CN110439226A - A kind of external wall spray equipment - Google Patents
A kind of external wall spray equipment Download PDFInfo
- Publication number
- CN110439226A CN110439226A CN201910745714.8A CN201910745714A CN110439226A CN 110439226 A CN110439226 A CN 110439226A CN 201910745714 A CN201910745714 A CN 201910745714A CN 110439226 A CN110439226 A CN 110439226A
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- China
- Prior art keywords
- spray
- frame body
- external wall
- driving mechanism
- slide rail
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- 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
Abstract
The invention discloses a kind of external wall spray equipments, belong to spraying equipment field, including frame body, and spray robot, multichannel spray assembly, storage bin, pump and controller are equipped on the frame body；The elevator that climbs is also equipped on the frame body；Spray gun is installed, the outlet end of the spray gun and the pump passes through piping connection on the output end of the spray robot；The multichannel spray assembly includes tripper and several spray guns, the outlet end of the feed end of the tripper and the pump passes through piping connection, the tripper includes several discharge ends, several described spray guns are connected to correspondingly on several described discharge ends；The input end of the pump is connect with the storage bin；The controller and the spray robot, the spray gun, the pump, described climb promote mechatronics.Structure of the invention design is rationally, easy to use, can preferably improve spray efficiency and spraying effect.
Description
Technical field
The present invention relates to external walls to spray field, in particular to a kind of external wall spray equipment.
Background technique
The coating of external wall sprays, and wall can not only be protected to encroach on from sunlight and wind and rain, moreover it is possible to it is only to embody building
Special style, present most external wall all use this protected mode.
Current this spraying application, mostly uses greatly hanging basket or scaffold that worker is allowed to carry out in high-altitude, and this mode is faced with
Many problems, such as:
1, worker's high altitude operation person risk and severe operating environment are unfavorable to worker's own health；
2, the problems such as worker operates spraying equipment by rule of thumb, be easy to cause film thickness uneven or leak source；
3, spraying operation requires technology, the overall qualities of worker higher；
4, spraying application human cost is high, and the daily working time is restricted, and worker hand-held one makees spray gun when hand spray
The factors such as industry cause spray efficiency low.
Summary of the invention
, coating quality non-uniform problem low for external wall manual operation efficiency of the existing technology, the present invention
Be designed to provide a kind of external wall spray equipment.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of external wall spray equipment, including frame body are equipped with spray robot, multichannel spraying group on the frame body
Part, storage bin, pump and controller；The elevator that climbs is also equipped on the frame body；On the output end of the spray robot
Spray gun is installed, the outlet end of the spray gun and the pump passes through piping connection；The multichannel spray assembly includes tripper
With several spray guns, the outlet end of the feed end of the tripper and the pump is by piping connection, if the tripper includes
Dry discharge end, several described spray guns are connected to correspondingly on several described discharge ends；The input end of the pump with
The storage bin connection；The controller is electrically connected with the spray robot, the spray gun, the pump, the elevator that climbs
It connects.
Preferably, the elevator that climbs goes back mounted angle sensor, the inclination angle on the frame body at least provided with two
Sensor is electrically connected with the controller.
Further, control valve and liquid level sensor, institute are provided on the pipeline between the storage bin and the pump
State control valve, the liquid level sensor is electrically connected with the controller.
It further, further include robot motion's balanced component, robot motion's balanced component includes movement mechanism
And balance mechanism；The balance mechanism includes line slide rail, sliding block and clump weight；The line slide rail is mounted on the frame body
On, there are two the line slide rails, and described two line slide rails are opposite and parallel to each other；The sliding block and the line slide rail phase
Adaptation, there are two the sliding blocks, and described two sliding blocks are separately mounted on described two line slide rails；The spray robot,
The clump weight is separately mounted on described two sliding blocks, the weight phase of the weight of the clump weight and the spray robot
Together；The movement mechanism is mounted on the frame body, and the movement mechanism includes two output ends, described two output end difference
It is connect with described two sliding blocks, described two output end synchronous backward movements, the direction of motion of the output end is parallel to described
Line slide rail；Robot motion's balanced component further includes the driving motor being mounted on the frame body, the driving motor
It is connect with the input terminal of the movement mechanism, the driving motor is electrically connected with the controller.
Further, further include that frame body stablizes component, the frame body stablize component include at least one sponge sucker and
At least one described sponge sucker is driven to make at least one two-dimensional motion mechanism of plane motion, the movement of the sponge sucker is flat
Face is perpendicular to the external wall；The two-dimensional motion mechanism is mounted on the frame body；The two-dimensional motion mechanism with it is described
Controller electrical connection.
