CN204728657U - A kind of full automatic wall surface canopy face spraying sanding apparatus - Google Patents

A kind of full automatic wall surface canopy face spraying sanding apparatus Download PDF

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Publication number
CN204728657U
CN204728657U CN201420819430.1U CN201420819430U CN204728657U CN 204728657 U CN204728657 U CN 204728657U CN 201420819430 U CN201420819430 U CN 201420819430U CN 204728657 U CN204728657 U CN 204728657U
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CN
China
Prior art keywords
reductor
servomotor
fixed
fixed head
linear module
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CN201420819430.1U
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Chinese (zh)
Inventor
董旺建
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董旺建
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Priority to CN201420819430.1U priority Critical patent/CN204728657U/en
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Publication of CN204728657U publication Critical patent/CN204728657U/en

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Abstract

The utility model discloses a kind of full automatic wall surface canopy face spraying sanding apparatus, comprising: travel mechanism, carrying mounting platform and automatic transfer arm; Its feature is that described travel mechanism adopts hand operated shifting mechanisms or automatic moving mechanism, on the adjustment bearing that the fixed head of carrying mounting platform is arranged on travel mechanism or bulb; Bearing or bulb is regulated to be connected on the adjustment pin of electric cylinder driving; Electric cylinder is connected on the base plate of travel mechanism, and base plate carrys out movement by travel mechanism; Automatic transfer arm is arranged on carrying mounting platform, and the front end of automatic transfer arm is provided with spray equipment or grasping mechanism or crashproof polishing dust collection mechanism.The utility model according to the flexible in size splicing layout of room area, can require to have taken into account the coating to metope, canopy face by difference, work is gathered dust in floating, whole super polishing that is flat and putty; Thoroughly can solve labour intensity and the dust pollution of operating personnel.

Description

A kind of full automatic wall surface canopy face spraying sanding apparatus
Technical field
The utility model relates to a kind of full automatic wall surface canopy face spraying sanding apparatus, is specifically related to a kind of full automatic wall surface canopy face spraying sanding apparatus, belongs to building field.
Background technology
At present, in the imparting construction of the building plastering engineering in indoor and commercial residential buildings finishing, normally used machinery has two kinds: one is Mortar spraying machine, the technical comparative maturity that this machine tool is coated with relatively fast at the floating material of solution, but follow-up is floating, levelling, arrange, compacting and whole super equality operation still need by manually completing, thus reduce efficiency of construction and quality, and long reciprocating motion must be done by operating personnel's hand-held shower towing feeder sleeve during construction, add the work speed of operating personnel, especially when facing upward spray operation, easily pollute to operating personnel, affect efficiency of construction and quality further, another kind is mortar powder wall telephone, although this equipment solves the coating of floating material and floating problem simultaneously, but due to the restriction of project organization, the floating of compactibility can not be carried out repeatedly to sand finish, thus the physique in fact of wiping one's face seeming surfacing is loosened, and very easily causes plastering because adhesive power is not strong and producing hollowing phenomenon.Equally, the imparting of having smeared also can be smeared because of can not fully rub back and forth and produce the not strong and large-area bubble pin-hole phenomena of adhesive power.Moreover this machine tool also just can be plastered a wall face and can not smear canopy face, but the floating construction in canopy face is more difficult, heavier, also just more needs plant equipment to replace artificial.A this mortar powder wall telephone metope of at every turn having constructed all again will move, locate in addition, easily occurs connecing stubble, mismatch phenomenon, more cannot accomplish from whole super flat angle to carry out floating construction.
Summary of the invention
Simultaneously the purpose of this utility model can not have coating, floating, polishing and dust-collecting function to metope, canopy face for solving the existing equipment of plastering a wall, and complex operation is dumb, increase the problem of operating personnel's working strength, and then propose a kind of full automatic wall surface canopy face spraying sanding apparatus.
