CN111188480B - Automatic wall plastering robot - Google Patents
Automatic wall plastering robot Download PDFInfo
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- CN111188480B CN111188480B CN202010034730.9A CN202010034730A CN111188480B CN 111188480 B CN111188480 B CN 111188480B CN 202010034730 A CN202010034730 A CN 202010034730A CN 111188480 B CN111188480 B CN 111188480B
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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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Abstract
The invention relates to a wall painting robot, in particular to an automatic wall painting robot, which comprises a device bracket, a moving mechanism, a connecting rod mechanism, a telescopic mechanism I, a sliding mechanism, a limiting slide rail, a painting mechanism I, a transmission mechanism I, a painting mechanism II, a traversing mechanism, a feeding frame, a feeding mechanism and a transmission mechanism II, wherein the sliding mechanism is pushed by the telescopic mechanism I to slide on the device bracket, the sliding mechanism drives the connecting rod mechanism to reciprocate up and down under the limiting of the two limiting slide rails, the connecting rod mechanism drives the painting mechanism I and the painting mechanism II to reciprocate up and down, the painting mechanism I and the painting mechanism II can be always attached to a wall surface under the pushing of the traversing mechanism, when the painting wheel I is positioned at the lower end limit position, the friction wheel I and the friction wheel II enter friction transmission, when the wall surface painting at one position is finished, the painting mechanism I drives the transmission mechanism II to move, the moving mechanism pushes the device to move forwards.
Description
Technical Field
The invention relates to a wall painting robot, in particular to an automatic wall painting robot.
Background
For example, publication No. CN207905319U discloses an automatic wall plastering robot, which includes a plastering machine moving device, a verticality adjusting device, a front-back moving device and a vertical moving device; the motion device of the plastering machine mainly comprises a belt transmission mechanism, a gear transmission mechanism, a reel, a linear motion roller follower cylindrical cam and a plastering plate, so as to realize the pressing of concrete and the left and right plastering motion of the plastering plate; the verticality adjusting device realizes the adjustment of the verticality of the guide rod by a lead screw mechanism; the utility model discloses a shortcoming is that can not the efficient carry out effectual whitewash to the wall.
Disclosure of Invention
The invention aims to provide an automatic wall plastering robot which can efficiently and effectively plaster a wall surface.
The purpose of the invention is realized by the following technical scheme:
an automatic wall painting robot comprises a device support, a moving mechanism, a link mechanism, a telescopic mechanism I, a sliding mechanism, limiting slide rails, a painting mechanism I, a transmission mechanism I, a painting mechanism II, a transverse moving mechanism, a loading frame, a loading mechanism and a transmission mechanism II, wherein the moving mechanism is arranged on the device support, the telescopic mechanism I is fixedly connected onto the device support, the telescopic end of the telescopic mechanism I is rotatably connected onto the sliding mechanism, the sliding mechanism is slidably connected onto the device support, the two limiting slide rails are arranged and are both slidably connected onto the device support, the link mechanism is arranged between the two limiting slide rails, the lower end of the link mechanism is hinged onto the sliding mechanism, the painting mechanism I and the painting mechanism II are rotatably connected to the front end of the link mechanism, the transmission mechanism I is rotatably connected to the rear end of the link mechanism, and the painting mechanism I and the sliding mechanism are in transmission connection, whitewash and connect between mechanism I and the drive mechanism I transmission, drive mechanism I and whitewash the transmission connection between the mechanism II, the lower extreme fixedly connected with sideslip mechanism of device support, whitewash and rotate on the mechanism II and be connected with the material loading frame, the lower extreme sliding connection of material loading frame is on whitewash mechanism I, is provided with feed mechanism on the material loading frame, drive mechanism II rotates to be connected on the device support, drive mechanism II and moving mechanism transmission are connected.
According to the technical scheme, the automatic wall plastering robot comprises a bottom plate, mounting frames, storage slideways, sliding rails, mounting plates and supporting plates, wherein the mounting frames are fixedly connected to the left side and the right side of the bottom plate, the storage slideways are fixedly connected to the outer sides of the two mounting frames, the sliding rails are fixedly connected to the two mounting frames, the mounting plates are fixedly connected to the bottom plate, and the supporting plates are fixedly connected to the two mounting frames.
As a further optimization of the technical scheme, the automatic wall plastering robot comprises a moving mechanism, wherein the moving mechanism comprises a worm, two moving shafts, two moving wheels and triangular bodies, the worm is rotatably connected to a bottom plate, the two moving shafts are respectively rotatably connected to two mounting frames, the two ends of each moving shaft are respectively and fixedly connected with the moving wheels, each moving wheel is respectively and fixedly connected with the triangular bodies, and the two ends of the worm are respectively in meshing transmission with the two moving shafts.
