CN111927134B - Automatic building wall surface painting robot and method - Google Patents
Automatic building wall surface painting robot and method Download PDFInfo
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- CN111927134B CN111927134B CN202010957701.XA CN202010957701A CN111927134B CN 111927134 B CN111927134 B CN 111927134B CN 202010957701 A CN202010957701 A CN 202010957701A CN 111927134 B CN111927134 B CN 111927134B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
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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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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
The invention relates to the field of buildings, in particular to an automatic painting robot for a building wall surface, which comprises a walking mechanism, a painting robot body and a painting robot body, wherein the walking mechanism can walk along a preset route; a support plate supported on the traveling mechanism so as to be movable up and down; the rolling brush is rotatably supported on the supporting plate along a vertical axis, is used for painting a wall surface to be painted, can move back and forth along the painting direction relative to the supporting plate, and can move back and forth along the direction close to or far away from the wall surface so as to be in contact with the wall surface when the wall surface is painted; the scraper is used for removing the protrusions on the wall surface to be painted, is supported on the supporting plate, can synchronously move back and forth along the painting direction and the rolling brush relative to the supporting plate, and can synchronously move back and forth along the direction close to or far away from the wall surface and the rolling brush so as to enable the blade to be in contact with the wall surface. The robot can automatically paint the wall surface.
Description
Technical Field
The invention relates to the field of buildings, in particular to an automatic painting robot and an automatic painting method for an outer wall of a building.
Background
After the building is used for a period of time, the outer wall skin of the building can gradually fall off, the image of old rotten cells is caused, and the mood of an owner is adversely affected.
Chinese patent CN202010303435.9 discloses a wall skin cleaning device for construction, including running gear, elevating gear, turning device, mounting bracket, power device, clearance dish, clearance blade, elevating gear installs on running gear, and running gear can drive elevating gear and remove, turning device install in elevating gear is last, and elevating gear can drive turning device goes up and down, the mounting bracket install in on the turning device, and turning device can let the mounting bracket rotate, power device fixed mounting in on the mounting bracket, the clearance dish is connected with power device, and power device can drive the clearance dish rotates, the clearance blade install in on the clearance dish, and the axis that the clearance blade can follow the clearance dish removes.
The similar patent discloses equipment or device, all can only clear up old waviness, can not the synchronous spraying new waviness, and work efficiency is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides a robot and a method for automatically painting an outer wall of a building.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an automatic robot that whitewashes of building wall includes:
a traveling mechanism capable of traveling along a predetermined route;
a support plate supported on the traveling mechanism so as to be movable up and down;
the rolling brush is rotatably supported on the supporting plate along a vertical axis, is used for painting a wall surface to be painted, can move back and forth along the painting direction relative to the supporting plate, and can move back and forth along the direction close to or far away from the wall surface so as to be in contact with the wall surface when the wall surface is painted;
the scraper is used for removing the protrusions on the wall surface to be painted, is supported on the supporting plate, can synchronously move back and forth along the painting direction and the rolling brush relative to the supporting plate, and can synchronously move back and forth along the direction close to or far away from the wall surface and the rolling brush so as to enable the blade to be in contact with the wall surface.
Preferably, the method further comprises the following steps:
the two first sliding rails are arranged in parallel and extend along the painting direction;
the first sliding block is slidably supported on the first sliding rail along the painting direction;
the hollow rod is rotatably arranged on the first sliding block along a vertical axis, one end of the hollow rod is provided with a U-shaped structure, two ends of the rolling brush are respectively and rotatably supported on two sides of the U-shaped structure, at least the middle part of the U-shaped structure is a hollow structure communicated with the inside of the hollow rod, and one side, facing the rolling brush, of the middle part of the U-shaped structure is provided with a plurality of openings;
the coating box is used for storing the configured coating, and the other end of the hollow rod is communicated with the coating box through a hose;
and the pump is arranged on the hose and used for conveying the coating in the coating box to the rolling brush.
