CN112031450B - Automatic wall scraping mechanism of intelligent building outer wall cleaning machine - Google Patents
Automatic wall scraping mechanism of intelligent building outer wall cleaning machine Download PDFInfo
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- CN112031450B CN112031450B CN202010975679.1A CN202010975679A CN112031450B CN 112031450 B CN112031450 B CN 112031450B CN 202010975679 A CN202010975679 A CN 202010975679A CN 112031450 B CN112031450 B CN 112031450B
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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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Abstract
The invention discloses an automatic wall scraping mechanism of an intelligent building outer wall cleaning machine, which comprises a first linear driver, a second linear driver and a wall skin scraping mechanism, wherein the wall skin scraping mechanism comprises a walking vehicle, a self-adaptive support and an electric scraping shovel, the walking vehicle can be attached to a wall surface to walk, the self-adaptive support is used for connecting the walking vehicle and the second linear driver, the self-adaptive support can automatically generate elastic deformation, so that the walking vehicle still attaches to the wall surface when the second linear driver is not perpendicular to the wall surface, the self-adaptive support always has the trend of enabling the walking vehicle to move towards the wall surface, the second linear driver transversely slides on the first linear driver, a gear driven by a motor is arranged on the second linear driver, and a tooth groove correspondingly engaged and connected with the gear is arranged on the first linear driver, electronic spatula, through the position adjustment of electronic spatula, great improvement is to the effect of preceding improvement clearance.
Description
Technical Field
The invention relates to the field of building outer wall renovating equipment, in particular to an automatic wall scraping mechanism of an intelligent building outer wall cleaning machine.
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 technical scheme that this patent discloses, when the road surface that its running gear was located is not level, there is the contained angle necessarily between its elevating gear's the lift orbit and the wall, causes the clearance dish and can not laminate well with the wall, and the effect that leads to the wall skin to strike off is not good, clears up the extremely low of operating efficiency through the manual work simultaneously.
Disclosure of Invention
In order to solve the technical problem, the invention provides an automatic wall scraping mechanism of an intelligent building outer wall cleaning machine.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an automatic wall scraping mechanism of an intelligent building outer wall cleaning machine comprises a first linear driver, a second linear driver and a wall skin scraping mechanism;
the wall skin scraping mechanism comprises a walking vehicle, a self-adaptive bracket and an electric scraping shovel;
the walking car can laminate in the wall walking, and self-adaptation support is used for connecting walking car and second linear drive ware, and the self-adaptation support can produce elastic deformation by oneself for when second linear drive ware and wall out of plumb, the walking car still with the wall laminating, the self-adaptation support has the trend that makes the walking car remove towards the wall all the time, second linear drive ware is in lateral sliding on the first linear drive ware, be provided with a motor drive's gear on the second linear drive ware, be provided with a tooth's socket of being connected with the corresponding meshing of gear on the first linear drive ware, electronic spatula sets up on the walking car for strike off the wall skin.
Preferably, the traveling vehicle includes: a frame, a wheel;
the frame is rectangular, and the electric spatula is arranged in the center of the frame;
the number of the wheels is at least three, the wheels are rotationally connected with the frame, the wheel surfaces of the wheels are attached to the wall surface, and the axes of the wheels are parallel to each other;
wherein two wheels are coaxially arranged at two sides of the same side of the frame, and other wheels are arranged at the other side of the frame.
Preferably, the adaptive support comprises: the movable frame, the elastic connecting piece and the universal joint;
the movable frame is arranged on one side of the walking vehicle far away from the wall surface in parallel;
the output force of the second linear driver is greater than the minimum resilience force of the elastic connecting piece and less than the maximum resilience force of the elastic connecting piece;
the universal joint is used for connecting the movable frame and the second linear driver, and the maximum bending degree of the universal joint is 10 degrees;
the elastic connecting piece includes: the sliding column, the spring and the first nut;
the four sliding columns are perpendicular to the wall surface and arranged at four corners of the walking vehicle, and the movable frame is connected with the sliding columns in a sliding manner; an external thread is arranged at one end of the sliding column far away from the walking vehicle;
the number of the springs is four, each spring is sleeved on each sliding column, and two ends of each spring are abutted against the walking vehicle and the movable frame respectively;
first nut has four, and every first nut suit respectively is at the tip of every traveller, first nut and traveller threaded connection, and the one side that the walking car was kept away from to the adjustable shelf supports with first nut and leans on.
Preferably, the skin scraping mechanism further comprises a reversing bracket for changing the orientation of the traveling vehicle, the reversing bracket comprising: the movable rod, the second shell and the pin are arranged on the first shell;
the movable rod is arranged perpendicular to the wall surface, the end part of the movable rod is fixedly connected with the self-adaptive support, a sliding groove is arranged on the outer circumferential surface of the movable rod and comprises a first straight sliding groove, a spiral sliding groove and a second straight sliding groove which are sequentially communicated, the length directions of the first straight sliding groove and the spiral sliding groove are both parallel to the axis of the movable rod, and the first straight sliding groove and the second straight sliding groove form an included angle of 90 degrees around the axis of the movable rod;
the second shell is sleeved on the outer side of the movable rod and fixedly connected with the output end of the second linear driver, and the second shell is in sliding and rotating fit with the movable rod;
the pin is arranged on the second shell and fixedly connected with the second shell, the end part of the pin penetrates through the second shell and extends into the sliding groove, and the end part of the pin is in sliding fit with the sliding groove;
and the third linear driver is provided with an air cylinder which pushes the movable rod to move back and forth along the axis of the third linear driver.
Preferably, the third linear actuator includes a hydraulic system, a cylindrical cavity coaxial with the movable rod is arranged inside the second housing, sliding sleeves tightly attached to the outer peripheral surface of the movable rod are arranged at two ends of the second housing, two oil holes penetrating through the second housing and communicating with the cavity are arranged at two ends of the second housing, an output end and an input end of the hydraulic system are respectively communicated with one oil hole, a piston located between the two oil holes is sleeved on the movable rod, and the piston is tightly attached to the inner wall of the cavity.