The utility model is the technical scheme taked that solves the problem: described a kind of full automatic wall surface canopy face spraying sanding apparatus, comprising: travel mechanism, carrying mounting platform and transfer arm automatically; It is characterized in that: described travel mechanism adopts hand operated shifting mechanisms or automatic moving mechanism, on the adjustment bearing that the fixed head of carrying mounting platform is arranged on travel mechanism or bulb; Bearing or bulb is regulated to be connected on the adjustment pin of electric cylinder driving; Electric cylinder is connected on the base plate of travel mechanism, and base plate carrys out movement by travel mechanism; Automatic transfer arm is arranged on carrying mounting platform, and the front end of automatic transfer arm is provided with spray equipment or grasping mechanism or crashproof polishing dust collection mechanism.
Described automatic moving mechanism comprises base plate, the universal wheel balanced support with synchronizing wheel is had under described base plate, and rotated by Serve Motor Control synchronizing wheel, universal wheel is driven to move by Timing Belt again, universal wheel motion track is specified by host computer, and after moving to assigned address through PC control, Powerful vacuum chuck is under cylinder action, move down and start vacuum valve and hold ground, play stable platform effect; Described cylinder is contained on base plate, described in the cylinder be contained on base plate be connected with the Powerful vacuum chuck with vacuum valve.
Described carrying mounting platform comprises fixed head, and be fixed on the fixing feet of the one end on base plate with bulb, described electric cylinder is connected with corresponding position, base plate bottom surface, described adjustment pin is fixed on the output shaft of corresponding electric cylinder, described adjustment pin upper end is connected with fixed head by regulating bearing, be fixed on the obliquity sensor on fixed head or other device that can take measurement of an angle, correlation measurement information is fed back to host computer by obliquity sensor or other device that can take measurement of an angle, touch and electric cylinder is driven regulate pin and fixed head and carrying mounting platform are up to the standard state.
Described its structure of automatic transfer arm comprises the reductor installed on carrying mounting platform, reductor is by driven by servomotor, can horizontally rotate with fixed head parallel direction, speed reducer output shaft is installed the first fixed head, first fixed head is fixed the first reductor, first reductor is completed by the first driven by servomotor and makes vertical direction with fixed head and rotate, second fixed head is arranged on the first speed reducer output shaft, combination arm bottom is fixed on the second fixed head, described combination arm comprises at least one group of linear module, the one group of linear module comprised wherein organizes linear module with another, it is respectively by the second servomotor, 3rd driven by servomotor, the front end being fixed on front end arms with the 4th servomotor of reductor can side direction rotate, with on the 4th servo motor output shaft of reductor, another fixture is installed, the 5th servomotor with reductor is fixed on another fixture, and the 5th servo motor output shaft with reductor is provided with fixture.
Described its structure of automatic transfer arm comprises the 3rd fixed head, it installs on carrying mounting platform, reductor to be fixed on the 3rd fixed head and by driven by servomotor, side rotary can be carried out on the direction vertical with fixed head to turn, speed reducer output shaft is installed the first fixed head, first fixed head is fixed the first reductor, first reductor is completed by the first driven by servomotor and horizontally rotates, second fixed head is arranged on the first speed reducer output shaft, combination arm bottom is fixed on the second fixed head, described combination arm comprises at least one group of linear module, the one group of linear module comprised wherein organizes linear module with another, it is respectively by the second servomotor, 3rd driven by servomotor, the front end being fixed on front end arms with the 4th servomotor of reductor can horizontally rotate, with on the 4th servo motor output shaft of reductor, another fixture is installed, the 5th servomotor with reductor is fixed on another fixture, and the 5th servo motor output shaft with reductor is provided with fixture.