Preferably, be provided with the bearing frame on the first slider rotatably be provided with the pivot of vertical extension on the bearing frame be provided with the mounting panel on the side of pivot, hollow rod supports in the pivot just be located the mounting panel directly over or directly under, the handle of a knife of scraper is installed in the one end of mounting panel and is located the same one side with the round brush for the pivot, the extending direction of mounting panel is basically parallel with the length direction of hollow rod to hollow rod and mounting panel rotate round the pivot synchronous.
Preferably, the method further comprises the following steps:
the upright column is arranged on the first sliding block and is positioned at one end, away from the scraper, of the mounting plate;
the arc-shaped plate is detachably fixed on the upright post, and the circle center of the arc-shaped plate is positioned on the axis of the rotating shaft;
the cylinder, the one end of the articulated arc of cylinder body of cylinder, the cylinder pole of cylinder articulates on the mounting panel.
Preferably, the cylinder body of the cylinder is fixed on a first hinged plate, the first hinged plate is hinged at one end of the arc-shaped plate, a second hinged plate is arranged at one end of the cylinder rod, the second hinged plate is hinged at one end of the mounting plate, which is far away from the scraper, and the hinged axes of the first hinged plate and the arc-shaped plate and the hinged axes of the second hinged plate and the mounting plate are parallel to each other and extend up and down.
Preferably, a plurality of through holes are formed in the arc-shaped plate at equal intervals along the extending direction of the arc-shaped plate, threaded holes are formed in the axis of the upper end of the upright post, and the arc-shaped plate can be fixed on the upright post by the aid of bolts penetrating through the through holes and being matched with the threaded holes.
Preferably, the number of the upright columns is two, the circle centers of circles where the axes of the two upright columns are located on the axis of the rotating shaft, the diameter of the circle where the axes of the two upright columns are located is the same as that of the circle where the through hole in the arc-shaped plate is located, and the distance between the threaded holes of the two upright columns is equal to the integral multiple of the distance between the adjacent threaded holes.
Preferably, a rotating rod is rotatably arranged on one side of the mounting plate, which is far away from the wall surface, a handle of the scraper is fixed on the rotating rod, the rotating rod is mounted on the mounting plate through a pin shaft, the axis of the pin shaft is perpendicular to the vertical plane where the mounting plate is located, a movable block is arranged at one end of the rotating rod, which is far away from the scraper, a first sliding groove is arranged on the movable block, the first sliding groove extends along the direction parallel to the axis of the pin shaft, the cross section of the first sliding groove is in a U shape, the opening of the U shape faces the direction far away from the rotating rod, a first motor is arranged on the mounting plate and on the same side as the rotating rod, the first motor is positioned on one side of the U shape of the first sliding groove, the output shaft of the first motor is horizontally arranged and faces the opening of the U shape of the first sliding groove, and a linkage shaft is arranged at one end, which is close to the first sliding groove, of the output shaft of the first motor, the end face of one end, away from the output shaft of the first motor, of the linkage shaft is provided with a first sliding block, the axis of the linkage shaft and the axis of the output shaft of the first motor are coaxially arranged, the first sliding block is eccentrically arranged relative to the linkage shaft, and the first sliding block is in sliding fit with the first sliding groove.
Preferably, be provided with the riser in the backup pad, the riser extends along the length direction's that is on a parallel with first slide rail direction, the riser is located one side that deviates from the wall of first slide rail one side that deviates from first slider of riser is provided with two and arranges from top to bottom and respectively along the second slide rail of the length direction extension of riser, be provided with the second slider on the second slide rail slidable just be located and be provided with the hole of dodging along the length direction of riser on the riser between two second slide rails one side that is close to the riser of first slider is provided with splint, splint can pass and dodge the hole and with the centre gripping of second slider between splint.
