CN110847571A - Spraying robot for tall buildings - Google Patents
Spraying robot for tall buildings Download PDFInfo
- Publication number
- CN110847571A CN110847571A CN201911217664.2A CN201911217664A CN110847571A CN 110847571 A CN110847571 A CN 110847571A CN 201911217664 A CN201911217664 A CN 201911217664A CN 110847571 A CN110847571 A CN 110847571A
- Authority
- CN
- China
- Prior art keywords
- telescopic arm
- spraying
- rotating joint
- secondary platform
- flat car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 63
- 239000011248 coating agent Substances 0.000 claims abstract description 38
- 238000000576 coating method Methods 0.000 claims abstract description 38
- 239000007921 spray Substances 0.000 claims abstract description 17
- 238000010422 painting Methods 0.000 claims description 10
- 239000003973 paint Substances 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 239000010705 motor oil Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spraying robot for tall buildings, which comprises a mobile flat car, a telescopic arm, a secondary platform, a coating tank and a spraying machine, wherein the mobile flat car is connected with the telescopic arm through a pipeline; the telescopic arm is arranged on the movable flat car, the secondary platform is arranged at the front end of the telescopic arm, the telescopic arm controls the secondary platform to lift, the coating tank and the coating machine are both arranged on the secondary platform, and the coating tank supplies coating to the coating machine; the spraying machine is provided with a spray head, and the spray head is arranged on a manipulator on the secondary platform. According to the spraying robot for the tall buildings, the lifting secondary platform is arranged on the movable flat car, and the spraying machine and the like are arranged on the secondary platform, so that the weight of the coating in a coating liquid conveying pipe and a coating pipe can be reduced, the resistance in coating conveying is reduced, and the pressure (pressure intensity) grade of the spraying machine is reduced; the high-altitude (dozens of meters high) operation of workers is replaced, the labor intensity of the workers is reduced, the working efficiency is improved, and the personal danger of the high-altitude operation is reduced and eliminated.
Description
Technical Field
The invention relates to the field of spraying equipment for tall buildings, in particular to a spraying robot for tall buildings.
Background
Along with the development of society, buildings gradually develop to high-rise buildings; at present, the surface coating spraying of high buildings is realized by manual operation, the labor intensity is high, the efficiency is low, the danger is high, and safety accidents occur at present, so that the method is a difficult problem in the practical engineering construction.
In addition, when spraying at high altitude (several tens of meters high), the coating liquid conveying pipe and the coating weight in the pipe are very large, and the resistance during conveying is also very large, so that the spraying machine can finish the conveying work by providing very large pressure.
In order to solve the above problems, it is necessary to invent a spraying robot and a spraying method for tall buildings, so as to solve the problem that spraying is difficult due to manual work or too long material conveying pipe of the existing spraying equipment when the surface coating of the tall buildings is sprayed.
Disclosure of Invention
The invention aims to provide a spraying robot for tall buildings, which effectively solves the problems of high labor intensity, low efficiency and high danger of the existing tall buildings which are sprayed manually.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a spraying robot for tall buildings comprises a mobile flat car, a telescopic arm, a secondary platform, a paint tank and a spraying machine;
the telescopic arm is arranged on the movable flat car, the secondary platform is arranged at the front end of the telescopic arm, the telescopic arm controls the secondary platform to lift, the coating tank and the coating machine are both arranged on the secondary platform, and the coating tank supplies coating to the coating machine;
the spraying machine is provided with a spray head, and the spray head is arranged on a manipulator on the secondary platform.
Furthermore, the mechanical arm is fixed on the secondary platform through the mounting base and comprises a rotary table, a primary mechanical arm and a secondary mechanical arm, the spray head is arranged on the secondary mechanical arm through a tail end rotating joint, and the mounting base and the rotary table form the rotating joint.
