CN112523473B

CN112523473B - Automatic multifunctional wall whitewashing machine and application

Info

Publication number: CN112523473B
Application number: CN202011327269.2A
Authority: CN
Inventors: 曾庆良; 李兆基; 杨扬; 尚欢; 王建涛; 齐国庆; 陈宝龙; 万丽荣
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2021-11-05
Anticipated expiration: 2040-11-24
Also published as: CN112523473A

Abstract

The invention relates to an automatic multifunctional wall plastering machine and application, belonging to the technical field of building decoration equipment, and comprising a moving device, a lifting device, a working platform, a feeding device and a plastering device, wherein the feeding device and the plastering device are positioned on the working platform; the moving device comprises a vehicle body, wherein four wheels are arranged on two sides of the vehicle body, a controller is arranged in the vehicle body and connected with four direct current motors, and transmission shafts of the four direct current motors are respectively connected with the four wheels and used for driving the wheels to rotate; the working platform comprises a main platform and an auxiliary platform, the feeding device and the painting device are positioned on the main platform, a lifting device is arranged between the vehicle body and the auxiliary platform, the auxiliary platform can move up and down relative to the vehicle body, and the auxiliary platform and the main platform can rotate mutually; the controller is connected with the driving structure of the lifting device and can control the lifting action of the lifting device. The automatic wall painting device realizes automatic wall painting, has high working efficiency, and reduces the adverse effect of manual wall painting on painting personnel.

Description

Automatic multifunctional wall whitewashing machine and application

Technical Field

The invention relates to an automatic multifunctional wall plastering machine and application thereof, and belongs to the technical field of building decoration equipment.

Background

With the increasing population of China, the demand of housing is also increasing, so that the demand of house decoration is increasing. The wall surface painting is an important link in decoration, so the quality of the wall surface painting directly influences the quality of the whole house decoration. At present, the painting of a plurality of houses in China is mainly finished by manpower, but the method has a plurality of defects:

1. time and labor are wasted, and the quality is closely related to the proficiency of whitewashing personnel and cannot be guaranteed;

2. the house can leave more toxic gases such as formaldehyde and the like during painting, which can cause adverse effects on painting personnel, and moreover, the time for getting in can be prolonged and unnecessary loss can be caused because the painted toxic substances cannot be cleaned in time;

3. the wall painting process is complex, more garbage can be generated, and manual cleaning is extremely inconvenient.

Therefore, in order to solve the problems caused by manual plastering, an automatic wall plastering machine needs to be designed.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides the automatic multifunctional wall plastering machine and the application thereof, which realize automatic wall plastering, have high working efficiency and reduce the adverse effect of manual wall plastering on plastering personnel. The invention adopts the following technical scheme:

an automatic multifunctional wall whitewashing machine comprises a moving device, a lifting device, a working platform, a feeding device and a whitewashing device, wherein the feeding device and the whitewashing device are positioned on the working platform;

the moving device comprises a vehicle body, wherein four wheels are arranged on two sides of the vehicle body, a controller is arranged in the vehicle body and connected with four direct current motors, and transmission shafts of the four direct current motors are respectively connected with the four wheels and used for driving the wheels to rotate;

the working platform comprises a main platform and an auxiliary platform, the feeding device and the painting device are positioned on the main platform, a lifting device is arranged between the vehicle body and the auxiliary platform, the auxiliary platform can move up and down relative to the vehicle body, and the auxiliary platform and the main platform can rotate mutually, so that the painting device on the main platform has a wider painting range;

the controller is connected with a driving structure of the lifting device and can control the lifting action of the lifting device.

Preferably, the controller and the direct current motors are arranged in the vehicle body, preferably, the controller is fixed in a clamping groove in the vehicle body, a motor support and a speed reducer are further arranged in the vehicle body, the direct current motors are fixed in the vehicle body through the motor support, and each direct current motor is connected with a wheel through the speed reducer and a transmission shaft;

furthermore, the wheel comprises a driving middle wheel, the transmission shaft is directly connected with the driving middle wheel, the inner side and the outer side of the driving middle wheel are respectively provided with an obstacle crossing wheel set A and an obstacle crossing wheel set B, the obstacle crossing wheel set A and the obstacle crossing wheel set B both comprise four wheel blades, wherein one side of the driving middle wheel close to the obstacle crossing wheel set A and one side of the driving middle wheel close to the obstacle crossing wheel set B are uniformly provided with four pairs of first connecting seats (preferably in threaded connection), the number of each pair of first connecting seats is two and are distributed along the radius direction, each wheel blade is fixedly provided with 2 second connecting seats (preferably in threaded connection), each 2 second connecting seats and one pair of first connecting seats are connected with a wheel crank through a rotating pin, namely for one wheel blade, one first connecting seat is connected with one end of a wheel crank through a rotating pin, and the other end of the wheel crank is connected with one of the second connecting seats through a rotating pin, in a similar way, the second first connecting seat is connected with one end of the other wheel crank through a rotating pin, the other end of the wheel crank is connected with the second connecting seat through the rotating pin, the driving middle wheel is connected with each wheel blade through two wheel cranks which have the same size and are parallel to each other, moreover, the wheel crank and the driving middle wheel form a first rotation pair through a rotation pin, the wheel crank and the wheel blade form a second rotation pair through the rotation pin, the controller is connected with the wheel crank, under the action of the controller, the two wheel cranks rotate to drive the wheel blades to vertically move, 2 second connecting seats on the four wheel blades are distributed along the radius direction of the obstacle crossing wheel group A/obstacle crossing wheel group B, and the four pairs of second connecting seats are symmetrically distributed, under the drive of the controller, the four wheel blades are scattered to the periphery to form a circle with the diameter larger than the radius of the driving middle wheel, and then the obstacle is crossed.

The effect of rotating pin is to guarantee to form the revolute pair between wheel crank and the first connecting seat, ensures that wheel crank can drive the vertical motion of wheel leaf.

When the vehicle wheel blade moves on the flat ground, the average radius of the wheel blade is the same as that of the driving middle wheel, the driving middle wheel mainly contacts the ground part, when the vehicle wheel blade crosses an obstacle, the height of the obstacle is measured by the distance measuring sensor, the motion angle of the wheel crank of each wheel blade can be controlled by the controller, the wheel blades vertically move under the control of two parallel wheel cranks, each wheel blade forms a great circle with the same distance under the drive of the corresponding wheel crank (the average radius of the wheel blade is larger than that of the driving middle wheel), at the moment, the four wheel blades contact the ground, the wheel blades on the same side form the corresponding distance, the edges of the wheel blades on the same side form circular arcs with the same distance, the two sides move simultaneously, the stability of the movement is ensured, and the existence of the distance is ensured to cross the obstacle.

It is noted that during obstacle crossing, the obstacle is by default smaller, and can cross the obstacle when the vanes of the wheel of the present invention are all away from the maximum position of the wheel in the drive.

When the wheels turn, the wheels can be turned by adopting differential speed, if the wheels turn left, the controller sends instruction signals to control the four direct current motors to generate different rotating speeds, the two wheels on the left rotate slowly, the two wheels on the right rotate quickly, and then the left-turning action is finished.