Preferably, the electric spatula comprises: a first housing, a blade;
the first shell is arranged on the walking vehicle;
the rocking handle is arranged on the first shell, the middle end of the rocking handle is rotatably connected with one end of the first shell, and two ends of the rocking handle are respectively positioned on the inner side and the outer side of the first shell;
the scraper knife is fixedly arranged at one end of the rocking handle positioned outside the first shell;
the swing driver is used for driving one end of the rocking handle positioned at the inner side of the first shell to swing;
the swing driver includes: a rotary drive, a crankshaft;
the rotary driver is fixedly arranged on the first shell, an output shaft of the rotary driver penetrates through the first shell and extends into the first shell, and the axis of the output shaft of the rotary driver is intersected with the axis of the rocking handle rotating shaft;
the crankshaft is arranged in the first shell and provided with two shaft parts which are parallel to each other but not coaxial, one shaft part of the crankshaft is coaxial with and fixedly connected with an output shaft of the rotary driver, and the other shaft part of the crankshaft is arranged towards the rocking handle and is provided with a ball head;
the one end that the rocking handle is located first casing inside is provided with the spout of spiral-lock in the bulb outside, and the length direction of spout is on a parallel with the axis of rocking handle axis of rotation.
Preferably, the electric spatula further comprises a first rotating shaft for mounting the rocking handle, the first rotating shaft comprising: bolts, bearings, external springs;
the bolt is arranged on the first shell, and a column part of the bolt penetrates through the first shell;
the second nut is arranged on the bolt in a threaded manner, and the head of the bolt and the second nut are respectively abutted against two sides of the outer wall of the first shell;
the bearing is sleeved on the column part of the bolt;
the outer snap springs are clamped at the column parts of the bolts and are clamped at the two ends of the bearing inner ring;
the middle end of the rocking handle is sleeved on the outer ring of the bearing, and the middle end of the rocking handle is provided with an inner snap spring which is abutted against the two ends of the outer ring of the bearing.
Preferably, the skin scraping mechanism further comprises an adjustable bracket for changing an included angle between the walking vehicle and the electric spatula, the adjustable bracket comprises: the second rotating shaft, the gear chamber, the worm wheel and the worm;
the second rotating shaft is arranged on the walking vehicle, the second rotating shaft is rotatably connected with the walking vehicle, the axis of the second rotating shaft is parallel to the wall surface, and the electric scraping shovel is fixedly connected with the second rotating shaft;
the gear chamber is arranged on the walking vehicle and sleeved outside one end of the second rotating shaft;
the turbine is arranged in the gear chamber and coaxially arranged at one end of the second rotating shaft;
the worm is arranged in the gear chamber, the worm is rotationally connected with the gear chamber, the worm is meshed with the worm wheel, two ends of the worm penetrate through the gear chamber and extend to the outer side of the gear chamber, and a hexagonal hole is formed in the axis of the worm.
Preferably, this application still includes an intelligence building outer wall descaling machine, include an automation of intelligence building outer wall descaling machine scrape wall mechanism.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the function of automatically and transversely removing the wall skin through the high-altitude operation vehicle, the first linear driver, the second linear driver, the walking vehicle, the self-adaptive bracket, the electric scraping shovel and the adjustable bracket, and the high-altitude operation vehicle is moved to the side of the wall surface and the driving direction of the high-altitude operation vehicle is parallel to the wall surface; the second linear driver drives the walking vehicle to abut against the wall surface, and all wheels are attached to the wall surface; the first linear driver drives the electric scraping shovel to horizontally move along the wall surface, and the electric scraping shovel transversely removes a layer of wall skin on the wall surface; the second linear driver drives the walking vehicle to separate from the wall surface, the electric scraping shovel is separated from the wall surface, and the first linear driver drives the electric scraping shovel to return to the initial position; the high-altitude operation vehicle drives the first linear driver to ascend by a distance equal to the width of the scraper knife; repeating the steps until the wall skin of the wall is completely removed, and then driving the overhead working truck to the side of the next wall, thereby greatly improving the cleaning efficiency of the wall;
the reversing bracket drives the self-adaptive bracket to drive the walking vehicle to turn 90 degrees, so that the walking vehicle is vertically arranged; the high-altitude operation vehicle drives the electric scraping shovel to ascend to the highest position, and the electric scraping shovel shovels a layer of wall skin on the wall surface longitudinally; the cleaning effect of the wall body is greatly improved by adjusting the position of the cleaning tool.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a perspective view of the present invention with the aerial lift device removed;
FIG. 5 is a front view of the reversing bracket of the present invention;
FIG. 6 is a cross-sectional view at section A-A of FIG. 5;
FIG. 7 is a perspective view of FIG. 6;
FIG. 8 is a perspective view of the walking vehicle, adaptive support and electric spatula of the invention;
FIG. 9 is an exploded perspective view of the electric spatula of the invention;
FIG. 10 is a side view of the electric spatula of the invention;
FIG. 11 is a cross-sectional view at section B-B of FIG. 10;
FIG. 12 is an enlarged view of a portion of FIG. 11 at C;
FIG. 13 is a front view of the walker and adjustable support of the present invention;
FIG. 14 is a perspective sectional view at section D-D of FIG. 13;
FIG. 15 is a schematic view of the overall structure of the aerial cage of the embodiment of the present invention;
fig. 16 is a schematic view of the overall structure of the fixing platform and the lifting platform according to the embodiment of the present invention.
The reference numbers in the figures are:
1-overhead working truck; 1 a-a wheel; 1a 1-lifting bracket; 1a 2-stationary platform; 1a 3-lift platform; 1a 4-pull cord; 1a 5-fixed bar; a 6-vertical positioning rod; 1a 7-support seat; 1a 8-supporting wheels; 1a 9-lift module; 1a 10-rope-pulling wheel; 1 b-a stationary base; 1b 1-rotating head; 1b 2-card interface; 1b 3-threaded hole; 1b 4-thread start; 1b 5-rotating levers; 1b 6-square slide hole;
2-a first linear driver;
3-a second linear drive;
4-a walking vehicle; 4 a-a vehicle frame; 4 b-a wheel;
5-adaptive support; 5 a-a movable frame; 5 b-an elastic connector; 5b 1-spool; 5b 2-spring; 5b3 — first nut; 5 c-a universal joint;
6, electric scraping; 6 a-a first housing; 6 b-a rocking handle; 6b 1-chute; 6b 2-inner snap spring; 6 c-a scraper knife; 6 d-a rotary drive; 6 e-crankshaft; 6e 1-bulb; 6 f-a first rotating shaft; 6f 1-bolt; 6f2 — second nut; 6f 3-bearing; 6f 4-outer snap spring;
7-a reversing bracket; 7 a-a movable rod; 7a 1-first straight chute; 7a 2-spiral chute; 7a 3-second straight chute; 7a 4-piston; 7 b-a second housing; 7b 1-cavity; 7b 2-sliding sleeve; 7b 3-oil hole; 7 c-pin;
8-an adjustable support; 8 a-a second shaft; 8 b-gear chamber; 8 c-a turbine; 8 d-worm; 8d 1-hexagonal hole.