Furthermore, the revolving platform is provided with a camera mounting support, a camera is mounted at the top end of the camera mounting support through a camera rotating joint, the camera can synchronously rotate horizontally with the first-level mechanical arm through the camera rotating joint, and the mounting base and the revolving platform form a rotating joint.
Furthermore, the telescopic arm is arranged on the movable flat car through a horizontal rotating joint and a pitching rotating joint, the horizontal rotating joint realizes that the telescopic arm horizontally rotates, and the pitching control telescopic arm performs pitching rotation.
Furthermore, the secondary platform is arranged at the front end of the telescopic arm through a parallelogram mechanism, and the parallelogram mechanism is adjusted by the leveling device to drive the secondary platform to be leveled.
Further, the movable flat car, the telescopic arm, the spraying machine and the mechanical arm are controlled through a control system, and the control system is installed on the movable flat car.
Furthermore, the mobile flat car is provided with support legs, and the support legs are controlled by a control system; preferably, the supporting legs can adopt hydraulic cylinder supporting legs or air cylinder supporting legs.
Furthermore, a primary rotary joint is arranged between the rotary table and the primary mechanical arm, and a secondary rotary joint is arranged between the primary mechanical arm and the secondary mechanical arm; the horizontal rotating joint, the tail end rotating joint, the primary rotating joint, the secondary rotating joint, the camera rotating joint and the pitching rotating joint are driven by a hydraulic motor/hydraulic oil cylinder + a slewing device or a servo motor + a speed reducer, so that rotation is realized.
Furthermore, a movable joint on the telescopic arm is driven by a hydraulic oil cylinder/a servo motor, a speed reducer and a linear motion device to realize movement.
The invention also provides a spraying method of the tall building, which adopts the spraying robot for spraying the tall building, and comprises the following steps:
s1: after the movable flat car is transported to a proper working position, starting a control system, extending the support legs out to be firmly contacted with the ground, and lifting the movable flat car;
s2: the telescopic arm is put down to a position where the secondary platform is close to the ground;
s3: after the paint is blended in the paint tank, the telescopic arm is lifted and extends out, so that the secondary platform reaches a proper position;
s4: with the help of images shot by the camera, an operator or a control system automatically controls the mechanical arm and the spraying machine to spray according to the video images shot on site;
s5: finishing the regional spraying work;
s6: the position of the secondary platform is adjusted through the rotation of the horizontal rotating joint and the pitching rotating joint (and the expansion of the telescopic arm), and the next spraying area is determined and spraying work is carried out;
s7: and the telescopic arm and the secondary platform can adjust the working range outside the adjusting area, the next spraying working area can be determined by adjusting the position of the movable flat car, and the work from S1 to S6 is repeated until the whole spraying in the working range is finished. Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a spraying robot for tall buildings and a spraying method thereof.A single-arm crane type lifting platform is arranged on a mobile flat car, and a mechanical arm with a spray gun, a coating tank, a spraying machine and the like are arranged on the lifting platform, so that the weight of the coating in a coating liquid conveying pipe and a pipe can be reduced, the resistance in coating conveying is reduced, and the pressure (pressure intensity) grade of the spraying machine is reduced; the high-altitude (dozens of meters high) operation of workers is replaced, the labor intensity of the workers is reduced, the working efficiency is improved, and the personal danger of the high-altitude operation is reduced and eliminated.
2. The invention provides a spraying robot for tall buildings and a spraying method thereof.A secondary platform is arranged on a mobile flat car, a mechanical arm with a spray gun, a coating tank, a spraying machine and the like are arranged on a lifting secondary platform, and a camera is arranged on a rotary table of the mechanical arm and is used for observing the working condition of a spraying site; the control system is arranged on the flat car and is operated and controlled according to the working site conditions shot by the camera.
Obviously, many modifications, substitutions, and variations are possible in light of the above teachings of the invention, without departing from the basic technical spirit of the invention, as defined by the following claims.
