CN110761534B - Automatic polishing and spraying equipment for high-rise outer wall - Google Patents
Automatic polishing and spraying equipment for high-rise outer wall Download PDFInfo
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- CN110761534B CN110761534B CN201911004085.XA CN201911004085A CN110761534B CN 110761534 B CN110761534 B CN 110761534B CN 201911004085 A CN201911004085 A CN 201911004085A CN 110761534 B CN110761534 B CN 110761534B
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- 238000005498 polishing Methods 0.000 title claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 10
- 238000000227 grinding Methods 0.000 claims description 75
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 239000007921 spray Substances 0.000 claims description 32
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- 238000004804 winding Methods 0.000 claims description 15
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- 239000000428 dust Substances 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 6
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- 238000000576 coating method Methods 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 229910001651 emery Inorganic materials 0.000 claims description 3
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Images
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses automatic polishing and spraying equipment for a high-rise outer wall, which comprises a balance car module, a module connecting mechanism, a lifting system, a replaceable polishing module, a replaceable spraying module and a control system, wherein the balance car module is connected with the lifting system through at least two groups of slings, the module connecting mechanism is arranged on the balance car module, and the replaceable polishing module and the replaceable spraying module are respectively connected with the module connecting mechanism according to the process time sequence of firstly spraying and then polishing. The replaceable polishing module and the replaceable spraying module are mounted by the module fixing plate, different engineering tasks are carried out by the replaceable spraying module, the overall quality of equipment can be reduced by the replacement module design, the external load bearing capacity is improved, and obstacle crossing is effectively realized.
Description
Technical Field
The invention relates to the technical field of outer wall polishing and spraying, in particular to automatic polishing and spraying equipment for a high-rise outer wall.
Background
The rapid development of the economic and scientific fields promotes the prosperity of the construction field, meanwhile, more and more people move into the city, the average height of the construction is continuously improved by the standardized technology and the dense population, and a construction site is also provided with a plurality of high-altitude spiders. These workers are life-threatening and also suffer from harsh odors from various toxic chemicals in the building materials. When the high-altitude construction is carried out, electric tools are inconvenient to replace or consumable parts are inconvenient to supplement, the obstacle avoidance cannot be adjusted when the high-altitude construction is carried out on uneven wall surfaces, the construction strength cannot be accurately controlled, and sudden weather changes sometimes need to be autonomously responded. The whole construction process consumes energy and is easy to fatigue, and flaws often exist in the treated vertical surface.
CN205604674U discloses remote control's high altitude automatic spraying equipment of polishing, its spraying module integration and an organic whole of polishing can accomplish the high altitude spraying task of polishing under the cooperation of hoist and mount jacking equipment, and whole auxiliary assembly is more complete, is furnished with camera and sensor, is favorable to the whole journey to the process of polishing to set up fan system, can adjust the distance with the wall according to wind-force. However, the method does not consider the actual process of firstly polishing the wall and then spraying and painting the wall, thereby bringing unnecessary load weight, being incapable of realizing supplement and replacement of consumables, still requiring operation of workers, influencing the construction continuity to a certain extent, and not considering the obstacle crossing the wall surface of the high-rise building for further improvement.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide the automatic grinding and spraying equipment for the outer wall of the high-rise building, which can be remotely monitored and controlled in real time, can cross obstacles and can replace modules.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic polishing and spraying device facing to the outer wall of a high building comprises a balance car module, a module connecting mechanism, a lifting system, a replaceable polishing module, a replaceable spraying module and a control system, wherein the balance car module is connected with the lifting system through at least two sets of slings, the module connecting mechanism comprises a driving motor, two sets of second chain rotating shafts, special-shaped chains, two sets of U-shaped grooves, two pairs of moving rollers, a module fixing plate and an auxiliary fixing plate, the driving motor is arranged on the upper portion of the balance car module through a motor base, the two sets of second chain rotating shafts are both rotatably arranged between the balance car modules, the two sets of second chain rotating shafts are in transmission through the special-shaped chains, an output shaft of the driving motor is connected with one set of second chain rotating shafts, the two sets of U-shaped grooves are arranged on the side portions of the balance car module, and each pair of moving rollers are connected through a, the two pairs of movable rollers are respectively positioned on the inner sides of the two groups of U-shaped grooves, the lateral parts of the two groups of special-shaped sliders are connected with the special-shaped chains, the module fixing plates are installed on the lateral parts of the special-shaped chains, the auxiliary fixing plates are arranged at the tail parts of the balance car modules, and the replaceable polishing module and the replaceable spraying module are sequentially connected with the module fixing plates and the auxiliary fixing plates through screws according to the process time sequence of polishing after spraying.
Further, the balance car module comprises a first fixing plate, a second fixing plate, two groups of lifting hooks, an obstacle crossing motor, two pairs of triangular wheels, two groups of transmission chains and a funnel-shaped barrel, wherein the first fixing plate is connected with the second fixing plate through connecting columns arranged at equal intervals, the two groups of lifting hooks are symmetrically arranged on the lateral part of the second fixing plate through bolts, the obstacle crossing motor is arranged on the lower part of the second fixing plate, each pair of triangular wheels are connected through a group of first chain rotating shafts, the two groups of first chain rotating shafts are both rotatably arranged on the lateral part of the second fixing plate through rotating shaft supports, an output shaft of the obstacle crossing motor is respectively in transmission with the two groups of first chain rotating shafts through the two groups of transmission chains, the funnel-shaped barrel is arranged on the lateral part of the first fixing plate, the lateral part of the funnel-shaped barrel is connected with a, the lateral part of triangle wheel all rotates and installs the nylon wheel, driving motor passes through the motor cabinet and installs in the upper portion of first fixed plate, and is two sets of the lateral part of first fixed plate and second fixed plate is seted up respectively in U type groove, auxiliary fixing plate sets up in the lateral part of first fixed plate.