The invention also provides a painting method of the building wall surface, the robot is adopted, and the painting method specifically comprises the following steps:
the method comprises the following steps: placing the robot at an initial painting position of a wall surface to be painted;
step two: moving the rolling brush and the scraper towards the wall surface and contacting with the wall surface;
step three: moving the roller brush and the scraper along the painting direction by a first set distance;
step four: moving the rolling brush and the scraper towards the direction far away from the wall surface and separating from the wall surface;
step five: moving the roller brush and the scraper by the first set distance in a direction opposite to the painting direction;
step six: moving the roller brush and the scraper upwards or downwards by a second set distance;
step seven: and when the wall surface at the position of the robot is painted, moving forwards for a third set distance, and continuing to execute the second step, the third step and the sixth step until all the wall surfaces are painted.
Compared with the prior art, the invention has the following beneficial effects:
the robot can automatically paint the wall surface, and can automatically scrape the protrusions on the wall surface, so that a better painting effect can be achieved; due to the adoption of the scraper, the invention is more suitable for occasions for renovating old walls.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a top view of the present invention with the running gear and elevator removed;
FIGS. 3 and 4 are perspective views of the present invention from two different perspectives with the running gear and elevator removed;
fig. 5 is a perspective view of a first slide table and a linear drive mechanism of the present invention;
fig. 6 is an exploded perspective view of the first slide table and linear drive mechanism of the present invention;
FIG. 7 is a top view of the first slide and linear drive mechanism of the present invention;
FIG. 8 is an enlarged view of a portion of FIG. 7 at A;
FIG. 9 is a perspective view of a first bracket and rotary drive mechanism of the present invention;
FIG. 10 is an exploded perspective view of the first bracket and rotary drive mechanism of the present invention;
FIG. 11 is a perspective view of the motorized shaver of the present invention;
FIG. 12 is an exploded perspective view of the motorized shaver of the present invention;
fig. 13 is a perspective view of the automatic feed brush roll of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1-13, an automatic painting robot for building wall surface comprises a traveling mechanism 7 capable of moving along the wall surface, a support plate 2 supported on the traveling mechanism in a vertically movable manner, and a rolling brush 6 and a scraper 5 supported on the traveling mechanism, wherein the rolling brush 6 and the scraper 5 can move back and forth relative to the traveling mechanism along the traveling direction of the traveling mechanism, the hanging brush 6 can roll, the rolling axis of the rolling brush 6 extends along the vertical direction, the rolling brush 6 and the scraper 5 can move close to or away from the wall surface to contact with the wall surface, the rolling brush 6 can paint the wall surface with paint, the scraper 5 can scrape uneven places or other objects stuck on the wall surface, so that the wall surface is more even, and the scraper can be omitted in actual use.
The length of the rolling brush 6 is the same as the size of the blade of the scraper 5 in the vertical direction, and the ends of the rolling brush 6 and the blade of the scraper 5, which are close to each other, are at the same height in the vertical direction. When the scraper 5 is below the roller brush 6, the wall surface is painted from the lower side to the upper side during painting, and when the scraper 5 is below the roller brush 6, the wall surface is painted from the upper side to the lower side during painting, so that the wall skin and the like on the wall surface can be ensured to be scraped by the scraper 5 before painting.
Further, a first slide rail 1a extending in the traveling direction is provided on the support plate 2, a first slider 1b is slidably provided on the first slide rail 1a, a hollow bar 6a is provided on the first slider 1b, the hollow bar 6a is rotatable about a vertical axis with respect to the first slider 1b, a U-shaped structure 6b is provided at one end of the hollow bar 6a, both ends of the roller brush 6 are rotatably provided on both sides of the U-shaped structure 6b, at least a middle portion of the U-shaped structure 6b is hollow and communicates with the inside of the hollow bar 6a, one end of the hollow bar 6a facing away from the roller brush 6 is connected to a paint cartridge 6e via a hose, the paint cartridge 6e contains the prepared paint, a pump 6d is provided on the hose, a plurality of openings (not shown) are provided on one side of the hollow structure of the U-shaped structure 6b facing the roller brush 6, paint can be fed from the paint cartridge 6e onto the roll brush 6 along the hose, the hollow bar, and the U-shaped structure 6b by the pump 6 d. The paint cartridge 6e and the pump 6d are provided on the support plate 2.
