CN108945124A - A kind of building spray robot - Google Patents
A kind of building spray robot Download PDFInfo
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- CN108945124A CN108945124A CN201810834067.3A CN201810834067A CN108945124A CN 108945124 A CN108945124 A CN 108945124A CN 201810834067 A CN201810834067 A CN 201810834067A CN 108945124 A CN108945124 A CN 108945124A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/07—Mono-track vehicles
-
- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of building spray robots, belong to construction robot technical field of tools, and the building spray robot includes crawler unit, reversible spray-painting plant, spray-painting plant, vacuum absorption device, chassis；The building spray robot further includes mechanical arm, and the present invention uses vacuum suction, and cooperates crawler unit, and that realizes construction robot climbs wall function, to achieve the purpose that the automatically walk spraying for building spray robot；Twice painting process is realized by reversible spray-painting plant, spray-painting plant, so that japanning is more abundant；There are two freedom degrees for spray-painting plant tool, reversible, can paint emphatically for non-uniform place of painting, so that spraying has comprehensive and uniformity, avoid spraying phenomenon not in place.The present invention replaces artificial smearing using robot, and the efficiency and quality sprayed automatically is improved while reducing the labor intensity of worker, has wider market popularization value.
Description
Technical field
The invention belongs to construction robot technical field of tools, specifically, being related to a kind of building spray robot.
Background technique
Spray robot is called paint-spray robot, is that can carry out auto spray painting or spray the industrial robot of other coating.
Paint-spray robot is mainly made of robot body, computer and corresponding control system, and the paint-spray robot of hydraulic-driven is also
Including hydraulic oil source, such as oil pump, fuel tank and motor.5 or 6DOF articulated structure are mostly used, arm has biggish movement
Space, and complicated track movement can be done, wrist generally has 2~3 freedom degrees, can flexible motion.More advanced paint spraying machine
Device people's wrist uses flexible waist, can not only be bent to all directions, but also can be rotated, and acts the wrist of similar people, can be easily
Inside workpiece is protruded by lesser hole, sprays its inner surface.
But spray robot currently on the market is commonly used to industry, and is used for the seldom of building trade, can climb wall
Spray robot almost without, the spraying of coating for wall surface is mainly by manually painting completion during house decoration, large labor intensity,
Working environment is severe, but in recent years, and due to the rise of cost of labor, the enhancing of self health perception of worker causes recruitment difficult
And robot is used to replace artificial smearing, however spray robot present on robot market is mostly with universal pass at home
It saves based on robot, price is generally higher.
It is therefore desirable to propose a kind of spray robot that can satisfy modern architecture construction.
Summary of the invention
In order to solve the problems, such as background technique, the invention proposes a kind of building spray robots, can climb wall, energy
It is enough painted and is painted two and acted, it is ensured that the abundant spraying of pigment.
To achieve the above object, the present invention is achieved through the following technical solutions:
The building spray robot includes crawler unit 1, reversible spray-painting plant 2, spray-painting plant 4, vacuum suction
Device 5, chassis 6, the chassis 6 include bottom plate 43, side plate 46, and the left and right sides of bottom plate 43 is separately installed with one block of side plate
46, the middle part of bottom plate 43 offers a through-hole；The bottom on the chassis 6 is equipped with crawler unit 1, vacuum suction dress
5 tops for being mounted on two blocks of side plates 46 are set, and the through-hole at the middle part of its ventilation opening face bottom plate 43, the rear side on chassis 6 are equipped with
Spray-painting plant 4, the installed in front on chassis 6 have reversible spray-painting plant 2.
Further, the building spray robot further includes mechanical arm 3, and mechanical arm 3 is mounted on vacuum absorption device 5
Side.
Further, the mechanical arm 3 include bracket I 18, motor III 19, bracket II 20, motor IV 21, bracket III 22,
Motor V 23, bracket IV 24, bracket V 25, motor VI 26, bracket VI 27, motor VII 28, gripper 29；The bracket I 18
It is fixedly mounted on vacuum absorption device 5, motor III 19 is fixed on bracket I 18, and bracket II 20 is mounted on the defeated of motor III 19
On shaft, motor IV 21 is fixedly mounted on bracket II 20, and bracket III 22 is mounted on the output shaft of motor IV 21, motor V 23
It is mounted on bracket III 22, bracket IV 24 is mounted on the output shaft of motor V 23, and bracket V 25 is connect with bracket IV 24, motor
VI 26 are mounted on bracket V 25, and bracket VI 27 is mounted on the output shaft of motor VI 26, and motor VII 28 is mounted on bracket VI 27
On, gripper 29 is mounted on the output shaft of motor VII 28.