Further, the lifting system comprises a sling track control device and a wall fixing component, the sling track control device comprises a winch support frame, a winch motor, a winch transmission shaft and a winding drum for winding and unwinding the sling, four groups of first rail-mounted rollers are symmetrically arranged at the lower part of the winch supporting frame, the winch motor and the winding drum are both arranged on the winch supporting frame, the winding drum is sleeved on the transmission shaft of the winch, the transmission shaft of the winch is connected on the output shaft of the motor of the winch through a coupler, the fixed subassembly of wall includes the wall fixed bolster, set up in be used for the transmission on the wall fixed bolster the assembly pulley of hoist cable and be used for with the wall fixed bolster fastening connection is at the set screw on the wall body, but the correspondence is provided with two sets of lateral shifting's second rail gyro wheel on the wall fixed bolster.
Furthermore, the sling is formed by sequentially wrapping a steel wire rope, an insulating layer and a conducting wire layer from outside to inside, one end of the sling is connected with the lifting hook, and the sling passes through the pulley block and is wound on the outer side of the winding drum.
Further, the replaceable grinding module is arranged at the side part of the balance car module during working, the replaceable grinding module comprises a first connecting frame, a second connecting frame, a grinding device and a feeding cylinder for automatically replacing and installing the water grinding disc again, the first connecting frame is installed at the side part of the module fixing plate through screws, the second connecting frame is installed at the side part of the auxiliary fixing plate through screws, the grinding device comprises a first grinding support frame connected to the first connecting frame, a grinding motor fixedly connected to the first grinding support frame, a grinding wheel connected to a grinding shaft of the grinding motor and a water grinding disc fixedly connected to the bottom of the grinding wheel, the grinding device further comprises an automatic rotating sliding table, and the fixed end of the automatic rotating sliding table is connected to the first connecting frame, the utility model discloses a water grinding machine, including first grinding support frame, automatic rotatory slip table, dust cover, water spraying pipe, discharging pipe, water grinding piece, scraper push rod motor, connection in scraper push rod motor and the terminal spatula of spatula electric putter that can reciprocate axial motion, the expansion end of automatic rotatory slip table connect in on the first grinding support frame, the top of the emery wheel of polishing is equipped with the dust cover, first grinding support frame is connected with the second support frame of polishing through the elastic component, dust cover fixed connection is in the second support frame of polishing, be equipped with the water spraying pipe on the dust cover, water spraying pipe and discharging pipe intercommunication, the automatic dismouting of water grinding piece is put including connecting in scraper push rod motor on the first grinding support frame, connect in the last feed cylinder body of water grinding piece, feed cylinder support, connect in push rod motor support frame on the first grinding support frame, upper portion in the, The feeding device comprises a feeding push rod motor connected to a push rod motor support frame, a feeding electric push rod connected to the feeding push rod motor and penetrating through a feeding cylinder support, a feeding cylinder push tray connected to the tail end of the feeding electric push rod, at least one guide pillar with two ends respectively and vertically connected to the feeding cylinder support and the feeding cylinder push tray, a guide rod penetrating through the guide pillar and a feeding spring sleeved at the tail end of the guide rod, wherein an annular convex block used for limiting the axial movement stroke of the guide rod is arranged on the guide rod.
Furthermore, but the during operation of substitution spraying module sets up the lateral part at the balance car module, but substitution spraying module includes connecting plate and spraying device, the connecting plate passes through the screw and installs in the lateral part of module fixed plate, spraying device is including adjusting electric putter, two sets of guide bars and spray gun, adjust electric putter and install in the lateral part of connecting plate, and is two sets of the guide bar is parallel to each other install in the middle part of connecting plate, and is two sets of the mobilizable cover in outside of guide bar is equipped with the fly leaf, the lateral part of fly leaf links to each other with the piston end of adjusting electric putter, the lateral part of fly leaf is connected with the spray gun backup pad, the spray gun is installed in the middle part of spray gun backup pad, the mid-mounting of spray gun has ring regulating switch, the output of spray gun.
Furthermore, the lateral part of discharging pipe is connected with the blow off pipe, the valve is all installed at the middle part of inlet pipe, discharging pipe and blow off pipe.
Furthermore, first fixed plate and second fixed plate all are the T shape setting.
Furthermore, a detection radar and a monitoring camera are further arranged on the balance car module.
Furthermore, a limit switch is further arranged on the module connecting mechanism.
Furthermore, the polishing and spraying equipment sets a polishing route or a spraying route, a polishing speed or a spraying speed and spraying strength in the control system in advance through an operator, and performs semi-automatic polishing or semi-automatic spraying by matching with a detection radar, a monitoring camera and a limit switch.
Furthermore, the grinding and spraying equipment is realized based on a BIM technology, a virtual three-dimensional model of the construction engineering is required to be conveyed to a control system by the BIM technology, and a complete construction engineering information base consistent with the actual condition is provided for the model by utilizing a digital technology; the information base not only contains geometrical information, professional attributes and state information describing building components, but also contains state information of non-component objects such as space and motion behaviors.
In summary, due to the adoption of the technology, the invention has the beneficial effects that:
(1) according to the invention, the operation of the driving motor drives the group of second chain rotating shafts to rotate, so that the special-shaped chain is driven to move, the movement of the special-shaped chain drives the two groups of special-shaped sliding blocks to move, the special-shaped sliding blocks move under the matching of the rollers and the U-shaped grooves, so that the module fixing plate is driven to move, the module fixing plate and the replaceable polishing module or the replaceable spraying module are utilized for installation, different engineering tasks are carried out by adopting the replaceable module, the replaceable module is used during polishing and spraying of the outer wall of the high building in the later period, the overall quality of equipment can be reduced by the design of the replaceable module, the capacity of bearing external loads is improved, the replaceable polishing module or the replaceable spraying module is driven to move by the movement of the module fixing plate, the polishing and spraying.