Preferably, the two-dimensional motion mechanism includes the first driving mechanism and the second driving mechanism, first driving machine
Structure, second driving mechanism are straight line driving mechanism, and first driving mechanism is parallel to the external wall, and described
Two driving mechanisms are perpendicular to the external wall；First driving mechanism is fixedly mounted on the frame body, and described second drives
Motivation structure is fixedly mounted on the output end of first driving mechanism, and the sponge sucker is fixedly mounted on second driving
On the output end of mechanism.
Preferably, first driving mechanism is electronic screw rod, and second driving mechanism is locking cylinder.
It further, further include spray assembly movement mechanism, the spray assembly movement mechanism includes horizontal slide rail, level
Sliding block and horizontal drive mechanism, the horizontal slide rail are mounted on the frame body, the horizontal slider and the horizontal slide rail
It is adapted, the multichannel spray assembly is mounted on the horizontal slider；The horizontal drive mechanism is straight line driving mechanism,
The horizontal drive mechanism is mounted on the frame body, and the output end of the horizontal drive mechanism connects the horizontal slider.
Further, the spray assembly movement mechanism further includes sensor and sensor position regulating mechanism, the biography
Sensor position adjusting mechanism is mounted on the multichannel spray assembly, and the sensor is mounted on the sensor position and adjusts
On the output end of mechanism, the sensor position regulating mechanism is for driving the sensor to be always positioned at the spray gun movement side
To front.
Further, the spray assembly movement mechanism further includes perpendicular to the vertical slide rail of the external wall and vertical
Driving mechanism, the vertical slide rail are mounted on the frame body, and vertical slipper is equipped in the vertical slide rail, described horizontal sliding
Rail and the horizontal drive mechanism are installed on the vertical slipper；The vertical driving mechanism is mounted on the frame body
On, the vertical driving mechanism is straight line driving mechanism, and the output end of the vertical driving mechanism connects the vertical slipper.
By adopting the above technical scheme, due to the setting of multichannel spray assembly, so that spraying rate is improved, it is suitble to big
Range spraying operation；The setting of spray robot and the spray gun installed thereon, so that the deposition accuracies and effect of external wall
More preferably, it is suitble to the fine spraying operation of small range；The setting of pump and storage bin, when can guarantee the work of spray equipment of the present invention
Between it is sufficient；The degree of automation of the invention has been effectively ensured in the setting of controller, to avoid spraying instead of hand spray
Uneven and low spray efficiency problem.
Detailed description of the invention
Fig. 1 is the schematic front view of the embodiment of the present invention one；
Fig. 2 is the left view schematic diagram of the embodiment of the present invention two；
The structural schematic diagram of bellows in the position Fig. 3 embodiment of the present invention one；
Fig. 4 is the schematic front view of robot motion's balanced component in the embodiment of the present invention two；
Fig. 5 is the left view schematic diagram of robot motion's balanced component in the embodiment of the present invention two；
Fig. 6 is the structural schematic diagram that frame body stablizes component in the embodiment of the present invention eight；
Fig. 7 is the structural schematic diagram of spray assembly movement mechanism in the embodiment of the present invention nine；
Fig. 8 is the schematic front view of spray assembly movement mechanism shown in Fig. 7；
Fig. 9 is the left view schematic diagram of spray assembly movement mechanism shown in Fig. 7.
In figure: 1- frame body, 2- climb elevator, 3- steel cable, 4- spray robot, 40- robot motion balanced component,
41- line slide rail, 42- sliding block, 43- clump weight, 44- driving motor, 45- synchronous pulley, 46- synchronous belt, 5- storage bin, 6-
Pump, 7- tripper, 8- spray gun, 9- feed pipe, 11- sponge sucker, the first driving mechanism of 12-, the second driving mechanism of 13-, 14- are passed
Dynamic motor, 15- ball screw, 16- bearing base, 17- carrying sliding rail, 18- first distance sensor, 19- pressure sensor,
200- spray assembly movement mechanism, 20- horizontal slide rail, 21- horizontal slider, 22- color sensor, 23- sensor position are adjusted
Mechanism, 24- swing rod, 26- second distance sensor, 27- control valve, 28- liquid level sensor, 29- bellows, the fast acting flange of 30-,
31- screw pump motor, 32- air accumulator.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
Embodiment one
As shown in Figures 1 and 2, a kind of external wall spray equipment, including frame body 1, frame body 1 exist as installation carrier,
1 bottom of frame body is equipped with idler wheel, and the elevator 2 that climbs is equipped on frame body 1, in order to keep balancing, the elevator 2 that climbs be provided with to
Two few, the present embodiment preferably two, the elevator 2 that climbs is wound on steel cable 3, so that frame body 1 be made to suspend in midair by steel cable 3.It climbs
Elevator 2 includes encoder, for controlling the turnning circle for the elevator 2 that climbs, and then controls hoisting depth.