As further optimization of the technical scheme, the automatic wall plastering robot comprises a connecting rod I, a connecting rod II, a connecting rod III, two sliding columns I, two sliding columns II and two sliding columns III, wherein the connecting rod I is hinged to the upper ends of the two connecting rods I, the connecting rod II is hinged to the upper ends of the two connecting rods II, the connecting rod III is hinged to the upper ends of the two connecting rods II, the sliding columns I are rotatably connected between the middle parts of the two connecting rods I, the sliding columns II are rotatably connected between the middle parts of the two connecting rods II, and the sliding columns III are rotatably connected between the middle parts of the two connecting rods III.
As a further optimization of the technical scheme, the automatic wall whitewashing robot comprises a telescopic mechanism I, a sliding mechanism I and two sliding blocks, wherein the telescopic mechanism I is fixedly connected to a mounting plate, the sliding mechanism I comprises a rotating motor and two sliding blocks, the rotating motor is fixedly connected to one of the two sliding blocks, the two sliding blocks are respectively connected to two sliding rails in a sliding mode, a telescopic end of the telescopic mechanism I is rotatably connected to an output shaft of the rotating motor, the lower ends of two connecting rods I are respectively hinged to the two sliding blocks, a hinged point of the lower ends of the two connecting rods I and the output shaft of the rotating motor are coaxially arranged, limiting grooves are formed in the limiting sliding rails, the two limiting sliding rails are respectively connected to two containing sliding ways in a sliding mode, and a sliding column I, a sliding.
As further optimization of the technical scheme, the automatic wall painting robot comprises a painting mechanism I, a painting wheel I and a friction wheel I, wherein the painting shaft I is rotatably connected between hinge joints at the upper ends of two connecting rods I, the painting wheel I and the friction wheel I are fixedly connected to the painting shaft I, and the painting shaft I is in transmission connection with an output shaft of a rotating motor.
As further optimization of the technical scheme, the automatic wall plastering robot is characterized in that a transmission mechanism I is rotatably connected between hinge joints at the upper ends of two connecting rods II and is in transmission connection with a plastering shaft I; whitewash II mechanisms including whitewash II axle and whitewash wheel II, whitewash II rotations of axle and connect between the pin joint of two connecting rod III upper ends, whitewash epaxial fixedly connected with whitewash wheel II, whitewash axle II and the transmission of drive mechanism I and connect, whitewash axle II and whitewash axle I and be in same vertical position.
According to the automatic wall plastering robot, the transverse moving mechanism comprises a telescopic mechanism II, a telescopic mechanism III and a conical friction block, the telescopic mechanism II is fixedly connected to the mounting plate, the telescopic end of the telescopic mechanism II is fixedly connected with the telescopic mechanism III, and the telescopic end of the telescopic mechanism III is fixedly connected with the conical friction block.
As a further optimization of the technical scheme, the automatic wall plastering robot comprises two feeding side plates, two limiting waist holes I, two reciprocating supports and two limiting waist holes II, wherein the two feeding side plates are respectively provided with the limiting waist holes I, the two feeding side plates are respectively and rotatably connected to a plastering shaft II, two ends of the plastering shaft I are respectively and slidably connected into the two limiting waist holes I, the reciprocating supports are fixedly connected between the upper ends of the two feeding side plates, the reciprocating supports are provided with the limiting waist holes II, a feeding mechanism comprises a reciprocating motor, a reciprocating slide block and a feeding pipe, the reciprocating motor is fixedly connected to the reciprocating supports, an output shaft of the reciprocating motor is connected with the reciprocating slide block through threads, the reciprocating slide block is slidably connected into the limiting waist holes II, and the reciprocating slide block is fixedly connected with the feeding pipe.
As further optimization of the technical scheme, the automatic wall plastering robot comprises a transmission mechanism II and a friction wheel II, wherein the transmission mechanism II comprises a transmission shaft and the friction wheel II, the transmission shaft is rotatably connected to the two support plates, the friction wheel II is fixedly connected to the transmission shaft, and when the plastering wheel I is located at the lower end limit position, the friction wheel I and the friction wheel II enter friction transmission.