(2) According to the invention, the driving chain is driven to rotate by the operation of the obstacle crossing motor, so that the first chain rotating shaft is driven to rotate, the rotation of the triangular wheel is realized, the obstacle crossing is carried out by utilizing the rotation of the triangular wheel, so that the obstacle crossing wheel can move on the surface of a wall body and can cross various obstacles such as guardrails, windows, heating ventilation and the like, meanwhile, because of the regular triangular structure of the triangular wheel, the distance between the polishing equipment main body and the surface of the wall body can be finely adjusted by rotating the obstacle crossing wheel to a fixed rotating angle, the distance between a spray gun and the wall surface is adjusted by adjusting the operation of an electric push rod, and the spraying amount of the coating is adjusted by adjusting a circular ring adjusting switch.
(3) According to the automatic water grinding piece dismounting and mounting device, the water grinding piece can be automatically dismounted and remounted by utilizing the mutual matching of the automatic water grinding piece dismounting and mounting device, the feeding cylinder and the automatic rotating sliding table, and the automatic grinding equipment can continuously work for a long time and efficiently.
According to the invention, the winch support frame is moved by the movement of the first rail roller on the wall, and the wall fixing component is moved by the movement of the second rail roller, so that the balance car module is moved, the integral grinding or spraying of the wall is realized, and the grinding or spraying is convenient for the right-angle area of the junction of the two walls of the high building.
In the invention, various preset parameters can be input through the control system, and the working conditions of the sling track control device and the polishing equipment main body can be remotely controlled, so that semi-automatic/automatic polishing operation or spraying operation can be realized.
Drawings
FIG. 1 is a schematic diagram of a replaceable spray module of the present invention in use;
FIG. 2 is a schematic view of a replaceable sanding module of the present invention in use;
FIG. 3 is a side isometric view of a portion of the structure of the balance car module and module connection mechanism of the present invention;
FIG. 4 is another side isometric view of a balance car module and module attachment mechanism portion of the present invention;
FIG. 5 is an isometric view of a portion of the construction of the sling trajectory control device of the present invention;
FIG. 6 is an isometric view of a portion of the construction of the wall mounting assembly of the present invention;
FIG. 7 is an isometric view of a portion of the structure of the replaceable sanding module and balance car module of the present invention;
FIG. 8 is a side isometric view of an alternative sanding module of the present invention;
FIG. 9 is another side isometric view of an alternative sanding module of the present invention;
FIG. 10 is an isometric view of a portion of the construction of the abrading device of the present invention;
FIG. 11 is an isometric view of a partial structure of the upper barrel of the present invention;
FIG. 12 is a schematic structural view of the water abrasive disc of the present invention when disassembled;
FIG. 13 is a schematic view of the present invention in the configuration for installation of a water abrasive sheet;
FIG. 14 is an isometric view of a portion of the construction of the replaceable spray module and balance car module of the present invention;
FIG. 15 is an isometric view of a portion of an alternative spray module of the present invention;
FIG. 16 is a side cross-sectional view of a sling portion according to the invention;
FIG. 17 is a flow chart of the operation of the replaceable spray module of the present invention;
figure 18 is a flow chart of the operation of the replaceable sanding module of the present invention.
The labels in the figure are: 1. a balance car module; 101. a first fixing plate; 102. a second fixing plate; 103. a hook; 104. an obstacle crossing motor; 105. a triangular wheel; 106. a drive chain; 107. a funnel-shaped barrel; 108. connecting columns; 109. a first chain rotating shaft; 110. a rotating shaft bracket; 111. a feed pipe; 112. a discharge pipe; 113. a nylon wheel; 2. a module connecting mechanism; 201. a drive motor; 202. a second chain rotating shaft; 203. a special-shaped chain; 204. a U-shaped groove; 205. moving the roller; 206. a module fixing plate; 207. a special-shaped sliding block; 208. an auxiliary fixing plate; 3. a lifting system; 31. a sling trajectory control device; 311. a winch support frame; 312. a hoist motor; 313. a winch transmission shaft; 314. a reel; 315. a first tracked roller; 32. a wall surface fixing component; 321. a wall surface fixing bracket; 322. a pulley block; 323. a set screw; 324. a second tracked roller; 4. a replaceable polishing module; 41. a first connecting frame; 42. a second link frame; 43. a polishing device; 4301. a first grinding support frame; 4302. polishing the motor; 4303. grinding the shaft; 4304. grinding a grinding wheel; 4305. grinding the sheet by water; 4306. automatically rotating the sliding table; 4307. a dust cover; 4308. an elastic member; 4309. a second grinding support frame; 4310. a water spraying pipe; 44. the automatic replacement device of the water grinding sheet; 4401. a spatula push rod motor; 4402. an electric push rod of the spatula; 4403. scraping; 45. feeding a material barrel; 4501. a charging barrel body; 4502. a charging barrel support; 4503. a push rod motor support frame; 4504. a feeding push rod motor; 4505. a feeding electric push rod; 4506. feeding a material barrel and pushing a disc; 4507. a guide post; 4508. a guide bar; 4509. a feeding spring; 4510. an annular projection; 5. a replaceable spray module; 51. a connecting plate; 52. a spraying device; 521. adjusting the electric push rod; 522. a guide bar; 523. a spray gun; 524. a movable plate; 525. a spray gun support plate; 526. a circular ring adjusting switch; 6. a sling; 601. a wire rope; 602. an insulating layer; 603. a conductor layer; 7. a blow-off pipe; 8. and (4) a valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be connected internally or in any other way by the interaction of two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the specification.