Spray robot 4, multichannel spray assembly, storage bin 5, pump 6 and controller are installed on frame body 1；Flush coater
Spray gun 8 is installed, spray gun 8 is connect by pipeline with the outlet end of pump 6 on the output end of device people 4；Multichannel spray assembly includes
The feed end of tripper 7 and several spray guns 8, tripper 7 is connect with the outlet end of pump 6 by feed pipe 9, and tripper 7 includes
Several discharge ends, several above-mentioned spray guns 8 are connected to correspondingly on several discharge ends, to realize sub-material；Pump 6
Input end connect with storage bin 5；Controller is electrically connected with spray robot 4, spray gun 8, pump 6, the elevator 2 that climbs.
In the present embodiment, the top of multichannel spray assembly is arranged in spray robot 4.
It is inclined-plane inside storage bin 5, with easy-unloading in the present embodiment；Storage bin 5 includes a dismountable upper cover,
Lid is equipped with threading hole on this.
Several spray guns 8 on multichannel spray assembly are evenly spaced in a column, several spray guns 8 in horizontal row or
Person arranges vertically, the present embodiment preferred levels column；So set, make frame body 1 climb under the drive for the elevator 2 that climbs or
When person declines, several spray guns 8 of horizontal column distribution can spray more areas.
In the present embodiment, tripper 7 and pump 6 between pipeline on, the spray gun 8 on spray robot 4 and pump 6 between pipe
Road is provided with control valve, such as electromagnetic flow valve, and controller is realized by control control valve to 8 flow of spray gun and flow velocity
Control, certainly can also be by the revolving speed of control pump 6 as auxiliary.
In the present embodiment, it is provided with control valve 27 and liquid level sensor 28 on the pipeline between storage bin 5 and pump 6, is controlled
Valve 27 processed, liquid level sensor 28 are electrically connected with the controller, specifically, as shown in figure 3, on pipeline between storage bin 5 and pump 6
It is provided with one end bellows 29, one end of the bellows 29 is passed through by above-mentioned fast acting flange 30 with piping connection, the other end
Above-mentioned control valve 27 and piping connection, control valve 27 is preferably butterfly valve in the present embodiment.Meanwhile the preferably screw pump of pump 6,
It is connected with screw pump motor 31, screw pump motor 31 is variable-frequency motor, by the rotational speed regulation of variable-frequency motor, realizes feed pressure
And the adjusting of flow.
Air pressure is directly provided by pump 6 has that pressure oscillation is big, therefore in the present embodiment, installs on frame body 1
There is air accumulator 32, the pressure-air that pump 6 provides is initially stored in air accumulator 32, then to tripper 7 and is sprayed from air accumulator 32
The spray gun 8 applied in robot 4 provides spray pressure.
In the present embodiment, corresponding control program is arranged inside in controller position PLC controller, with control spray gun 8 and
Pump 6.
In use, by external equipment, such as crane, so that the frame body 1 of spray equipment is in suspended state, controller passes through
Climb elevator 2, and the external wall that climbs or drop to along steel cable 3 of frame body 1 is made to need the position that sprays；6 work of pump, coating warp
Two-way is respectively delivered to multichannel spray assembly and spray robot 4, and multichannel spray assembly is since it is with respect to external wall
Fixed, thus while its spray range is big, but precision is insufficient, spraying is not fine enough, therefore on multichannel spray assembly
After spray gun 8 sprays external wall, need to decline frame body 1, make spray robot 4 be accurately controlled spray gun 8 thereon into
The fine spraying of row, for looking into scarce leak repairing.
Embodiment two
In example 1, spray robot 4 is fixedly installed, therefore the working range of its output end is restricted greatly, it is difficult to
Accomplish to work on a large scale；In general, can be moved with respect to frame body 1 to solve the problems, such as this by Shi Penqu robot 4；But it moves
Spray robot 4 under state can change the center of gravity of spray equipment, and its inertia also can be that spray equipment rocks, this meeting pair
Coating quality adversely affects.
