CN110439225A - A kind of plastering robot - Google Patents
A kind of plastering robot Download PDFInfo
- Publication number
- CN110439225A CN110439225A CN201910664421.7A CN201910664421A CN110439225A CN 110439225 A CN110439225 A CN 110439225A CN 201910664421 A CN201910664421 A CN 201910664421A CN 110439225 A CN110439225 A CN 110439225A
- Authority
- CN
- China
- Prior art keywords
- scraper plate
- sleeve
- lifting unit
- support base
- guide part
- 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
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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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention discloses a kind of plastering robots, including mobile unit, lifting unit, plastering component, and lifting unit is fixed on mobile unit, and the output of lifting unit can be vertically moved up or down with respect to ground；Component of plastering includes support base, scraper plate, the first guide part, sleeve, the first connector, first straight line actuator, and support base is set to the top of lifting unit and is connected to the output end of lifting unit；One end of scraper plate and support seat hinge, scraper plate for realizing mortar in metope coating with strike off；First guide part is fixed on support base, and the first guide part is set to the other end of scraper plate；Sleeve is slidably sheathed on the first guide part；One end of first connector and one end of scraper plate is hinged, the other end and sleeve are hinged；First straight line actuator is set to support base, and the output shaft of first straight line actuator is connected with sleeve, for drive sleeve along the guiding movement of the first guide part.Mortar without can manually be applied on metope by the present invention.
Description
Technical field
The present invention relates to plastering machine technical fields, and in particular to a kind of plastering robot.
Background technique
Plastering, refers to the metope that building is applied to using mortar, and mortar is made to be adhered to metope, has protection wall
Face and beautiful effect, plastering is all worker by the way that manually mortar to be applied to claying board on metope at present, very consumption work
The physical strength of people, large labor intensity.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, a kind of plastering robot is provided, solution is led in the prior art
Spend the technical issues of manually carrying out plastering large labor intensity.
To reach above-mentioned technical purpose, technical solution of the present invention provides a kind of plastering robot, which is characterized in that packet
It includes:
Mobile unit；
Lifting unit, the lifting unit is fixed on the mobile unit, and the output of the lifting unit can be relatively
Face vertical lift；
Plastering component, including support base, scraper plate, the first guide part, sleeve, the first connector, first straight line actuator,
The support base is set to the top of the lifting unit and is connected to the output end of the lifting unit；The one of the scraper plate
End with the support seat hinge, the scraper plate for realizing mortar in metope coating with strike off；First guide part is fixed
In the support base, and first guide part is set to the other end of the scraper plate；The sleeve is slidably sheathed on described
First guide part；One end of one end of first connector and the scraper plate is hinged, the other end and the sleeve are hinged；Institute
State the support base that is set to of first straight line actuator, and the output shaft of the first straight line actuator and the sleeve phase
Connection, for driving the sleeve along the guiding movement of first guide part.
Compared with prior art, the beneficial effect comprise that the present invention by setting mobile unit, lifting unit,
Component of plastering by mortar note on scraper plate, is controlled by lifting unit and is moved down on scraper plate when needing to plaster to metope
It is dynamic, scraper plate is controlled by mobile unit and is all around moved, by first straight line actuator control sleeve with respect to the first guide part
Sliding, so that the first connector drives scraper plate with respect to the inclination of metope, inclined angle be can control, convenient for smearing mortar
On metope, without smearing mortar by hand.
Detailed description of the invention
Fig. 1 is schematic three dimensional views of the invention；
Fig. 2 is the partial enlargement diagram in Fig. 1 at A；
Fig. 3 is the partial enlargement diagram in Fig. 1 at B；
Fig. 4 is the partial enlargement diagram in Fig. 1 at C；
Fig. 5 is the schematic three dimensional views at another visual angle of the invention；
Fig. 6 is the partial enlargement diagram in Fig. 5 at D；
Fig. 7 is structural schematic diagram of the invention；
Fig. 8 is the structural schematic diagram of plastering robot described in the embodiment of the present invention three；
Fig. 9 is the partial enlargement diagram in Fig. 8 at E；
Figure 10 is the structural schematic diagram of spray head in the present invention；
Figure 11 is the structural schematic diagram of ash-collecting tube, screw conveyor and feeding tube in the embodiment of the present invention three；
Figure 12 is the structural schematic diagram of ash-collecting tube and agitating paddle in the embodiment of the present invention three.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments,
The present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.
