CN107989345B - Automatic spraying machine for outer wall of high building - Google Patents
Automatic spraying machine for outer wall of high building Download PDFInfo
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- CN107989345B CN107989345B CN201711305990.XA CN201711305990A CN107989345B CN 107989345 B CN107989345 B CN 107989345B CN 201711305990 A CN201711305990 A CN 201711305990A CN 107989345 B CN107989345 B CN 107989345B
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- rope
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- fixedly connected
- wall
- crank
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- 238000005507 spraying Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims abstract description 15
- 230000001680 brushing effect Effects 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims abstract description 6
- 238000010422 painting Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 10
- 239000007921 spray Substances 0.000 abstract description 8
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 52
- 239000003973 paint Substances 0.000 description 6
- 230000001174 ascending effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000004744 fore-foot Anatomy 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
- E04F21/12—Mechanical implements acting by gas pressure, e.g. steam pressure
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention belongs to the field of mechanical engineering, and particularly relates to an automatic spraying machine for an outer wall of a high building. Wherein the crank slide block mechanism is fixedly connected to a nut seat of the screw rod, and the motor is fixedly connected with the crank to provide power to drive the spray head to move up and down; the speed reducing motor is transversely and fixedly connected to the machine body, and the longitudinal foot screw rod is driven to rotate through the change gear box, and a nut seat on the foot screw rod is fixedly connected with the front foot support and the rear foot support to realize barrier action; the central shaft of the roof motor is fixedly connected with the winding shaft, the hanging rope is wound on the winding shaft, the rope-following devices are fixedly connected to the nut seat of the reciprocating screw rod, the movement conditions of the two rope-following devices are opposite, namely, when the left rope-following device moves leftwards, the right rope-following device moves rightwards, the hanging rope starts from the winding shaft and extends to the telescopic hanging wire bracket, and the tail end of the hanging rope is connected to the wall brushing device. Compared with the traditional wall brushing mode, the invention greatly improves the working efficiency; the danger of manually brushing the wall is effectively avoided; the wall brushing cost is reduced, the structure is simple, and the maintenance is convenient.
Description
Technical Field
The invention belongs to the field of mechanical engineering, and particularly relates to a wall surface working machine.
Background
Along with the development of the urban process, the height of the built building is also continuously increased, and the problem is that how to paint the outer wall is good in effect and attractive, and the investigation on the fact that the existing paint of the outer wall surface of the high building is manually finished, and the manual paint has the following defects:
1. the efficiency is low, and the wall surface painting quality can not be ensured.
2. The personal safety of operators cannot be guaranteed, accidents caused by painting the outer walls of high buildings continuously occur every year, falling events of high-altitude wall painting spiders occur successively, on one hand, the safety of operators is not paid attention to by construction enterprises, and on the other hand, the operators are lower in self quality, and the operators are caused.
3. Meanwhile, a plurality of people are required to paint, the manpower resource consumption is overlarge, the paint brushing period is long, the cost is high, the spraying effect of each area is uneven, the appearance is affected, the spraying quality is not ensured, the spraying coating is uneven and rough, and some people can see obvious scratches and rolling marks.
Disclosure of Invention
The problem is effectively solved by the appearance of the automatic spraying robot for the high-altitude outer wall, the automatic operation is realized, the personnel do not need to hang at high altitude to operate, only need to stand in a safety area to perform some auxiliary operations, and the life safety of the personnel is effectively ensured; the distance between the wall surface and the spray head is determined according to the practical best spraying effect, so that the quality of each sprayed area is the same, the sprayed coating is smooth, flat and compact, no particles, brush marks and rolling marks exist, and the effect is more attractive than that of manual spraying from the visual aspect; the spraying speed is fast, the efficiency is high, one spraying robot can replace a plurality of people to work, one person can control a plurality of machines to work, the working efficiency of outer wall painting is greatly improved, the cost of outer wall painting is greatly reduced, the construction cost is greatly reduced, the efficiency is improved, and the occurrence of safety accidents is reduced by large-area popularization of the automatic wall surface outer paint spraying robot.