Preferably, the vehicle body is provided with a navigation device, the navigation device comprises a distance measuring sensor, an ultrasonic sensor and a magnetic navigation sensor, the distance measuring sensor, the ultrasonic sensor and the magnetic navigation sensor are all connected with the controller, the distance measuring sensor is arranged at the forefront of the vehicle body, is used for measuring the height of an obstacle in front of the vehicle body, the number of the ultrasonic sensors is two, the ultrasonic sensors are distributed on two sides of the vehicle body, through ultrasonic ranging, make car body and wall keep the certain distance, whitewash the machine and spread the magnetic stripe as predetermined route on the wall in advance before work, magnetic navigation sensor is used for the magnetic field distribution through the magnetic stripe, judges whether car body route of marcing deviates from predetermined route, and further, whitewash the quick-witted movement track and formulate through the magnetic stripe of laying before work, guarantee the accuracy of the route of marcing under magnetic navigation sensor and ultrasonic sensor effect.

The distance measuring sensor is used for measuring the height of an obstacle in front of the whitewashing machine so as to feed back a signal to the controller, and is preferably a GP2Y0A21 infrared distance measuring sensor, an ultrasonic sensor is preferably an HC-SR04 ultrasonic sensor, and a magnetic navigation sensor is preferably a JH-16 AGV magnetic navigation sensor.

Preferably, be provided with dynamic display device on the car health, dynamic display device includes control cabinet, liquid crystal display, temperature and humidity sensor and gas sensor, the control cabinet is fixed in on the car health, and temperature and humidity sensor and gas sensor signal acquisition part are arranged in the control cabinet outside, and temperature and humidity sensor and gas sensor can show humiture and relevant gas (like formaldehyde) concentration in the air on liquid crystal display in real time through the signal processing of control cabinet, temperature and humidity sensor and gas sensor all are connected with the controller, and when poisonous gas content such as humiture and formaldehyde exceeded certain limit in the room, clarifier and drying-machine will work among the auxiliary device.

The temperature and humidity sensor is an AM2302 temperature and humidity sensor, the gas sensor is an MS1100-P111 gas sensor, the console is used for placing the liquid crystal display screen and providing a built-in power supply and a control chip for the liquid crystal display screen and the sensors, the temperature and humidity sensor and the gas sensor collect temperature, humidity and formaldehyde concentration, and the temperature and humidity sensor and the gas sensor are processed by circuits such as filtering and nonlinear correction of relevant built-in circuits and converted into corresponding electric signals so as to be displayed on the liquid crystal display screen through the main control chip.

Preferably, the vehicle body is further provided with a cleaning device, the cleaning device comprises a chassis, a rotary clamping seat, a dust suction nozzle, a telescopic hose, a dust suction power device and a dust collection cylinder, the chassis is fixed on the vehicle body, the dust suction nozzle is connected with the outer end of the telescopic hose, the other end of the telescopic hose is connected with the dust collection cylinder through the dust suction power device, the rotary clamping seat can rotate in all directions relative to the chassis, the dust suction power device is fixed above the rotary clamping seat, and the rotary clamping seat is connected with the controller;

the dust collection power device is internally provided with an electric motor and a filter screen, adsorbed building wastes are stored in a dust collection barrel, the dust collection barrel can be periodically and manually detached and cleaned, the electric motor is connected with a controller, and the controller can control the work of the electric motor.

In the invention, a motor is arranged between the rotary clamping seat and the chassis, the motor is connected with the power transmission through a bearing and the like, and the motor is connected with the controller, so that the rotary clamping seat can rotate 360 degrees relative to the chassis.

The electric motor generates strong suction force and pressure at a high rotating speed, the suction force can suck the outside air containing dust, the air containing dust is discharged through the filter screen by the pressure, and the filter screen is used for purifying the air and filtering impurities such as the dust in the air;

the cleaning device does no-dead-angle cleaning work under the free rotation action of different telescopic lengths of the telescopic hose and the rotary clamping seat, automatically starts the cleaning work after the trolley runs for a period of time, automatically stops after the trolley runs for a period of time, and then performs the cleaning work at a certain time interval.

Furthermore, a time period can be set in advance during cleaning each time, after the painting machine runs for a period of time, the cleaning device starts to work, the telescopic length of the telescopic hose can automatically identify building wastes through the small sensor (with the image identification function) at the end, and the small sensor and the power device of the telescopic hose are connected with the control device, so that controllable telescopic can be realized under the action of the controller, and the building wastes around the trolley can be sucked.

Preferably, the working platform further comprises a rotating motor and a rotating chuck, the rotating chuck is fixedly connected with the main platform, the rotating motor is connected with the auxiliary platform, the main platform is in smooth contact with the auxiliary platform, the rotating motor is connected with the rotating chuck and used for driving the main platform to rotate relative to the auxiliary platform, and the rotating motor is connected with the controller;

furthermore, a bearing socket is reserved in the middle of the rotary chuck and used for placing a bearing so as to rotate under the driving of the rotary motor, and other parts of the rotary chuck are similar to a rigid disc and are respectively in screw connection with the main platform and in smooth contact with the auxiliary platform.

Preferably, be provided with scanning camera, surveillance camera head, intelligent light, solar energy power generation system, drying-machine and clarifier on the main platform to, scanning camera, surveillance camera head, intelligent light, solar energy power generation system, drying-machine and clarifier all with the controller is connected, and scanning camera on the main platform can scan whole working face and by the controller planning department flow of whitewashing, and is specific, when facing whitewashing the wall, scanning camera can scan this wall at first, stipulates under the controller analysis and whitewashes the starting position and formulate the whitewashing orbit of whitewashing the wall, and corresponding whitewashing orbit is realized through the step motor of controlling the device of whitewashing to later the controller, and scanning camera can guarantee in coordination with intelligent light that the device of whitewashing is clearer, whitewashes the wall accurately.

The monitoring camera is fixed on the main platform, can all-round control and show the scene condition of whitewashing in electronic equipment through wireless transmission function, and the battery among the solar power system ensures long-term steady operation of drying-machine and clarifier, and drying-machine and clarifier operate under dynamic display device and controller effect, guarantee to whitewash quality and beautify the environment.

The dryer and the purifier are existing commercial equipment, and the solar power generation system comprises a power generation system support, a solar cell panel and a storage battery. The solar controller is installed to power generation system support the inside, is responsible for controlling entire system's operating condition, supports the solar cell panel of top installation simultaneously, and solar cell panel mainly is the electric energy with solar radiant energy conversion, sends the electric energy to the battery again and stores, and the battery will be stored and electric energy supply dryer and clarifier are reached, reaches energy-conserving effect.

Preferably, elevating gear includes many hydraulic column, car health top is provided with a plurality of stand post nest, and is further, stand post nest welding is on the car health for fixed elevating gear, the quantity of stand post nest is corresponding with the quantity of hydraulic column, the bottom and the stand post nest fixed connection of many hydraulic column, the top and the vice platform fixed connection of many hydraulic column, the pneumatic cylinder of many hydraulic column all is connected with the controller, thereby the lifting height of vice platform, main platform of the lift control of the steerable hydraulic column of controller.

The number of the hydraulic upright posts is preferably 4, the hydraulic upright posts are uniformly distributed between the vehicle body and the auxiliary platform, and the extension and the shortening can be realized through the hydraulic devices carried by the hydraulic upright posts.

The whole working platform can realize the movement in the horizontal direction and the vertical direction through the rotating chuck and the lifting device, so that the painting device can realize the blind-corner-free painting work.