The automatic wall plastering robot has the beneficial effects that:
the invention relates to an automatic wall painting robot, which can push a sliding mechanism to slide on a device bracket through a telescopic mechanism I, the sliding mechanism drives a connecting rod mechanism to reciprocate up and down under the limit of two limit slide rails, the connecting rod mechanism drives a painting mechanism I and a painting mechanism II to reciprocate up and down, and the painting mechanism I and the painting mechanism II can be always attached to a wall surface under the push of a transverse moving mechanism, when the painting wheel I is positioned at the lower end limit position, the friction wheel I and the friction wheel II enter friction transmission, when the wall surface painting at one position is finished, the painting mechanism I drives a transmission mechanism II to move, and a moving mechanism pushing device moves forwards.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element 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 description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
FIG. 1 is a schematic view of the overall structure of the automatic wall plastering robot of the present invention;
FIG. 2 is a schematic view of the device support structure of the present invention;
FIG. 3 is a schematic view of the moving mechanism of the present invention;
FIG. 4 is a schematic view of the linkage arrangement of the present invention;
FIG. 5 is a schematic view of a partial structure of the automatic wall plastering robot of the present invention;
FIG. 6 is a schematic view of the structure of the limit slide rail of the present invention;
FIG. 7 is a schematic view of a partial structure of an automatic wall plastering robot according to the present invention;
FIG. 8 is a schematic structural view of the traversing mechanism of the present invention;
fig. 9 is a schematic view of the loading frame structure of the present invention;
FIG. 10 is a schematic view of the feed mechanism of the present invention;
fig. 11 is a schematic structural diagram of the transmission mechanism II of the invention.
In the figure: a device holder 1; a bottom plate 1-1; a mounting frame 1-2; a storage chute 1-3; 1-4 of a slide rail; mounting plates 1-5; support plates 1-6; a moving mechanism 2; 2-1 of worm; a moving shaft 2-2; 2-3 of a moving wheel; 2-4 parts of a triangular body; a link mechanism 3; a connecting rod I3-1; a connecting rod II 3-2; 3-3 of a connecting rod III; 3-4 of a sliding column; 3-5 of a sliding column II; 3-6 of a sliding column III; a telescoping mechanism I4; a slide mechanism 5; rotating a motor 5-1; 5-2 of a slide block; a limiting slide rail 6; a limiting groove 6-1; a painting mechanism I7; the brushing shaft I7-1; a brushing wheel I7-2; 7-3 of a friction wheel; a transmission mechanism I8; a painting mechanism II 9; a painting shaft II 9-1; a brushing wheel II 9-2; a traversing mechanism 10; a telescopic mechanism II 10-1; 10-2 of a telescopic mechanism III; a conical friction block 10-3; a feeding frame 11; a feeding side plate 11-1; a limiting waist hole I11-2; a reciprocating support 11-3; a limiting waist hole II 11-4; a feeding mechanism 12; a reciprocating motor 12-1; a reciprocating slide block 12-2; a feeding pipe 12-3; a transmission mechanism II 13; a transmission shaft 13-1; and a friction wheel II 13-2.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1-11, an automatic wall plastering robot comprises a device support 1, a moving mechanism 2, a link mechanism 3, a telescoping mechanism i 4, a sliding mechanism 5, a limiting slide rail 6, a plastering mechanism i 7, a transmission mechanism i 8, a plastering mechanism ii 9, a traversing mechanism 10, a feeding frame 11, a feeding mechanism 12 and a transmission mechanism ii 13, wherein the moving mechanism 2 is arranged on the device support 1, the telescoping mechanism i 4 is fixedly connected to the device support 1, the telescoping end of the telescoping mechanism i 4 is rotatably connected to the sliding mechanism 5, the sliding mechanism 5 is slidably connected to the device support 1, two limiting slide rails 6 are arranged, the two limiting slide rails 6 are both slidably connected to the device support 1, the link mechanism 3 is arranged between the two limiting slide rails 6, the lower end of the link mechanism 3 is hinged to the sliding mechanism 5, the front end of the link mechanism 3 is rotatably connected to the plastering mechanism i 7 and the plastering mechanism ii 9, the rear end of the connecting rod mechanism 3 is rotatably connected with a transmission mechanism I8, a painting mechanism I7 is in transmission connection with a sliding mechanism 5, the painting mechanism I7 is in transmission connection with the transmission mechanism I8, the transmission mechanism I8 is in transmission connection with a painting mechanism II 9, the lower end of the device support 1 is fixedly connected with a transverse moving mechanism 10, the painting mechanism II 9 is rotatably connected with a loading frame 11, the lower end of the loading frame 11 is in sliding connection with the painting mechanism I7, the loading frame 11 is provided with a loading mechanism 12, the transmission mechanism II 13 is rotatably connected to the device support 1, and the transmission mechanism II 13 is in transmission connection with the moving mechanism 2; can promote slide mechanism 5 through telescopic machanism I4 and slide on device support 1, slide mechanism 5 drives link mechanism 3 and carries out reciprocating motion from top to bottom under the spacing of two spacing slide rails 6, link mechanism 3 drives whitewashes mechanism I7 and whitewashes mechanism II 9 and carries out reciprocating motion from top to bottom, and guarantee to whitewash mechanism I7 and whitewashes mechanism II 9 and can laminate with the wall always under the promotion of sideslip mechanism 10, when whitewash wheel I7-2 is located the lower extreme position, friction wheel I7-3 and friction wheel II 13-2 get into the friction drive, whitewash mechanism I7 drive transmission mechanism II 13 and move when the wall of a position whitewashes the completion, moving mechanism 2 thrust unit moves forward.