It therefore on the basis of example 1, as shown in Figures 4 and 5, further include robot motion's balance in the present embodiment
Component 40, robot motion's balanced component 40 include movement mechanism and balance mechanism；Wherein, balance mechanism includes line slide rail
41, sliding block 42 and clump weight 43；Line slide rail 41 is mounted on frame body 1, and there are two line slide rails 41, two 41 phases of line slide rail
Pair and it is parallel to each other, in general, line slide rail 41 is horizontally mounted, when spray equipment works, line slide rail 41 is in and is parallel to building
The metope of exterior wall；Sliding block 42 is adapted with line slide rail 41, and there are two sliding blocks 42, and two sliding blocks 42 are separately mounted to two straight lines
On sliding rail 41；Above-mentioned spray robot 4, clump weight 43 are separately mounted on two sliding blocks 42, the weight and spray of clump weight 43
The weight for applying robot 4 is identical；
Movement mechanism is also mounted on frame body 1, movement mechanism include two output ends, two output ends respectively with it is above-mentioned
Two sliding blocks 42 connect, two output end synchronous backward movements, while the direction of motion of output end is parallel to line slide rail 41；Phase
It answers, robot motion's balanced component further includes the driving motor 44 being mounted on frame body 1, driving motor 44 and movement mechanism
Input terminal mechanical connection.
In the present embodiment, above-mentioned movement mechanism is synchronous belt drive mechanism, specifically, synchronous belt drive mechanism includes two
The identical synchronous pulley 45 of a size and around the synchronous belt 46 on two synchronous pulleys 45, two of the synchronous belt 46 are straight
While being two above-mentioned output ends.Correspondingly, one of synchronous belt 45 connects as input terminal and above-mentioned driving motor 44
It connects, and the kinematic accuracy in order to keep spray robot 4, driving motor 44 is preferably servo motor.
The model and size of two above-mentioned line slide rails 41 are not required in the present embodiment, the two is identical or not
With.In the present embodiment simultaneously, installation site of two line slide rails 41 on frame body 1 is arranged in up and down direction, so that
Center of gravity, the center of gravity of clump weight 43 of spray robot 4 are in the same perpendicular, to guarantee the machine that the two is constituted
The center of gravity of people's moving equilibrium system can be preferably overlapped with the center of gravity of spray equipment.
In use, the weight that spray robot 4 and clump weight 43 are connected respectively on two sliding blocks 42, and constitute the two
The heart is overlapped with the center of gravity of spray equipment；When spray equipment works, pass through the rotation direction and velocity of rotation control of driving motor 44
The traffic direction and speed of synchronous belt 46 processed, so that spray robot 4 and clump weight 43 are made reversely under the drive of synchronous belt 46
It moves synchronously, the movement purpose of spray robot 4 is to drive spray gun 8 thereon to reach spraying position, and the fortune of clump weight 43
Dynamic purpose is the problem of offsetting spray equipment entirety centre-of gravity shift caused by after spray robot 4 moves, and offsets spraying
The acceleration of robot 4 eliminates influence of 4 motional inertia of spray robot to spray equipment stability.
Embodiment three
The difference of itself and embodiment two is only that: in the present embodiment, movement mechanism is chain-drive mechanism, chain-drive mechanism
Including the identical sprocket wheel of two sizes and around the chain on two sprocket wheels；Two straight flanges of chain are defeated for above-mentioned two
Outlet.Above-mentioned driving motor 44 is then connected on one of sprocket wheel, is inputted as power.
Example IV
The difference of itself and embodiment two is only that: in the present embodiment, movement mechanism is gear bidentate strip transmission mechanism, tooth
Taking turns bidentate strip transmission mechanism includes gear and two rack gears as output end, and two rack gears are symmetricly set on the two of gear
Side.Above-mentioned driving motor 44 is then connected on gear, is inputted as power.By the rotation of gear, drive two rack gears with
Identical speed is moved to opposite both direction, to realize that clump weight 43 and 4 synchronous backward of spray robot move.
Embodiment five
The difference of itself and embodiment two is only that: in the present embodiment, movement mechanism includes two rollings as output end
Screw nut pair；In general, ballscrew nut fitting includes ball-screw and nut, in the present embodiment, ball-screw passes through axis
Hold and be connected on frame body 1, nut is connected on above-mentioned sliding block 42, thus by the rotation of ball-screw, band movable slider 42 and
Clump weight 43 or spray robot 4 linear motion installed thereon.
In the present embodiment, two above-mentioned ball guide screw nats pass through gear mechanism mechanical linkage, gear mechanism packet
Driving gear and two driven gears are included, two driven gears are symmetricly set on the two sides of driving gear, two driven gears point
It is not mounted on two above-mentioned ball screws.Above-mentioned driving motor 44 is connect with driving gear, is inputted as power, thus
After rotating driving motor 44, driving gear drives two driven gears to do contrary rotation, so that two balls
Lead screw turns on the contrary, two nuts do contrary, the identical movement of speed.