Preferably, feedway includes storage case, variable pump and discharging pipe, on storage bottom of the case portion was fixed in the main platform, preferred storage bottom of the case portion was laid on the main platform to it is fixed through a draw-in groove, the discharging pipe was connected through the variable pump at the storage top of the case portion, and the variable pump passes through bolted connection on the storage case, the variable pump is connected with the controller.

Preferably, the painting device comprises a brush device and a brush driving device, the brush driving device comprises a sliding rod plate, a stepping motor, a painting crank, a painting connecting rod, a swinging connecting rod and a sliding rod guide rail, the sliding rod plate and the stepping motor are both fixed on a main platform, the stepping motor is connected with a controller, a driving shaft of the stepping motor is connected with one end of the painting crank, the other end of the painting crank is hinged with one end of the painting connecting rod, a mounting seat A is fixedly arranged on the main platform, one end of the swinging connecting rod is hinged on the mounting seat A, a mounting seat B is further arranged on the swinging connecting rod, the other end of the painting connecting rod is hinged with the mounting seat B, a small sliding seat is arranged on the swinging connecting rod in a sliding mode, the small sliding seat can slide relative to the swinging connecting rod, and the hinging mode in the brush driving device is preferably connected by a pin shaft;

the sliding rod guide rail is a long-strip-shaped groove transversely arranged on the sliding rod plate, a first sliding seat capable of sliding along the long-strip-shaped groove is arranged in the sliding rod guide rail, one side of the first sliding seat is connected with the small sliding seat through a short pin, and the other side of the first sliding seat is connected with the brush device through a long pin.

The first sliding seat of the invention is similar to a sliding block, the first sliding seat is driven by a short pin of a small sliding seat on a swinging connecting rod to horizontally slide in a sliding rod guide rail, and then the brush device is driven by the long pin to carry out painting work.

The small sliding seat is also a sliding block, a hole is formed in the middle of the small sliding seat and can slide on the swinging connecting rod, the rotation generated by the stepping motor is transmitted to the swinging connecting rod through the painting crank and the painting connecting rod, the small sliding seat converts the rotation of the swinging connecting rod into self movement, the first sliding seat is driven to horizontally move on the sliding rod guide rail through the short pin, and the other end of the first sliding seat drives the brush device to move through the long pin.

When the reciprocating linear motion brush device works, firstly, the stepping motor rotates anticlockwise to drive the painting crank to do circular motion, the painting crank drives the painting connecting rod to move through the pin shaft, the painting connecting rod drives the swinging connecting rod hinged on the main platform to swing through the pin shaft, the small sliding seat on the swinging connecting rod moves along the swinging connecting rod under the swinging action, at the moment, the first sliding seat and the small sliding seat horizontally move on the sliding rod guide rail under the action of the connecting short pin, and the first sliding seat drives the brush device to horizontally move through the connecting long pin, so that the reciprocating linear motion of the brush device is realized.

Furthermore, the brush device comprises a rotating device, a telescopic slide rod, a brush fixing plate, brush fluff and a feeding hose, the rotating device is fixedly connected with the second sliding seat, the rotating device and the second sliding seat can rotate relative to the long pin so as to drive the whole brush device to rotate, and the rotating device is connected with the controller;

the telescopic slide rod is formed by nesting two pipes with different inner diameters, wherein one pipe is fixedly connected with the brush fixing plate, the other pipe is fixedly connected with the second sliding seat, after the two pipes with different inner diameters are nested, a telescopic spring is arranged in the telescopic slide rod, and two ends of the telescopic spring are clamped between the brush fixing plate and the second sliding seat;

the telescopic slide rod and the telescopic spring have the advantages that the telescopic slide rod and the telescopic spring have the functions of mainly enabling the whole brush to have certain flexibility and adjusting the extending amount of the brush, the adjustment is passive and needs to meet the requirement of the spring extension length, the extending amount only plays a role in buffering when an obstacle is encountered and cannot actively adjust the extension degree, the automatic extension and retraction of the telescopic slide rod are passive and do not need to be controlled by a controller, and when the brush is painted, the brush can extend and retract when encountering an uneven wall surface, so that the whole device has certain flexibility, and the brush is stable and uniform; in addition, the difference between the inner diameters of the two tubes of the telescopic slide rod is not large, and the public area is longer, so that the stability of the brush device can be ensured.

The brush fluff sets up on the brush fixed plate, is provided with the feed pipe in the middle of the brush fluff, the feed pipe is fixed in on the brush fixed plate through fixed pressing plate, the feed hole has all been seted up to the feed pipe both sides, and during whitewashing, coating can follow the feed hole ejection of compact and evenly scribble on the brush fluff, the feed pipe passes through feeding hose and connects the discharging pipe, and accessible variable pump adjusts coating transportation speed, guarantees that coating evenly distributed is on the brush fluff.

In the invention, the rotating device can adopt the prior art, and only needs to realize the rotation of the rotating device relative to the long pin and stop at a certain rotation angle.

The variable displacement pump in the feeding device can adapt to different painting conditions through the flow adjusting function, paint in the storage box is transported to the brush device through the discharge pipe, and meanwhile, the stepping motor in the painting device drives the brush driving device to further ensure that the brush device can do reciprocating linear motion on the slide bar guide rail, so that the painting work is finished in order.

The rotating device in the brush device ensures that the whole brush horizontally swings and rotates in multiple angles to ensure that the painting has no dead angle, the telescopic slide rod can flexibly adjust the brush to adapt to different wall painting, the telescopic spring ensures that the whole brush has flexibility and certain obstacle avoidance capability, the brush soft hair ensures that the wall is not excessively damaged when the brush is painted, and the two sides of the feeding pipe are uniformly provided with holes to ensure that the painting paint is filled in the gap of the brush, thereby ensuring the uniform supply of the paint when the painting is carried out.

In conclusion, the intelligent operation of the whole brushing machine can be realized by utilizing the controller, the moving device can ensure the safe operation of the brushing machine, the distance measuring sensor can generate a signal when the brushing machine encounters an obstacle or a floor, and the wheels are changed under the action of the controller so as to climb over the obstacle or climb stairs; the painting work can be accurately and quickly carried out under the coordination of the navigation device, the painting device and the lifting device, and the working flow and the field working progress can be well monitored in real time by the scanning camera and the monitoring camera; the navigation device can realize accurate positioning to ensure high painting efficiency; the dynamic display device can monitor the temperature and humidity concentration and the gas content of the painting environment, so that the operation of the auxiliary device can ensure the painting quality and beautify the environment; the solar power generation system can save electric energy and the storage battery can stably store the electric energy for a long time; the cleaning device can perform cleaning work after being painted; the lifting device can improve the range of plastering the wall surface and adapt to various different working environments.

The working method of the automatic multifunctional wall whitewashing machine comprises the following steps:

the wall surface is paved with a magnetic stripe in advance, the magnetic stripe position is sensed through a magnetic conductance sensor, the controller controls the moving device to move according to a preset route, meanwhile, the lifting device can adjust the height of the painting device, the main platform can rotate relative to the auxiliary platform to adapt to different painting heights and painting ranges, the navigation device measures the height of an obstacle in front of the vehicle body, and at the moment, the controller controls the obstacle crossing wheel set A and the obstacle crossing wheel set B of the wheels to move and cross the obstacle;

the dynamic display device on the vehicle body can display the toxic gas content, the air temperature and the humidity in the air in real time, and when the toxic gas content is too high or the humidity is too high, the controller controls the purifier or the dryer to work;

the cleaning device on the vehicle body can regularly clean and adsorb the building wastes and store the building wastes in the dust collection barrel;

the painting device can realize painting at multiple angles.