The technical scheme of the invention is as follows: the device of the high-altitude outer wall automatic spraying robot is divided into four parts, wherein the first part is a moving device, the second part is an obstacle avoidance device, the third part is an adsorption device, and the fourth part is a spraying device.
1. The moving device consists of a screw rod, a coupler, a supporting seat, a nut seat, a crank sliding block mechanism, a roof motor and a plurality of components: the second layer plane moves horizontally by the cooperation of the screw rod and the sliding block, so that the movement is accurate and stable, and the spraying quality is good; the motor drives the crank to rotate 360 degrees in the vertical direction, the crank drives the connecting rod to rotate, and the connecting rod drives the spray head to move up and down in a preset chute; the roof lowering mechanism precisely controls the action and stop of the spraying mechanism by pulling the rope through the motor;
2. barrier means are composed of: the push rod pushing mechanism comprises a gear motor, a screw rod, a coupler, a supporting seat, a nut seat and supporting feet, and the push rod is retracted when the spraying device is close to the window edge through automatic control, and extends out to continue working after crossing the window edge.
3. Adsorption device: the robot is pushed to approach the wall surface by utilizing the principle of acting force and reaction force.
4. And (3) a spraying device: and (5) selecting a mist spray nozzle to adjust the angle to spray the wall surface, so as to ensure the spraying quality.
The working process of the invention is divided into ascending and descending, the actions of the two parts of the roof motor and the push rod pushing mechanism are changed between the ascending and descending, and the work of the other motors is kept unchanged. In the case of the down running operation, the machine starts to work, the ducted fan starts to generate thrust to enable the machine to abut against the wall, under the normal working condition, the crank rotates at a certain speed to drive the spray head to move up and down, and meanwhile, the stepping motor rotates to drive the crank sliding block mechanism to move horizontally as a whole through the action between the screw rod and the nut seat. After the lead of the reciprocating screw rod is once, the crank motor, the stepping motor and the nozzle stop working, the roof motor stops after the wall brushing machine is lowered for a certain distance, and then the crank motor, the stepping motor and the nozzle repeat the actions. In normal operation, the above actions are repeated all the time. When an obstacle exists, as shown in fig. 5, the sensor 5 detects that the obstacle exists in front, the roof motor stops rope releasing, the machine sprays once in situ, after the spraying work is finished, the motor of the rear foot drives the rear foot support to retract through the screw rod, the motor of the front foot drives the front foot support to extend out of the support through the screw rod, the lower part of the machine is suspended and far away from the wall surface, after the work of the foot motor is finished, the roof motor releases rope, the sensor 2 stops when detecting the obstacle, the rear half part of the machine straddles the obstacle, and the rear foot releases the front foot to retract. At this time, there are two cases:
1. at this time, the rear foot is put down, if the obstacle is flat, the area is far smaller than the primary spraying area of the machine, the sensor 2 still can detect the obstacle when the rear foot and the front foot return to the initial state, the machine performs primary spraying, after the spraying is finished, the front foot is retracted and the rear foot is put down, the front half part of the machine is far away from the wall surface, the roof motor is put down for a fixed period of time, then the front foot is retracted and the rear foot is retracted, the two feet return to the initial state again, then the roof motor is retracted until the sensor 0 detects the obstacle, the sensor 0 detects that the front end of the machine is clung to the obstacle at this time, and then the machine starts to work normally.
2. If the obstacle is large, the area is larger than the primary spraying area of the machine, the front part of the machine is supported after the rear legs are put down, and at the moment, the sensor 2 cannot detect the obstacle, so that the machine climbs up the obstacle and the two legs return to the initial state, and then the machine is in a normal working state. When the obstacle is to be left, the sensor 4 has no signal, which indicates that a part of the rear part of the machine is suspended, at the moment, the roof motor is stopped, the machine firstly performs one spraying, the roof motor is released, when the sensor 1 has no signal, the front foot is retracted and the rear foot is released, the roof motor is released for a fixed period of time, the rear foot is retracted and the front foot is released, the roof motor is retracted, until the sensor 0 detects the obstacle, the machine is stopped, and then the machine starts to work normally.