The second embodiment is as follows:
the following describes the present embodiment with reference to fig. 1 to 11, and the present embodiment further describes the first embodiment, where the device bracket 1 includes a bottom plate 1-1, mounting brackets 1-2, receiving slideways 1-3, sliding rails 1-4, mounting plates 1-5, and supporting plates 1-6, the mounting brackets 1-2 are fixedly connected to the left and right sides of the bottom plate 1-1, the receiving slideways 1-3 are fixedly connected to the outer sides of the two mounting brackets 1-2, the sliding rails 1-4 are fixedly connected to the two mounting brackets 1-2, the mounting plates 1-5 are fixedly connected to the bottom plate 1-1, and the supporting plates 1-6 are fixedly connected to the two mounting brackets 1-2.
The third concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 11, and the second embodiment is further described in the present embodiment, where the moving mechanism 2 includes a worm 2-1, two moving shafts 2-2, two moving wheels 2-3, and two triangular bodies 2-4, the worm 2-1 is rotatably connected to the bottom plate 1-1, the two moving shafts 2-2 are respectively rotatably connected to the two mounting frames 1-2, the moving wheels 2-3 are fixedly connected to two ends of the two moving shafts 2-2, a plurality of triangular bodies 2-4 are fixedly connected to each moving wheel 2-3, and two ends of the worm 2-1 are respectively in meshing transmission with the two moving shafts 2-2.
The fourth concrete implementation mode:
the third embodiment will be described below with reference to FIGS. 1 to 11, the connecting rod mechanism 3 comprises two connecting rods I3-1, two connecting rods II 3-2, two connecting rods III 3-3, two sliding columns I3-4, two sliding columns II 3-5 and two sliding columns III 3-6, the upper ends of the two connecting rods I3-1 are hinged to the connecting rods II 3-2, the upper ends of the two connecting rods II 3-2 are hinged to the connecting rods III 3-3, the sliding columns I3-4 are rotatably connected between the middle parts of the two connecting rods I3-1, the sliding columns II 3-5 are rotatably connected between the middle parts of the two connecting rods II 3-2, and the sliding columns III 3-6 are rotatably connected between the middle parts of the two connecting rods III 3-3.
The fifth concrete implementation mode:
the embodiment is described below with reference to fig. 1-11, and the embodiment is further described, wherein the telescopic mechanism i 4 is fixedly connected to the mounting plate 1-5, the sliding mechanism 5 includes a rotating motor 5-1 and two sliding blocks 5-2, the sliding block 5-2 is provided with two sliding blocks, the rotating motor 5-1 is fixedly connected to one of the sliding blocks 5-2, the two sliding blocks 5-2 are respectively slidably connected to the two sliding rails 1-4, the telescopic end of the telescopic mechanism i 4 is rotatably connected to the output shaft of the rotating motor 5-1, the lower ends of the two connecting rods i 3-1 are respectively hinged to the two sliding blocks 5-2, the hinged point of the lower ends of the two connecting rods i 3-1 and the output shaft of the rotating motor 5-1 are coaxially arranged, the limiting sliding rail 6 is provided with a limiting groove 6-1, the two limiting slide rails 6 are respectively connected in the two containing slide ways 1-3 in a sliding mode, and the sliding column I3-4, the sliding column II 3-5 and the sliding column III 3-6 are respectively connected between the two limiting grooves 6-1 in a sliding mode.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1-11, and the fifth embodiment is further described in the present embodiment, wherein the painting mechanism i 7 includes a painting shaft i 7-1, a painting wheel i 7-2 and a friction wheel i 7-3, the painting shaft i 7-1 is rotatably connected between hinge points at the upper ends of two connecting rods i 3-1, the painting wheel i 7-2 and the friction wheel i 7-3 are fixedly connected to the painting shaft i 7-1, and the painting shaft i 7-1 is in transmission connection with an output shaft of the rotating motor 5-1.