Described its structure of automatic transfer arm comprises the reductor installed on carrying mounting platform, it is by driven by servomotor, can horizontally rotate, servomotor is fixed on L-type fixed head, speed reducer output shaft is installed the first fixed head, first fixed head is fixed the first reductor, the first reductor completes side direction rotation by the first driven by servomotor, when reductor and the first reductor adopt hollow turbine worm reducer or flange turbine worm reducer, servomotor and the first servomotor are directly or be connected reductor and the first reductor by shaft coupling; Second fixed head is arranged on the first speed reducer output shaft, combination arm bottom is fixed on the second fixed head, described combination arm (3-19) comprises at least one group of linear module, the one group of linear module comprised wherein organizes linear module with another, linear module can adopt screw mandrel or the linear module of belt-type, and it is respectively by the second servomotor, the 3rd driven by servomotor; On the front end being fixed on front end arms with the 4th servomotor of reductor and side direction rotate, with on the 4th servo motor output shaft of reductor, another fixture is installed, the 5th servomotor with reductor is fixed on another fixture, and the 5th servo motor output shaft with reductor is provided with fixture.
Described its structure of automatic transfer arm comprises the reductor installed on carrying mounting platform, it is by driven by servomotor, can side direction rotate, servomotor is fixed on L-type fixed head, speed reducer output shaft is installed the first fixed head, first fixed head is fixed the first reductor, the first reductor to be completed by the first driven by servomotor and horizontally rotate, when reductor and the first reductor adopt hollow turbine worm reducer or flange turbine worm reducer, servomotor and the first servomotor are directly or be connected reductor and the first reductor by shaft coupling; Second fixed head is arranged on the first speed reducer output shaft, combination arm bottom is fixed on the second fixed head, described combination arm comprises at least one group of linear module, and the one group of linear module comprised wherein organizes linear module with another, and it is respectively by the second servomotor, the 3rd driven by servomotor; The front end fixing front end arms with the 4th servomotor of reductor can horizontally rotate, with on the 4th servo motor output shaft of reductor, another fixture is installed, the 5th servomotor with reductor is fixed on another fixture, and the 5th servo motor output shaft with reductor is provided with fixture.
Described spray equipment comprises: the substrate be connected with fixture and spray gun or pneumatic air drill, be fixed on spray gun or pneumatic air drill on substrate, fix with the 5th fixed head; Spraying cylinder is fixed on substrate, during work, detects pressure in spray cans, controls the action of spraying cylinder, realizes automatic coating; Or open the pneumatic air drill boring of spraying air cylinder driven.
Described crashproof polishing dust collection mechanism comprises shell, mill, electro spindle, sweep-up pipe, dust arrester, optical axis and gas-tpe fitting, optical axis is enclosed within fixture, shell is connected with dust arrester by sweep-up pipe, mill is connected with electro spindle, mill is controlled by electro spindle, dust arrester is collected the dust in shell by sweep-up pipe, at least one direction (preferably 4 directions respectively fills one) with fixture and fills 1 mechanical limit switch be connected with host computer (as central processing unit), prevent cover attack body of wall, polishing cylinder is fixed on fixture and its projecting shaft is connected with shell, optical axis in shell can move forward and backward on linear bearing, wherein mill has boring lead angle every certain angle, make it all can match with thimble in any position by boring lead angle, thimble is fixed on fixture, dry sanding paper is inhaled on before mill, thimble can make Sand paper for polishing depart from crashproof workpiece polishing mechanism, realize automatically changing sand paper, external tracheae, completes the crashproof sanding operation of automatic dust-free.
Described grasping mechanism comprises the 4th fixed head, the 4th fixed head one side and fixture is fixed, one group of vacuum cup or gripping device are at least fixed in another side; Described one group of linear module has supporting mechanism, and described supporting mechanism to be fixed on one group of linear module and to organize linear module with another and is connected; Described another organizes linear module supporting mechanism, and described supporting mechanism is fixed on another and organizes on linear module and to be connected with end arms before; The movable part of the supporting mechanism of one group of linear module along with another organizes that linear module moves and mobile and another movable part organizing the supporting mechanism of linear module moves along with front end arms and moves, and plays a supportive role; Also comprise automatic measurement, long range positioning transmission data image, remote control, described automatic measurement, long range positioning transmission data, image, remote control comprise horizontal rotary mechanism, measuring apparatus and camera head, described measuring apparatus and camera head be or wire communication wireless with host computer respectively, utilizes GPRS module transmission data and image remote to control to start or stop.