The invention has the beneficial effects that:
1. compared with the traditional wall brushing mode, the working efficiency is greatly improved;
2. the danger of manually brushing the wall is effectively avoided;
3. the wall brushing cost is reduced, the structure is simple, and the maintenance is convenient.
Drawings
Fig. 1 is a front view of the present invention.
1, a ducted fan; 2. a change gear box; 3. a speed reducing motor; 4. a forefoot support; 5. a nozzle; 6. a rear foot support.
Fig. 2 is a top view of the present invention.
7, a crank slide block mechanism; 8. a crank motor; 9. a polish rod; 10. a screw rod; 11. a stepping motor; 12. a coupling.
Fig. 3 is a side view.
13, a foot screw.
Fig. 4 is a structural view of the roof apparatus.
14, a telescopic wire hanging bracket; 15. a spool; 16. a roof motor; 17. a gear; 18. a reciprocating screw; 19. a rope-guiding device.
FIG. 5 is a positional layout of the sensors
Detailed Description
The present invention will be specifically described below with reference to the accompanying drawings.
Referring to fig. 1, 2, 3 and 4, the invention comprises a ducted fan 1, a change gear box 2, a gear motor 3, a front foot support 4, a nozzle 5, a rear foot support 6, a crank block mechanism 7, a crank motor 8, a polished rod 9, a screw 10, a stepping motor 11, a coupler 12, a foot screw 13, a telescopic hanging wire support 14, a winding shaft 15, a roof motor 16, a gear 17, a reciprocating screw 18 and a rope spreader 19; the spraying device is composed of a crank slide block mechanism 7, a crank motor 8, a polished rod 9, a screw rod 10, a stepping motor 11 and a coupler 12, wherein the crank slide block mechanism 7 is fixedly connected to a nut seat of the screw rod, the stepping motor 11 provides power, and the crank motor 8 is fixedly connected with a crank of the crank slide block mechanism 7; the steering gear box 2, the gear motor 3, the front foot support 4, the nozzle 5 and the rear foot support 6 form an obstacle surmounting device, wherein the gear motor 3 is transversely fixedly connected to the machine body, the steering gear box 2 drives the longitudinal foot screw 13 to rotate, and a nut seat on the foot screw 13 is fixedly connected with the front foot support 4 and the rear foot support 6; the telescopic wire hanging bracket 14, the winding shaft 15, the roof motor 16, the gear 17, the reciprocating screw 18 and the wire rope aligning device 19 form a hanging device, wherein a central shaft of the roof motor 16 is fixedly connected with the winding shaft, a hanging wire is wound on the winding shaft 15, the winding shaft 15 is fixedly connected on a base, the wire rope aligning device 19 is fixedly connected on a nut seat of the reciprocating screw 18, the movement conditions of the two wire rope aligning devices 19 are opposite, namely, when the left wire rope aligning device moves leftwards, the right wire rope aligning device moves rightwards, the hanging wire rope starts from the winding shaft 15, firstly passes through the wire rope aligning device 19 and finally reaches the telescopic wire hanging bracket 14, and the tail end of the hanging wire rope is connected to the wall brushing device.