Example one
Referring to fig. 1 to 4, an automatic polishing and spraying device facing to an outer wall of a high building comprises a balance car module 1, a module connecting mechanism 2, a lifting system 3, a replaceable polishing module 4, a replaceable spraying module 5 and a control system, wherein the balance car module 1 is connected with the lifting system 3 through at least two sets of slings 6, the module connecting mechanism 2 comprises a driving motor 201, two sets of second chain rotating shafts 202, a special-shaped chain 203, two sets of U-shaped grooves 204, two pairs of moving rollers 205, a module fixing plate 206 and an auxiliary fixing plate 208, the driving motor 201 is mounted on the upper portion of the balance car module 1 through a motor base, the two sets of second chain rotating shafts 202 are rotatably mounted between the balance car module 1, the two sets of second chain rotating shafts 202 are transmitted through the special-shaped chain 203, an output shaft of the driving motor 201 is connected with one set of second chain rotating shafts 202, the two sets of U-shaped grooves 204 are formed in the side portions of the balance car module 1, each pair of moving rollers 205 are connected through a special-shaped slider 207, the two pairs of moving rollers 205 are located on the inner sides of the two sets of U-shaped grooves 204, the side portions of the two sets of special-shaped sliders 207 are connected with a special-shaped chain 203, the module fixing plate 206 is installed on the side portion of the special-shaped chain 203, the auxiliary fixing plate 208 is arranged at the tail portion of the balance car module 1, and the replaceable polishing module 4 and the replaceable spraying module 5 are connected with the module fixing plate 206 and the auxiliary fixing plate 208 through screws according to the process sequence of spraying first and then polishing.
Referring to fig. 2 and 3, the balance car module 1 includes a first fixing plate 101, a second fixing plate 102, two sets of hooks 103, an obstacle crossing motor 104, two pairs of triangular wheels 105, two sets of transmission chains 106, and a funnel-shaped barrel 107, the first fixing plate 101 and the second fixing plate 102 are connected by connection columns 108 disposed at equal intervals, the two sets of hooks 103 are symmetrically installed at the side of the second fixing plate 102 by bolts, the obstacle crossing motor 104 is installed at the lower portion of the second fixing plate 102, each pair of triangular wheels 105 is connected by a set of first chain rotation shafts 109, the two sets of first chain rotation shafts 109 are rotatably installed at the side of the second fixing plate 102 by rotation shaft brackets 110, the output shaft of the obstacle crossing motor 104 is respectively transmitted with the two sets of first chain rotation shafts 109 by the two sets of transmission chains 106, the funnel-shaped barrel 107 is installed at the side of the first fixing plate 101, the lateral part of infundibulate bucket 107 is connected with inlet pipe 111, the being connected with discharging pipe 112 of infundibulate bucket 107, nylon wheel 113 is installed all to the lateral part of triangle wheel 105, driving motor 201 passes through the motor cabinet and installs in the upper portion of first fixed plate 101, and is two sets of the lateral part of first fixed plate 101 and second fixed plate 102 is seted up respectively to U type groove 204, supplementary fixed plate 208 sets up in the lateral part of first fixed plate 101, the lateral part of discharging pipe 112 is connected with blow off pipe 7, valve 8 that is used for the flow control size and opens and close is all installed at the middle part of inlet pipe 111, discharging pipe 112 and blow off pipe 7, first fixed plate 101 and second fixed plate 102 all are the setting of T shape.
Referring to fig. 5 and 6, the lifting system 3 includes a sling track control device 31 and a wall fixing assembly 32, the sling track control device 31 includes a winch support frame 311, a winch motor 312, a winch transmission shaft 313 and a winding drum 314 for winding and unwinding the sling 6, four sets of first rail rollers 315 are symmetrically disposed at the lower portion of the winch support frame 311, the winch motor 312 and the winding drum 314 are both mounted on the winch support frame 311, the winding drum 314 is sleeved on the winch transmission shaft 313, the winch transmission shaft 313 is connected to an output shaft of the winch motor 312 through a coupling, the wall fixing assembly 32 includes a wall fixing bracket 321, a pulley block 322 disposed on the wall fixing bracket 321 for transmitting the sling 6, and a fixing screw 323 for fastening the wall fixing bracket 321 to a wall, two groups of second rail-mounted rollers 324 capable of moving transversely are correspondingly arranged on the wall fixing bracket 321.
Referring to fig. 1, 2 and 16, the sling 6 is formed by sequentially wrapping a steel wire 601, an insulating layer 602 and a conducting layer 603 from outside to inside, one end of the sling 6 is connected with the hook 103, and the sling 6 passes through the pulley block 322 and is wound on the outer side of the winding drum 314.