The beneficial effects of the utility model are: fitness and the tolerance of the utility model construction plant are high, can according to the flexible in size splicing layout of room area, most I operates in the room area of 3 meters × 3 meters, requires to have taken into account the coating to metope, canopy face, work is gathered dust in floating, whole super polishing that is flat and putty by difference; Polishing dust-collecting function of the present utility model thoroughly can solve labour intensity and the dust pollution of operating personnel; The utility model can effectively prevent the loaded down with trivial details and quality problems of construction that multiple bearing brings by full-automatic construction; After the utility model construction, body of wall canopy finishing coat adhesive power is good, without hollowing phenomenon, planeness and the verticality of integral surface all reach national GB50210-2001 " Code for construction quality acceptance of building decoration " about senior quality specifications of plastering; The utility model is by being automatically integrated in 1 go-cart, lightweight, volume is little, transport and carry the advantages such as convenient.
Accompanying drawing explanation
Fig. 1 is the utility model front view.
The top view of Fig. 2 Fig. 1.
Fig. 3 is the sectional view of Fig. 1.
Fig. 4 is the front view of the front end arms of combination arm.
Fig. 4 A is the top view of the front end arms of combination arm.
Fig. 4-1 is that the another kind of combination arm turns to different front end arms front views.
Fig. 4-1A is that the another kind of combination arm turns to different front end arms top views.
Fig. 5 is the graph of a relation of reductor, servomotor, the first fixed head.
Fig. 5-1 is the relation front view of reductor, servomotor, L-type fixed head, shaft coupling, the first fixed head and the first reductor, the first servomotor, junction plate, shaft coupling, the second fixed head.
Fig. 5-2 is reductor, servomotor, L-type fixed head, shaft coupling, the first fixed head and the first reductor, the first servomotor, junction plate, shaft coupling, the second fixed head relation top view.
Fig. 5-3 is another kind of reductor, servomotor, L-type fixed head, shaft coupling, the first fixed head and the first reductor, the first servomotor, junction plate, shaft coupling, the second fixed head relation front view.
Fig. 5-4 is another kind of reductor, servomotor, L-type fixed head, shaft coupling, the first fixed head and the first reductor, the first servomotor, junction plate, shaft coupling, the second fixed head relation top view.
Fig. 6 is the first reductor, the first servomotor, the second fixed head graph of a relation.
Fig. 7 is the first fixed head front view.
Fig. 7 A is the top view of Fig. 7.
Fig. 7-1 is the front view of the 3rd fixed head.
Fig. 7-1A is the top view of Fig. 7-1.
Fig. 7-2 is the front view of another kind of first fixed head.
Fig. 7-2A is the top view of Fig. 7-2.
Fig. 8 is the front view of the second fixed head.
Fig. 8 A is the top view of Fig. 8.
Fig. 8-1 is the front view of another kind of second fixed head.
Fig. 8-1A is the top view of Fig. 8-1.
Fig. 9 is fixture front view.
Fig. 9 A is the right view of Fig. 9.
Figure 10 is the structural representation of spray equipment.
Figure 10-1 is the front view of the locating piece of automatic transfer arm.
Figure 10-1A is the right view of the locating piece of automatic transfer arm.
Figure 10-1B is the upward view of the locating piece of automatic transfer arm.
Figure 10-2 is the structural representation that pneumatic air drill is fixed on substrate.
Figure 11 is the main TV structure schematic diagram in top that crashproof polishing dust collection mechanism is connected with fixed head.
Figure 11 A is the right view of Figure 11.
Figure 12 is the structural representation of crashproof polishing dust collection mechanism and another fixture wherein.
Figure 13 is the main TV structure schematic diagram of grasping mechanism.
Figure 13 A is the left view of Figure 13.
Figure 13 B is the right view of Figure 13.
Figure 13 C is the structural representation of the gripping device be fixed on the fixed head in the grasping mechanism of Figure 13.
Figure 14 is operating principle flow chart of the present utility model.