Embodiment one；
The present invention provides a kind of plastering robots, as shown in Fig. 1 to 12, including mobile unit 1, lifting unit 2, smear
Grey component 3, mobile unit 1 include car body 11, multiple Mecanum wheels 12, the two sidewalls of car body 11 be recessed inwardly be formed with it is more
The bottom of a wheel mounting groove, the wheel mounting groove is connected with the external world, the side of the wheel mounting groove far from car body 11
It is connected with the external world；Preferably, the quantity of wheel mounting groove is eight, and Mecanum wheel 12 and the wheel mounting groove are one by one
It is correspondingly arranged, 12 part of Mecanum wheel is built in the wheel mounting groove, and the bottom of Mecanum wheel 12 protrudes from the vehicle
Mounting groove is taken turns, and Mecanum wheel 12 is rotationally connected with car body 11；The quantity of preferred Mecanum wheel 12 is eight.
Lifting unit 2 is fixed on mobile unit 1, and the output of lifting unit 2 can be vertically moved up or down with respect to ground, and lifting is single
Member 2 can add feed screw nut pair for electric pushrod, cylinder, hydraulic cylinder or motor；Preferably, lifting unit 2 includes
Screw rod 21, motor 22, nut 23, at least one guiding axis 24, screw rod 21 is vertically arranged, and one end of screw rod 21 rotatably connects
It is connected to car body 11；The output end of motor 22 is connected to screw rod 21, for driving screw rod 21 around own axis；Nut 23 is matched
Trap is set to the other end of screw rod 21；Guiding axis 24 and screw rod 21 are arranged in parallel, and one end of guiding axis 24 is connected to vehicle
Body 11；Preferably, the quantity of guiding axis 24 be three, lifting unit 2 further include the first belt pulley 25, the second belt pulley 26,
First belt 27,25 fixing sleeve of the first belt pulley are set to screw rod 21, and 26 fixing sleeve of the second belt pulley is set to the output of motor 22
Axis, the one end fits of the first belt 27 are sheathed on the first belt pulley 25, other end engagement sleeves are set to the second belt pulley 26.
By the way that the first belt pulley 25, the second belt pulley 26, the first belt 27 is arranged, the power of motor 22 can be passed to
Screw rod 21, and when support base move to certain height it is immovable when, the first belt 27 can skid, and prevent motor 22
It burns out；And the power of motor 22 passes to screw rod 21 through the first belt pulley 25, the second belt pulley 26, the first belt 27, can remove
The vibration that motor 22 generates, prevents the vibration of motor 22 from having an impact to scraper plate.
Component 3 of plastering is straight including support base 31, scraper plate 32, the first guide part 33, sleeve 34, the first connector 35, first
Line actuator 36, support base 31 are set to the top of lifting unit 2 and are connected to the output end of lifting unit 2；The one of scraper plate 32
End and support base 31 are hinged, scraper plate 32 for realizing mortar in metope coating with strike off；Preferably, scraper plate 32 and support base
31 hinged there are many places and hinged place centers of rotation are coaxially disposed, it is further preferred that the hinge of scraper plate 32 and support base 31
Meeting place is at three, and the hinged place of scraper plate 32 and support base 31 is to make the supporting point of scraper plate 32 more at three, can prevent scraper plate 32
A certain lateral deviation turn, cause scraper plate 32 scratch mortar coating, support it is more firm.
First guide part 33 is fixed on support base 31, and the first guide part 33 is set to the other end of scraper plate 32；Sleeve 34
Slidably it is sheathed on the first guide part 33.
Preferably, the first guide part 33 includes 331, two fixed links 332 of the first guide rod, the setting of the first guide rod 331
In support base 31, one end of fixed link 332 is connected to support base 31, the other end is connected to the first guide rod 331, and two solid
Fixed pole 332 is arranged respectively close to the both ends of the first guide rod 331；Sleeve 34 is slidably sheathed on the first guide rod 331, and covers
Cylinder 34 is set between two fixed links 332.