Preferably, when the painting device is used for painting, firstly, the stepping motor rotates anticlockwise to drive the painting crank to do circular motion, the painting crank drives the painting connecting rod to do motion through the pin shaft, the painting connecting rod drives the swinging connecting rod hinged on the main platform to swing through the pin shaft, the small sliding seat on the swinging connecting rod moves along the swinging connecting rod under the swinging action, at the moment, the first sliding seat and the small sliding seat horizontally move on the sliding rod guide rail under the action of the connecting short pin, and the first sliding seat drives the brush device to horizontally move through the long pin, so that the reciprocating linear motion of the brush device is realized;

rotating device makes whole brush horizontal swing and multi-angle rotation guarantee to whitewash no dead angle among the brush device, and expanding spring makes the whole flexibility of brush and keeps away the barrier ability, and the wall can not excessively be damaged when the soft hair guarantee of brush whitewashes, and the even trompil in feed pipe both sides makes whitewashes coating and is full of the brush clearance, guarantees the even supply of coating when whitewashing.

In the present invention, the details are not described in detail, and the present invention can be carried out by using the prior art.

The invention has the beneficial effects that:

(1) the invention uses a distance measuring sensor in the moving device to detect the height of a moving obstacle in front of the painting machine, so that double cranks in the wheel drive the wheel blades to move up and down under the action of the controller, and simultaneously the same edge distance between each wheel blade is ensured, so that the whole wheel can cross the obstacle.

(2) Ultrasonic sensor passes through ultrasonic ranging module in navigation head, makes whitewashing machine and wall keep a certain distance (this apart from about between 20cm ~ 40 cm), combines magnetic navigation sensor to navigate the location whitewashing machine working trajectory simultaneously, ensures that work is accurate steady.

(3) The temperature and humidity and gas sensor in the dynamic display device can display real-time data, and meanwhile, the limit set by the controller drives the purifier and the dryer to work, thereby ensuring the painting quality and beautifying the environment.

(4) In the scanning monitoring device, the scanning camera scans the whole working surface, the controller plans a painting process, and the monitoring camera can display the on-site painting condition on the electronic equipment in real time through a wireless transmission function.

(5) The solar power generation system can save energy to the maximum extent and drive the purifier and the dryer to operate.

(6) The track of the brush swinging is accurate by adopting the connecting rod to drive in the painting device, the regulation of the painting period is realized by regulating the rotating speed of the stepping motor, meanwhile, all rod pieces are hinged, the problem of structure looseness cannot occur, so that the long-term stable work is facilitated, different wall surfaces can be painted and certain obstacle avoidance capacity can be ensured by utilizing the telescopic spring and the telescopic sliding rod in the painting device, and the requirements of different painting working conditions on different flow rates can be met by utilizing the flow regulation capacity of the variable pump in the feeding device.

Drawings

FIG. 1 is a schematic view of the overall structure of an automatic multifunctional wall whitewashing machine;

FIG. 2 is a schematic structural diagram of a mobile device;

FIG. 3 is a schematic view of the wheel;

FIG. 4 is a schematic view of a connection structure of the wheel blade;

FIG. 5 is a schematic view of a distribution of four vehicle vanes;

FIG. 6 is a schematic view of the connection between the driving middle wheel and a wheel blade of a vehicle;

FIG. 7 is a schematic view of a navigation device;

FIG. 8 is a schematic diagram of a dynamic display device;

FIG. 9 is a schematic view of the connection relationship of the solar power generation system;

FIG. 10 is a schematic view of the cleaning apparatus;

FIG. 11 is a schematic structural view of a work platform;

FIG. 12 is a schematic diagram of the distribution of a surveillance camera, a scanning camera and an intelligent illumination lamp on a main platform;

FIG. 13 is a schematic view of the construction of the rendering device;

FIG. 14 is a rear view of the connection of the painting link, the painting crank and the swing link;

FIG. 15 is a schematic view of the connection of the first carriage to the swing link;

fig. 16 is a schematic view of the structure of the brush device.

Wherein, 1-a moving device, 2-a dynamic display device, 3-a cleaning device, 4-a mounting seat A, 5-a mounting seat B, 6-a painting device, 7-a feeding device, 8-a lifting device, 9-a navigation device, 10-a small slide seat, 11-a controller, 12-a motor support, 13-a direct current motor, 14-a transmission shaft, 15-a wheel, 16-a vehicle body, 17-a column socket, 18-a reducer, 19-a short pin, 21-a console, 22-a liquid crystal display screen, 23-a temperature and humidity sensor, 24-a gas sensor, 31-a dust suction nozzle, 32-a telescopic hose, 33-a dust suction power device, 34-a dust collection cylinder, 35-a rotating clamping seat and 36-a chassis, 71-a material storage box, 72-a variable pump, 73-a material outlet pipe, 81-a rotating motor, 51-a scanning camera, 52-a monitoring camera, 53-an intelligent illuminating lamp, 41-a solar power generation system, 42-a dryer, 43-a purifier, 61-a slide bar plate, 62-a stepping motor, 63-a painting crank, 64-a painting connecting bar, 65-a swinging connecting bar, 66-a first slide seat, 67-a brush device, 68-a slide bar guide rail, 82-a rotating chuck, 83-a hydraulic upright post, 84-a secondary platform, 85-a primary platform, 91-a distance measuring sensor, 92-an ultrasonic sensor, 93-a magnetic navigation sensor, 151-a vehicle wheel blade, 152-a rotating pin, 153-a first connecting seat, 154-a driving middle wheel, 155-wheel crank, 156-second connecting seat, 411-power generation system support, 412-solar panel, 413-storage battery, 671-brush fixing plate, 672-feeding pipe, 673-brush fluff, 674-fixing pressing plate, 675-feeding hose, 676-telescopic sliding rod, 677-telescopic spring, 678-rotating device, 679-second sliding seat and 680-long pin.

The specific implementation mode is as follows:

in order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific examples, but not limited thereto, and the present invention is not described in detail and is in accordance with the conventional techniques in the art.

Example 1:

an automatic multifunctional wall whitewashing machine is shown in figures 1-16 and comprises a moving device 1, a lifting device 8, a working platform, a feeding device 7 and a painting device 6, wherein the feeding device 7 and the painting device 6 are positioned on the working platform;

as shown in fig. 2, the mobile device 1 includes a vehicle body 16, four wheels 15 are disposed on two sides of the vehicle body 16, a controller 11 is disposed in the vehicle body 16, the controller 11 is connected with four direct current motors 13, and transmission shafts 14 of the four direct current motors are respectively connected with the four wheels for driving the wheels to rotate;

the working platform comprises a main platform 85 and an auxiliary platform 84, the feeding device 7 and the painting device 6 are positioned on the main platform 85, the lifting device 8 is arranged between the vehicle body 16 and the auxiliary platform 84, the auxiliary platform 84 can move up and down relative to the vehicle body 16, and the auxiliary platform 84 and the main platform 85 can rotate mutually, so that the painting device 6 on the main platform 85 has a wider painting range;

the controller 11 is connected with the driving structure of the lifting device 8 and can control the lifting action of the lifting device 8, the controller used in the invention can integrally control a plurality of components, the specific model is not limited, and the existing commercial products can be adopted.