Detailed description of the invention
As shown in drawings, full automatic wall surface canopy face described in the utility model sprays floating sanding apparatus and comprises: travel mechanism, carrying mounting platform 2 and transfer arm 3 automatically; It is characterized in that: described travel mechanism adopts hand operated shifting mechanisms or automatic moving mechanism 1, hand operated shifting mechanisms is the technology that those skilled in the art can realize, the preferred automatic moving mechanism 1 of the utility model, on the fixed head 2-0 adjustment bearing 2-5 that is arranged on automatic moving mechanism 1 of carrying mounting platform 2 or bulb; Bearing or bulb is regulated to be connected on the adjustment pin of electric cylinder driving; Electric cylinder is connected on base plate 1-1, and base plate 1-1 is moveable; Automatic transfer arm 3 is arranged on carrying mounting platform 2, and the front end of automatic transfer arm 3 is provided with spray equipment 4, grasping mechanism 7 or crashproof polishing dust collection mechanism 5.
Described automatic moving mechanism 1 comprises base plate 1-1, 4 universal wheel 1-2 with synchronizing wheel 1-4 are had to support under described base plate 1-1, control 4 synchronizing wheel 1-4 by two the servomotor 1-3 being distributed in the left and right sides respectively to rotate, universal wheel is driven to move by Timing Belt 1-5 again, universal wheel motion track is specified by host computer 6-4, host computer 6-4 can adopt central processing unit, computer or Industrial Personal Computer (IPC) or PLC, after host computer 6-4 controls to move to assigned address, Powerful vacuum chuck 1-7 is under cylinder 1-6 effect, move down and start vacuum valve 1-8 and hold ground, play stable platform effect, described cylinder 1-6 is contained on base plate 1-1, described in the cylinder 1-6 be contained on base plate 1-1 be connected with the Powerful vacuum chuck 1-7 with vacuum valve 1-8.
Described carrying mounting platform 2 comprises fixed head 2-0, and be fixed on the fixing feet 2-1 of the one end on base plate 1-1 with bulb, the present embodiment can have three electric cylinders, electric cylinder 2-2-0 respectively, electric cylinder and another electric cylinder, described electric cylinder 2-2-0, electric cylinder is connected with corresponding position, base plate 1-1 bottom surface with another electric cylinder, the present embodiment can have three to regulate pin 2-2, 2-3 and 2-4, described adjustment pin 2-2, or 2-4 is fixed on corresponding electric cylinder 2-2-0, on electric cylinder or another electric cylinder output shaft, described adjustment pin 2-2, 2-3 or 2-4 upper end is connected with fixed head 2-0 by regulating bearing 2-5, described fixing feet 2-1 and three regulates pin to be symmetrically distributed on the bottom surface of base plate 1-1, be fixed on the obliquity sensor 2-6 on fixed head 2-0 or other device that can take measurement of an angle, correlation measurement information is fed back to host computer 6-4 by obliquity sensor 2-6 or other device that can take measurement of an angle, and makes carrying mounting platform 2 arrive level.
3-18 in Figure 10-1 is the locating piece of automatic transfer arm, for locating and supporting automatic transfer arm.
3-5-0 in Fig. 5-1 to Fig. 5-4 is the junction plate of the first servomotor 3-5 and the first reductor 3-4, rises and connects supporting role.