By the way that the first guide rod 331, sleeve 34 is arranged, so that sleeve 34 can only be moved along the guiding of the first guide rod 331
It is dynamic, it can prevent scraper plate 32 from unscheduled rotation occurring under the action of by external force；It, can be right by the way that two fixed links 332 are arranged
The slidably position of sleeve 34 is limited, so that the rotational angle of scraper plate 32 is located in certain range, can prevent scraper plate 32
Rotational angle much metope is caused to damage.
One end of first connector 35 and one end of scraper plate 32 is hinged, the other end and sleeve 34 are hinged；First straight line driving
Part 36 is set to support base 31, and the output shaft of first straight line actuator 36 is connected with sleeve 34, is used for drive sleeve 34
Along the guiding movement of the first guide part 33.
Preferably, the first connector 35 includes two support arms 351 and connecting rod 352, one end of two support arms 351
Hinged and hinged place is located at same level with one end of scraper plate 32, one end of connecting rod 352 and two support arms 351
The other end is connected, connecting rod 352 and two Y-shaped connections of support arm 351, and the other end and sleeve 34 of connecting rod 352 are cut with scissors
It connects.
It is further preferred that the hinged place of support arm 351 and scraper plate 32 is located at the upper end of scraper plate 32, scraper plate 32 and support
The hinged place of seat 31 is located at the lower end of scraper plate 32.
By setting two support arms 351 and connecting rod 352 so that scraper plate 32 is at work, scraper plate 32 will not be everywhere
It shakes, the stress of scraper plate 32 is more balanced, will not deflect to certain.
Specific workflow of the invention will control first straight line actuator 36, so that sleeve 34 is with respect to the first guide rod
331 move, so that the upper end of scraper plate 32 is rotated to the direction close to sleeve 34, mortar is added on scraper plate 32, mortar stream
To scraper plate 32 between the walls, control motor 22 is rotated, and motor 22 passes through the first belt pulley 25, the second belt pulley 26, the first skin
Band 27 drives screw rod 21 to rotate, and 21 bar of screw rod rotation, nut 23 is moved up and down with respect to screw rod 21, and nut 23 drives support base 31
It moving up and down, support base 31 is moved up and down with scraper plate 32, change the tilt angle of scraper plate 32 after mortar is smeared on the wall,
It moved left and right, moved up and down by car body 11, multiple Mecanum wheels 12, the control scraper plate 32 of lifting unit 2, so that mortar is equal
It is even to be applied on metope.
Embodiment two:
As shown in Fig. 1 to 7, embodiment two and the something in common of embodiment one are not being illustrated, embodiment two and embodiment one
The difference is that the quantity of guiding axis 24 is two, the axis of two guiding axis 24 and screw rod 21 is parallel to each other, lifting
Unit 2 further includes a limit plate 28, and limit plate 28 is connected to the other end of guiding axis 24, and the other end of screw rod 21 can be rotated
It is connected to limit plate 28.
Support base 31 includes 312, two the first support plate 311, the second support plate sliding bearings 313, the first support plate
311 are set to the lower section of limit plate 28, and the opposite screw rod 21 of the first support plate 311 offers one first through hole, the first support plate
311, which are oppositely oriented axis 24, opens up there are two the second through hole, and the first support plate 311 is passed through through first through hole, two second
Perforation is sheathed on screw rod 21, guiding axis 24；Second support plate 312 is set between the first support plate 311 and limit plate 28, the
Two support plates 312 and the first support plate 311 are arranged in parallel, and the opposite screw rod 21 of the second support plate 312 offers a third and passes through
Perforation, the second support plate 312 are oppositely oriented axis 24 and open up there are two the 4th through hole, and the second support plate 312 is through the third
Through hole, two the 4th through holes are sheathed on screw rod 21, guiding axis 24, and sliding bearing 313 is set with the one-to-one correspondence of guiding axis 24
It sets, sliding bearing 313 is slidably sheathed on guiding axis 24, and the both ends of sliding bearing 313 are connected to the first support plate
311, the second support plate 312.
