hand member Z axis contiguous block (401) and left end Z axis contiguous block (406) respectively, and X-axis contiguous block (404) is worn Cross slip polished rod (402) and cingulum, and by cingulum drive X-axis contiguous block (404) on polished rod (402) is slided slidably;Institute The X-axis motor (407) stated is arranged on right-hand member Z axis contiguous block (401) or left end Z axis contiguous block (406), and is connected with gear Connect, whole X-axis contiguous block (404) horizontal movement is driven by cingulum (403) transmission.
  4. A kind of 4. automation wall plastering machine based on 4DOF as claimed in claim 3, it is characterised in that:The X-axis is moved Dynamic combined mechanism (9) also includes the limit switch on right-hand member Z axis contiguous block (401) or left end Z axis contiguous block (406) (405), for realizing the repositioning of the X-axis contiguous block (404).
  5. A kind of 5. automation wall plastering machine based on 4DOF as claimed in claim 4, it is characterised in that:Described Z axis Mobile combined mechanism (10) include two groups of Z axis motors (501) being connected with control system (5), screw mandrel guide rail (502), Screw mandrel (503);
    The Z axis motor (501) is separately fixed on mainboard (6) or bottom plate (3), the screw mandrel guide rail (502) and screw mandrel (503) it is arranged on mainboard (6), screw mandrel (503) one end is connected with Z axis motor (501);Described right-hand member Z axis contiguous block (401) it is separately mounted to left end Z axis contiguous block (406) on two groups of screw mandrels (503) and screw mandrel guide rail (502), and right-hand member Z axis Contiguous block (401) and left end Z axis contiguous block (406) are on same horizontal linear;Z axis motor (501) drive screw (503) rotate, right-hand member Z axis contiguous block (401) and left end Z axis contiguous block (406) are led under the driving of screw mandrel (503) along screw mandrel Rail (502) slides up and down, so that nozzle (8) vertically moves.
  6. A kind of 6. automation wall plastering machine based on 4DOF as claimed in claim 5, it is characterised in that:Described C axles Rotation combination mechanism (7) includes connection ring (602), shaft coupling (603), the steering wheel (604) being connected with control system (5);
    Described connection ring (602) lower part rotates be embedded into X-axis contiguous block (404) inner, connection ring (602) upper part and shaft coupling Device (603) connects;Described connection ring (602) is used for fixed nozzle (8) and transmits rotary motion;The steering wheel (604) with Shaft coupling (603) connects, and steering wheel (604) rotates connection ring (602) by shaft coupling (603), so as to drive nozzle (8) horizontal Rotary motion.
  7. A kind of 7. automation wall plastering machine based on 4DOF as claimed in claim 6, it is characterised in that:Described spray Mouth (8) includes spray nozzle front end (701), the straight pipe (702) being fixed in the connection ring (602), compressed air incident pipe (703);Described spray nozzle front end (701) is heterotypic spray nozzle structure, described straight pipe (702) connection spray nozzle front end (701) and Compressed air incident pipe (703), makes cement mortar be sufficiently mixed before not gushing out in straight pipe with air.
  8. A kind of 8. automation wall plastering machine based on 4DOF as claimed in claim 7, it is characterised in that:Also include peace The range sensor (12) being connected on steering wheel support (601) with control system (5), and be connected with control system (5) Siren (11).
  9. A kind of 9. automation wall plastering machine based on 4DOF as described in claim 1-8 is any, it is characterised in that:Institute The bottom bracket (2) stated include chassis corner (301), the two root long connecting rods (302) for connecting chassis corner (301) and Two short connecting rod (305).
  10. A kind of 10. automation wall plastering machine based on 4DOF as claimed in claim 9, it is characterised in that:Also include peace Mobile universal wheel (1) mounted in chassis corner (301) bottom.
CN201711093840.7A 2017-11-08 2017-11-08 A kind of automation wall plastering machine based on 4DOF Pending CN107893523A (en)

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Application Number Priority Date Filing Date Title
CN201711093840.7A CN107893523A (en) 2017-11-08 2017-11-08 A kind of automation wall plastering machine based on 4DOF

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711093840.7A CN107893523A (en) 2017-11-08 2017-11-08 A kind of automation wall plastering machine based on 4DOF

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108824154A (en) * 2018-06-23 2018-11-16 刘道灵 A kind of construction robot scale spacing device
CN108979083A (en) * 2018-07-30 2018-12-11 广东宏穗晶科技服务有限公司 A kind of multi-angle indoor spraying robot
CN109083373A (en) * 2018-08-21 2018-12-25 李娜 A kind of novel wall powder of lacquer putty for use on application device
CN110439230A (en) * 2019-08-22 2019-11-12 全京哲 A kind of intelligence polyurethane spray coating device and its spraying method
CN111719825A (en) * 2020-06-30 2020-09-29 共享智能装备有限公司 Building outer wall flush coater

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EP1679129A2 (en) * 2001-09-07 2006-07-12 Illinois Tool Works, Inc. Hot melt adhesive hand applicator
CN102535823A (en) * 2012-01-18 2012-07-04 郑州市中源恒睿机械制造有限公司 Flat jet flow nozzle and special coating machine
CN104260076A (en) * 2014-09-26 2015-01-07 哈尔滨工程大学 Omni-directional intelligent furniture paint spraying robot
CN105908952A (en) * 2016-04-02 2016-08-31 淮南师范学院 Scissor type upper wall processing robot and electrical system thereof
CN105926907A (en) * 2016-06-17 2016-09-07 佛山市联智新创科技有限公司 Low-rise building outer wall paint spraying device
CN207526068U (en) * 2017-11-08 2018-06-22 武汉科技大学 A kind of automation wall plastering machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1679129A2 (en) * 2001-09-07 2006-07-12 Illinois Tool Works, Inc. Hot melt adhesive hand applicator
CN102535823A (en) * 2012-01-18 2012-07-04 郑州市中源恒睿机械制造有限公司 Flat jet flow nozzle and special coating machine
CN104260076A (en) * 2014-09-26 2015-01-07 哈尔滨工程大学 Omni-directional intelligent furniture paint spraying robot
CN105908952A (en) * 2016-04-02 2016-08-31 淮南师范学院 Scissor type upper wall processing robot and electrical system thereof
CN105926907A (en) * 2016-06-17 2016-09-07 佛山市联智新创科技有限公司 Low-rise building outer wall paint spraying device
CN207526068U (en) * 2017-11-08 2018-06-22 武汉科技大学 A kind of automation wall plastering machine

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108824154A (en) * 2018-06-23 2018-11-16 刘道灵 A kind of construction robot scale spacing device
CN108824154B (en) * 2018-06-23 2020-07-07 佛山市和兴建筑工程有限公司 Scale distance device of construction robot
CN108979083A (en) * 2018-07-30 2018-12-11 广东宏穗晶科技服务有限公司 A kind of multi-angle indoor spraying robot
CN109083373A (en) * 2018-08-21 2018-12-25 李娜 A kind of novel wall powder of lacquer putty for use on application device
CN110439230A (en) * 2019-08-22 2019-11-12 全京哲 A kind of intelligence polyurethane spray coating device and its spraying method
CN111719825A (en) * 2020-06-30 2020-09-29 共享智能装备有限公司 Building outer wall flush coater

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