Further, a bearing seat 1b1 is provided on the first slider 1b, a vertically extending rotating shaft 3b is rotatably provided on the bearing seat 1b1, a mounting plate 3a is provided on a side surface of the rotating shaft 3b, and the hollow rod 6a is supported on the rotating shaft 3b and is located right above or below the mounting plate 3 a. The handle of the scraper 5 is mounted at one end of the mounting plate 3a and is positioned at the same side of the roller brush 6 relative to the rotating shaft 3b, the mounting plate 3a extends in a direction substantially parallel or parallel to the length direction of the hollow rod 6a, and the hollow rod 6a and the mounting plate 3a rotate synchronously around the rotating shaft 3b, and the rotating axis around which the hollow rod 6a rotates is coaxial with the axis of the rotating shaft 3 b.
An upright post 4d is arranged on the first sliding block 1b and at one end, close to the mounting plate 3a, away from the scraper 5, an arc-shaped plate 4e is detachably arranged on the upright post 4d, the arc-shaped circle center of the arc-shaped plate 4e is positioned on the axis of the rotating shaft 3b, a first hinged plate 4a is hinged to one end of the arc-shaped plate 4e, an air cylinder 4b is arranged on the first hinged plate 4a, the cylinder body of the air cylinder 4b is fixed on the first hinged plate 4a, a second hinged plate 4c is arranged on the air cylinder rod of the air cylinder 4b, the second hinged plate 4c is hinged to the mounting plate 3a, the hinged axis of the first hinged plate 4a and the arc-shaped plate 4e and the hinged axis of the second hinged plate 4c and the mounting plate 3a are parallel to each other and extend vertically, and the telescopic control of the air cylinder 4b can drive the mounting plate 3a and the hollow rod 6a to rotate around the rotating shaft 3b, so that the rolling brushes 6 and the scraper 5 can be brushed Either near or far from the wall surface.
Further, a plurality of through holes 4e1 are arranged on the arc-shaped plate 4e at equal intervals along the extending direction of the arc-shaped plate, a threaded hole 4d1 is arranged on the axis of the upper end of the upright post 4d, and the arc-shaped plate 4e can be fixed by the bolt 4f passing through the through hole 4e1 and being matched with the threaded hole 4d 1. In order to enable the circle center of the arc-shaped plate 4e to be always located on the axis of the rotating shaft 3b, two columns 4d may be provided, the circle center of the circle where the axis of the two columns 4d is located on the axis of the rotating shaft 3b and is the same as the diameter of the circle where the through hole 4e1 on the arc-shaped plate 4e is located, and the distance between the threaded holes of the two columns 4d is equal to the integral multiple of the distance of the adjacent threaded hole 4e1 so that the through hole 4e1 on the arc-shaped plate 4e can be aligned with the threaded hole 4e1 on the two columns 4 d. By providing the arc-shaped plate 4e with the plurality of through holes 4e1, the initial positions of the hanging brush 6 and the squeegee 5 can be adjusted.