One end of scraper plate 32 and the first support plate 311 are hinged.
First straight line actuator 36 is connected to the upper end of the first support plate 311, and the output shaft of first straight line actuator 36
It is arranged in a staggered manner with screw rod 21, guiding axis 24.
First guide rod 331 is set between the first support plate 311 and the second support plate 312, one end of fixed link 332
It is connected to the first support plate 311.
Nut 23 is connected to the lower end surface of the first support plate 311.
By the way that limit plate 28 is arranged, the height of the second support plate 312 can be limited, prevent the second support plate 312 from wearing
Screw rod 21 out；By the way that the second support plate 312 is arranged, it can prevent scraper plate 32, first straight line actuator 36, sliding bearing 313 from hitting
Limit plate 28, can effective protection scraper plate 32, first straight line actuator 36, sliding bearing 313.
Embodiment three:
As shown in Fig. 8 to 12, embodiment three and the something in common of embodiment two are not being illustrated, embodiment three and embodiment
Two the difference is that, the plastering robot further includes sending grey component 4, send grey component 4 include ash-collecting tube 41, stirring
Paddle 42, screw conveyor 43, deflector 44, spray head 45, feeding tube 46, ash-collecting tube 41 are set on car body 11, agitating paddle 42
It is built in ash-collecting tube 41；Screw conveyor 43 is set on car body 11, the feed end of screw conveyor 43 and the bottom of ash-collecting tube 41
Portion is connected, and one end of deflector 44 is connected to the upper end of scraper plate 32, and the other end of deflector 44 is along the side far from scraper plate 32
It is obliquely installed upwards downwards, the angle between deflector 44 and scraper plate 32 is 160 degree；Spray head 45 is connected to the water conservancy diversion of scraper plate 32
The other end of plate 44, and the discharge end of spray head 45 is arranged towards one end of deflector 44, two lateral extent scraper plates, 32 edge of spray head 45
The two sidewalls of vertical direction are equidistant, and the discharge port of spray head 45 is in "-" type；One end of feeding tube 46 and helical feed
The discharge end of machine 43 is connected, the other end is connected with the feed end of spray head 45.
When needing to send ash on scraper plate 32, start screw conveyor 43, screw conveyor 43 is by the ash in ash-collecting tube 41
Slurry is sucked out, and mortar is sent into feeding tube 46, and the mortar in feeding tube 46 enters spray head 45, and sprays from spray head 45, spray
Mortar out drops down on deflector 44 in "-" type, and the mortar on deflector 44 is left on scraper plate 32 along the guiding of deflector 44,
It realizes and send ash automatically, go to send ash without manpower work, and by setting deflector 44, so that spray head 45 will not touch metope.
By the way that screw conveyor 43 is arranged, effectively mortar can be transported out of ash-collecting tube 41, by the way that feeding tube is arranged
46, so that the delivery head of mortar adapts to the entry level of spray head 45；By the way that spray head 45, and the discharge port of spray head 45 is arranged
In "-" type, the mortar sprayed, which is uniformly fallen on scraper plate 32, prevents mortar to be unevenly distributed.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications that technical concept of the invention is made, should be included in the claims in the present invention
In protection scope.
Claims (5)
1. a kind of plastering robot characterized by comprising
Mobile unit；
Lifting unit, the lifting unit is fixed on the mobile unit, and the output of the lifting unit can hang down with respect to ground
Go straight up to drop；
Plastering component, including support base, scraper plate, the first guide part, sleeve, the first connector, first straight line actuator, the branch
Support seat is set to the top of the lifting unit and is connected to the output end of the lifting unit；One end of the scraper plate with it is described
Support seat hinge, the scraper plate for realizing mortar in metope coating with strike off；First guide part is fixed on the branch
Seat is supportted, and first guide part is set to the other end of the scraper plate；The sleeve is slidably sheathed on first guiding
Part；One end of one end of first connector and the scraper plate is hinged, the other end and the sleeve are hinged；The first straight line
Actuator is set to the support base, and the output shaft of the first straight line actuator is connected with the sleeve, for driving
The sleeve is moved along the guiding movement of first guide part.