The foregoing aspects of the present invention are explained in further detail by the following detailed description; this should not be understood as limiting the scope of the above-described subject matter of the present invention to the following examples only; all the technologies realized based on the concept of the present invention belong to the scope of the present invention.
Drawings
FIG. 1 is a schematic structural view of a painting robot for tall buildings according to the present invention;
in the figure:
1-moving the flat car; 2-a telescopic arm; 3-a secondary platform; 4-coating and filling; 5-spraying machine; 6-a spray head; 7-a mechanical arm; 71-a turntable; 72-primary mechanical arm; 73-a secondary mechanical arm; 74-end revolute joint; 75-first order revolute joint; 76-a secondary revolute joint; 8, mounting a base; 9-camera mounting bracket; 10-camera revolute joint; 11-a camera; 12-horizontal revolute joint; 13-pitch revolute joint; 14-a parallelogram mechanism; 15-leveling means; 16-a control system; 17-supporting legs.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the spraying robot for tall buildings comprises a mobile flat car 1, a telescopic arm 2, a secondary platform 3, a paint tank 4 and a spraying machine 5;
the telescopic arm 2 is arranged on the movable flat car 1, the secondary platform 3 is arranged at the front end of the telescopic arm 2, the telescopic arm 2 controls the secondary platform 3 to lift, the coating tank 4 and the coating machine 5 are both arranged on the secondary platform 3, and the coating tank 4 supplies coating to the coating machine 5;
the coating machine 5 is connected with a spray head 6 (the feed delivery pipe is not shown in the figure) through a feed delivery pipe, and the spray head 6 is arranged on a manipulator 7 on the secondary platform 3.
Further, the manipulator 7 is fixed on the secondary platform 3 through a mounting base 8, the manipulator 7 comprises a rotary table 71, a primary mechanical arm 72 and a secondary mechanical arm 73, the spray head 6 is arranged on the secondary mechanical arm 73 through a tail end rotary joint 74, and the mounting base 8 and the rotary table 71 form a rotary joint.
Further, the revolving platform 71 is provided with a camera mounting bracket 9, a camera 11 is mounted at the top end of the camera mounting bracket 9 through a camera rotating joint 10, the camera 11 can synchronously and horizontally rotate with the primary mechanical arm 72 through the camera rotating joint 10, and the mounting base 8 and the revolving platform 71 form a rotating joint.
Further, the telescopic arm 2 is arranged on the mobile flat car 1 through a horizontal rotating joint 12 and a pitching rotating joint 13, the horizontal rotating joint 12 enables the telescopic arm 2 to horizontally rotate, and the pitching joint 13 controls the telescopic arm 2 to pitch and rotate.
Further, the secondary platform 3 is arranged at the front end of the telescopic arm 2 through a parallelogram mechanism 14, and the parallelogram mechanism 14 is adjusted by a leveling device 15 to drive the secondary platform 3 to level.
Further, the movable flat car 1, the telescopic arm 2, the coating machine 5 and the mechanical arm 7 are controlled by a control system 16, and the control system 16 is installed on the movable flat car 1.
Further, the mobile flat car 1 is provided with a support leg 17, and the support leg 17 is controlled by a control system 16; preferably, the supporting legs 17 can be hydraulic cylinder supporting legs or air cylinder supporting legs.
Further, a primary rotating joint 75 is arranged between the rotary table 71 and the primary mechanical arm 72, and a secondary rotating joint 76 is arranged between the primary mechanical arm 72 and the secondary mechanical arm 73; the horizontal rotating joint 12, the tail end rotating joint 74, the primary rotating joint 75, the secondary rotating joint 76, the camera rotating joint 10 and the pitching rotating joint 13 are driven by a hydraulic motor/hydraulic oil cylinder + a rotating device or a servo motor + a speed reducer to realize rotation.
Furthermore, the movable joint on the telescopic arm 2 is driven by a hydraulic oil cylinder/a servo motor, a speed reducer and a linear motion device to realize movement.