Embodiment six
The difference of itself and embodiment five is only that: in the present embodiment, two above-mentioned ball guide screw nats are to pass through
It electrically realizes linkage, specifically, motor has been separately configured for two ball guide screw nats, passes through electric-linked side
Formula makees two motors to rotate backward at the same speed, and two motors is made to realize the technology prior art of synchronous backwards rotation, this
In repeat no more.Of course for the precision for guaranteeing two motors, the preferred servo motor of the present embodiment.
Embodiment seven
It since frame body 1 is whole is suspended in midair by steel cable 3, high altitude wind is to spray in any of the above-described a embodiment
The influence of coating device is very big；Meanwhile two can also have differences even more than lifting travel of the elevator 2 on steel cable 3 that climb
Property, inclination is had so as to cause spray equipment；The two factors can seriously affect construction quality.
Therefore, this in the present embodiment, goes back mounted angle sensor on the basis of any of the above-described embodiment one on frame body 1,
Obliquity sensor is electrically connected with the controller.
In use, spray equipment passes through the rotation of two elevators 2 that climb, make the frame body 1 of spray equipment along on steel cable 3
Lower movement；When 1 run-off the straight of frame body, obliquity sensor acquires the component on sensor sensing axis by its sensor chip
Size, the pulse signal that control unit transmits chip are handled, and are calculated 1 inclination angle size of frame body and are passed to control
Device；Again by the sequential operation of controller, controls the corresponding elevator 2 that climbs and rotate certain angle；Specifically, frame body 1 one
When side is high, the raising of elevator 2 of climbing of opposite side can make spray equipment again stable in horizontal position.This control belongs to
Closed-loop control, by constantly correcting, adjusts the state of spray equipment according to external situation at any time, guarantees that spray equipment is steady
It is scheduled on horizontal position.
Embodiment eight
The above embodiments can regard repairing after unstable factor generation as on guaranteeing the stable means of frame body 1
Positive measure cannot be such that frame body 1 fixes with respect to external wall, unstable factor is made to be difficult to influence spray equipment.
Therefore, based on any of the above embodiments, as shown in fig. 6, the present embodiment further includes that frame body stablizes component, frame
Body stablizes component and includes at least one sponge sucker 11 and at least one sponge sucker 11 is driven to make at least the one of plane motion
A two-dimensional motion mechanism, sponge sucker 11 are correspondingly arranged with two-dimensional motion mechanism, in order to keep better balance, specifically,
Sponge sucker 11 is arranged multiple, such as two or three, preferably three, corresponding two-dimensional motion mechanism is also three, each
Two-dimensional motion mechanism is responsible for driving a sponge sucker 11；The plane of movement of sponge sucker 11 is perpendicular to external wall；Two maintenance and operations
Motivation structure is mounted on frame body 1；Two-dimensional motion mechanism is electrically connected with the controller.
In the present embodiment, two-dimensional motion mechanism includes the first driving mechanism 12 and the second driving mechanism 13, the first driving machine
Structure 12, the second driving mechanism 13 are straight line driving mechanism, and the first driving mechanism 12 is parallel to external wall, usually sets in level
It sets, the second driving mechanism 13 is perpendicular to external wall；First driving mechanism 12 is fixedly mounted on frame body 1, the second driving mechanism
13 are fixedly mounted on the output end of the first driving mechanism 12, and sponge sucker 11 is then fixedly mounted on the defeated of the second driving mechanism 12
In outlet.
After adsorbing sponge sucker 11, its own can be passed to frame with respect to the stabilization fixed effect of external wall
Body 1, therefore the two-dimensional motion mechanism for enabling to be connected between sponge sucker 11 and frame body 1 is also needed to brake.Therefore the present embodiment
In, the first driving mechanism 12, the second driving mechanism 13 include brake apparatus；Specifically, in the side for being parallel to external wall
Upwards, preferably the first driving mechanism 12 is electronic screw rod, and electronic screw rod includes driving motor 14, ball screw 15 and nut (figure
In be not shown), driving motor 14 is fixedly mounted on frame body 1, and ball screw 15 is rotatably connected on frame body 1 by bearing, and
Ball screw 15 and driving motor 14 are mechanically connected by transmission mechanisms such as shaft coupling, gears；And nut is then used to install second
Driving mechanism 13, in the present embodiment, driving motor 14 is servo motor, to guarantee the precision of movement；And outer perpendicular to building
On the direction of wall, the second driving mechanism 13 is preferably locking cylinder, and locking cylinder is brake cylinder, is imitated with excellent braking
Fruit, it is ensured that the fixed effect of sponge sucker 11.
In use, passing through according to whether having the protrusions such as window on building exterior wall face and whether having situations such as pit
The drive of one driving mechanism 12 and the second driving mechanism 13 drives sponge sucker 11 at suitable absorption point.