The seventh embodiment:
the embodiment is described below by combining with figures 1-11, and the sixth embodiment is further described by the embodiment, wherein the transmission mechanism I8 is rotatably connected between hinge points at the upper ends of the two connecting rods II 3-2, and the transmission mechanism I8 is in transmission connection with the painting shaft I7-1; the painting mechanism II 9 comprises a painting shaft II 9-1 and a painting wheel II 9-2, the painting shaft II 9-1 is rotatably connected between hinge points at the upper ends of the two connecting rods III 3-3, the painting wheel II 9-2 is fixedly connected to the painting shaft II 9-1, the painting shaft II 9-1 is in transmission connection with the transmission mechanism I8, and the painting shaft II 9-1 and the painting shaft I7-1 are in the same vertical position.
The specific implementation mode is eight:
the following describes the present embodiment with reference to fig. 1 to 11, and the seventh embodiment is further described in the present embodiment, where the traverse mechanism 10 includes a telescopic mechanism ii 10-1, a telescopic mechanism iii 10-2, and a tapered friction block 10-3, the telescopic mechanism ii 10-1 is fixedly connected to the mounting plate 1-5, the telescopic end of the telescopic mechanism ii 10-1 is fixedly connected to the telescopic mechanism iii 10-2, and the telescopic end of the telescopic mechanism iii 10-2 is fixedly connected to the tapered friction block 10-3.
The specific implementation method nine:
referring to fig. 1-11, the present embodiment will be described, and further described in the present embodiment, where the feeding frame 11 includes two feeding side plates 11-1, two limiting waist holes i 11-2, two reciprocating supports 11-3 and two limiting waist holes ii 11-4, the two feeding side plates 11-1 are provided, the two feeding side plates 11-1 are each provided with a limiting waist hole i 11-2, the two feeding side plates 11-1 are each rotatably connected to the brush shaft ii 9-1, two ends of the brush shaft i 7-1 are each slidably connected to the two limiting waist holes i 11-2, the reciprocating support 11-3 is fixedly connected between upper ends of the two feeding side plates 11-1, the reciprocating support 11-3 is provided with a limiting waist hole ii 11-4, the feeding mechanism 12 includes a reciprocating motor 12-1, The reciprocating slide block 12-2 and the feeding pipe 12-3, the compound motor 12-1 is fixedly connected to the reciprocating support 11-3, the output shaft of the compound motor 12-1 is connected with the reciprocating slide block 12-2 through threads, the reciprocating slide block 12-2 is connected in the limit waist hole II 11-4 in a sliding mode, and the feeding pipe 12-3 is fixedly connected to the reciprocating slide block 12-2.
The detailed implementation mode is ten:
the embodiment is described below with reference to fig. 1 to 11, and the ninth embodiment is further described in the present embodiment, wherein the transmission mechanism ii 13 includes a transmission shaft 13-1 and a friction wheel ii 13-2, the transmission shaft 13-1 is rotatably connected to two support plates 1-6, the transmission shaft 13-1 is fixedly connected with the friction wheel ii 13-2, and when the brushing wheel i 7-2 is located at the lower extreme position, the friction wheel i 7-3 and the friction wheel ii 13-2 enter into friction transmission.
The invention relates to an automatic wall plastering robot, which has the working principle that:
when in use, the pipeline for painting the coating is connected to the feeding pipe 12-3, so that the painting can flow into the feeding pipe 12-3 through the pipeline; the device is placed on a wall surface to be painted, so that a painting wheel I7-2 and a painting wheel II 9-2 are attached to the wall surface, a reciprocating motor 12-1 is started, an output shaft of the reciprocating motor 12-1 starts to rotate, an output shaft of the reciprocating motor 12-1 drives a reciprocating slide block 12-2 to slide in a limiting waist hole II 11-4, a feeding pipe 12-3 is driven by the reciprocating slide block 12-2 to slide in a reciprocating mode, so that the feeding pipe 12-3 can evenly paint painting paint on the painting wheel II 9-2, a rotating motor 5-1 is started, an output shaft of the rotating motor 5-1 starts to rotate, an output shaft of the rotating motor 5-1 drives a painting shaft I7-1 to rotate, the painting shaft I7-1 drives the painting wheel I7-2 and a friction wheel I7-3 to rotate, when the painting wheel I7-2 rotates, painting paint falling from the painting wheel II 9-2 on the wall further, and due to the action of gravity, certain flowing traces of the painting paint can be generated on the wall surface and fall off, the painting wheel II 9-2 can be used for painting uniformly for the second time, so that the ground is clean and the wall surface is painted neatly; the painting shaft I7-1 drives the transmission mechanism I8 to rotate, the transmission mechanism I8 drives the painting shaft II 9-1 to rotate, the painting shaft II 9-1 drives the painting wheel II 9-2 to rotate, the painting wheel II 9-2 is in contact with the front surface to paint the wall surface, the telescopic mechanism I4 is started, the telescopic mechanism I4 can be a hydraulic cylinder or an electric push rod, the telescopic end of the telescopic mechanism I4 pushes the two sliding blocks 5-2 to slide on the sliding rail 1-4, the