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.
An intelligent building outer wall cleaning machine comprises an intelligent overhead working truck 1, wherein the intelligent overhead working truck 1 comprises rotating wheels 1a, lifting supports 1a1 and a fixed platform 1a2, the lifting supports 1a1 are arranged in a crossed manner, the fixed platform 1a2 is arranged at the top of the lifting supports 1a1, and the intelligent building outer wall cleaning machine further comprises a lifting platform 1a3 and an automatic wall scraping mechanism;
the automatic wall scraping mechanism comprises a first linear driver 2, a second linear driver 3 and a wall skin scraping mechanism;
the wall skin scraping mechanism comprises a walking vehicle 4, a self-adaptive bracket 5 and an electric scraping shovel 6;
the walking car 4 can be laminated in the wall walking, and self-adaptation support 5 is used for connecting walking car 4 and second linear drive ware 3, and self-adaptation support 5 can produce elastic deformation by oneself for when second linear drive ware 3 and wall out of plumb, walking car 4 still laminates with the wall, and self-adaptation support 5 has the trend that makes walking car 4 move towards the wall all the time, second linear drive ware 3 is in lateral sliding on the first linear drive ware 2, be provided with a motor drive's gear on the second linear drive ware 3, be provided with a tooth's socket of being connected with the corresponding meshing of gear on the first linear drive ware 2, electronic spatula 6 sets up on walking car 4 for strike off the wall skin.
The lifting platform 1a3 is arranged on the fixed platform 1a2, two sides of the lifting platform 1a3 are respectively provided with a rotating rope-pulling wheel 1a10, the rope-pulling wheels 1a10 are respectively provided with a pulling rope 1a4, the top of the building body is provided with two fixed rods 1a5, the pulling ropes 1a4 are respectively and fixedly connected to the fixed rods 1a5, and the lifting platform 1a3 is also provided with a fixed shaft 1b correspondingly connected to the fixed platform 1a 2;
the first linear drive 2 is arranged on the lifting platform 1a 3.
The high-altitude operation vehicle 1 is a self-propelled scissor type high-altitude operation vehicle, the first linear driver 2 is a synchronous belt sliding table or a ball screw sliding table, and the second linear driver 3 is an air cylinder sliding table or an oil cylinder sliding table; the overhead working truck 1 is arranged beside a wall surface, and the driving direction of the overhead working truck is parallel to the wall surface; the worker operates the overhead working truck 1 to drive the first linear driver 2 to vertically lift, so that the electric spatula 6 moves to the side of the wall surface to be renovated; then, the second linear driver 3 is operated to drive the walking vehicle 4 to approach the wall surface, and the self-adaptive support 5 is elastically deformed by self to eliminate the deviation generated by the uneven wall surface in the process of attaching the walking vehicle 4 to the wall surface; the self-adaptive support 5 enables the walking vehicle 4 to have a trend of always moving towards the wall surface, so that when the first linear driver 2 drives the walking vehicle 4 to move back and forth on the wall surface, the walking vehicle 4 is always attached to the wall surface; the electric scraping shovel 6 moves back and forth on the wall surface along with the walking vehicle 4, so as to scrape the old wall skin; after a layer of old walling is renovated, a worker operates the overhead working truck 1 to drive the first linear driver 2 to ascend or descend by one layer, and then the next layer of old walling is renovated through the first linear driver 2, the second linear driver 3 and the walling scraping mechanism;
when the higher condition in the floor, lift platform 1a3 sets up on fixed platform 1a2, can drive the action of stay cord 1a4 through the rotation of drawing rope sheave 1a10 to make stay cord 1a4 curl on drawing rope sheave 1a10, and then drive lift platform 1a 3's lift, avoid because of lifting support 1a1 can't carry out the problem of cleaning operation to higher floor because of the height restriction in the in-process that drives fixed platform 1a2 and promote, great improvement cleaning efficiency, guarantee its normal cleaning operation.
Specifically, as shown in fig. 8, the traveling vehicle 4 includes:
the frame 4a is rectangular, and the electric spatula 6 is arranged at the center of the frame 4 a;
the number of the wheels 4b is at least three, the wheels 4b are rotatably connected with the frame 4a, the wheel surfaces of the wheels 4b are attached to the wall surface, and the axes of the wheels 4b are parallel to each other;
two wheels 4b are coaxially arranged on two sides of the same side of the frame 4a, and the other wheels 4b are arranged on the other side of the frame 4 a.
Through the laminating of the wheel face of at least three wheel 4b and wall for frame 4a can be along the orbit round trip movement who is on a parallel with the wall, and then when making frame 4a along wall round trip movement, distance and contained angle between electronic spatula 6 and the wall are unchangeable all the time for electronic spatula 6.
Specifically, as shown in fig. 8, the adaptive bracket 5 includes:
the movable frame 5a is arranged on one side of the walking vehicle 4 far away from the wall surface in parallel;
the elastic connecting piece 5b is used for connecting the movable frame 5a and the walking vehicle 4, and the output force of the second linear driver 3 is greater than the minimum resilience force of the elastic connecting piece 5b and less than the maximum resilience force of the elastic connecting piece 5 b;
and a universal joint 5c for connecting the movable frame 5a and an output end of the second linear actuator 3, wherein the maximum bending degree of the universal joint 5c is 10 degrees.