The invention also provides a spraying method of the tall building, which adopts the spraying robot for spraying the tall building, and comprises the following steps:
s1: after the movable flat car is transported to a proper working position, starting a control system, extending the support legs out to be firmly contacted with the ground, and lifting the movable flat car;
s2: the telescopic arm is put down to a position where the secondary platform is close to the ground;
s3: after the paint is blended in the paint tank, the telescopic arm is lifted and extends out, so that the secondary platform reaches a proper position;
s4: with the help of images shot by the camera, an operator or a control system automatically controls the mechanical arm and the spraying machine to spray according to the video images shot on site;
s5: finishing the regional spraying work;
s6: the position of the secondary platform is adjusted through the rotation of the horizontal rotating joint and the pitching rotating joint and the stretching of the telescopic arm, and the next spraying area is determined and spraying work is carried out;
s7: and the telescopic arm and the secondary platform can adjust the working range outside the adjusting area, the next spraying working area can be determined by adjusting the position of the movable flat car, and the work from S1 to S6 is repeated until the whole spraying in the working range is finished.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such changes and modifications as fall within the true spirit and scope of the invention be considered as within the following claims.
Claims (10)
1. A tall building spraying robot which is characterized in that: comprises a mobile flat car (1), a telescopic arm (2), a secondary platform (3), a coating tank (4) and a spraying machine (5);
the telescopic arm (2) is arranged on the movable flat car (1), the secondary platform (3) is arranged at the front end of the telescopic arm (2), the telescopic arm (2) controls the secondary platform (3) to lift, the coating tank (4) and the coating machine (5) are both arranged on the secondary platform (3), and the coating tank (4) supplies coating to the coating machine (5);
the spraying machine (5) is provided with a spray head (6), and the spray head (6) is arranged on a manipulator (7) on the secondary platform (3).
2. A tall building painting robot as claimed in claim 1, wherein: the mechanical arm (7) is fixed on the secondary platform (3) through the mounting base (8), the mechanical arm (7) comprises a rotary table (71), a primary mechanical arm (72) and a secondary mechanical arm (73), the spray head (6) is arranged on the secondary mechanical arm (73) through a tail end rotating joint (74), and the mounting base (8) and the rotary table (71) form a rotating joint.
3. A tall building painting robot as claimed in claim 2, wherein: the rotary table (71) is provided with a camera mounting support (9), a camera (11) is mounted at the top end of the camera mounting support (9) through a camera rotating joint (10), and the camera (11) can synchronously rotate horizontally with the first-stage mechanical arm (72) through the camera rotating joint (10).
4. A tall building painting robot as claimed in claim 3, wherein: the telescopic arm (2) is arranged on the movable flat car (1) through a horizontal rotating joint (12) and a pitching rotating joint (13), the horizontal rotating joint (12) enables the telescopic arm (2) to horizontally rotate, and the pitching (13) controls the telescopic arm (2) to pitch and rotate.
5. A tall building painting robot as claimed in claim 4, wherein: the secondary platform (3) is arranged at the front end of the telescopic arm (2) through a parallelogram mechanism (14), and the parallelogram mechanism (14) is adjusted by a leveling device (15) to drive the secondary platform (3) to be leveled.
6. The tall building spraying robot according to any one of claims 1 to 5, characterized in that: the mobile flat car (1), the telescopic arm (2), the spraying machine (5) and the mechanical arm (7) are controlled to work through a control system (16), and the control system (16) is installed on the mobile flat car (1).
7. A tall building painting robot as claimed in claim 6, wherein: the mobile flat car (1) is provided with support legs (17), and the support legs (17) are controlled by a control system (16); preferably, the supporting legs (17) can be hydraulic cylinder supporting legs or air cylinder supporting legs.