lower ends of the two connecting rods I3-1 are respectively hinged on the two sliding blocks 5-2, the hinged point of the lower ends of the two connecting rods I3-1 and the output shaft of the rotating motor 5-1 are coaxially arranged, the two sliding blocks 5-2 respectively push the lower ends of the two connecting rods I3-1 to move forwards, the middle parts of the two connecting rods I3-1 move upwards under the limit of the sliding columns I3-4, the sliding column I3-4 slides upwards between the two limiting grooves 6-1, the lower ends of the two connecting rods I3-1 push the upper ends of the two connecting rods I3-1 to move upwards, the upper ends of the two connecting rods I3-1 push the two connecting rods II 3-2 to move upwards, the two connecting rods II 3-2 push the two connecting rods III 3-3 to move upwards, the painting wheel I7-2 and the painting wheel II 9-2 move upwards when the telescopic end of the telescopic mechanism I4 extends out, the painting wheel I7-2 and the painting wheel II 9-2 move downwards when the telescopic end of the telescopic mechanism I4 is stored, the telescopic end of the telescopic mechanism I4 reciprocates to enable the painting wheel I7-2 and the painting wheel II 9-2 to reciprocate upwards and downwards to paint a wall surface at the same position, because the connecting rod mechanism 3 can be folded and unfolded, the limiting sliding rail 6 can slide on the device bracket 1, so that the device is small in height and easy to transport and carry; when the painting wheel I7-2 and the painting wheel II 9-2 move up and down in a reciprocating mode, the telescoping mechanism II 10-1 and the telescoping mechanism III 10-2 are started, the telescoping mechanism II 10-1 and the telescoping mechanism III 10-2 can be hydraulic cylinders or electric push rods, the telescoping end of the telescoping mechanism II 10-1 moves downwards to drive the telescoping mechanism III 10-2 to move downwards, so that the conical friction block 10-3 is in contact with the ground, the telescoping end of the telescoping mechanism III 10-2 moves back and forth, the conical friction block 10-3 is in transverse movement with a ground contact driving device, as the four moving wheels 2-3 are provided with the plurality of triangular bodies 2-4, the triangular bodies 2-4 are in line contact when the ground is in contact, and the friction force generated by the conical friction block 10-3 during transverse movement can be enough to push the device to move transversely, the painting wheel I7-2 and the painting wheel II 9-2 move up and down in a reciprocating manner and are always in contact with the wall surface, so that the painting effect is ensured; when the wall surface painting at one position is finished, the telescopic end of the telescopic mechanism I4 is recovered, the painting wheel I7-2 moves downwards to the limit position, when the painting wheel I7-2 is located at the lower end limit position, the friction wheel I7-3 and the friction wheel II 13-2 enter friction transmission, the painting mechanism I7 drives the transmission mechanism II 13 to move when the wall surface painting at one position is finished, the transmission mechanism II 13 drives the moving mechanism 2 to move, and the moving mechanism 2 pushing device moves forwards.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (10)
1. The utility model provides an automatic wall painting robot, includes device support (1), moving mechanism (2), link mechanism (3), telescopic machanism I (4), slide mechanism (5), spacing slide rail (6), whitewashes mechanism I (7), drive mechanism I (8), whitewashes mechanism II (9), sideslip mechanism (10), goes up work or material rest (11), feed mechanism (12) and drive mechanism II (13), its characterized in that: the device is characterized in that a moving mechanism (2) is arranged on a device support (1), a telescopic mechanism I (4) is fixedly connected to the device support (1), the telescopic end of the telescopic mechanism I (4) is rotatably connected to a sliding mechanism (5), the sliding mechanism (5) is slidably connected to the device support (1), two limiting sliding rails (6) are arranged, the two limiting sliding rails (6) are both slidably connected to the device support (1), a connecting rod mechanism (3) is arranged between the two limiting sliding rails (6), the lower end of the connecting rod mechanism (3) is hinged to the sliding mechanism (5), the front end of the connecting rod mechanism (3) is rotatably connected with a painting mechanism I (7) and a painting mechanism II (9), the rear end of the connecting rod mechanism (3) is rotatably connected with a transmission mechanism I (8), the painting mechanism I (7) is in transmission connection with the sliding mechanism (5), the painting mechanism I (7) is in transmission connection with the transmission mechanism I (8), the transmission is connected between transmission mechanism I (8) and painting mechanism II (9), the lower end fixedly connected with sideslip mechanism (10) of device support (1), it has last work or material rest (11) to rotate on painting mechanism II (9), the lower extreme sliding connection of going up work or material rest (11) is on painting mechanism I (7), it is provided with feed mechanism (12) on work or material rest (11) to go up, transmission mechanism II (13) rotate to be connected on device support (1), transmission mechanism II (13) and moving mechanism (2) transmission are connected.