It further includes bearing base 16 that frame body in the present embodiment, which stablizes component, and bearing base 16 is slidably connected with frame body 1, tool
Body, be equipped on frame body 1 carrying sliding rail 17, and in order to keep movement stationarity, carrying sliding rail 17 have two and mutually
In parallel, sliding slot (not shown) compatible with carrying sliding rail 17 is provided on corresponding bearing base 16.Bearing base 16
It is fixedly connected on the output end of the first driving mechanism 12, the second driving mechanism 13 is mounted on bearing base 16.
In the present embodiment, first distance sensor 18 is provided on sponge sucker 11, first distance sensor 18 is for surveying
Measure the distance between sponge sucker 11 and external wall, such as can be infrared range-measurement system either laser range finder etc..
In the present embodiment, pressure sensor 19 is additionally provided on sponge sucker 11, pressure sensor 19 is for measuring sponge
Pressure between sucker 11 and external wall, so as to give sponge sucker 11 adsorption effect the Notes of Key Data, in order to
Operator carries out subsequent job.
Sponge sucker 11 requires connect on vaccum-pumping equipment, therefore in the present embodiment, is equipped with this on frame body 1 and vacuumizes
Equipment, sponge sucker 11 are connect by pipeline with vaccum-pumping equipment；In general, being also equipped with control valve on pipeline, such as solenoid valve.
Above-mentioned the first driving mechanism 12, the second driving mechanism 13 (driving motor 14), first distance sensor 18, pressure
Sensor 19 is electrically connected with the controller.
In use, the first driving mechanism 12 is moved upwards in the side of parallel metope first, is made under the control of spray controller
Sponge sucker 11 is braked after being directed at the place for being suitble to absorption on external wall；Sponge sucker is driven by the second driving mechanism 13 again
11 close to external wall, and the braking of the second driving mechanism 13, the movement travel of the second driving mechanism 13 is by first distance sensor 18
And pressure sensor 19 determines；Sponge sucker 11 is vacuumized by vaccum-pumping equipment again, the suction for keeping sponge sucker 11 firm
It is attached on the metope of external wall；At this point, since two-dimensional motion mechanism is under on-position, sponge sucker 11 and external wall
Between fixed relationship frame body 1 can be passed to by two-dimensional motion mechanism so that spray equipment is solid with respect to external wall
It is fixed, it is happened to avoid rocking, is conducive to carry out spraying operation.
Embodiment nine
In any of the above-described embodiment, multichannel spray assembly at work, between spray gun 8 and external wall thereon
Distance be it is relatively-stationary, spraying effect is merely able to not allow by the ejection pressure and speed control of coating, spraying effect
It is easy to control.
It therefore, further include spray assembly in the present embodiment as Figure 7-9 on the basis of in any of the above-described embodiment
Movement mechanism 200, spray assembly movement mechanism 200 include the horizontal slide rail 20 being mounted on frame body 1 and horizontal drive mechanism (figure
In be not shown), horizontal slide rail 20 is parallel to the external wall for needing sprayed coating, and generally horizontal sliding rail 20 is horizontally disposed, horizontal
Horizontal slider 21 compatible with horizontal slide rail 20 is installed, tripper 7 is mounted on horizontal slider 21, and level is driven on sliding rail 20
The output end of motivation structure is connect with horizontal slider 21.
It is horizontally disposed with by horizontal slide rail 20 in this present embodiment, therefore four spray guns 8 are arranged to along perpendicular to horizontal slide rail
20 direction is evenly spaced in a column.That is, four spray guns 8 are evenly spaced in the vertical direction.
In the present embodiment, horizontal drive mechanism is straight line driving mechanism, such as electronic screw rod, cylinder, hydraulic cylinder.
The spray assembly movement mechanism 200 of the present embodiment further includes sensor and sensor position regulating mechanism 23, above-mentioned
Sensor be color sensor 22, sensor position regulating mechanism 23 is mounted on tripper 7, and color sensor 22 is then installed
On the output end of sensor position regulating mechanism 23, sensor position regulating mechanism 23 is for driving color sensor 22 always
Positioned at the front of 8 direction of motion of spray gun.So set, color sensor 22 is enabled to obtain the surface feelings of building wall in advance
Condition, to provide the judgment basis whether spray gun 8 is sprayed for system or operator.
Since spray gun 8 is four, and be spaced apart, thus the width of the working range of four spray guns 8 be it is biggish,
Therefore multiple sensor position regulating mechanisms 23 are set, several sensor position regulating mechanisms 23 are in a column distribution, distribution side
To parallel to each other with the distribution arrangement of spray gun 8.Also, above-mentioned color is provided on each sensor position regulating mechanism 23
Sensor 22, so as to detect the width of the working range of four spray guns 8 completely.