Referring to fig. 7 to 13, the replaceable polishing module 4 is disposed at a side portion of the balance car module 1 during operation, the replaceable polishing module 4 includes a first connecting frame 41, a second connecting frame 42, a polishing device 43, a water polishing sheet automatic replacement/disassembly device 44, and an upper material cylinder 45 for reinstalling the water polishing sheet 4305, the first connecting frame 41 is installed at a side portion of the module fixing plate 206 by a screw, the second connecting frame 42 is installed at a side portion of the auxiliary fixing plate 208 by a screw, the polishing device 43 includes a first polishing support frame 4301 connected to the first connecting frame 41, a polishing motor 4302 fixedly connected to the first polishing support frame 4301, a polishing wheel 4304 connected to a polishing shaft 4303 of the polishing motor 4302, and a water polishing sheet 4305 fixedly connected to a bottom portion of the polishing wheel 4304, the polishing device 43 further includes an automatic rotary sliding table 4306, automatic rotatory slip table 4306's stiff end connect in on the first link 41, automatic rotatory slip table 4306's expansion end connect in on the first grinding support frame 4301, the top of emery wheel 4304 of polishing is equipped with dust cover 4307, first grinding support frame 4301 is connected with second grinding support frame 4309 through elastic component 4308, dust cover 4307 fixed connection is in second grinding support frame 4309, be equipped with water spray pipe 4310 on the dust cover 4307, water spray pipe 4310 and discharging pipe 112 intercommunication, automatic dismouting device 44 of water grinding piece is including connecting in spatula push rod motor on the first grinding support frame 4301, connect in spatula push rod motor 4401 is gone up and can reciprocal axial motion's spatula electric putter 4402 and connect in the terminal spatula 4403 of spatula electric putter 4402, go up feed cylinder 45 and install in the upper portion of second link 42, go up feed cylinder 44045 including being used for placing last feed cylinder body 4501, 4501 of water 4305, The feeding device comprises a feeding cylinder support 4502, a push rod motor support frame 4503 connected to the first grinding support frame 4301, a feeding push rod motor 4504 connected to the push rod motor support frame 4503, a feeding electric push rod 4505 connected to the feeding push rod motor 4504 and penetrating through the feeding cylinder support frame 4502, a feeding cylinder push disk 4506 connected to the tail end of the feeding electric push rod 4505, at least one guide pillar 4507 with two ends respectively and vertically connected to the feeding cylinder support 4502 and the feeding cylinder push disk 4506, a guide rod 4508 penetrating through the guide pillar 4507, and a feeding spring 4509 sleeved on the tail end of the guide rod 4508, wherein an annular bump 4510 used for limiting the axial movement stroke of the guide rod 4508 is arranged on the guide rod 4508.
Referring to fig. 1, 14 and 15, the replaceable spray module 5 is disposed at a side of the balance car module 1 during operation, the replaceable spray module 5 includes a connection plate 51 and a spray device 52, the connection plate 51 is mounted at a side of the module fixing plate 206 by screws, the spray device 52 includes an adjusting electric push rod 521, two sets of guide rods 522 and a spray gun 523, the adjusting electric push rod 521 is mounted at a side of the connection plate 51, the two sets of guide rods 522 are mounted at a middle of the connection plate 51 in parallel, a movable plate 524 is movably sleeved outside the two sets of guide rods 522, a side of the movable plate 524 is connected with a piston end of the adjusting electric push rod 521, a spray gun support plate 525 is connected to a side of the movable plate 524, the spray gun 523 is mounted at a middle of the spray gun support plate 525, and a circular ring adjusting switch 526 is mounted at a middle of the, the output end of the spray gun 523 is connected to the discharge pipe 112 via a coating pipe.
Example two
Referring to fig. 17, according to the first embodiment, the automatic polishing and spraying equipment for the outer wall of the high-rise building can perform semi-automatic spraying.
The semi-automatic spraying mode of the polishing and spraying equipment comprises the following steps:
the first step is as follows: the operator installs the replaceable spray module 5 on the side of the module connecting mechanism 2.
The second step is that: the operator sets the spraying route in advance through the control system, and the initial position of the replaceable spraying module 5, the moving speed of the balance car module 1 and the spraying strength.
The third step: the winch motor 312 rotates forwards, the balance car module 1 moves downwards, and after the preparation of the replaceable spraying module 5 is finished, spraying is started.
The fourth step: the left side and the right side of the module connecting mechanism 2 are respectively provided with a limit switch, during spraying, the driving motor 201 rotates forwards and moves from left to right, when the special-shaped sliding block 207 contacts the travel switch on the right side, the driving motor 201 rotates backwards, the spraying end starts to move from right to left, and when the special-shaped sliding block 207 contacts the travel switch on the left side, the driving motor 201 rotates forwards and circulates in a reciprocating way; the specific cycle number is mainly based on the requirement of the spraying thickness, and the sling track control device 31 waits for the control to move to the next area, so as to start the spraying of the next area.
When the surface of the wall of the high-rise building is complicated with obstacles, the detection radar under the balance car module 1 senses the existence of the obstacles and automatically calculates and moves the triangular wheel 105 to cross the obstacles, the winch motor 312 is matched with the obstacles to zoom in and out, and spraying is continuously carried out after crossing.
When the corner and the right-angle side of the high-rise building wall are sprayed, the module connecting mechanism 2 can move out of the first fixing plate 101 and the second fixing plate 102, so that the main body frame of the balance car module 1 cannot influence the spraying on the corner and the right-angle side, and the spraying without the dead angle of the true high-rise building is realized.
The funnel-shaped barrel 107 is used as a paint storage barrel, a low-level alarm is arranged in the funnel-shaped barrel, when the paint in the funnel-shaped barrel 107 reaches the low-level alarm, the paint can be sprayed for a period of time, and when the spraying is finished, the paint is manually added at the highest position of a building or the ground; after spraying, the water is added into the funnel-shaped barrel 107 and the paint is sprayed again at a position far away from the wall surface, so that the whole funnel-shaped barrel 107, the coating water pipe and the spray gun 523 are cleaned, and the paint is prevented from being solidified and blocked.
EXAMPLE III
Referring to fig. 17, according to the first embodiment, the automatic polishing and spraying equipment for the outer wall of the high-rise building can perform full-automatic spraying.
The full-automatic spraying of the polishing and spraying equipment is realized based on a BIM technology, a virtual three-dimensional model of the construction engineering is conveyed to a control system by the BIM technology, and a complete construction engineering information base consistent with the actual condition is provided for the model by utilizing a digital technology; the information base not only contains geometrical information, professional attributes and state information describing building components, but also contains state information of non-component objects such as space and motion behaviors.