2. An automatic whitewashing robot as claimed in claim 1, wherein: the device support (1) comprises a bottom plate (1-1), mounting frames (1-2), storage slideways (1-3), sliding rails (1-4), mounting plates (1-5) and supporting plates (1-6), wherein the mounting frames (1-2) are fixedly connected to the left side and the right side of the bottom plate (1-1), the storage slideways (1-3) are fixedly connected to the outer sides of the two mounting frames (1-2), the sliding rails (1-4) are fixedly connected to the two mounting frames (1-2), the mounting plates (1-5) are fixedly connected to the bottom plate (1-1), and the supporting plates (1-6) are fixedly connected to the two mounting frames (1-2).
3. An automatic whitewashing robot as claimed in claim 2, characterized in that: the moving mechanism (2) comprises a worm (2-1), moving shafts (2-2), moving wheels (2-3) and triangular bodies (2-4), the worm (2-1) is rotatably connected to the bottom plate (1-1), the moving shafts (2-2) are provided with two moving shafts (2-2), the two moving shafts (2-2) are respectively rotatably connected to the two mounting frames (1-2), the moving wheels (2-3) are fixedly connected to the two ends of the two moving shafts (2-2), a plurality of triangular bodies (2-4) are fixedly connected to each moving wheel (2-3), and the two ends of the worm (2-1) are respectively meshed with the two moving shafts (2-2) for transmission.
4. An automatic whitewashing robot as claimed in claim 3, characterized in that: the connecting rod mechanism (3) comprises a connecting rod I (3-1), a connecting rod II (3-2), a connecting rod III (3-3), a sliding column I (3-4), a sliding column II (3-5) and a sliding column III (3-6), two connecting rods I (3-1) are arranged, the upper ends of the two connecting rods I (3-1) are hinged with two connecting rods II (3-2), the upper ends of the two connecting rods II (3-2) are hinged with connecting rods III (3-3), a sliding column I (3-4) is rotatably connected between the middle parts of the two connecting rods I (3-1), a sliding column II (3-5) is rotatably connected between the middle parts of the two connecting rods II (3-2), and a sliding column III (3-6) is rotatably connected between the middle parts of the two connecting rods III (3-3).
5. An automatic whitewashing robot as claimed in claim 4, wherein: the telescopic mechanism I (4) is fixedly connected to the mounting plate (1-5), the sliding mechanism (5) comprises a rotating motor (5-1) and two sliding blocks (5-2), the two sliding blocks (5-2) are arranged, the rotating motor (5-1) is fixedly connected to one sliding block (5-2), the two sliding blocks (5-2) are respectively and slidably connected to the two sliding rails (1-4), the telescopic end of the telescopic mechanism I (4) is rotatably connected to the output shaft of the rotating motor (5-1), the lower ends of the two connecting rods I (3-1) are respectively hinged to the two sliding blocks (5-2), the hinged point of the lower ends of the two connecting rods I (3-1) and the output shaft of the rotating motor (5-1) are coaxially arranged, and the limiting sliding rail (6) is provided with a limiting groove (6-1), two limiting slide rails (6) are respectively connected in the two containing slide rails (1-3) in a sliding manner, and the sliding column I (3-4), the sliding column II (3-5) and the sliding column III (3-6) are respectively connected between the two limiting grooves (6-1) in a sliding manner.
6. An automatic whitewashing robot as claimed in claim 5, wherein: the painting mechanism I (7) comprises a painting shaft I (7-1), a painting wheel I (7-2) and a friction wheel I (7-3), the painting shaft I (7-1) is rotatably connected between hinge points at the upper ends of two connecting rods I (3-1), the painting wheel I (7-2) and the friction wheel I (7-3) are fixedly connected to the painting shaft I (7-1), and the painting shaft I (7-1) is in transmission connection with an output shaft of a rotating motor (5-1).