Further, one side of the mounting plate 3a that deviates from the wall surface is rotatably provided with a rotating rod 5d, the handle of the scraper 5 is fixed on the rotating rod 5d, the rotating rod 5d is installed on the mounting plate 3a through a pin shaft 5e, and the axis of the pin shaft 5e is perpendicular to the vertical plane where the mounting plate 3a is located. Keep away from at dwang 5d the one end of scraper blade 5 is provided with movable block 5c be provided with first spout 5c1 on the movable block 5c, first spout 5c1 is along being on a parallel with the axis direction of round pin axle 5e extends to first spout 5c 1's cross-section is the U type, the opening orientation of U type deviates from the direction of dwang 5 d. A first motor 5a is arranged on the mounting plate 3a and on the same side as the rotating rod 5d, the first motor 5a is located on the side facing the opening of the U shape of the first sliding groove 5c1, the output shaft of the first motor 5a is horizontally arranged and faces the opening of the U shape of the first sliding groove 5c1, a linkage shaft 5b is arranged at one end, close to the first sliding groove 5c1, of the output shaft of the first motor 5a, a first slider 5b1 is arranged on the end face of one end, away from the output shaft of the first motor 5a, of the linkage shaft 5b, the axis of the linkage shaft 5b and the axis of the output shaft of the first motor 5a are coaxially arranged, the first slider 5b1 is eccentrically arranged relative to the linkage shaft 5b, the first slider 5b1 is matched with the first sliding groove 5c1 and can be slidably arranged relative to the first sliding groove 5c1, and further when the electric linkage shaft 5b of the first motor 5a rotates, under the matching of the first sliding block 5b1 and the first sliding groove 5c1, the scraper 5 can swing up and down in a certain range relative to the pin shaft 5e, so that old wallboards or other objects needing to be scraped on the wall surface can be better scraped. In order to avoid that the scraper 5 damages the painted wall surface, the edge of said scraper 5 is further forward than the roller brush 6 in the direction of painting.
Further, be provided with riser 2a in backup pad 2, riser 2a extends along the direction that is on a parallel with the length direction of first slide rail 1a, riser 2a is located the one side that deviates from the wall of first slide rail 1a one side that deviates from first slider 1b of riser 2a is provided with two second slide rails 2a1 of arranging from top to bottom and extending along the length direction of riser 2a respectively, be provided with second slider 2b on the second slide rail 2a1 slidable. Last and be located and be provided with between two second slide rails 2a1 along riser 2 a's length direction's dodge hole 2a2 first slider 1 b's one side that is close to riser 2a is provided with splint 1b2, splint 1b2 can pass dodge hole 2a2 and with second slider 2b centre gripping between splint 1b2, can drive first slider 1b round trip movement through second slider 2b like this, and then drive round brush 6 and scraper 5 round trip movement.
Further, on backup pad 2 and be located to correspond the both ends of dodging hole 2a2 and be provided with the sprocket respectively rotatoryly, two sprockets pass through chain 2c transmission and connect be provided with connecting piece 2d1 on chain 2c one side that deviates from riser 2a of second slider 2b is provided with second spout 2b1 of extending from top to bottom, connecting piece 2b 1's one end can be located second spout 2b1 with sliding from top to bottom, and the sprocket shaft and the second motor 2e of one of them sprocket are connected, can drive the rotation of sprocket through second motor 2e and then can drive first slider 1 b's round trip movement.
In actual work, because the direction of the scraper 5 can not be adjusted, when one-time painting and wall scraping are completed, the air cylinder 4b retracts, so that the scraper 5 and the rolling brush 6 are separated from the contact with the wall surface, the second motor 2e drives the scraper 5 and the rolling brush 6 to return to the starting point of the first guide rail 1a, then the support plate 2 is moved upwards or downwards for a certain distance to paint and scrape the wall at a new height, and after the painting at all heights of the wall surface at the position of the travelling mechanism or at a preset height is completed, the travelling mechanism moves for a certain distance along a preset track to paint at the next position.