Further, the crawler unit 1 includes driving wheel 7, driven wheel 8, directive wheel 9, support wheel 10, support frame
11, support plate 12, crawler belt turbin generator 44, Athey wheel fixed block 45, crawler belt 47, the crawler belt turbin generator 44, Athey wheel are fixed
Block 45 is mounted on bottom plate 43, and driving wheel 7 is connected with the output shaft of crawler belt turbin generator 44, driven wheel 8 and Athey wheel fixed block 45
On axis be connected by bearing, support plate 12 has two pieces, parallel opposite to be mounted on chassis 6, uniform in two pieces of support plates 12
Support frame I 11 is installed, directive wheel 9 is equipped with by bearing on the support frame I 11 of 8 side of driven wheel, other support frames I
Support wheel 10 is equipped with by bearing on 11, crawler belt 47 be socketed in driving wheel 7, driven wheel 8, directive wheel 9, on support wheel 10.
Further, the vacuum absorption device 5 includes gasket 37, I shape duct 38, pressurization paddle 39, shell 40, end cap
41, vacuum motor 42, gasket 37 are fixed on the bottom of I shape duct 38, and the upper end of I shape duct 38 is fixedly mounted on shell 40
On, the top of I shape duct 38 is equipped with end cap 41, and vacuum motor 42 is mounted in the upper pipe of I shape duct 38, and is fixed on
The inside of end cap 41, pressurization paddle 39 are connected with the output shaft of vacuum motor 42, and shell 40 is mounted on bottom plate 43.
Further, the spray-painting plant 4 includes big japanning cylinder 30, big bracket 31, small japanning cylinder 32, small rack 33, always
Bracket 34, transmission pipe 35, fixed block 36；The fixed block 36 is mounted on bottom plate 43, and transmission pipe 35 is mounted on fixed block 36
On, transmission pipe 35 is connect with external paint spraying outfit, and total bracket 34 is mounted on fixed block 36, and big bracket 31 and small rack 33 are mutual
It is vertically installed on total bracket 34, big cylinder 30, the small japanning cylinder 32 of painting is mounted on big bracket 31, small by axis and bearing respectively
On bracket 33.
Further, the reversible spray-painting plant 2 include support frame II 13, motor I 14, L shape frame 15, spray painting mouth 16,
Motor II 17, the support frame II 13 are mounted on bottom plate 43, and motor II 17 is mounted on support frame II 13, and L shape frame 15 is pacified
On the output shaft of motor II 17, motor I 14 is mounted on L shape frame 15, and spray painting mouth 16 is mounted on the output shaft of motor I 14
On, spray painting mouth 16 is connect with external paint spraying outfit.
Preferably, being separately mounted to the both ends of support frame II 13, each motor II 17 there are two the motors II 17
Output shaft on be separately installed with a L shape frame 15, be mounted on a spray painting mouth 16 on L shape frame 15, spray painting mouth 16 and external
Paint spraying outfit connection.
Beneficial effects of the present invention:
(1) present invention uses vacuum suction, and cooperates crawler unit, and that realizes construction robot climbs wall function, to reach
Build the purpose of the automatically walk spraying of spray robot.
(2) present invention realizes twice painting process by reversible spray-painting plant, spray-painting plant, so that japanning is more filled
Point.
(3) there are two freedom degrees for spray-painting plant of the invention tool, reversible, can focus on for non-uniform place of painting
Colouring avoids spraying phenomenon not in place so that spraying has comprehensive and uniformity.
(4) present invention replaces artificial smearing using robot, and automatic spraying is improved while reducing the labor intensity of worker
Efficiency and quality, have wider market popularization value.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram on chassis of the present invention；
Fig. 3 is the structural schematic diagram of mechanical arm of the present invention；
Fig. 4 is the present invention looks up structural representation of vacuum absorption device of the present invention；
Fig. 5 is that vacuum absorption device of the present invention removes the structural schematic diagram after end cap；
Fig. 6 is the structural schematic diagram of crawler unit of the present invention；
Fig. 7 is the structural schematic diagram of spray-painting plant of the present invention；
Fig. 8 is the structural schematic diagram of the reversible spray-painting plant of the present invention.