7. An automatic whitewashing robot as claimed in claim 6, wherein: the transmission mechanism I (8) is rotatably connected between hinge points at the upper ends of the two connecting rods II (3-2), and the transmission mechanism I (8) is in transmission connection with the painting shaft I (7-1); the painting mechanism II (9) comprises a painting shaft II (9-1) and a painting wheel II (9-2), the painting shaft II (9-1) is rotatably connected between hinge points at the upper ends of the two connecting rods III (3-3), the painting wheel II (9-2) is fixedly connected to the painting shaft II (9-1), the painting shaft II (9-1) is in transmission connection with the transmission mechanism I (8), and the painting shaft II (9-1) and the painting shaft I (7-1) are located at the same vertical position.
8. An automatic whitewashing robot as claimed in claim 7, wherein: the transverse moving mechanism (10) comprises a telescopic mechanism II (10-1), a telescopic mechanism III (10-2) and a conical friction block (10-3), the telescopic mechanism II (10-1) is fixedly connected to the mounting plate (1-5), the telescopic end of the telescopic mechanism II (10-1) is fixedly connected with the telescopic mechanism III (10-2), and the telescopic end of the telescopic mechanism III (10-2) is fixedly connected with the conical friction block (10-3).
9. An automatic whitewashing robot as claimed in claim 8, wherein: the feeding frame (11) comprises two feeding side plates (11-1), two limiting waist holes I (11-2), a reciprocating support (11-3) and two limiting waist holes II (11-4), the two feeding side plates (11-1) are arranged, the two feeding side plates (11-1) are respectively provided with the limiting waist holes I (11-2), the two feeding side plates (11-1) are rotatably connected to a painting shaft II (9-1), two ends of the painting shaft I (7-1) are respectively slidably connected into the two limiting waist holes I (11-2), the reciprocating support (11-3) is fixedly connected between the upper ends of the two feeding side plates (11-1), the limiting waist holes II (11-4) are arranged on the reciprocating support (11-3), and the feeding mechanism (12) comprises a reciprocating motor (12-1), The device comprises a reciprocating slide block (12-2) and a feeding pipe (12-3), a reciprocating motor (12-1) is fixedly connected to a reciprocating support (11-3), an output shaft of the reciprocating motor (12-1) is connected with the reciprocating slide block (12-2) through threads, the reciprocating slide block (12-2) is connected in a limiting waist hole II (11-4) in a sliding mode, and the feeding pipe (12-3) is fixedly connected to the reciprocating slide block (12-2).
10. An automatic whitewashing robot as claimed in claim 9, wherein: the transmission mechanism II (13) comprises a transmission shaft (13-1) and a friction wheel II (13-2), the transmission shaft (13-1) is rotatably connected onto the two support plates (1-6), the friction wheel II (13-2) is fixedly connected onto the transmission shaft (13-1), and when the painting wheel I (7-2) is located at the lower end limit position, the friction wheel I (7-3) and the friction wheel II (13-2) enter into friction transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010034730.9A CN111188480B (en) | 2020-01-14 | 2020-01-14 | Automatic wall plastering robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010034730.9A CN111188480B (en) | 2020-01-14 | 2020-01-14 | Automatic wall plastering robot |
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| CN111188480A CN111188480A (en) | 2020-05-22 |
| CN111188480B true CN111188480B (en) | 2020-08-21 |
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| CN202010034730.9A Active CN111188480B (en) | 2020-01-14 | 2020-01-14 | Automatic wall plastering robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112502408A (en) * | 2020-12-07 | 2021-03-16 | 李朝阳 | Foldable building construction robot and building construction system |
| CN113250424B (en) * | 2021-06-17 | 2022-05-24 | 浙江广厦建设职业技术大学 | Indoor wall painting robot |
| CN113719081B (en) * | 2021-09-02 | 2022-07-15 | 江苏顺隆鸿泰电力设备有限公司 | Wall body spraying equipment for building engineering |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE135790T1 (en) * | 1993-01-22 | 1996-04-15 | Gerhard Mendler | DEVICE FOR PLASTERING BUILDING SURFACES |
| CN207092488U (en) * | 2017-08-12 | 2018-03-13 | 深圳中壹建设工程有限公司 | A kind of automatic plastering machine |
| CN109025195A (en) * | 2018-08-31 | 2018-12-18 | 深圳广田机器人有限公司 | Integrated robot is scraped in spray |
| CN108999382A (en) * | 2018-09-20 | 2018-12-14 | 闫文涛 | A kind of finishing metope coating apparatus |
| CN110388037A (en) * | 2019-08-19 | 2019-10-29 | 陕西中建建乐智能机器人有限公司 | A kind of rendering robot |
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