The supporting plate 2 is supported on the traveling mechanism through a lifting mechanism, and the lifting mechanism adopts the prior art. The running mechanism is a trolley, in actual use, in order to keep the trolley at a stable distance from the wall surface, a simple track can be laid on the ground, wheels of the trolley can move along the track, and certainly, the wheels can pass through a sensor.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an automatic robot that whitewashes of building wall which characterized in that includes:
a traveling mechanism capable of traveling along a predetermined route;
a support plate supported on the traveling mechanism so as to be movable up and down;
the rolling brush is rotatably supported on the supporting plate along a vertical axis, is used for painting a wall surface to be painted, can move back and forth along the painting direction relative to the supporting plate, and can move back and forth along the direction close to or far away from the wall surface so as to be in contact with the wall surface when the wall surface is painted;
the scraper is used for removing the protrusions on the wall surface to be painted, is supported on the supporting plate, can synchronously move back and forth along the painting direction and the rolling brush relative to the supporting plate, and can synchronously move back and forth along the direction close to or far away from the wall surface and the rolling brush so as to enable the blade to be in contact with the wall surface;
the two first sliding rails are arranged in parallel, supported on the supporting plate and extended along the painting direction;
the first sliding block is slidably supported on the first sliding rail along the painting direction;
the hollow rod is rotatably arranged on the first sliding block along a vertical axis, one end of the hollow rod is provided with a U-shaped structure, two ends of the rolling brush are respectively and rotatably supported on two sides of the U-shaped structure, at least the middle part of the U-shaped structure is a hollow structure communicated with the inside of the hollow rod, and one side, facing the rolling brush, of the middle part of the U-shaped structure is provided with a plurality of openings;
the other end of the hollow rod is communicated with the paint box through a hose;
the pump is arranged on the hose and used for conveying the coating in the coating box to the rolling brush;
be provided with the bearing frame on the first slider rotatably be provided with vertical extension's pivot on the bearing frame be provided with the mounting panel on the side of pivot, hollow rod supports in the pivot and be located the mounting panel directly over or directly under, the one end at the mounting panel is installed to the handle of a knife of scraper and for the pivot is located one side the same with the round brush, the extending direction of mounting panel is basically parallel with the length direction of hollow rod to hollow rod and mounting panel rotate round the pivot synchronous.
2. The automatic painting robot for building wall surfaces as claimed in claim 1, further comprising:
the upright column is arranged on the first sliding block and is positioned at one end, away from the scraper, of the mounting plate;
the arc-shaped plate is detachably fixed on the upright post, and the circle center of the arc-shaped plate is positioned on the axis of the rotating shaft;
the cylinder, the one end of the articulated arc of cylinder body of cylinder, the cylinder pole of cylinder articulates on the mounting panel.
3. The automatic painting robot for the wall surface of the building as claimed in claim 2, wherein the cylinder body of the cylinder is fixed on a first hinged plate, the first hinged plate is hinged at the end of the arc-shaped plate, a second hinged plate is arranged at one end of the cylinder rod, the second hinged plate is hinged at one end of the mounting plate, which is far away from the scraper, and the hinged axes of the first hinged plate and the arc-shaped plate and the hinged axes of the second hinged plate and the mounting plate are parallel to each other and extend up and down.
4. The automatic painting robot for the building wall surface according to claim 2 or 3, wherein a plurality of through holes are formed in the arc plate at equal intervals along the extending direction of the arc plate, a threaded hole is formed in the axis of the upper end of the upright post, and the arc plate can be fixed to the upright post by passing a bolt through the through hole to be matched with the threaded hole.
5. The automatic painting robot for the building wall surface according to claim 2 or 3, wherein the number of the upright columns is two, the centers of circles where the axes of the two upright columns are located on the axis of the rotating shaft, the diameters of the circles where the axes of the two upright columns are located are the same as the diameters of the circles where the through holes are located on the arc-shaped plate, and the distance between the threaded holes of the two upright columns is equal to an integral multiple of the distance between the adjacent threaded holes.