The output of second linear actuator 3, universal joint 5c, adjustable shelf 5a, elastic connection spare 5b, 4 sequential connections of walking car for self-adaptation support 5 has universal deformation's function to a certain extent, and universal joint 5c is used for eliminating the uneven deviation that causes the non-perpendicular wall of output of second linear actuator 3 in road surface, and elastic connection spare 5b is used for producing the trend that makes 4 moving of walking car towards the wall.
Under the general condition, the included angle between the output end of the second linear driver 3 and the wall surface is 85-90 degrees, the maximum bending degree of the universal joint 5c is 10 degrees, the requirement that the traveling vehicle 4 is attached to the wall surface is met, and meanwhile, the traveling vehicle 4 is prevented from excessively drooping.
The resilience force of the elastic connecting piece 5b is gradually increased along with the deformation degree of the elastic connecting piece, the output force of the second linear driver 3 is between the limit values of the resilience force of the elastic connecting piece 5b, so that the second linear driver 3 can enable the elastic connecting piece 5b to be in a resilience state, and meanwhile, the elastic connecting piece 5b can be effectively prevented from generating unrecoverable plastic deformation.
Specifically, the elastic connecting member 5b includes:
the four sliding columns 5b1 are perpendicular to the wall surface and arranged at the four corners of the walking vehicle 4, and the movable frame 5a is connected with the sliding column 5b1 in a sliding way; the end of the sliding column 5b1 far away from the walking vehicle 4 is provided with an external thread;
four springs 5b2 are provided, each spring 5b2 is sleeved on each sliding column 5b1, and two ends of each spring 5b2 abut against the travelling vehicle 4 and the movable frame 5a respectively;
the number of the first nuts 5b3 is four, each first nut 5b3 is sleeved at the end of each sliding column 5b1, the first nut 5b3 is in threaded connection with the sliding column 5b1, and the surface, away from the walking vehicle 4, of the movable frame 5a abuts against the first nut 5b 3.
The sliding column 5b1 is used for mounting and guiding the movable frame 5a to slide relative to the walking vehicle 4, the spring 5b2 is in a compressed state, so that the walking vehicle 4 always has a tendency to move in a direction away from the movable frame 5a, and the first nut 5b3 is used for preventing the movable frame 5a from disengaging from the sliding column 5b 1.
Further, as shown in fig. 4, 5, 6 and 7, the wall scraping mechanism further includes a reversing bracket 7 for changing the orientation of the traveling carriage 4, and the reversing bracket 7 includes:
the movable rod 7a is perpendicular to the wall surface, the end part of the movable rod 7a is fixedly connected with the self-adaptive support 5, a sliding groove is formed in the outer circumferential surface of the movable rod 7a, the sliding groove comprises a first straight sliding groove 7a1, a spiral sliding groove 7a2 and a second straight sliding groove 7a3 which are sequentially communicated, the length directions of the first straight sliding groove 7a1 and the spiral sliding groove 7a2 are both parallel to the axis of the movable rod 7a, and the first straight sliding groove 7a1 and the second straight sliding groove 7a3 form an included angle of 90 degrees around the axis of the movable rod 7 a;
the second shell 7b is sleeved on the outer side of the movable rod 7a, the second shell 7b is fixedly connected with the output end of the second linear driver 3, and the second shell 7b is in sliding and rotating fit with the movable rod 7 a;
the pin 7c is installed on the second shell 7b, the pin 7c is fixedly connected with the second shell 7b, the end part of the pin 7c penetrates through the second shell 7b and extends into the sliding groove, and the end part of the pin 7c is in sliding fit with the sliding groove;
and a third linear actuator for driving the movable rod 7a to move back and forth along its axis.
The extension tracks of the first straight sliding groove 7a1 and the second straight sliding groove 7a3 are both straight lines, the extension track of the spiral sliding groove 7a2 is a 1/4 spiral line, when the third linear driver drives the movable rod 7a to move back and forth, the pin 7c slides along the sliding grooves, and as the pin 7c is fixed, when the pin 7c moves from the first straight sliding groove 7a1 to the inside of the second straight sliding groove 7a3, the movable rod 7a rotates 90 degrees under the combined action of the sliding grooves and the pin 7c, and then the walking vehicle 4 is driven to rotate 90 degrees; at this time, the worker can remove the old wall skin along a vertical track through the overhead working truck 1, the second linear driver 3, the walking truck 4 and the electric spatula 6.
Specifically, as shown in fig. 6 and 7, the third linear actuator includes a hydraulic system, a cylindrical cavity 7b1 coaxial with the movable rod 7a is provided inside the second housing 7b, sliding sleeves 7b2 closely attached to the outer peripheral surface of the movable rod 7a are provided at both ends of the second housing 7b, two oil holes 7b3 penetrating through the second housing 7b and communicating with the cavity 7b1 are provided at both ends of the second housing 7b, the output end and the input end of the hydraulic system are respectively communicated with one oil hole 7b3, a piston 7a4 located between the two oil holes 7b3 is sleeved on the movable rod 7a, and the piston 7a4 is closely attached to the inner wall of the cavity 7b 1.
The movable rod 7a and the second housing 7b form an oil cylinder, the second housing 7b forms a housing of the oil cylinder through the cavity 7b1, the sliding sleeve 7b2 and the oil hole 7b3, the movable rod 7a and the piston 7a4 form a power rod of the oil cylinder, the hydraulic system comprises an oil tank, an oil pump and a reversing valve, the hydraulic system is not shown in the drawing, the oil pump pumps hydraulic oil in the oil tank, then the hydraulic oil is transmitted to one oil hole 7b3 through the reversing valve, meanwhile, the hydraulic oil is extruded from the other oil hole 7b3, the direction of the hydraulic oil in the two oil holes 7b3 is switched through the reversing valve, the moving direction of the piston 7a4 in the cavity 7b1 can be switched, and the piston 7a4 can drive the movable rod 7a to axially move in the cavity 7b 1.
The movable rod 7a, the second housing 7b and the hydraulic system together form a third linear actuator, which may also be an external drive device, such as a hydraulic cylinder, an electric push rod, etc., which is rotatably connected to the movable rod 7 a.