Example 2:

an automatic multifunctional wall painting machine is different from that in embodiment 1, a controller 11 and a direct current motor 13 are both arranged in a vehicle body, the controller 11 is fixed in a clamping groove in the vehicle body, a motor support 12 and a speed reducer 18 are further arranged in the vehicle body 16, the direct current motor 13 is fixed in the vehicle body 16 through the motor support 12, and each direct current motor 13 is connected with a wheel 15 through the speed reducer 18 and a transmission shaft 14.

Example 3:

an automatic multifunctional wall painting machine, as described in embodiment 2, except that, as shown in fig. 3-5, the wheel 15 includes a driving middle wheel 154, the transmission shaft 14 is directly connected with the driving middle wheel 154, the inner and outer sides of the driving middle wheel 154 are respectively provided with an obstacle crossing wheel set a and an obstacle crossing wheel set B, each of the obstacle crossing wheel set a and the obstacle crossing wheel set B includes four wheel blades 151, wherein, one side of the driving middle wheel 154 close to the obstacle crossing wheel set a and one side of the driving middle wheel close to the obstacle crossing wheel set B are uniformly provided with four pairs of first connecting seats 153, each pair of first connecting seats is two and is distributed along the radius direction, each wheel blade is connected with 2 second connecting seats 156 by screw threads, a wheel crank 155 is connected between each 2 second connecting seats 156 and one pair of first connecting seats 153, that is to one wheel blade, one of the first connecting seats is connected with one end of the wheel crank by a rotating pin, the other end of the wheel crank is connected with one of the second connecting seats through a rotating pin, similarly, the second first connecting seat is connected with one end of the other wheel crank through a rotating pin, the other end of the wheel crank is connected with the second connecting seat through a rotating pin, the driving middle wheel 154 is connected with each wheel blade 151 through two wheel cranks 155 which are identical in size and parallel to each other, the wheel cranks and the driving middle wheel form a first rotating pair through the rotating pin, the wheel cranks and the wheel blades form a second rotating pair through the rotating pin, the controller 11 is connected with the wheel cranks 155, under the action of the controller 11, the two wheel cranks rotate to drive the wheel blades to vertically move, as shown in figures 4 and 6, 2 second connecting seats on the four wheel blades are distributed along the radius direction of the obstacle crossing wheel group A/obstacle crossing wheel group B, and four pairs of second connecting seats are symmetrically distributed, as shown in fig. 5, the second connecting seats 156 on the wheel blades are regular, and the four wheel blades are driven by the controller to be scattered around to form a circle with a diameter larger than the radius of the driving middle wheel, so as to cross over obstacles.

When the vehicle moves on the flat ground, the average radius of the wheel blades 151 is the same as that of the driving middle wheel, the driving middle wheel 154 mainly contacts the ground, when the vehicle crosses an obstacle, the distance measuring sensor measures the height of the obstacle, the motion angle of the wheel crank of each wheel blade 151 can be controlled through the controller 11, the wheel blades vertically move under the control of two parallel wheel cranks, each wheel blade forms a great circle with the same distance under the drive of the corresponding wheel crank (the average radius of the wheel blades is larger than that of the driving middle wheel), at the moment, the four wheel blades contact the ground, the wheel blades on the same side form the corresponding distance with each other, the edges of the wheel blades on the same side form a circular arc with the same distance, the two sides move simultaneously, the stability of the motion is ensured, and the existence of the distance is ensured to cross the obstacle.

Example 4:

an automatic multifunctional wall whitewashing machine, as described in embodiment 3, except that, as shown in fig. 7, a navigation device 9 is arranged on a vehicle body 16, the navigation device 9 includes a distance measuring sensor 91, an ultrasonic sensor 92 and a magnetic navigation sensor 93, the distance measuring sensor 91, the ultrasonic sensor 92 and the magnetic navigation sensor 93 are all connected with a controller 11, the distance measuring sensor 91 is arranged at the most front part of the vehicle body 16 and is used for measuring the height of an obstacle in front of the vehicle body, the number of the ultrasonic sensors 92 is two and are distributed on two sides of the vehicle body, the vehicle body and a wall surface are kept at a certain distance by ultrasonic distance measurement, a magnetic strip is laid on the wall surface as a predetermined route before the whitewashing machine works, the magnetic navigation sensor 93 is used for judging whether the traveling route of the vehicle body deviates from the predetermined route by the magnetic field distribution of the magnetic strip, and further, the motion track of the whitewashing machine is formulated by the magnetic strips laid before work, and the accuracy of the advancing track is ensured under the action of the magnetic navigation sensor and the ultrasonic sensor.

The distance measuring sensor 91 is used for measuring the height of an obstacle in front of the whitewashing machine so as to feed back a signal to the controller, and preferably adopts a GP2Y0A21 infrared distance measuring sensor, an HC-SR04 ultrasonic sensor is adopted as the ultrasonic sensor 92, and a JH-16 AGV magnetic navigation sensor is adopted as the magnetic navigation sensor 93.

Example 5:

the utility model provides an automatic multi-functional wall whitewashing machine, as embodiment 4, the difference is, be provided with dynamic display device 2 on the car health 16, dynamic display device 2 includes control console 21, liquid crystal display 22, temperature and humidity sensor 23 and gas sensor 24, control console 21 is fixed in car health 16, temperature and humidity sensor 23 and gas sensor 24 signal acquisition part are arranged in the outside of control console 21, temperature and humidity sensor 23 and gas sensor 24 can show humiture and formaldehyde concentration in the air on liquid crystal display in real time through the signal processing of control console, temperature and humidity sensor 23 and gas sensor 24 all are connected with controller 11, when poisonous gas content such as humiture and formaldehyde in the room surpassed certain limit, clarifier and drying-machine will work among the auxiliary assembly.

The temperature and humidity sensor 23 is an AM2302 temperature and humidity sensor, the gas sensor 24 is an MS1100-P111 gas sensor, the console 21 is used for placing the liquid crystal display screen, meanwhile, a built-in power supply and a control chip are provided for the liquid crystal display screen 22 and each sensor, the temperature and humidity sensor 23 and the gas sensor 24 collect temperature, humidity and formaldehyde concentration, and the temperature and humidity sensor and the gas sensor are converted into corresponding electric signals through filtering, nonlinear correction and other circuit processing of related built-in circuits, so that the corresponding electric signals are displayed on the liquid crystal display screen through the main control chip.

Example 6:

an automatic multifunctional wall painting machine, as described in embodiment 5, is different in that a cleaning device 3 is further disposed on a vehicle body 16, as shown in fig. 10, the cleaning device 3 includes a chassis 36, a rotary clamping seat 35, a dust suction nozzle 31, a telescopic hose 32, a dust suction power device 33 and a dust collection cylinder 34, the chassis 36 is fixed on the vehicle body 16, the dust suction nozzle 31 is connected with an outer end of the telescopic hose 32, the other end of the telescopic hose 32 is connected with the dust collection cylinder 34 through the dust suction power device connection 33, the rotary clamping seat 35 can rotate in all directions relative to the chassis 36, the dust suction power device 33 is fixed above the rotary clamping seat 35, and the rotary clamping seat 35 is connected with a controller 11;

the dust collection power 33 is internally provided with an electric motor and a filter screen, adsorbed building wastes are stored in a dust collection barrel, the dust collection barrel can be periodically and manually detached and cleaned, the electric motor is connected with the controller 11, and the controller 11 can control the work of the electric motor.