8. A tall building painting robot as claimed in claim 4, wherein: a primary rotary joint (75) is arranged between the rotary table (71) and the primary mechanical arm (72), and a secondary rotary joint (76) is arranged between the primary mechanical arm (72) and the secondary mechanical arm (73); the horizontal rotating joint (12), the tail end rotating joint (74), the primary rotating joint (75), the secondary rotating joint (76), the camera rotating joint (10) and the pitching rotating joint (13) are driven by a hydraulic motor/hydraulic oil cylinder + a slewing gear or a servo motor + a speed reducer to realize rotation.
9. A tall building painting robot as claimed in claim 4, wherein: the movable joint on the telescopic arm (2) is driven by a hydraulic oil cylinder/a servo motor, a speed reducer and a linear motion device to realize movement.
10. A spraying method for a high building is characterized in that: the painting robot for tall buildings according to claim 7, wherein the painting method comprises the following steps:
s1: after the movable flat car is transported to a proper working position, starting a control system, extending the support legs out to be firmly contacted with the ground, and lifting the movable flat car;
s2: the telescopic arm is put down to a position where the secondary platform is close to the ground;
s3: after the paint is blended in the paint tank, the telescopic arm is lifted and extends out, so that the secondary platform reaches a proper position;
s4: with the help of images shot by the camera, an operator or a control system automatically controls the mechanical arm and the spraying machine to spray according to the video images shot on site;
s5: finishing the regional spraying work;
s6: the position of the secondary platform is adjusted through the rotation of the horizontal rotating joint and the pitching rotating joint and the stretching of the telescopic arm, and the next spraying area is determined and spraying work is carried out;
s7: and the telescopic arm and the secondary platform can adjust the working range outside the adjusting area, the next spraying working area can be determined by adjusting the position of the movable flat car, and the work from S1 to S6 is repeated until the whole spraying in the working range is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911217664.2A CN110847571A (en) | 2019-12-03 | 2019-12-03 | Spraying robot for tall buildings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911217664.2A CN110847571A (en) | 2019-12-03 | 2019-12-03 | Spraying robot for tall buildings |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110847571A true CN110847571A (en) | 2020-02-28 |
Family
ID=69607206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911217664.2A Pending CN110847571A (en) | 2019-12-03 | 2019-12-03 | Spraying robot for tall buildings |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110847571A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113083568A (en) * | 2021-04-08 | 2021-07-09 | 北京克莱明科技有限公司 | Overhead spraying robot carried on crane and spraying method |
| CN113386052A (en) * | 2021-05-12 | 2021-09-14 | 华南理工大学 | Hull abrasive water jet paint and rust removing equipment and implementation method thereof |
| IT202000025444A1 (en) * | 2020-10-27 | 2022-04-27 | Tod System S R L S | SELF-DRIVEN MOBILE ROBOT |
| CN114809542A (en) * | 2022-05-29 | 2022-07-29 | 深圳市瑞河科技有限公司 | Portable spraying tool |
| CN114798253A (en) * | 2022-05-09 | 2022-07-29 | 北京克莱明科技有限公司 | High-altitude operation equipment and control method thereof |
| CN114856236A (en) * | 2022-04-28 | 2022-08-05 | 中冶建工集团有限公司 | External window sill repair device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT202000025444A1 (en) * | 2020-10-27 | 2022-04-27 | Tod System S R L S | SELF-DRIVEN MOBILE ROBOT |
| CN113083568A (en) * | 2021-04-08 | 2021-07-09 | 北京克莱明科技有限公司 | Overhead spraying robot carried on crane and spraying method |
| CN113386052A (en) * | 2021-05-12 | 2021-09-14 | 华南理工大学 | Hull abrasive water jet paint and rust removing equipment and implementation method thereof |
| CN114856236A (en) * | 2022-04-28 | 2022-08-05 | 中冶建工集团有限公司 | External window sill repair device |
| CN114798253A (en) * | 2022-05-09 | 2022-07-29 | 北京克莱明科技有限公司 | High-altitude operation equipment and control method thereof |
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Application publication date: 20200228 |