Specifically, as shown in fig. 9, 10, and 11, the electric spatula 6 includes:
the first casing 6a is provided on the traveling vehicle 4;
the rocking handle 6b is arranged on the first shell 6a, the middle end of the rocking handle 6b is rotatably connected with one end of the first shell 6a, and two ends of the rocking handle 6b are respectively positioned at the inner side and the outer side of the first shell 6 a;
the scraper knife 6c is fixedly arranged at one end of the rocking handle 6b positioned at the outer side of the first shell 6 a;
and the swinging driver is used for driving one end of the rocking handle 6b positioned at the inner side of the first shell 6a to swing.
The swing driver is used for driving the swing handle 6b to swing, the swing handle 6b drives the handle part of the scraper knife 6c to swing, the head part of the scraper knife 6c is inclined and inserted into the wall surface, the scraper knife 6c swings at a high speed in a reciprocating mode, and meanwhile the scraper knife moves horizontally along the wall surface under the driving of the first linear driver 2, so that the wall surface is quickly shoveled down on the wall surface. The scraper knife 6c is detachably connected with the rocking handle 6b through a bolt, and when the scraper knife 6c is worn to be out of use, a worker can quickly detach and replace the scraper knife 6 c.
Specifically, as shown in fig. 9, the swing driver includes:
the rotary driver 6d is fixedly arranged on the first shell 6a, an output shaft of the rotary driver 6d penetrates through the first shell 6a and extends to the inside of the first shell 6a, and the axis of the output shaft of the rotary driver 6d is intersected with the axis of the rotating shaft of the rocking handle 6 b;
a crankshaft 6e is provided inside the first housing 6a, the crankshaft 6e having two shaft portions parallel to each other but not coaxial, one shaft portion of the crankshaft 6e being coaxial with and fixedly connected to the output shaft of the rotary driver 6d, the other shaft portion of the crankshaft 6e being disposed toward the crank lever 6b and mounted with a ball 6e 1;
one end of the rocking handle 6b positioned in the first shell 6a is provided with a sliding chute 6b1 buckled outside the ball head 6e1, and the length direction of the sliding chute 6b1 is parallel to the axis of the rotating shaft of the rocking handle 6 b.
The rotary driver 6d is a servo motor, the rotary driver 6d is used for driving a shaft part of the crankshaft 6e to rotate, so that the other shaft part of the crankshaft 6e is driven to do circular motion around an output shaft of the rotary driver 6d, the ball head 6e1 is further made to do circular motion inside the first shell 6a, the ball head 6e1 always moves inside the sliding groove 6b1, when the ball head 6e1 does circular motion, the ball head 6e1 slides in the sliding groove 6b1 in a reciprocating mode, and one end, provided with the sliding groove 6b1, of the rocking handle 6b swings around a rotating shaft of the rocking handle 6b in a reciprocating mode under the driving of the ball head 6e 1.
Specifically, as shown in fig. 11 and 12, the electric spatula 6 further includes a first rotating shaft 6f for mounting the rocking handle 6b, and the first rotating shaft 6f includes:
the bolt 6f1 is arranged on the first shell 6a, and the column part of the bolt 6f1 penetrates through the first shell 6 a;
the second nut 6f2 is mounted on the bolt 6f1 in a threaded manner, and the head of the bolt 6f1 and the second nut 6f2 abut against two sides of the outer wall of the first shell 6a respectively;
the bearing 6f3 is sleeved on the column part of the bolt 6f 1;
the outer snap springs 6f4 are two, the outer snap spring 6f4 is clamped at the column part of the bolt 6f1, and the outer snap spring 6f4 is clamped at two ends of the inner ring of the bearing 6f 3;
the middle end of the rocking handle 6b is sleeved on the outer ring of the bearing 6f3, and the inner snap springs 6b2 abutting against the two ends of the outer ring of the bearing 6f3 are installed at the middle end of the rocking handle 6 b.
The bolt 6f1 is a 1/3 thread hexagon socket head cap screw, the middle part of the column part of the bolt 6f1 is cylindrical and can be used as a rotating shaft, a clamping groove for mounting the outer clamping spring 6f4 is arranged on the bolt 6f1, the bolt 6f1 fixedly mounts the bearing 6f3 on the column part of the bolt through the two outer clamping springs 6f4, the middle end of the rocking handle 6b is cylindrical, the middle end of the rocking handle 6b is fixedly connected with the outer ring of the bearing 6f3 through the two inner clamping springs 6b2, and therefore the middle end of the rocking handle 6b is rotatably connected with the first shell 6a through the first rotating shaft 6 f.
Further, as shown in fig. 13 and 14, the wall skin scraping mechanism further includes an adjustable bracket 8 for changing an included angle between the traveling vehicle 4 and the electric spatula 6, and the adjustable bracket 8 includes:
the second rotating shaft 8a is arranged on the walking vehicle 4, the second rotating shaft 8a is rotatably connected with the walking vehicle 4, the axis of the second rotating shaft 8a is parallel to the wall surface, and the electric spatula 6 is fixedly connected with the second rotating shaft 8 a;
the gear chamber 8b is arranged on the travelling vehicle 4, and the gear chamber 8b is sleeved on the outer side of one end of the second rotating shaft 8 a;
the turbine 8c is arranged inside the gear chamber 8b, and the turbine 8c is coaxially installed at one end of the second rotating shaft 8 a;
the worm 8d is arranged in the gear chamber 8b, the worm 8d is rotatably connected with the gear chamber 8b, the worm 8d is meshed with the worm wheel 8c, two ends of the worm 8d penetrate through the gear chamber 8b and extend to the outer side of the gear chamber 8b, and the axis of the worm 8d is provided with a hexagonal hole 8d 1.
The gear chamber 8b, the worm wheel 8c and the worm 8d form a worm and gear reducer, and a worker can rotate the worm 8d through a hexagonal wrench to drive the worm wheel 8c and the second rotating shaft 8a to rotate, so that the electric spatula 6 is driven to rotate, and an included angle between the electric spatula 6 and a wall surface is adjusted; the worm and gear speed reducer has a self-locking function, namely the worm 8d can only drive the worm wheel 8c to rotate, and the worm wheel 8c cannot drive the worm 8d to rotate, so that the angle between the electric scraper 6 and the wall surface cannot be changed when the electric scraper works.