The full-automatic spraying mode of the polishing and spraying equipment comprises the following steps:
the first step is as follows: an engineer builds a BIM model, the model comprises basic components such as columns, beams, plates and walls, information required by partial quantity calculation can be provided, such as wall surface spraying and other information, and then project sizes and parameters of the entity components are built.
The second step is that: the engineer simulates the whole construction before the formal investment and construction, and applies inspection and proofreading to find and solve the potential non-budget investment and careless omission in the design process in the design scheme before the engineering is implemented.
The third step: the engineer can be according to this information to the space coordinate position of the barrier that inputs BIM information in advance, has window, guardrail, warm expert in advance, carries out the path planning of totality and balance car module 1's mobility control to according to the material of wall and the demand that sets up in the BIM information, the distance of automatic judgement spray gun 523 and wall adjusts spraying thickness, realizes the full automatic operation of the spraying equipment of polishing.
When it is predicted that the corner and the square of the wall of the building will be painted, the module connecting mechanism 2 will move out of the first fixing plate 101 and the second fixing plate 102, and the painted corner and the square will return to the original positions.
Example four
Referring to fig. 18, according to the first embodiment, the automatic polishing and spraying device for the outer wall of the high-rise building can perform semi-automatic polishing. The full-automatic grinding of the grinding and spraying equipment is realized based on a BIM technology, a virtual three-dimensional model of the construction engineering is conveyed to a control system by the BIM technology, and a complete construction engineering information base consistent with the actual condition is provided for the model by utilizing a digital technology; the information base not only contains geometrical information, professional attributes and state information describing building components, but also contains state information of non-component objects such as space and motion behaviors.
The semi-automatic polishing mode of the polishing spraying equipment comprises the following steps:
the first step is as follows: the operator installs the replaceable sanding module 4 on the side of the module connecting mechanism 2.
The second step is that: an operator sets a polishing route in advance through the control system, and the initial position and the moving speed of the replaceable polishing module 4, the water outlet speed of the water spraying pipe 4310 and the rotating speed of the polishing device 43;
the third step: the winch motor 312 rotates forwards, the balance car module 1 moves downwards, and the replaceable polishing module 4 starts polishing after finishing preparation;
the fourth step: the left side and the right side of the module connecting mechanism 2 are respectively provided with a limit switch, during polishing, the driving motor 201 rotates forwards and moves from left to right, when the special-shaped sliding block 207 contacts the right travel switch, the driving motor 201 rotates backwards, the polishing end starts to move from right to left, and when the special-shaped sliding block 207 contacts the left travel switch, the driving motor 201 rotates forwards and circulates in a reciprocating way; and repeating the process four to five times until the polishing of the area is finished, waiting for the sling track control device 31 to control and move to the next area, and starting the polishing of the next area.
When the surface of the wall of the high-rise building is complicated with obstacles, the detection radar under the balance car module 1 senses the existence of the obstacles and automatically calculates and moves the triangular wheel 105 to cross the obstacles, the winch motor 312 is matched with the obstacles to zoom in and out, and the grinding is continuously carried out after the crossing.
When the corner and the right-angle side of the high-rise building wall are polished, the module connecting mechanism 2 can move to the outside of the first fixing plate 101 and the second fixing plate 102, so that the main body frame of the balance car module 1 cannot influence the polishing of the corner and the right-angle side, and the polishing of the true high-rise building without the dead angle is realized.
When the hydro-abrasive sheet 4305 is worn to a certain extent and needs to be replaced, as shown in fig. 12 and 13, the triangular wheel 105 is first turned to its fixed turning angle to finely adjust the distance between the replaceable sanding module 4 and the wall, so that the hydro-abrasive sheet 4305 no longer contacts the wall surface. Then module coupling mechanism 2 and autogiration slip table 4306 move simultaneously and unload piece corresponding position, are pushed the spatula by spatula electric putter 4402 and dismantle terrazzo piece 4305, unload after the piece is accomplished, module coupling mechanism 2 and autogiration slip table 4306 move simultaneously and adorn piece corresponding position, are pushed feed cylinder 45 by material loading electric putter 4505 and carry out terrazzo piece 4305 installation, more get back to initial position after dismantling and continue to polish.
EXAMPLE five
Referring to fig. 18, according to the first embodiment, the automatic polishing and spraying device for the exterior wall of the high-rise building can perform full-automatic polishing.
The full-automatic polishing mode of the polishing and spraying equipment comprises the following steps:
the first step is as follows: an engineer builds a BIM model, the model comprises basic components such as columns, beams, plates and walls, information required by partial quantity calculation can be provided, such as information of wall surface polishing, and then project sizes and parameters of the entity components are built.
The second step is that: the engineer simulates the whole construction before the formal investment and construction, and applies inspection and proofreading to find and solve the potential non-budget investment and careless omission in the design process in the design scheme before the engineering is implemented.
The third step: the engineer is in advance to input BIM information, can be according to this information, the space coordinate position of the barrier that has the window, guardrail, warm expert in advance, carry out the mobility control of holistic route planning and balance car module 1 to according to the material of wall in the BIM information and the demand automatic calculation water abrasive disc 4305's rate of loss, thereby obtain the wall position and the specific time that water abrasive disc 4305 was more dismantled, realize the full automatic operation of replaceable grinding module 4.