In figure, the reversible spray-painting plant of 1- crawler unit, 2-, 3- mechanical arm, 4- spray-painting plant, 5- vacuum suction dress
It sets, the chassis 6-, 7- driving wheel, 8- driven wheel, 9- directive wheel, 10- support wheel, 11- support frame, 12- support plate, 13- support frame
II, 14- motor I, 15-L shape frame, 16- spray painting mouth, 17- motor II, 18- bracket I, 19- motor III, 20- bracket II, 21- motor
IV, 22- bracket III, 23- motor V, 24- bracket IV, 25- bracket V, 26- motor VI, 27- bracket VI, 28- motor VII, 29-
The big japanning cylinder of gripper, 30-, the big bracket of 31-, the small japanning cylinder of 32-, 33- small rack, the total bracket of 34-, 35- transmission pipe, 36- are solid
Determine block, 37- gasket, 38-I shape duct, 39- pressurization paddle, 40- shell, 41- end cap, 42- vacuum motor, 43- bottom plate, 44- to carry out
Belt wheel motor, 45- Athey wheel fixed block, 46- side plate, 47- crawler belt.
Specific embodiment
Below in conjunction with the embodiment of the present invention and attached drawing, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
As shown in Figure 1 and Figure 2, the building spray robot include crawler unit 1, reversible spray-painting plant 2,
Spray-painting plant 4, vacuum absorption device 5, chassis 6, the chassis 6 include bottom plate 43, side plate 46, the left and right sides point of bottom plate 43
One block of side plate 46 is not installed, the middle part of bottom plate 43 offers a through-hole；The bottom on the chassis 6 is equipped with crawler travel
Device 1, vacuum absorption device 5 are mounted on the top of two blocks of side plates 46, and the through-hole at the middle part of its ventilation opening face bottom plate 43, bottom
The rear side of disk 6 is equipped with spray-painting plant 4, and the installed in front on chassis 6 has reversible spray-painting plant 2.
As shown in fig. 6, the crawler unit 1 includes driving wheel 7, driven wheel 8, directive wheel 9, support wheel 10, branch
Support 11, support plate 12, crawler belt turbin generator 44, Athey wheel fixed block 45, crawler belt 47, the crawler belt turbin generator 44, Athey wheel
Fixed block 45 is mounted on bottom plate 43, and driving wheel 7 is connected with the output shaft of crawler belt turbin generator 44, and driven wheel 8 is fixed with Athey wheel
Axis on block 45 is connected by bearing, and support plate 12 has two pieces, parallel to be mounted on chassis 6 relatively, in two pieces of support plates 12
Even is equipped with support frame I 11, is equipped with directive wheel 9 by bearing on the support frame I 11 of 8 side of driven wheel, other branch
Support wheel 10 is equipped with by bearing on support I 11, crawler belt 47 is socketed in driving wheel 7, driven wheel 8, directive wheel 9, support wheel 10
On.Crawler belt turbin generator 44 works, and driving wheel 7 is driven to work, so that crawler belt 47 is rotated, driven wheel 8, directive wheel 9, support at this time
Wheel 10 all can be rotated and then, and the rotation of crawler belt 47 is allowed the robot in independent ambulation.
As shown in Figure 4, Figure 5, the vacuum absorption device 5 includes gasket 37, I shape duct 38, pressurization paddle 39, shell
40, end cap 41, vacuum motor 42, gasket 37 are fixed on the bottom of I shape duct 38, and the upper end of I shape duct 38 is fixedly mounted on
On shell 40, the top of I shape duct 38 is equipped with end cap 41, and vacuum motor 42 is mounted in the upper pipe of I shape duct 38, and
It is fixed on the inside of end cap 41, pressurization paddle 39 is connected with the output shaft of vacuum motor 42, and shell 40 is mounted on bottom plate 43.When building
When building spray robot and being adjacent to building wall, vacuum motor 42 works, and pressurization paddle 39 is driven to rotate so that building wall with
It is I shape duct 38 between end cap 41 close to vacuum, the air pressure in I shape duct 38 is less than ambient pressure, and robot is pasted
On the wall, and gasket 37 is rubber product, and when use can be close to building wall, guarantee to pass through 5 energy of vacuum absorption device
It is adsorbed on whole building spray robot on building wall, then guarantees that it is steady under the action of crawler unit 1
Determine independent ambulation, realizes that it climbs the function of wall automatically.