2. plastering robot according to claim 1, which is characterized in that there are many places hinges with the support base for the scraper plate
It connects and the center of rotation of hinged place is coaxially disposed.
3. plastering robot according to claim 1, which is characterized in that first connector include two support arms,
One end of connecting rod, one end of two support arms and the scraper plate is hinged and hinged place is located at same level, described
One end of connecting rod is connected with the other end of two support arms, and the connecting rod and two support arms are Y-shaped
Connection, the other end of the connecting rod and the sleeve are hinged.
4. plastering robot according to claim 1, which is characterized in that first guide part include the first guide rod,
Two fixed links, first guide rod are set to the support base, and one end of the fixed link is connected to the support base, another
One end is connected to first guide rod, and two fixed links are arranged respectively close to the both ends of first guide rod；Institute
It states sleeve and is slidably sheathed on first guide rod.
5. plastering robot according to claim 4, which is characterized in that the sleeve be set to two fixed links it
Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664421.7A CN110439225A (en) | 2019-07-20 | 2019-07-20 | A kind of plastering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664421.7A CN110439225A (en) | 2019-07-20 | 2019-07-20 | A kind of plastering robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110439225A true CN110439225A (en) | 2019-11-12 |
Family
ID=68431106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910664421.7A Pending CN110439225A (en) | 2019-07-20 | 2019-07-20 | A kind of plastering robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110439225A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112031344A (en) * | 2020-08-19 | 2020-12-04 | 刘玲 | Building wall spraying robot based on machine vision |
| CN112922279A (en) * | 2021-01-22 | 2021-06-08 | 江苏工程职业技术学院 | Full-automatic continuous plastering device for decoration construction |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2094584U (en) * | 1991-06-06 | 1992-01-29 | 崔振明 | Wall rendering machine |
| JP2001277257A (en) * | 2000-04-03 | 2001-10-09 | Robotech Co Ltd | Device for swinging fixed spray |
| CN204126216U (en) * | 2014-08-29 | 2015-01-28 | 胡敏国 | A kind of troweling machine |
| CN205857651U (en) * | 2016-08-04 | 2017-01-04 | 白云柱 | A kind of plastering plate governor motion |
| CN107893522A (en) * | 2017-10-30 | 2018-04-10 | 深圳市森博机器人有限公司 | A kind of automatic plastering machine |
| CN108296049A (en) * | 2017-09-21 | 2018-07-20 | 重庆工商职业学院 | Industrial spraying robot |
| CN109881876A (en) * | 2019-02-28 | 2019-06-14 | 广州市加简派电子科技有限公司 | A kind of Ground Nuclear Magnetic Resonance finisher with regulatory function for construction |
-
2019
- 2019-07-20 CN CN201910664421.7A patent/CN110439225A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2094584U (en) * | 1991-06-06 | 1992-01-29 | 崔振明 | Wall rendering machine |
| JP2001277257A (en) * | 2000-04-03 | 2001-10-09 | Robotech Co Ltd | Device for swinging fixed spray |
| CN204126216U (en) * | 2014-08-29 | 2015-01-28 | 胡敏国 | A kind of troweling machine |
| CN205857651U (en) * | 2016-08-04 | 2017-01-04 | 白云柱 | A kind of plastering plate governor motion |
| CN108296049A (en) * | 2017-09-21 | 2018-07-20 | 重庆工商职业学院 | Industrial spraying robot |
| CN107893522A (en) * | 2017-10-30 | 2018-04-10 | 深圳市森博机器人有限公司 | A kind of automatic plastering machine |
| CN109881876A (en) * | 2019-02-28 | 2019-06-14 | 广州市加简派电子科技有限公司 | A kind of Ground Nuclear Magnetic Resonance finisher with regulatory function for construction |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112031344A (en) * | 2020-08-19 | 2020-12-04 | 刘玲 | Building wall spraying robot based on machine vision |
| CN112031344B (en) * | 2020-08-19 | 2022-07-15 | 山东鼎安升机器人有限公司 | Building wall spraying robot based on machine vision |
| CN112922279A (en) * | 2021-01-22 | 2021-06-08 | 江苏工程职业技术学院 | Full-automatic continuous plastering device for decoration construction |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20191112 |