In the invention, a motor is arranged between the rotary clamping seat 35 and the chassis 36, the motor is connected with a transfer power through a bearing and the like, and the motor is connected with a controller, so that the rotary clamping seat can rotate 360 degrees relative to the chassis.

the cleaning device 3 does no dead angle cleaning work under the free rotation action of different telescopic lengths and the rotary clamping seat of the telescopic hose, automatically starts the cleaning work after the trolley runs for a period of time, automatically stops after the trolley runs for a period of time, and then performs the cleaning work at a certain time interval.

A time period can be set in advance during cleaning each time, after the whitewashing machine runs for a period of time, the cleaning device starts to work, the telescopic length of the telescopic hose automatically identifies building wastes through the small sensor (with an image identification function) at the end, and the small sensor and the power device of the telescopic hose are connected with the control device, so that controllable telescopic can be realized under the action of the controller, and the building wastes around the trolley are absorbed.

Example 7:

an automatic multifunctional wall painting machine, as described in embodiment 6, is different in that the working platform further includes a rotating motor 81 and a rotating chuck 82, the rotating chuck 82 is fixedly connected with a main platform 85, the rotating motor 81 is connected with an auxiliary platform 84, the main platform 85 is in smooth contact with the auxiliary platform 84, the rotating motor 81 is connected with the rotating chuck 82 and used for driving the main platform 85 to rotate relative to the auxiliary platform 84, and the rotating motor 81 is connected with the controller 11;

the middle of the rotary chuck 82 is provided with a bearing opening for placing a bearing so as to realize rotation under the driving of a rotary motor, and other parts of the rotary chuck are similar to a rigid disc and are respectively in screw connection with the main platform and in smooth contact with the auxiliary platform.

Example 8:

an automatic multifunctional wall painting machine, as described in embodiment 7, is different in that a main platform 85 is provided with a scanning camera 51, a monitoring camera 52, an intelligent illuminating lamp 53, a solar power system 41, a dryer 42 and a purifier 43, and the scanning camera 51, the monitoring camera 52, the intelligent illuminating lamp 53, the solar power system 41, the dryer 42 and the purifier 43 are all connected with a controller 11, the scanning camera 51 on the main platform 85 can scan the whole working surface and the painting flow is planned by the controller, specifically, when facing the wall painting surface, the scanning camera can firstly scan the wall surface, the painting start position and the painting track of the wall painting surface are specified under the analysis of the controller, then the controller realizes the corresponding painting track by controlling a stepping motor of the painting device, and the scanning camera cooperates with the intelligent illuminating lamp to ensure that the painting device is clearer, The wall surface is accurately painted.

The monitoring camera 52 is fixed on the main platform, can monitor in all directions and display the on-site painting condition in the electronic equipment through a wireless transmission function, the storage battery in the solar power generation system 41 ensures the long-term stable operation of the dryer and the purifier, and the dryer and the purifier operate under the action of the dynamic display device and the controller, so that the painting quality is ensured and the environment is beautified.

Both the dryer 42 and the purifier 43 are conventional commercial devices, and as shown in fig. 9, the solar power generation system 41 is composed of a power generation system support 411, a solar panel 412, and a storage battery 413. The power generation system is supported, 411 the inside installs solar control ware, is responsible for controlling entire system's operating condition, supports the solar cell panel of top installation simultaneously, and solar cell panel mainly is the electrical energy with solar radiant energy conversion, sends the electrical energy to the battery again and stores, and the battery will be stored and to be supplied with drying-machine and clarifier with the electrical energy, reaches energy-conserving effect.

Example 9:

the utility model provides an automatic multi-functional wall whitewashing machine, as embodiment 8 said, the difference is, as shown in FIG. 11, elevating gear 8 includes many hydraulic column 83, be provided with a plurality of stand column sockets 17 above the car body, stand column socket 17 welds on the car body, be used for fixed elevating gear 8, the quantity of stand column socket 17 corresponds with the quantity of hydraulic column 83, the bottom and stand column socket 17 fixed connection of many hydraulic column 83, the top and the vice platform 84 fixed connection of many hydraulic column 83, the pneumatic cylinder of many hydraulic column 83 all is connected with controller 11, thereby the lift height of the lift control vice platform 84 of controller 11 steerable hydraulic column 83, main platform 85.

The number of the hydraulic upright posts 83 is 4, the hydraulic upright posts are uniformly distributed between the vehicle body and the auxiliary platform, and the extension and the shortening can be realized through the hydraulic devices carried by the hydraulic upright posts.

The whole working platform can rotate in the horizontal direction and move in the vertical direction through the rotating chuck 82 and the lifting device 8, so that the painting device can realize the blind-corner-free painting work.

Example 10:

an automatic multifunctional wall painting machine, as described in embodiment 9, except that, as shown in fig. 13, the feeding device 7 includes a storage tank 71, a variable pump 72 and a discharge pipe 73, the bottom of the storage tank 71 is fixed on a main platform 85, preferably, the bottom of the storage tank is mounted on the main platform and fixed by a clamping groove, the top of the storage tank 71 is connected with the discharge pipe 73 through the variable pump 72, the variable pump 72 is connected to the storage tank 71 through a bolt, and the variable pump 72 is connected to the controller 11.

Example 11:

an automatic multifunctional wall whitewashing machine, as described in embodiment 10, except that the brushing device 6 includes a brush device 67 and a brush driving device, the brush driving device includes a sliding rod plate 61, a stepping motor 62, a brushing crank 63, a brushing connecting rod 64, a swinging connecting rod 65 and a sliding rod guide rail 68, the sliding rod plate 61 and the stepping motor 62 are both fixed on a main platform, the stepping motor 62 is connected with a controller 11, a driving shaft of the stepping motor 62 is connected with one end of the brushing crank 63, the other end of the brushing crank 63 is hinged with one end of the brushing connecting rod 64, the main platform is fixedly provided with a mounting seat A4, one end of the swinging connecting rod 65 is hinged on the mounting seat A4, the swinging connecting rod 65 is further provided with a mounting seat B5, as shown in fig. 14, the other end of the brushing connecting rod 64 is hinged with the mounting seat B5, the swinging connecting rod 65 is slidably provided with a small sliding seat 10, the small slide 10 can slide relative to the oscillating linkage 65, the articulation in the brush drive preferably being a pin connection;

the slide bar guide rail 68 is a long-strip-shaped groove transversely arranged on the slide bar plate 61, the first slide seat 66 capable of sliding along the long-strip-shaped groove is arranged in the slide bar guide rail 68, one side of the first slide seat 66 is connected with the small slide seat 10 through the short pin 19, and the other side of the first slide seat is connected with the brush device through the long pin 680.

The first sliding base 66 of the present invention is similar to a sliding block, and the short pin 19 of the small sliding base 10 on the swing link 65 drives the first sliding base 66 to horizontally slide in the sliding rod guide rail 68, and then the long pin 680 drives the brush device to perform the painting operation.

The small slide 10 is also a slide block, the middle of which is provided with a hole and can slide on the swing connecting rod, the rotation generated by the stepping motor is transmitted to the swing connecting rod through the painting crank and the painting connecting rod, the small slide 10 converts the rotation of the swing connecting rod into the self movement, then the short pin 19 drives the first slide to horizontally move on the slide guide rail, and the other end of the first slide drives the brush device to move through the long pin 680.