Specifically in the present embodiment, preferably sensor position regulating mechanism 23 two, each sensor position adjust machine
Structure 23 detects the spraying width of two 8 direction of motion of spray gun.
In the present embodiment, preferably sensor position regulating mechanism 23 is oscillating cylinder, and oscillating cylinder includes cylinder body and swing rod
24, color sensor 22 is then mounted on swing rod 24.
Above-mentioned horizontal drive mechanism, color sensor 22, spray gun 8, sensor position regulating mechanism 23 (oscillating cylinder)
It is electrically connected with the controller.
In the present embodiment, multichannel spray assembly is in spray assembly movement mechanism on short transverse (vertical direction)
Lower section, upside down setting so that spray gun 8 spray coating do not fall on spray assembly movement mechanism as far as possible, thus
Guarantee the smoothness of its movement.
In use, controller controlled level driving mechanism works, output end drives horizontal slider 21 and is equipped with thereon
Tripper 7 move, should during, controller control oscillating cylinder its swing rod 24 is turned into 7 direction of advance of tripper before
Side；According to the colouring information that color sensor 22 transmits, controller judges whether building wall needs to carry out according to preset value
Spraying, and the spraying movement of one or several specific spray guns 8；When needing to spray, controller synchronously control is corresponding
Spray gun 8 works；When not needing spraying, then corresponds to spray gun 8 and do not work.In the horizontal drive mechanism course of work, pump 6 is continuously sub-material
Device 7 is fed.
Embodiment ten
The difference of itself and embodiment nine is only that: in the present embodiment, spray assembly movement mechanism 200 further includes being mounted on branch
Vertical slide rail (not shown) and vertical driving mechanism on frame, vertical slide rail are pacified in vertical slide rail perpendicular to external wall
Equipped with vertical slipper compatible with vertical slide rail, the output end of vertical driving mechanism is connect with vertical slipper；Above-mentioned level
Sliding rail 20, horizontal drive mechanism are installed on vertical slipper.
Correspondingly, further including second distance sensor 26, second distance sensor 26 is mounted on horizontal slide rail 20, tripper
7 or swing rod 24 on, the present embodiment is preferably mounted on swing rod 24.
Vertical driving mechanism is similarly straight line driving mechanism, electronic screw rod, cylinder either hydraulic cylinder, this implementation
In example, vertical driving mechanism is cylinder, preferably multi-stage cylinder or multiposition cylinder.And vertical driving mechanism, second distance pass
Sensor 26 is electrically connected with the controller.
When work, when second distance sensor 26 measures the distance between spray gun 8 and external wall beyond preset value,
Controller then controls vertical driving mechanism movement, makes the horizontal slide rail 20 carried on vertical slipper and the opposite building of tripper 7
Exterior wall movement, so that spray gun 8 be made to be in preset value with respect to distance between external wall.
In conjunction with attached drawing, the embodiments of the present invention are described in detail more than described, but the present invention is not limited to described
Embodiment.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these implementations
Mode carries out a variety of change, modification, replacement and modification, still falls in protection scope of the present invention.
Claims (10)
1. a kind of external wall spray equipment, it is characterised in that: including frame body, spray robot, more is equipped on the frame body
Channel spray assembly, storage bin, pump and controller；The elevator that climbs is also equipped on the frame body；The spray robot
Output end on spray gun is installed, the outlet end of the spray gun and the pump passes through piping connection；The multichannel spray assembly
Including tripper and several spray guns, the outlet end of the feed end of the tripper and the pump is by piping connection, and described point
Glassware includes several discharge ends, several described spray guns are connected to correspondingly on several described discharge ends；The pump
Input end connect with the storage bin；The controller and the spray robot, the pump, described climb at the spray gun
Promote mechatronics.
2. external wall spray equipment according to claim 1, it is characterised in that: the elevator that climbs is at least provided with two
It is a, mounted angle sensor is gone back on the frame body, the obliquity sensor is electrically connected with the controller.
3. external wall spray equipment according to claim 1, it is characterised in that: between the storage bin and the pump
Control valve and liquid level sensor are provided on pipeline, the control valve, the liquid level sensor are electrically connected with the controller
It connects.
4. external wall spray equipment according to claim 1, it is characterised in that: it further include that frame body stablizes component, it is described
Frame body stablizes component and includes at least one sponge sucker and at least one described sponge sucker is driven to make plane motion at least
One two-dimensional motion mechanism, the plane of movement of the sponge sucker is perpendicular to the external wall；The two-dimensional motion mechanism peace
On the frame body；The two-dimensional motion mechanism is electrically connected with the controller.