The working process of the invention is divided into ascending and descending, the actions of the two motors except part of the roof motor 16 and the gear motor 3 between the ascending and descending are changed, and the work of the other motors is kept unchanged. Taking the downlink operation as an example, the machine starts to work, the ducted fan 1 is started to generate thrust to enable the machine to cling to a wall, under the normal operation condition, the crank motor 8 rotates at a certain speed to drive the nozzle 5 to move up and down, and meanwhile, the stepping motor 11 rotates to drive the crank slider mechanism 7 to move horizontally as a whole through the action between the screw rod 10 and the nut seat. After the lead of the reciprocating screw 9 is once, the crank motor 8, the stepping motor 11 and the nozzle 5 stop working, the roof motor 16 stops after the wall brushing machine is put down for a certain distance, and then the crank motor 8, the stepping motor 11 and the nozzle 5 repeat the above actions. In normal operation, the above actions are repeated all the time. When an obstacle exists, the sensor 5 detects that the obstacle exists in front, the roof motor 16 stops rope releasing, the machine sprays once in situ, after spraying work is finished, the speed reducing motor 3 of the rear foot drives the rear foot support 6 to retract through the foot screw 13, the speed reducing motor 3 of the front foot drives the front foot support 4 to extend out of the support through the foot screw 13, the lower part of the machine is suspended and far away from a wall surface, after the work of the foot motor 3 is finished, the roof motor 16 releases rope, the sensor 2 stops when detecting the obstacle, the rear half part of the machine straddles the obstacle, and the rear foot releases the front foot. At this time, there are two cases:
1. at this time, if the obstacle is flat, as shown in fig. 5, when the area is far smaller than the primary spraying area of the machine, the sensor 2 still can detect the obstacle when the rear foot support 6 and the front foot support 4 return to the initial state, the machine performs primary spraying, after the spraying is finished, the front foot support 4 is retracted and the rear foot support 6 is put away from the wall surface, the roof motor 16 is released for a fixed period of time, then the front foot support 4 is retracted and the rear foot support 6 is retracted, the two feet return to the initial state, then the roof motor 16 is retracted until the sensor 0 detects the obstacle, the sensor 0 detects that the front end of the machine is clung to the obstacle at this time, and then the machine starts to work normally.
2. If the obstacle is large and the area is larger than the primary spraying area of the machine, the rear foot support 6 is put down, the front part of the machine is supported, at the moment, the sensor 2 cannot detect the obstacle, so that the machine can climb up the obstacle and the feet can return to the initial state, and then the machine is in a normal working state. When the obstacle is to be removed, the sensor 4 has no signal, which indicates that a part of the rear part of the machine is suspended, at the moment, the roof motor 16 is stopped, the machine firstly performs one spraying, the roof motor 16 is released, when the sensor 1 has no signal, the front foot support 4 is retracted and the rear foot support 6 is released, the roof motor 16 is released for a fixed period of time, the rear foot support 4 is retracted and the front foot support 6 is released, the roof motor 16 is retracted, until the sensor 0 detects the obstacle, the machine is stopped, and then the machine starts to work normally.
Claims (4)
1. The automatic spraying machine for the outer wall of the high building is characterized by comprising a ducted fan (1), a change gear box (2), a speed reducing motor (3), a front foot support (4), a nozzle (5), a rear foot support (6), a crank block mechanism (7), a crank motor (8), a polished rod (9), a screw (10), a stepping motor (11), a coupler (12), a foot screw (13), a telescopic hanging wire support (14), a winding shaft (15), a roof motor (16), a gear (17), a reciprocating screw (18) and a rope-following device (19); the ducted fan (1) is suspended above the wall brushing machine and is fixed by brackets on four corners of the machine; the spraying device comprises a crank slider mechanism (7), a crank motor (8), a polished rod (9), a screw rod (10), a stepping motor (11) and a coupler (12), wherein the crank slider mechanism (7) is fixedly connected to a nut seat of the screw rod, the stepping motor (11) provides power, and the crank motor (8) is fixedly connected with a crank of the crank slider mechanism (7); the device comprises a change gear box (2), a gear motor (3), a front foot support (4), a nozzle (5) and a rear foot support (6), wherein the gear motor (3) is transversely fixedly connected to a machine body, a longitudinal foot screw (13) is driven to rotate through the change gear box (2), and a nut seat on the foot screw (13) is fixedly connected with the front foot support (4) and the rear foot support (6); telescopic wire hanging bracket (14), winding shaft (15) and roof motor
(16) The novel wall painting device comprises a hanging device, gears (17), a reciprocating screw (18) and rope-following devices (19), wherein a central shaft of a roof motor (16) is fixedly connected with a winding shaft, a hanging rope is wound on the winding shaft (15), the winding shaft (15) is fixedly connected to a base, the rope-following devices (19) are fixedly connected to a nut seat of the reciprocating screw (18), the two rope-following devices (19) are opposite in movement condition, namely, when a left rope-following device moves leftwards, a right rope-following device moves rightwards, the hanging rope starts from the winding shaft (15), firstly passes through the rope-following devices (19), finally reaches a telescopic hanging wire support (14), and the tail end of the hanging rope is connected to the wall painting device.