As shown in fig. 15 and 16, two ends of the lifting platform 1a3 are respectively provided with a vertical positioning rod 1a6, two ends of the vertical positioning rod 1a6 are respectively provided with a supporting seat 1a7, the supporting seat 1a7 is respectively provided with a rotating supporting wheel 1a8, and a motor for driving the rope pulling wheel 1a10 to rotate is respectively arranged in the lifting module 1a 9;
the tip of fixed axle 1b is the toper setting, be provided with on fixed platform 1a2 with the corresponding joint interface 1b2 of fixed axle 1b, be provided with a screw hole 1b3 in the joint interface 1b2, be provided with the dwang 1b5 of an rotation in the rotation head 1b, the one end of dwang 1b5 is provided with one and rotates head 1b1, be provided with the screw thread head 1b4 of an rotation in the fixed axle 1b, be provided with a square sliding hole 1b6 that is square setting on the screw thread head 1b4, the tip of dwang 1b5 is square setting and is in slide in square sliding hole 1b 6.
Two fixed rods 1a5 are arranged on the top of the building body, a pull rope 1a4 is respectively connected on the pull rope wheel 1a10, the rotation of the rope drawing wheel 1a10 can drive the rope drawing 1a4 to curl on the rope drawing wheel 1a10, thereby driving the lifting platform 1a3 to lift, further controlling the height of the lifting bracket 1a1 to prevent the lifting bracket from lifting after lifting to a certain height, a fixed shaft 1b is arranged on the lifting platform 1a3, after the fixed shaft 1b is clamped in the clamping interface 1b2, the rotating head 1b1 can further drive the rotating rod 1b5 to rotate, the end part of the rotating rod 1b5 is arranged in a square shape, the screw head 1b4 can be rotated by the rotation lever 1b5, so that the screw head 1b4 can be rotated, the lifting platform 1a3 is fixed on the fixed platform 1a2 by the engagement and connection of a screw head 1b4 in the screw hole 1b 3;
two ends of the lifting platform 1a3 are respectively provided with a vertical positioning rod 1a6, two ends of the vertical positioning rod 1a6 are respectively provided with a rotating supporting rotating wheel 1a8, and the lifting platform 1a3 can be supported through the supporting rotating wheels 1a8, so that the problem that the lifting platform 1a3 is inclined is solved, the normal lifting of the lifting platform 1a3 is further guaranteed, and the normal cleaning operation of a wall body can be performed.
When the overhead working truck 1 is lifted to a certain height, the overhead working truck cannot be lifted, two fixing rods 1a5 are arranged at the top of a building, one pull rope 1a4 is respectively arranged on the fixing rods 1a5, and the pull rope 1a4 can be curled on the pull rope wheel 1a10 by rotating the pull rope wheel 1a10 arranged in the lifting module 1a9 to drive the lifting platform 1a3 to lift, so that the wall of a high-rise building is processed;
two sides of the lifting platform 1a3 are respectively provided with a vertical positioning rod 1a6, two ends of the lifting platform 1a6 are respectively provided with a rotary supporting rotating wheel 1a8, the lifting platform 1a3 can be supported by the rotation of the supporting rotating wheels 1a8 on a wall, and the lifting platform 1a3 is prevented from inclining;
be provided with a fixed axle 1b on lift platform 1a3, rotate behind the first 1b1 of rotation, can drive the rotation of screw thread head 1b4, screw thread head 1b4 can be connected with the corresponding meshing of screw hole 1b3, and then can make lift platform 1a3 connect on fixed platform 1a2, can clear up higher floor, great improvement clearance's efficiency.
The working principle of the invention is as follows:
the invention realizes the function of automatically and transversely removing the wall skin through the following steps:
firstly, moving the overhead working truck 1 to the side of a wall surface, wherein the driving direction of the overhead working truck is parallel to the wall surface;
step two, the second linear driver 3 drives the walking vehicle 4 to abut against the wall surface, and all the wheels 4b are attached to the wall surface;
rotating the worm 8d through a wrench to adjust an included angle between the scraper knife 6c and the wall surface, so that the scraper knife 6c is just inserted into the deepest part of the wall skin;
step four, starting the swing driver, and swinging the scraper knife 6c at a high speed;
step five, the first linear driver 2 drives the electric scraping shovel 6 to horizontally move along the wall surface, and the electric scraping shovel 6 transversely removes a layer of wall skin on the wall surface;
step six, the second linear driver 3 drives the walking vehicle 4 to be separated from the wall surface, the electric scraping shovel 6 is separated from the wall surface, and the first linear driver 2 drives the electric scraping shovel 6 to return to the initial position;
seventhly, the high-altitude operation vehicle 1 drives the first linear driver 2 to ascend by a distance equal to the width of the scraper knife 6 c;
step eight, repeating the step two, the step five, the step six and the step seven in sequence until the wall skin of the wall is removed;
step nine, the overhead working truck 1 runs to the side of the next wall surface;
and step ten, repeating the step eight and the step nine in sequence until the skin of the wall is removed.
The invention realizes the function of automatically and longitudinally removing the wall skin by the following steps:
firstly, moving the overhead working truck 1 to the side of a wall surface, wherein the driving direction of the overhead working truck is parallel to the wall surface;
step two, the reversing bracket 7 drives the self-adaptive bracket 5 to drive the walking vehicle 4 to turn 90 degrees, so that the walking vehicle 4 is vertically arranged;
step three, the second linear driver 3 drives the walking vehicle 4 to abut against the wall surface, and all the wheels 4b are attached to the wall surface;
rotating the worm 8d through a wrench to adjust an included angle between the scraper knife 6c and the wall surface, so that the scraper knife 6c is just inserted into the deepest part of the wall skin;
step five, starting the swing driver, and swinging the scraper knife 6c at a high speed;
sixthly, the high-altitude operation vehicle 1 drives the electric scraping shovel 6 to ascend to the highest position, and the electric scraping shovel 6 longitudinally scrapes off a layer of wall skin on the wall surface;
seventhly, the second linear driver 3 drives the walking vehicle 4 to be separated from the wall surface, the electric scraping shovel 6 is separated from the wall surface, and the overhead working truck 1 drives the electric scraping shovel 6 to return to the initial position;
step eight, the overhead working truck 1 travels along the wall surface for a distance equal to the width of the scraper knife 6 c;
and step nine, repeating the step three, the step six, the step seven and the step eight in sequence until the skin of the wall is removed.