When the corner and the right-angle side of the wall of the high-rise building are to be polished in advance, the module connecting mechanism 2 can be actively moved out of the first fixing plate 101 and the second fixing plate 102, the corner and the right-angle side are polished and then return to the original positions, and the process can realize full-automatic unattended construction in the whole process.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a spraying equipment that polishes towards automation of high building outer wall which characterized in that: the device comprises a balance car module (1), a module connecting mechanism (2), a lifting system (3), a replaceable polishing module (4), a replaceable spraying module (5) and a control system, wherein the balance car module (1) is connected with the lifting system (3) through at least two sets of slings (6), the module connecting mechanism (2) comprises a driving motor (201), two sets of second chain rotating shafts (202), a special-shaped chain (203), two sets of U-shaped grooves (204), two pairs of moving rollers (205), a module fixing plate (206) and an auxiliary fixing plate (208), the driving motor (201) is installed on the upper portion of the balance car module (1) through a motor base, the two sets of second chain rotating shafts (202) are both rotatably installed between the balance car module (1), the two sets of second chain rotating shafts (202) are transmitted through the special-shaped chain (203), and an output shaft of the driving motor (201) is connected with one set of second chain rotating shafts (202), the two groups of U-shaped grooves (204) are arranged on the side portions of the balance car module (1), each pair of moving rollers (205) are connected through a special-shaped slider (207), the two pairs of moving rollers (205) are respectively arranged on the inner sides of the two groups of U-shaped grooves (204), the side portions of the two groups of special-shaped sliders (207) are connected with a special-shaped chain (203), the module fixing plate (206) is arranged on the side portion of the special-shaped chain (203), the auxiliary fixing plate (208) is arranged at the tail portion of the balance car module (1), and the replaceable polishing module (4) and the replaceable spraying module (5) are sequentially connected with the module fixing plate (206) and the auxiliary fixing plate (208) through screws according to a process time sequence of firstly spraying and then polishing;
the replaceable grinding module (4) is arranged on the side of the balance car module (1) during operation, the replaceable grinding module (4) comprises a first connecting frame (41), a second connecting frame (42), a grinding device (43), a water grinding sheet automatic dismounting device (44) and a feeding cylinder (45) for resetting the water grinding sheet (4305), the first connecting frame (41) is mounted on the side of the module fixing plate (206) through screws, the second connecting frame (42) is mounted on the side of the auxiliary fixing plate (208) through screws, the grinding device (43) comprises a first grinding support frame (4301) connected to the first connecting frame (41), a grinding motor (4302) fixedly connected to the first grinding support frame (4301), a grinding wheel (4304) connected to a grinding shaft (4303) of the grinding motor (4302) and a water grinding wheel (4305) fixedly connected to the bottom of the grinding wheel (4304), grinding device (43) still includes automatic rotation slip table (4306), the stiff end of automatic rotation slip table (4306) connect in on first link (41), the expansion end of automatic rotation slip table (4306) connect in first polish support frame (4301) on, the top of emery wheel (4304) of polishing is equipped with dust cover (4307), first polish support frame (4301) and be connected with second support frame (4309) of polishing through elastic component (4308), dust cover (4307) fixed connection is in second support frame (4309) of polishing, be equipped with water spray water pipe (4310) on dust cover (4307), water spray water pipe (4310) and discharging pipe (112) intercommunication, water abrasive disc is automatic more put (44) including connect in scraper push rod motor (4401) on first polish support frame (4301), connect in scraper electric push rod (4402) and connect in scraper electric push rod (4401) and the electric scraper push rod (4402) that can reciprocate axial motion A spatula (4403) at the tail end of the rod (4402), wherein the upper charging barrel (45) is arranged at the upper part of the second connecting frame (42), the upper charging barrel (45) comprises an upper charging barrel body (4501) for placing the water grinding sheet (4305), an upper charging barrel support (4502), a push rod motor support frame (4503) connected to the first grinding support frame (4301), an upper charging push rod motor (4504) connected to the push rod motor support frame (4503), an upper charging electric push rod (4505) connected to the upper charging push rod motor (4504) and penetrating through the upper charging barrel support (4502), an upper charging barrel push disk (4506) connected to the tail end of the upper charging electric push rod (4505), at least one guide pillar (4507) with two ends respectively and vertically connected to the upper charging barrel support frame (4502) and the upper charging barrel push disk (4506), a guide rod (4508) penetrating through the guide pillar (4507), and an upper charging spring (4509) sleeved on the tail end of the guide rod (4508), the guide rod (4508) is provided with an annular lug (4510) for limiting the axial movement stroke of the guide rod.
2. The automatic grinding and spraying equipment for the outer wall of the high building, according to claim 1, is characterized in that: the balance car module (1) comprises a first fixing plate (101), a second fixing plate (102), two groups of lifting hooks (103), an obstacle crossing motor (104), two pairs of triangular wheels (105), two groups of transmission chains (106) and a funnel-shaped barrel (107), wherein the first fixing plate (101) is connected with the second fixing plate (102) through connecting columns (108) arranged at equal intervals, the two groups of lifting hooks (103) are symmetrically arranged at the side part of the second fixing plate (102) through bolts, the obstacle crossing motor (104) is arranged at the lower part of the second fixing plate (102), each pair of triangular wheels (105) are connected through a group of first chain rotating shafts (109), the two groups of first chain rotating shafts (109) are rotatably arranged at the side part of the second fixing plate (102) through rotating shaft supports (110), and output shafts of the obstacle crossing motor (104) are respectively in transmission with the two groups of first chain rotating shafts (109) through the two groups of transmission chains (106), funnel-shaped bucket (107) are installed in the lateral part of first fixed plate (101), the lateral part of funnel-shaped bucket (107) is connected with inlet pipe (111), be connected with discharging pipe (112) of funnel-shaped bucket (107), nylon wheel (113) is all installed in the rotation of the lateral part of triangle wheel (105), driving motor (201) are installed in the upper portion of first fixed plate (101) through the motor cabinet, and are two sets of the lateral part of first fixed plate (101) and second fixed plate (102) is seted up respectively in U type groove (204), auxiliary fixing plate (208) set up in the lateral part of first fixed plate (101).