5. external wall spray equipment according to claim 4, it is characterised in that: the two-dimensional motion mechanism includes first
Driving mechanism and the second driving mechanism, first driving mechanism, second driving mechanism are straight line driving mechanism, described
First driving mechanism is parallel to the external wall, and second driving mechanism is perpendicular to the external wall；Described first drives
Motivation structure is fixedly mounted on the frame body, and second driving mechanism is fixedly mounted on the output end of first driving mechanism
On, the sponge sucker is fixedly mounted on the output end of second driving mechanism.
6. external wall spray equipment according to claim 5, it is characterised in that: first driving mechanism is electronic silk
Bar, second driving mechanism are locking cylinder.
7. external wall spray equipment according to claim 1-6, it is characterised in that: further include robot motion
Balanced component, robot motion's balanced component includes movement mechanism and balance mechanism；The balance mechanism includes that straight line is sliding
Rail, sliding block and clump weight；The line slide rail is mounted on the frame body, and there are two the line slide rails, described two straight lines
Sliding rail is opposite and parallel to each other；The sliding block is adapted with the line slide rail, and there are two the sliding blocks, described two sliding blocks point
It is not mounted on described two line slide rails；The spray robot, the clump weight are separately mounted on described two sliding blocks,
The weight of the clump weight is identical as the weight of the spray robot；The movement mechanism is mounted on the frame body, described
Movement mechanism includes two output ends, and described two output ends are connect with described two sliding blocks respectively, and described two output ends are same
Counter motion is walked, the direction of motion of the output end is parallel to the line slide rail；Robot motion's balanced component also wraps
The driving motor being mounted on the frame body is included, the driving motor is connect with the input terminal of the movement mechanism, the driving
Motor is electrically connected with the controller.
8. external wall spray equipment according to claim 1-6, it is characterised in that: further include spray assembly fortune
Motivation structure, the spray assembly movement mechanism include horizontal slide rail, horizontal slider and horizontal drive mechanism, the horizontal slide rail
It is mounted on the frame body, the horizontal slider is adapted with the horizontal slide rail, and the multichannel spray assembly is mounted on institute
It states on horizontal slider；The horizontal drive mechanism is straight line driving mechanism, and the horizontal drive mechanism is mounted on the frame body,
The output end of the horizontal drive mechanism connects the horizontal slider.
9. external wall spray equipment according to claim 8, it is characterised in that: the spray assembly movement mechanism also wraps
Sensor and sensor position regulating mechanism are included, the sensor position regulating mechanism is mounted on the multichannel spray assembly
On, the sensor is mounted on the output end of the sensor position regulating mechanism, and the sensor position regulating mechanism is used
In the front for driving the sensor to be always positioned at the spray gun direction of motion.
10. external wall spray equipment according to claim 8, it is characterised in that: the spray assembly movement mechanism is also
Including the vertical slide rail and vertical driving mechanism perpendicular to the external wall, the vertical slide rail is mounted on the frame body,
Vertical slipper is installed, the horizontal slide rail and the horizontal drive mechanism are installed in described vertical in the vertical slide rail
On sliding block；The vertical driving mechanism is mounted on the frame body, and the vertical driving mechanism is straight line driving mechanism, described to hang down
The output end of straight driving mechanism connects the vertical slipper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745714.8A CN110439226A (en) | 2019-08-13 | 2019-08-13 | A kind of external wall spray equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745714.8A CN110439226A (en) | 2019-08-13 | 2019-08-13 | A kind of external wall spray equipment |
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| CN110439226A true CN110439226A (en) | 2019-11-12 |
Family
ID=68435118
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910745714.8A Pending CN110439226A (en) | 2019-08-13 | 2019-08-13 | A kind of external wall spray equipment |
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| CN (1) | CN110439226A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111364736A (en) * | 2020-04-09 | 2020-07-03 | 利生活(上海)智能科技有限公司 | Building outer wall spraying device with positioning function |
| CN113982221A (en) * | 2021-10-29 | 2022-01-28 | 涂强(上海)智能科技有限公司 | Full-automatic outer wall spraying device |
| WO2023165061A1 (en) * | 2022-03-02 | 2023-09-07 | 广东博智林机器人有限公司 | External wall construction device |
-
2019
- 2019-08-13 CN CN201910745714.8A patent/CN110439226A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111364736A (en) * | 2020-04-09 | 2020-07-03 | 利生活(上海)智能科技有限公司 | Building outer wall spraying device with positioning function |
| CN113982221A (en) * | 2021-10-29 | 2022-01-28 | 涂强(上海)智能科技有限公司 | Full-automatic outer wall spraying device |
| WO2023165061A1 (en) * | 2022-03-02 | 2023-09-07 | 广东博智林机器人有限公司 | External wall construction device |
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