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 (7)
1. The utility model provides an automatic wall scraping mechanism of intelligence building outer wall descaling machine which characterized in that: the automatic wall scraping mechanism comprises a first linear driver (2), a second linear driver (3) and a wall skin scraping mechanism;
the wall skin scraping mechanism comprises a walking vehicle (4), a self-adaptive bracket (5) and an electric spatula (6)
The self-adaptive support (5) can automatically generate elastic deformation, so that when the second linear driver (3) is not perpendicular to the wall surface, the walking vehicle (4) is still attached to the wall surface, the self-adaptive support (5) always has a trend that the walking vehicle (4) moves towards the wall surface, the second linear driver (3) transversely slides on the first linear driver (2), a gear driven by a motor is arranged on the second linear driver (3), a tooth groove correspondingly meshed and connected with the gear is arranged on the first linear driver (2), and the electric scraping shovel (6) is arranged on the walking vehicle (4) and used for scraping off a wall skin;
the adaptive support (5) comprises: a movable frame (5 a), an elastic connecting piece (5 b) and a universal joint (5 c);
the movable frame (5 a) is arranged on one side of the walking vehicle (4) far away from the wall surface in parallel;
the elastic connecting piece (5 b) is used for connecting the movable frame (5 a) and the walking vehicle (4), and the output force of the second linear driver (3) is greater than the minimum resilience force of the elastic connecting piece (5 b) and less than the maximum resilience force of the elastic connecting piece (5 b);
the universal joint (5 c) is used for connecting the movable frame (5 a) and the second linear driver (3), and the maximum bending degree of the universal joint (5 c) is 10 degrees;
the elastic connection member (5 b) comprises: a sliding column (5 b 1), a spring (5 b 2), a first nut (5 b 3);
the four sliding columns (5 b 1) are vertical to the wall surface and arranged at the four corners of the walking vehicle (4), and the movable frame (5 a) is connected with the sliding columns (5 b 1) in a sliding manner; an external thread is arranged at one end of the sliding column (5 b 1) far away from the walking vehicle (4);
the number of the springs (5 b 2) is four, each spring (5 b 2) is sleeved on each sliding column (5 b 1), and two ends of each spring (5 b 2) are abutted to the travelling vehicle (4) and the movable frame (5 a) respectively;
the number of the first nuts (5 b 3) is four, each first nut (5 b 3) is sleeved at the end of each sliding column (5 b 1), the first nut (5 b 3) is in threaded connection with the sliding column (5 b 1), and one surface, far away from the travelling trolley (4), of the movable frame (5 a) abuts against the first nut (5 b 3);
the skin scraping mechanism further comprises a reversing bracket (7) for changing the orientation of the walking vehicle (4), wherein the reversing bracket (7) comprises: a movable rod (7 a), a second housing (7 b), and a pin (7 c);
the movable rod (7 a) is perpendicular to the wall surface, the end of the movable rod (7 a) is fixedly connected with the self-adaptive support (5), a sliding groove is formed in the outer circumferential surface of the movable rod (7 a), the sliding groove comprises a first straight sliding groove (7 a 1), a spiral sliding groove (7 a 2) and a second straight sliding groove (7 a 3) which are sequentially communicated, the length directions of the first straight sliding groove (7 a 1) and the spiral sliding groove (7 a 2) are all parallel to the axis of the movable rod (7 a), and the first straight sliding groove (7 a 1) and the second straight sliding groove (7 a 3) form an included angle of 90 degrees around the axis of the movable rod (7 a);
the second shell (7 b) is sleeved on the outer side of the movable rod (7 a), the second shell (7 b) is fixedly connected with the output end of the second linear driver (3), and the second shell (7 b) is in sliding and rotating fit with the movable rod (7 a);
the pin (7 c) is installed on the second shell (7 b), the pin (7 c) is fixedly connected with the second shell (7 b), the end part of the pin (7 c) penetrates through the second shell (7 b) and extends into the sliding groove, and the end part of the pin (7 c) is in sliding fit with the sliding groove;
the third linear actuator is provided with an air cylinder which pushes the movable rod (7 a) to move back and forth along the axis of the third linear actuator.
2. The automatic wall scraping mechanism of the intelligent building outer wall cleaning machine according to claim 1, characterized in that: the traveling vehicle (4) includes: a frame (4 a) and wheels (4 b);
the frame (4 a) is rectangular, and the electric spatula (6) is arranged at the center of the frame (4 a);
the number of the wheels (4 b) is at least three, the wheels (4 b) are rotatably connected with the frame (4 a), the wheel surfaces of the wheels (4 b) are attached to the wall surface, and the axes of the wheels (4 b) are parallel to each other;
two wheels (4 b) are coaxially arranged on two sides of the same side of the frame (4 a), and the other wheels (4 b) are arranged on the other side of the frame (4 a).
3. The automatic wall scraping mechanism of the intelligent building outer wall cleaning machine according to claim 1, characterized in that: the third linear driver comprises a hydraulic system, a cylindrical cavity (7 b 1) coaxial with the movable rod (7 a) is arranged in the second shell (7 b), sliding sleeves (7 b 2) tightly attached to the outer peripheral face of the movable rod (7 a) are arranged at two ends of the second shell (7 b), two oil holes (7 b 3) penetrating through the second shell (7 b) and communicated to the cavity (7 b 1) are arranged at two ends of the second shell (7 b), the output end and the input end of the hydraulic system are respectively communicated with one oil hole (7 b 3), a piston (7 a 4) located between the two oil holes (7 b 3) is sleeved on the movable rod (7 a), and the piston (7 a 4) is tightly attached to the inner wall of the cavity (7 b 1).