6. The automatic wall painting robot as claimed in any one of claims 1 to 3, wherein a rotating rod is rotatably disposed on one side of the mounting plate facing away from the wall, the handle of the scraper is fixed to the rotating rod, the rotating rod is mounted on the mounting plate through a pin shaft, the axis of the pin shaft is perpendicular to the vertical plane of the mounting plate, a movable block is disposed at one end of the rotating rod away from the scraper, a first sliding groove is disposed on the movable block, the first sliding groove extends along the direction parallel to the axis of the pin shaft, the cross section of the first sliding groove is U-shaped, the opening of the U-shaped groove faces the direction facing away from the rotating rod, a first motor is disposed on the mounting plate and on the same side as the rotating rod, and the first motor is located on the side of the U-shaped groove facing the opening of the first sliding groove, the output shaft of the first motor is horizontally arranged and faces the U-shaped opening of the first sliding groove, a linkage shaft is arranged at one end, close to the first sliding groove, of the output shaft of the first motor, a first sliding block is arranged on the end face, away from one end of the output shaft of the first motor, of the linkage shaft, the axis of the linkage shaft and the axis of the output shaft of the first motor are coaxially arranged, the first sliding block is eccentrically arranged relative to the linkage shaft, and the first sliding block is in sliding fit with the first sliding groove.
7. The automatic painting robot for building walls according to claim 1, characterized in that a vertical plate is arranged on the supporting plate, the vertical plate extends along the direction parallel to the length direction of the first sliding rail, the vertical plate is located on one side of the first sliding rail, which deviates from the wall surface, of the vertical plate, a second sliding rail which is arranged from top to bottom and extends along the length direction of the vertical plate is arranged on one side of the vertical plate, a second sliding block is arranged on the second sliding rail in a sliding manner, a avoiding hole along the length direction of the vertical plate is arranged on the vertical plate and between the two second sliding rails, a clamping plate is arranged on one side of the first sliding block, which is close to the vertical plate, and the clamping plate can pass through the avoiding hole and clamp the second sliding block between the clamping plate.
8. A method for plastering building wall surfaces by using the robot of claims 1 to 7 specifically comprises the following steps:
the method comprises the following steps: placing the robot at an initial painting position of a wall surface to be painted;
step two: moving the rolling brush and the scraper towards the wall surface and contacting with the wall surface;
step three: moving the roller brush and the scraper along the painting direction by a first set distance;
step four: moving the rolling brush and the scraper towards the direction far away from the wall surface and separating from the wall surface;
step five: moving the roller brush and the scraper by the first set distance in a direction opposite to the painting direction;
step six: moving the roller brush and the scraper upwards or downwards by a second set distance;
step seven: and when the wall surface at the position of the robot is painted, moving forwards for a third set distance, and continuing to execute the second step, the third step and the sixth step until all the wall surfaces are painted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957701.XA CN111927134B (en) | 2020-09-11 | 2020-09-11 | Automatic building wall surface painting robot and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957701.XA CN111927134B (en) | 2020-09-11 | 2020-09-11 | Automatic building wall surface painting robot and method |
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| CN111927134A CN111927134A (en) | 2020-11-13 |
| CN111927134B true CN111927134B (en) | 2021-10-26 |
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| CN210828215U (en) * | 2019-09-24 | 2020-06-23 | 赖晓云 | Wall painting device |
| CN211114665U (en) * | 2020-06-16 | 2020-07-28 | 唐永丽 | Wall painting device |
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2020
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| JPH01198999A (en) * | 1988-02-02 | 1989-08-10 | Komatsu Ltd | Painting device for tunnel inner wall |
| CN104088444A (en) * | 2014-04-09 | 2014-10-08 | 熊圣元 | Mobile wall paint knife-coating device |
| CN108385950A (en) * | 2018-03-30 | 2018-08-10 | 李宁 | A kind of working method of construction metope scraping mechanism |
| CN108756159A (en) * | 2018-06-18 | 2018-11-06 | 寇雪静 | A kind of working method of building wall waterproof construction device |
| CN210828215U (en) * | 2019-09-24 | 2020-06-23 | 赖晓云 | Wall painting device |
| CN211114665U (en) * | 2020-06-16 | 2020-07-28 | 唐永丽 | Wall painting device |
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