Among them, a rear view of the painting crank 64, the painting crank 63, and the swing link 65 is shown in fig. 14.

When the brush device works, firstly, the stepping motor 62 rotates anticlockwise to drive the painting crank 63 to do circular motion, the painting crank 63 drives the painting connecting rod 64 to do motion through a pin shaft, the painting connecting rod 64 drives the swinging connecting rod 65 hinged on the main platform to swing through the pin shaft, the small sliding seat 10 on the swinging connecting rod 65 moves along the swinging connecting rod under the swinging action, at the moment, the first sliding seat 66 and the small sliding seat 10 horizontally move on the sliding rod guide rail 68 under the action of the connecting short pin 19, and the first sliding seat 66 drives the brush device to horizontally move through the connecting long pin 680, so that the reciprocating linear motion of the brush device is realized.

Example 12:

an automatic multifunctional wall brushing machine, as described in embodiment 11, except that, as shown in fig. 16, the brush device 67 includes a rotating device 678, a telescopic slide rod 676, a brush fixing plate 671, brush bristles 673 and a feeding hose 675, the rotating device 678 is fixedly connected with a second sliding seat 679, the rotating device 678 and the second sliding seat 679 can rotate relative to a long pin 680, so as to drive the whole brush device 67 to rotate, and the rotating device 678 is connected with a controller 11;

the telescopic slide rod 676 is formed by nesting two pipes with different inner diameters, wherein one pipe is fixedly connected with the brush fixing plate 671, the other pipe is fixedly connected with the second sliding seat 679, after the two pipes with different inner diameters are nested, a telescopic spring 677 is arranged in the telescopic slide rod 677, and two ends of the telescopic spring 677 are clamped between the brush fixing plate 671 and the second sliding seat 679;

the telescopic slide rod 676 and the telescopic spring 677 have the main functions that the brush is enabled to have certain flexibility as a whole, and the extending amount of the brush can be adjusted, wherein the adjustment is passive and needs to meet the requirement of the spring extension length, the extending amount only plays a role of buffering when encountering obstacles and cannot actively adjust the extension degree, the automatic extension and retraction of the telescopic slide rod 676 are passive and do not need to be controlled by a controller, but when painting, the telescopic slide rod 676 can extend and retract when encountering uneven wall surfaces, so that the whole device has certain flexibility, and the stability and the uniformity of painting are further ensured; in addition, the difference between the inner diameters of the two tubes of the telescopic slide rod is not large, and the public area is longer, so that the stability of the brush device can be ensured.

Brush fluff 673 sets up on brush fixed plate 671, is provided with feed pipe 672 in the middle of brush fluff 673, and feed pipe 672 is fixed in brush fixed plate 671 through fixed pressing plate 674 on, and the feed hole has all been seted up to feed pipe 672 both sides, and during whitewashing, coating can follow the feed hole ejection of compact and evenly scribble on brush fluff 673, and feed pipe 672 passes through feeding hose 675 and connects the discharging pipe, and accessible variable pump adjusts coating transportation speed, guarantees that coating evenly distributed is on the brush fluff.

In the present invention, the rotating device 678 can be implemented by the prior art, as long as the rotating device can rotate relative to the long pin and can stop at a certain rotation angle.

The variable displacement pump 72 in the feeding device can adapt to different painting conditions through a flow adjusting function, paint in the storage box 71 is conveyed to the brush device 67 through the discharge pipe 73, and meanwhile the stepping motor 62 in the painting device drives the brush driving device to further ensure that the brush device can do reciprocating linear motion on the slide bar guide rail, so that the painting work is finished in order.

Example 13:

the working method of the automatic multifunctional wall plastering machine comprises the following steps:

the magnetic stripe is laid on the wall surface in advance, the position of the magnetic stripe is sensed through the magnetic conductance sensor 91, the controller 11 controls the moving device to move according to a preset route, meanwhile, the lifting device 8 can adjust the height of the painting device 6, the main platform 86 can rotate relative to the auxiliary platform 84 to adapt to different painting heights and painting ranges, the navigation device 9 measures the height of an obstacle in front of the vehicle body, and at the moment, the controller 11 controls the obstacle crossing wheel set A and the obstacle crossing wheel set B of the wheels to move and cross the obstacle;

the dynamic display device 2 on the vehicle body can display the toxic gas content, the air temperature and the humidity in the air in real time, and when the toxic gas content is too high or the humidity is too high, the controller controls the purifier or the dryer to work;

the cleaning device 3 on the vehicle body can regularly clean and adsorb the building wastes and store the building wastes in the dust collection barrel;

the painting device 6 can realize painting at multiple angles.

Example 14:

a working method of an automatic multifunctional wall whitewashing machine, as shown in embodiment 13, except that when the whitewashing device 6 is used for whitewashing, firstly, a stepping motor 62 rotates counterclockwise to drive a whitewashing crank 63 to make a circular motion, the whitewashing crank 63 drives a whitewashing connecting rod 64 to move through a pin shaft, the whitewashing connecting rod 64 drives a swinging connecting rod 65 hinged on a main platform to swing through the pin shaft, a small slide carriage 10 on the swinging connecting rod 65 moves along the swinging connecting rod 65 under the swinging action, at this time, a first slide carriage 66 and the small slide carriage horizontally move on a slide bar guide rail 68 under the action of a connecting short pin 19, the first slide carriage 66 drives a brush device 67 to horizontally move through a long pin 680, and the reciprocating linear motion of the brush device 67 is realized;

rotating device 678 makes whole brush horizontal hunting and multi-angle rotation guarantee to whitewash no dead angle among the brushing device, and expanding spring makes the whole flexibility of brush and keeps away the barrier ability, and brush fluff 673 can not too much damage the wall when guaranteeing to whitewash, and the even trompil in feed pipe 672 both sides makes to whitewash coating and is full of the brush clearance, guarantees the even supply of coating when whitewashing.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An automatic multifunctional wall whitewashing machine is characterized by comprising a moving device, a lifting device, a working platform, a feeding device and a painting device, wherein the feeding device and the painting device are positioned on the working platform;

the working platform comprises a main platform and an auxiliary platform, the feeding device and the painting device are positioned on the main platform, a lifting device is arranged between the vehicle body and the auxiliary platform, the auxiliary platform can move up and down relative to the vehicle body, and the auxiliary platform and the main platform can rotate mutually;

the controller is connected with the driving structure of the lifting device and can control the lifting action of the lifting device;

the wheels comprise driving middle wheels, a transmission shaft is directly connected with the driving middle wheels, the inner side and the outer side of each driving middle wheel are respectively provided with an obstacle crossing wheel set A and an obstacle crossing wheel set B, each obstacle crossing wheel set A and the obstacle crossing wheel set B respectively comprise four wheel blades, wherein one side of each driving middle wheel close to the obstacle crossing wheel set A and one side of each driving middle wheel close to the obstacle crossing wheel set B are uniformly provided with four pairs of first connecting seats, each pair of first connecting seats are two in number and are distributed along the radius direction, each wheel blade is fixedly provided with 2 second connecting seats, each 2 second connecting seats and one pair of first connecting seats are connected with a wheel crank through a rotating pin, namely for one wheel blade, one first connecting seat is connected with one end of the wheel crank through the rotating pin, the other end of the wheel crank is connected with one second connecting seat through the rotating pin, and the same is achieved, the second first connecting seat is connected with one end of another wheel crank through a rotating pin, the other end of the wheel crank is connected with a second connecting seat through the rotating pin, the driving middle wheel is connected with each wheel blade through two wheel cranks which are identical in size and parallel to each other, the wheel cranks and the driving middle wheel form a first rotating pair through the rotating pin, the wheel cranks and the wheel blades form a second rotating pair through the rotating pin, the controller is connected with the wheel cranks, under the action of the controller, the two wheel cranks rotate to drive the wheel blades to vertically move, 2 second connecting seats on the four wheel blades are distributed along the radius direction of the obstacle crossing wheel group A/obstacle crossing wheel group B, and the four pairs of second connecting seats are symmetrically distributed, so that the four wheel blades are scattered to the periphery under the driving of the controller to form a circle with the diameter larger than the radius of the driving middle wheel;