4. The automatic wall scraping mechanism of the intelligent building outer wall cleaning machine according to claim 1, characterized in that: the electric spatula (6) comprises: a first housing (6 a), a blade (6 c);
the first shell (6 a) is arranged on the walking vehicle (4);
the rocking handle (6 b) is arranged on the first shell (6 a), the middle end of the rocking handle (6 b) is rotatably connected with one end of the first shell (6 a), and two ends of the rocking handle (6 b) are respectively positioned on the inner side and the outer side of the first shell (6 a);
the scraper knife (6 c) is fixedly arranged at one end of the rocking handle (6 b) positioned at the outer side of the first shell (6 a);
the swing driver is used for driving one end of the rocking handle (6 b) positioned at the inner side of the first shell (6 a) to swing;
the swing driver includes: a rotary actuator (6 d) and a crankshaft (6 e);
the rotary driver (6 d) is fixedly arranged on the first shell (6 a), an output shaft of the rotary driver (6 d) penetrates through the first shell (6 a) and extends into the first shell (6 a), and the axis of the output shaft of the rotary driver (6 d) is intersected with the axis of the rotating shaft of the rocking handle (6 b);
a crankshaft (6 e) is arranged inside the first housing (6 a), the crankshaft (6 e) has two shaft portions parallel to each other but not coaxial, one shaft portion of the crankshaft (6 e) is coaxial with and fixedly connected to an output shaft of the rotary driver (6 d), and the other shaft portion of the crankshaft (6 e) is arranged toward the crank handle (6 b) and is mounted with a ball head (6 e 1);
one end of the rocking handle (6 b) positioned in the first shell (6 a) is provided with a sliding chute (6 b 1) buckled on the outer side of the bulb (6 e 1), and the length direction of the sliding chute (6 b 1) is parallel to the axis of the rotating shaft of the rocking handle (6 b).
5. The automatic wall scraping mechanism of the intelligent building outer wall cleaning machine according to claim 4, characterized in that: the electric spatula (6) further comprises a first rotating shaft (6 f) for mounting the rocking handle (6 b), and the first rotating shaft (6 f) comprises: the bolt (6 f 1), the bearing (6 f 3) and the outer clamp spring (6 f 4);
the bolt (6 f 1) is arranged on the first shell (6 a), and the column part of the bolt (6 f 1) penetrates through the first shell (6 a);
the second nut (6 f 2) is mounted on the bolt (6 f 1) in a threaded mode, and the head of the bolt (6 f 1) and the second nut (6 f 2) abut against two sides of the outer wall of the first shell (6 a) respectively;
the bearing (6 f 3) is sleeved on the column part of the bolt (6 f 1);
the number of the outer snap springs (6 f 4) is two, the outer snap springs (6 f 4) are clamped at the column parts of the bolts (6 f 1), and the outer snap springs (6 f 4) are clamped at two ends of the inner ring of the bearing (6 f 3);
the middle end of the rocking handle (6 b) is sleeved on the outer ring of the bearing (6 f 3), and the middle end of the rocking handle (6 b) is provided with an inner clamp spring (6 b 2) which is abutted against the two ends of the outer ring of the bearing (6 f 3).
6. The automatic wall scraping mechanism of the intelligent building outer wall cleaning machine according to claim 1, characterized in that: the wall skin scraping mechanism further comprises an adjustable support (8) used for changing an included angle between the walking vehicle (4) and the electric scraping shovel (6), and the adjustable support (8) comprises: a second rotating shaft (8 a), a gear chamber (8 b), a turbine (8 c) and a worm (8 d);
the second rotating shaft (8 a) is arranged on the walking vehicle (4), the second rotating shaft (8 a) is rotatably connected with the walking vehicle (4), the axis of the second rotating shaft (8 a) is parallel to the wall surface, and the electric scraping shovel (6) is fixedly connected with the second rotating shaft (8 a);
the gear chamber (8 b) is arranged on the walking vehicle (4), and the gear chamber (8 b) is sleeved outside one end of the second rotating shaft (8 a);
the turbine (8 c) is arranged inside the gear chamber (8 b), and the turbine (8 c) is coaxially arranged at one end of the second rotating shaft (8 a);
the worm (8 d) is arranged inside the gear chamber (8 b), the worm (8 d) is rotatably connected with the gear chamber (8 b), the worm (8 d) is meshed with the worm wheel (8 c), two ends of the worm (8 d) penetrate through the gear chamber (8 b) and extend to the outer side of the gear chamber (8 b), and a hexagonal hole (8 d 1) is formed in the axis of the worm (8 d).
7. An intelligent building outer wall cleaning machine, which is characterized by comprising an automatic wall scraping mechanism of the intelligent building outer wall cleaning machine according to any one of claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010975679.1A CN112031450B (en) | 2020-09-17 | 2020-09-17 | Automatic wall scraping mechanism of intelligent building outer wall cleaning machine |
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| CN202010975679.1A CN112031450B (en) | 2020-09-17 | 2020-09-17 | Automatic wall scraping mechanism of intelligent building outer wall cleaning machine |
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| CN112031450B true CN112031450B (en) | 2022-03-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106988549B (en) * | 2017-06-08 | 2019-05-24 | 成都煜明装饰工程有限公司 | A kind of architecture indoor finishing metope sweeps processor automatically |
| CN207314756U (en) * | 2017-09-02 | 2018-05-04 | 山东美达建工集团股份有限公司 | A kind of interior decoration is soaked with wall skin roots out device |
| CN108716287A (en) * | 2018-06-04 | 2018-10-30 | 江苏豪斯建设工程有限公司 | The shovel-type wall skin remover of interior decoration suitable for green building |
| CN208686133U (en) * | 2018-08-14 | 2019-04-02 | 广东质鼎装饰工程有限公司 | A kind of intelligent environment protection interior decoration roots out device with wall skin |
| CN210858083U (en) * | 2019-07-04 | 2020-06-26 | 深圳市卓航装饰工程有限公司 | Fitment is with wall skin shovel device |
| CN110685450B (en) * | 2019-10-11 | 2021-12-14 | 南昌科悦企业管理咨询有限公司 | Dustless stripping off device of environment-friendly coating |
| CN110881914A (en) * | 2019-12-11 | 2020-03-17 | 苏州康鸿智能装备股份有限公司 | Curtain wall robot with double scraper mechanisms |
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