As shown in fig. 7, the spray-painting plant 4 include big japanning cylinder 30, big bracket 31, small japanning cylinder 32, small rack 33,
Total bracket 34, transmission pipe 35, fixed block 36；The fixed block 36 is mounted on bottom plate 43, and transmission pipe 35 is mounted on fixed block
On 36, transmission pipe 35 is connect with external paint spraying outfit, and total bracket 34 is mounted on fixed block 36, big bracket 31 and 33 phase of small rack
Mutually be vertically installed on total bracket 34, it is big paint cylinder 30, small japanning cylinder 32 respectively by axis and bearing be mounted on big bracket 31,
On small rack 33, building spray robot during the work time, guarantees that big bracket 31 is contacted with building wall with small rack 33.
Big japanning cylinder 30, small japanning cylinder 32 are all made of material that is flexible, being easy to dip in paint and are made.Transmission pipe 35 is connect with external paint spraying outfit
Afterwards, pigment is ejected on big japanning cylinder 30, crawler unit 1 drives big japanning cylinder 30 to roll on metope in the process of walking
Dynamic, Paint Daubs on metope, is realized first order coating by big cylinder 30 of painting；And then, small japanning cylinder 32 contacts simultaneously with metope
It rolls, keeps the pigment being applied on metope more uniform, realize second level coating.
As shown in figure 8, the reversible spray-painting plant 2 includes support frame II 13, motor I 14, L shape frame 15, spray painting mouth
16, motor II 17, the support frame II 13 are mounted on bottom plate 43, and motor II 17 is mounted on support frame II 13, L shape frame 15
It is mounted on the output shaft of motor II 17, motor I 14 is mounted on L shape frame 15, and spray painting mouth 16 is mounted on the output shaft of motor I 14
On, spray painting mouth 16 is connect with external paint spraying outfit.There are two the motors II 17, is separately mounted to the two of support frame II 13
It holds, is separately installed with a L shape frame 15 on the output shaft of each motor II 17, a spray painting mouth 16 is mounted on L shape frame 15,
Spray painting mouth 16 is connect with external paint spraying outfit.Motor II 17 works, and drives L shape frame 15 to rotate, so that motor I 14 is with motor
II 17 output shaft is rotary shaft rotation, is fixed on the spray painting mouth 16 on motor I 14 using the output shaft of motor II 17 as rotary shaft
Rotation；Motor I 14 works, so that spray painting mouth 16 can also be rotated by rotary shaft of the output shaft of motor I 14, in rotation process
In, external pigment is ejected on metope by spray painting mouth 16.
As shown in Figure 1, Figure 3, the building spray robot further includes mechanical arm 3, and mechanical arm 3 is mounted on vacuum suction
The side of device 5.The mechanical arm 3 includes bracket I 18, motor III 19, bracket II 20, motor IV 21, bracket III 22, motor
V 23, bracket IV 24, bracket V 25, motor VI 26, bracket VI 27, motor VII 28, gripper 29；The bracket I 18 is fixed
It is mounted on vacuum absorption device 5, motor III 19 is fixed on bracket I 18, and bracket II 20 is mounted on the output shaft of motor III 19
On, motor IV 21 is fixedly mounted on bracket II 20, and bracket III 22 is mounted on the output shaft of motor IV 21, and motor V 23 is installed
On bracket III 22, bracket IV 24 is mounted on the output shaft of motor V 23, and bracket V 25 is connect with bracket IV 24, motor VI 26
It is mounted on bracket V 25, bracket VI 27 is mounted on the output shaft of motor VI 26, and motor VII 28 is mounted on bracket VI 27, machine
Machinery claw 29 is mounted on the output shaft of motor VII 28.Motor III 19 works, and bracket II 20 can be driven to rotate, be fixed on drive bracket
Motor IV 21 on II 20 works, and bracket III 22 can be driven to rotate, and motor V 23 can drive bracket IV 24, bracket V 25 while turn
Dynamic, motor VI 26 can drive bracket VI 27 to rotate, and motor VII 28 can drive gripper 29 to rotate, by between above each motor
Cooperation, it can be achieved that the movement of gripper 29 in three dimensions so that mechanical arm 3 can cooperate spray-painting plant 4, variable
It works to spray-painting plant 2.