2. The automatic spraying machine for the outer wall of the high building according to claim 1, wherein the front foot support (4) and the rear foot support (6) are driven by a foot screw (13).
3. The automatic spraying machine for the outer wall of the high building according to claim 1, wherein the moving directions of the two rope alignment devices (19) on the reciprocating screw (18) are opposite.
4. The automatic spraying machine for the outer wall of the high building according to claim 1, wherein the roof motor (16) can be self-locked in a normal state.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201711305990.XA CN107989345B (en) | 2017-12-11 | 2017-12-11 | Automatic spraying machine for outer wall of high building |
Applications Claiming Priority (1)
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CN201711305990.XA CN107989345B (en) | 2017-12-11 | 2017-12-11 | Automatic spraying machine for outer wall of high building |
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CN107989345A CN107989345A (en) | 2018-05-04 |
CN107989345B true CN107989345B (en) | 2024-03-29 |
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CN201711305990.XA Active CN107989345B (en) | 2017-12-11 | 2017-12-11 | Automatic spraying machine for outer wall of high building |
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Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109162431B (en) * | 2018-10-31 | 2021-03-23 | 陕西理工大学 | High-rise wall spraying robot |
CN111677247B (en) * | 2020-06-18 | 2021-08-17 | 浙江鱼童新材料股份有限公司 | Waterproof engineering waterproof paint brushing construction method |
CN113171906B (en) * | 2021-04-27 | 2022-08-05 | 合肥工业大学 | Movable electro-hydraulic compound drive spraying robot with large working space |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101922229A (en) * | 2009-06-17 | 2010-12-22 | 陈永生 | High-altitude paint multi-nozzle machine and roll painting method |
CN104339358A (en) * | 2013-07-27 | 2015-02-11 | 昝士录 | Skilled robot for scrubbing or spraying outer layer surface of high-rise building |
CN104631791A (en) * | 2015-01-21 | 2015-05-20 | 广西大学 | Shear type lifting wall plastering machine driven by slider-crank and capable of fixing step-length and adjusting working range |
CN205100520U (en) * | 2015-11-16 | 2016-03-23 | 江苏建筑职业技术学院 | Outer wall paint spraying apparatus |
CN107100352A (en) * | 2017-05-25 | 2017-08-29 | 韩登银 | A kind of wall covering safeguards unmanned plane |
CN208310129U (en) * | 2017-12-11 | 2019-01-01 | 青岛科技大学 | High building exterior wall automatic spraying machine |
-
2017
- 2017-12-11 CN CN201711305990.XA patent/CN107989345B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101922229A (en) * | 2009-06-17 | 2010-12-22 | 陈永生 | High-altitude paint multi-nozzle machine and roll painting method |
CN104339358A (en) * | 2013-07-27 | 2015-02-11 | 昝士录 | Skilled robot for scrubbing or spraying outer layer surface of high-rise building |
CN104631791A (en) * | 2015-01-21 | 2015-05-20 | 广西大学 | Shear type lifting wall plastering machine driven by slider-crank and capable of fixing step-length and adjusting working range |
CN205100520U (en) * | 2015-11-16 | 2016-03-23 | 江苏建筑职业技术学院 | Outer wall paint spraying apparatus |
CN107100352A (en) * | 2017-05-25 | 2017-08-29 | 韩登银 | A kind of wall covering safeguards unmanned plane |
CN208310129U (en) * | 2017-12-11 | 2019-01-01 | 青岛科技大学 | High building exterior wall automatic spraying machine |
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