3. The automatic grinding and spraying equipment for the outer wall of the high building, according to claim 1, is characterized in that: the lifting system (3) comprises a sling track control device (31) and a wall fixing component (32), the sling track control device (31) comprises a winch support frame (311), a winch motor (312), a winch transmission shaft (313) and a winding drum (314) used for winding and unwinding the sling (6), four groups of first rail rollers (315) are symmetrically arranged at the lower part of the winch support frame (311), the winch motor (312) and the winding drum (314) are installed on the winch support frame (311), the winding drum (314) is sleeved on the winch transmission shaft (313), the winch transmission shaft (313) is connected onto an output shaft of the winch motor (312) through a coupler, the wall fixing component (32) comprises a wall fixing support (321), is arranged on the wall fixing support (321) and used for transmitting a pulley block (322) of the sling (6) and is used for driving the wall fixing support (321) The frame (321) is fastened and connected with a fixing screw (323) on the wall, and two groups of second rail-mounted rollers (324) capable of moving transversely are correspondingly arranged on the wall fixing support (321).
4. The automatic grinding and spraying equipment facing the outer wall of the high building as claimed in claim 1 or 3, wherein: the sling (6) is formed by sequentially wrapping a steel wire rope (601), an insulating layer (602) and a wire layer (603) from outside to inside, one end of the sling (6) is connected with the lifting hook (103), and the sling (6) passes through the pulley block (322) and is wound on the outer side of the winding drum (314).
5. The automatic grinding and spraying equipment for the outer wall of the high building, according to claim 1, is characterized in that: the replaceable spraying module (5) is arranged on the side of the balance car module (1) during operation, the replaceable spraying module (5) comprises a connecting plate (51) and a spraying device (52), the connecting plate (51) is mounted on the side of the module fixing plate (206) through screws, the spraying device (52) comprises an adjusting electric push rod (521), two groups of guide rods (522) and a spraying gun (523), the adjusting electric push rod (521) is mounted on the side of the connecting plate (51), the two groups of guide rods (522) are mounted in the middle of the connecting plate (51) in parallel, a movable plate (524) is sleeved on the outer side of the two groups of guide rods (522), the side of the movable plate (524) is connected with the piston end of the adjusting electric push rod (521), the side of the movable plate (524) is connected with a spraying gun supporting plate (525), and the spraying gun (523) is mounted in the middle of the spraying gun supporting plate (525), the middle part of spray gun (523) is equipped with ring regulating switch (526), the output of spray gun (523) passes through the coating pipe and links to each other with discharging pipe (112).
6. The automatic grinding and spraying equipment for the outer wall of the high building, according to claim 2, is characterized in that: the lateral part of discharging pipe (112) is connected with blow off pipe (7), valve (8) are all installed in the middle part of feeding pipe (111), discharging pipe (112) and blow off pipe (7).
7. The automatic grinding and spraying equipment for the outer wall of the high building, according to claim 2, is characterized in that: the first fixing plate (101) and the second fixing plate (102) are arranged in a T shape.
8. The automatic grinding and spraying equipment for the outer wall of the high building, according to claim 1, is characterized in that: the grinding and spraying equipment can provide a complete building engineering information base consistent with the actual situation for the control system through the BIM technology, and the control system automatically plans so as to realize full-automatic grinding or full-automatic spraying;
or an operator sets initial parameters in the control system in advance and sets a polishing route or a spraying route, and the detection radar and the monitoring camera are matched to perform semi-automatic polishing or spraying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911004085.XA CN110761534B (en) | 2019-10-22 | 2019-10-22 | Automatic polishing and spraying equipment for high-rise outer wall |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911004085.XA CN110761534B (en) | 2019-10-22 | 2019-10-22 | Automatic polishing and spraying equipment for high-rise outer wall |
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| CN110761534B true CN110761534B (en) | 2020-09-04 |
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| CN112593680B (en) * | 2020-12-07 | 2022-03-11 | 中建国际建设有限公司 | Building outer wall spraying method based on intelligent spraying robot |
| CN112593681B (en) * | 2020-12-07 | 2022-02-08 | 中铁建工集团有限公司 | Building outer wall intelligence spraying robot |
| CN113445780B (en) * | 2021-07-31 | 2022-06-28 | 中国建筑第二工程局有限公司 | Automatic repair equipment for damaged outer vertical surface of sandwich panel wall body |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0098845A1 (en) * | 1982-01-18 | 1984-01-25 | Norgips A/S | An apparatus for spraying concrete |
| JP2001140461A (en) * | 1999-11-11 | 2001-05-22 | Arai Gumi Ltd | Building exterior wall painting apparatus |
| CA2690224C (en) * | 2009-01-15 | 2012-08-14 | Permasteelisa North America Corporation | Stone wall grinding and polishing system |
| CN105231963B (en) * | 2015-11-02 | 2017-07-18 | 张凯 | Drag and draw the cleaning of formula metope, polishing, spraying all-in-one |
| CN206477554U (en) * | 2017-01-18 | 2017-09-08 | 罗永彬 | A kind of building wall processing unit |
| CN107327131B (en) * | 2017-08-11 | 2018-08-28 | 南京陶特思软件科技有限公司 | Intelligent construction painting device |
| CN108326740A (en) * | 2018-05-04 | 2018-07-27 | 冯敬新 | Robot replaces polishing pad device automatically |
| CN109162431B (en) * | 2018-10-31 | 2021-03-23 | 陕西理工大学 | High-rise wall spraying robot |
| CN109267731B (en) * | 2018-11-09 | 2020-08-14 | 余选兵 | Plastering, white scraping, polishing and spraying all-in-one machine |
| CN109736546A (en) * | 2019-03-09 | 2019-05-10 | 陶民 | A kind of Modularized multifunctional robot for scraping ash, spraying, cleaning for wall face |
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