The course of work of the invention:
Building spray robot is set to be adjacent to building wall, vacuum motor 42 works, and drives pressurization paddle 39 to rotate, so that building
It is I shape duct 38 between metope and end cap 41 close to vacuum, the air pressure in I shape duct 38 is less than ambient pressure, so that robot
It can paste on the wall, then crawler belt turbin generator 44 works, and drive driving wheel 7 to work, so that crawler belt 47 is rotated, driven wheel at this time
8, directive wheel 9, support wheel 10 all can be rotated and then, and under the action of negative-pressure adsorption, the rotation of crawler belt 47 is allowed the robot to
The independent ambulation on building wall realizes that it climbs the function of wall automatically.After transmission pipe 35 is connect with external paint spraying outfit, by pigment
It is ejected on big japanning cylinder 30, crawler unit 1 drives big japanning cylinder 30 to roll on metope in the process of walking, big to paint
Paint Daubs on metope, is realized first order coating by cylinder 30；And then, small japanning cylinder 32 is contacted and is rolled with metope, makes to apply
The pigment being put on metope is more uniform, realizes second level coating.Spray painting mouth 16 is connect with external paint spraying outfit.II 17 work of motor
Make, L shape frame 15 is driven to rotate, so that motor I 14 is rotated by rotary shaft of the output shaft of motor II 17, is fixed on motor I
Spray painting mouth 16 on 14 is rotated by rotary shaft of the output shaft of motor II 17；Motor I 14 works, so that spray painting mouth 16 can be with electricity
The output shaft of machine I 14 is rotary shaft rotation, and during rotation, external pigment is ejected on metope by spray painting mouth 16.It is mechanical
Arm 3 can realize the movement of gripper 29 in three dimensions, so that mechanical arm 3 can cooperate spray-painting plant 4, reversible spray
Device 2 is painted to work.
The present invention uses vacuum suction, and cooperates crawler unit, and that realizes construction robot climbs wall function, to reach
Build the purpose of the automatically walk spraying of spray robot；Realize that twice apply lacquerer by reversible spray-painting plant, spray-painting plant
Sequence, so that japanning is more abundant；There are two freedom degrees for spray-painting plant tool, reversible, can be for non-uniform place of painting
It paints again, so that spraying has comprehensive and uniformity, avoids spraying phenomenon not in place.The present invention replaces people using robot
Work is smeared, and the efficiency and quality sprayed automatically is improved while reducing the labor intensity of worker, has wider marketing valence
Value.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (8)
1. a kind of building spray robot, it is characterised in that: the building spray robot include crawler unit (1),
Reversible spray-painting plant (2), spray-painting plant (4), vacuum absorption device (5), chassis (6), the chassis (6) include bottom plate
(43), side plate (46) are separately installed with one piece of side plate (46) at left and right sides of bottom plate (43), and bottom plate offers one in the middle part of (43)
A through-hole；The bottom on the chassis (6) is equipped with crawler unit (1), and vacuum absorption device (5) is mounted on two blocks of side plates
(46) top, and the through-hole at the middle part of its ventilation opening face bottom plate (43) are equipped with spray-painting plant (4) on rear side of chassis (6),
The installed in front on chassis (6) has reversible spray-painting plant (2).
2. a kind of building spray robot according to claim 1, it is characterised in that: the building spray robot is also
Including mechanical arm (3), mechanical arm (3) is mounted on the side of vacuum absorption device (5).
3. a kind of building spray robot according to claim 2, it is characterised in that: the mechanical arm (3) includes branch
Frame I (18), motor III (19), bracket II (20), motor IV (21), bracket III (22), motor V (23), bracket IV (24), branch
Frame V (25), motor VI (26), bracket VI (27), motor VII (28), gripper (29)；The bracket I (18) is fixedly mounted
On vacuum absorption device (5), motor III (19) is fixed on bracket I (18), and bracket II (20) is mounted on motor III (19)
On output shaft, motor IV (21) is fixedly mounted on bracket II (20), and bracket III (22) is mounted on the output shaft of motor IV (21)
On, motor V (23) is mounted on bracket III (22), and bracket IV (24) is mounted on the output shaft of motor V (23), bracket V
(25) it is connect with bracket IV (24), motor VI (26) is mounted on bracket V (25), and bracket VI (27) is mounted on motor VI (26)
Output shaft on, motor VII (28) is mounted on bracket VI (27), and gripper (29) is mounted on the output shaft of motor VII (28).