the painting device comprises a brush device and a brush driving device, the brush driving device comprises a sliding rod plate, a stepping motor, a painting crank, a painting connecting rod, a swinging connecting rod and a sliding rod guide rail, the sliding rod plate and the stepping motor are fixed on a main platform, the stepping motor is connected with a controller, a driving shaft of the stepping motor is connected with one end of the painting crank, the other end of the painting crank is hinged with one end of the painting connecting rod, a mounting seat A is fixedly arranged on the main platform, one end of the swinging connecting rod is hinged on the mounting seat A, a mounting seat B is further arranged on the swinging connecting rod, the other end of the painting connecting rod is hinged with the mounting seat B, a small sliding seat is arranged on the swinging connecting rod in a sliding mode and can slide relative to the swinging connecting rod, and the hinging modes in the brush driving device are all connected through a pin shaft;

the sliding rod guide rail is a long-strip-shaped groove transversely arranged on the sliding rod plate, a first sliding seat capable of sliding along the long-strip-shaped groove is arranged in the sliding rod guide rail, one side of the first sliding seat is connected with the small sliding seat through a short pin, and the other side of the first sliding seat is connected with the brush device through a long pin;

the brush device comprises a rotating device, a telescopic sliding rod, a brush fixing plate, brush fluff and a feeding hose, wherein the rotating device is fixedly connected with the second sliding seat, the rotating device and the second sliding seat can rotate relative to the long pin so as to drive the whole brush device to rotate, and the rotating device is connected with the controller;

the brush fluff sets up on the brush fixed plate, is provided with the feed pipe in the middle of the brush fluff, the feed pipe is fixed in on the brush fixed plate through fixed pressing plate, the feed hole has all been seted up to the feed pipe both sides, the feed pipe passes through feeding hose and connects the discharging pipe.

2. The automatic multifunctional wall plastering machine as claimed in claim 1, wherein the controller and the dc motor are both disposed in the vehicle body, a motor support and a speed reducer are further disposed in the vehicle body, the dc motor is fixed in the vehicle body through the motor support, and each dc motor is connected to the wheel through the speed reducer and the transmission shaft.

3. The automatic multifunctional wall whitewashing machine as claimed in claim 1, wherein a navigation device is arranged on the vehicle body, the navigation device comprises two distance measuring sensors, two ultrasonic sensors and two magnetic navigation sensors, the distance measuring sensors, the ultrasonic sensors and the magnetic navigation sensors are all connected with the controller, the distance measuring sensors are mounted at the most front part of the vehicle body and used for measuring the height of an obstacle in front of the vehicle body, the distance measuring sensors are distributed on two sides of the vehicle body and used for keeping a certain distance between the vehicle body and a wall surface through ultrasonic distance measurement, a magnetic stripe is laid on the wall surface in advance before the whitewashing machine works as a predetermined route, and the magnetic navigation sensors are used for judging whether the traveling route of the vehicle body deviates from the predetermined route through the magnetic field distribution of the magnetic stripe.

4. The automatic multifunctional wall whitewashing machine according to claim 3, wherein a dynamic display device is arranged on the vehicle body, the dynamic display device comprises a console, a liquid crystal display, a temperature and humidity sensor and a gas sensor, the console is fixed on the vehicle body, the temperature and humidity sensor and the gas sensor can display the temperature, the humidity and the gas concentration in the air on the liquid crystal display in real time through signal processing of the console, and the temperature and humidity sensor and the gas sensor are both connected with the controller.

5. The automatic multifunctional wall-surface whitewashing machine as claimed in claim 1, wherein the car body is further provided with a cleaning device, the cleaning device comprises a chassis, a rotary clamping seat, a dust suction nozzle, a telescopic hose, a dust suction power device and a dust collection cylinder, the chassis is fixed on the car body, the dust suction nozzle is connected with the outer end of the telescopic hose, the other end of the telescopic hose is connected with the dust collection cylinder through the dust suction power device, the rotary clamping seat can rotate relative to the chassis, the dust suction power device is fixed above the rotary clamping seat, and the rotary clamping seat is connected with the controller;

the dust collection power device is internally provided with an electric motor and a filter screen, the electric motor is connected with a controller, and the controller controls the electric motor to work.

6. The automatic multifunctional wall whitewashing machine as claimed in claim 5, wherein the working platform further comprises a rotating motor and a rotating chuck, the rotating chuck is fixedly connected with the main platform, the rotating motor is connected with the auxiliary platform, the main platform and the auxiliary platform are in smooth contact with each other, the rotating motor is connected with the rotating chuck and used for driving the main platform to rotate relative to the auxiliary platform, and the rotating motor is connected with the controller;

the intelligent illumination lamp is characterized in that a scanning camera, a monitoring camera, an intelligent illumination lamp, a solar power generation system, a dryer and a purifier are arranged on the main platform, and the scanning camera, the monitoring camera, the intelligent illumination lamp, the solar power generation system, the dryer and the purifier are all connected with the controller.

7. The automatic multifunctional wall plastering machine as claimed in claim 6, wherein the lifting device comprises a plurality of hydraulic columns, a plurality of column sockets are arranged above the vehicle body for fixing the lifting device, the number of the column sockets corresponds to that of the hydraulic columns, the bottoms of the hydraulic columns are fixedly connected with the column sockets, the tops of the hydraulic columns are fixedly connected with the auxiliary platform, the hydraulic cylinders of the hydraulic columns are all connected with the controller, and the controller controls the lifting height of the auxiliary platform and the main platform by controlling the lifting of the hydraulic columns.

8. The automatic multifunctional wall-surface whitewashing machine as claimed in claim 7, characterized in that the feeding device comprises a storage box, a variable pump and a discharge pipe, the bottom of the storage box is fixed on the main platform, the top of the storage box is connected with the discharge pipe through the variable pump, the variable pump is connected with the storage box through a bolt, and the variable pump is connected with the controller.

9. A method of operating an automatic multifunctional wall whitewashing machine as recited in claim 8, comprising:

the painting device can realize painting at multiple angles.

10. The method as claimed in claim 9, wherein the brushing device is driven by the stepping motor to rotate counterclockwise to move the brushing crank in a circular motion, the brushing crank drives the brushing link to move via the pin, the brushing link drives the swing link hinged to the main platform to swing via the pin, the small slide on the swing link moves along the swing link under the action of the swing, the first slide and the small slide move horizontally on the slide rail under the action of the connecting short pin, the first slide drives the brush device to move horizontally via the long pin, and the brush device moves linearly and reciprocally;