4. a kind of building spray robot according to claim 1 or 2, it is characterised in that: the crawler unit
It (1) include driving wheel (7), driven wheel (8), directive wheel (9), support wheel (10), support frame (11), support plate (12), Athey wheel
Motor (44), Athey wheel fixed block (45), crawler belt (47), the crawler belt turbin generator (44), Athey wheel fixed block (45) installation
On bottom plate (43), driving wheel (7) is connected with the output shaft of crawler belt turbin generator (44), driven wheel (8) and Athey wheel fixed block
(45) axis on is connected by bearing, and support plate (12) has two pieces, parallel to be mounted on chassis (6) relatively, two pieces of support plates
(12) support frame I (11) is uniformly installed on, is located on the support frame I (11) of driven wheel (8) side and is equipped with by bearing
Directive wheel (9) is equipped with support wheel (10) on other support frames I (11) by bearing, crawler belt (47) be socketed in driving wheel (7),
Driven wheel (8), directive wheel (9), on support wheel (10).
5. a kind of building spray robot according to claim 1,2 or 4, it is characterised in that: the vacuum suction dress
(5) are set to include gasket (37), I shape duct (38), be pressurized paddle (39), shell (40), end cap (41), vacuum motor (42), it is close
Packing (37) is fixed on the bottom of I shape duct (38), and the upper end of I shape duct (38) is fixedly mounted on shell (40), I shape duct
(38) top is equipped with end cap (41), and vacuum motor (42) is mounted in the upper pipe of I shape duct (38), and is fixed on end
The inside of (41) is covered, pressurization paddle (39) is connected with the output shaft of vacuum motor (42), and shell (40) is mounted on bottom plate (43).
6. a kind of building spray robot according to claim 1 or 2, it is characterised in that: spray-painting plant (4) packet
It includes big japanning cylinder (30), big bracket (31), small japanning cylinder (32), small rack (33), total bracket (34), transmission pipe (35), fix
Block (36)；The fixed block (36) is mounted on bottom plate (43), and transmission pipe (35) is mounted on fixed block (36), transmission pipe
(35) it is connect with outside paint spraying outfit, total bracket (34) is mounted on fixed block (36), big bracket (31) and small rack (33) phase
It is mutually vertically installed on total bracket (34), japanning cylinder (30), small japanning cylinder (32) are mounted on greatly by axis and bearing respectively greatly
On bracket (31), small rack (33).
7. a kind of building spray robot according to claim 1 or 2, it is characterised in that: the reversible spray painting dress
Setting (2) includes support frame II (13), motor I (14), L shape frame (15), spray painting mouth (16), motor II (17), the support frame
II (13) are mounted on bottom plate (43), and motor II (17) is mounted on support frame II (13), and L shape frame (15) is mounted on motor II
(17) on output shaft, motor I (14) is mounted on L shape frame (15), and spray painting mouth (16) is mounted on the output shaft of motor I (14)
On, spray painting mouth (16) is connect with external paint spraying outfit.
8. a kind of building spray robot according to claim 7, it is characterised in that: the motor II (17) has two
It is a, the both ends of support frame II (13) are separately mounted to, a L shape frame is separately installed on the output shaft of each motor II (17)
(15), a spray painting mouth (16) is mounted on L shape frame (15), spray painting mouth (16) is connect with external paint spraying outfit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810834067.3A CN108945124B (en) | 2018-07-26 | 2018-07-26 | Building spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810834067.3A CN108945124B (en) | 2018-07-26 | 2018-07-26 | Building spraying robot |
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| Publication Number | Publication Date |
|---|---|
| CN108945124A true CN108945124A (en) | 2018-12-07 |
| CN108945124B CN108945124B (en) | 2021-08-31 |
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ID=64464250
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810834067.3A Active CN108945124B (en) | 2018-07-26 | 2018-07-26 | Building spraying robot |
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| Country | Link |
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| CN (1) | CN108945124B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114684284A (en) * | 2020-12-29 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Rolling adsorption wall-climbing robot with curved surface adaptability |
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| CN105752183A (en) * | 2016-04-08 | 2016-07-13 | 昆明理工大学 | Robot |
| CN106564058A (en) * | 2016-08-29 | 2017-04-19 | 慕国良 | Multifunctional high-altitude outer wall operation robot with mechanical arm |
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| CN108945124B (en) | 2021-08-31 |
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