The first rotating manner of described automatic transfer arm 3, see Fig. 7, its structure comprises the reductor 3-1 installed on carrying mounting platform 2 and is driven by servomotor 3-2, can horizontally rotate with fixed head 2-0 parallel direction, reductor 3-1 output shaft is installed the first fixed head 3-3, first fixed head 3-3 fixes the first reductor 3-4, first reductor 3-4 has driven side direction rotation (namely to turn to perpendicular direction to rotate with reductor 3-1 by the first servomotor 3-5, namely rotate with fixed head 2-0 vertical direction), second fixed head 3-6 is arranged on the first reductor 3-4 output shaft, combination arm 3-19 bottom is fixed on the second fixed head 3-6, described combination arm 3-19 comprises at least one group of linear module, the present embodiment can have one group of linear module 3-7 and another to organize linear module 3-10, linear module can adopt screw mandrel or the linear module of belt-type, it is respectively by the second servomotor 3-8, 3rd servomotor 3-11 drives, described one group of linear module 3-7 organizes linear module 3-10 with another can have supporting mechanism, also can, when there being supporting mechanism, the supporting mechanism 3-9 of one group of linear module 3-7 to be fixed on one group of linear module 3-7 and to organize linear module 3-10 with another and is connected, another supporting mechanism 3-12 organizing linear module 3-10 is fixed on another and organizes on linear module 3-10 and to be connected with end arms 3-13 before, the movable part of the supporting mechanism 3-9 of one group of linear module 3-7 along with another organizes that linear module 3-10 moves and mobile and another movable part organizing the supporting mechanism 3-12 of linear module 3-10 moves along with front end arms 3-13 and moves, and plays a supportive role, the front end fixing front end arms 3-13 with the 4th servomotor 3-14 of reductor side direction can rotate (namely rotating with fixed head 2-0 vertical direction), with on the 4th servomotor 3-14 output shaft of reductor, another fixture 3-15 is installed, the 5th servomotor 3-16 with reductor is fixed on another fixture 3-15, the 5th servomotor 3-16 output shaft with reductor is provided with fixture 3-17, plays rotating action.
The second rotating manner of described automatic transfer arm 3, see Fig. 7-1, 7-2, 8-1, its structure comprises the 3rd fixed head 3-0 and installs on carrying mounting platform 2, reductor 3-1 to be fixed on the 3rd fixed head 3-0 and to be driven by servomotor 3-2, side direction rotation can be carried out with fixed head 2-0 vertical direction, reductor 3-1 output shaft is installed the first fixed head 3-3, first fixed head 3-3 fixes the first reductor 3-4, first reductor 3-4 has been driven by the first servomotor 3-5 and has horizontally rotated (namely rotating with fixed head 2-0 parallel direction), second fixed head 3-6 is arranged on the first reductor 3-4 output shaft, combination arm 3-19 bottom is fixed on the second fixed head 3-6, described combination arm 3-19 comprises at least one group of linear module, the present embodiment can have one group of linear module 3-7 and another to organize linear module 3-10, linear module can adopt screw mandrel or the linear module of belt-type, it is respectively by the second servomotor 3-8, 3rd servomotor 3-11 drives, described one group of linear module 3-7 organizes linear module 3-10 with another can have supporting mechanism, also can, when there being supporting mechanism, the supporting mechanism 3-9 of one group of linear module 3-7 to be fixed on one group of linear module 3-7 and to organize linear module 3-10 with another and is connected, another supporting mechanism 3-12 organizing linear module 3-10 is fixed on another and organizes on linear module 3-10 and to be connected with end arms 3-13 before, the movable part of the supporting mechanism 3-9 of one group of linear module 3-7 along with another organizes that linear module 3-10 moves and mobile and another movable part organizing the supporting mechanism 3-12 of linear module 3-10 moves along with front end arms 3-13 and moves, and plays a supportive role, the front end fixing front end arms 3-13 with the 4th servomotor 3-14 of reductor can horizontally rotate (namely rotating with fixed head 2-0 parallel direction), with on the 4th servomotor 3-14 output shaft of reductor, another fixture 3-15 is installed, the 5th servomotor 3-16 with reductor is fixed on another fixture 3-15, the 5th servomotor 3-16 output shaft with reductor is provided with fixture 3-17, plays rotating action.
Described the third rotating manner of automatic transfer arm 3, see Fig. 5-1, 5-2, its structure comprises the reductor 3-1 installed on carrying mounting platform 2 and is driven by servomotor 3-2, can horizontally rotate (namely rotating with fixed head 2-0 parallel direction), servomotor 3-2 is fixed on L-type fixed head 3-2-0, reductor 3-1 output shaft is installed the first fixed head 3-3, first fixed head 3-3 fixes the first reductor 3-4, first reductor 3-4 has driven side direction to rotate (namely rotating with fixed head 2-0 vertical direction) by the first servomotor 3-5, first servomotor 3-5 can be fixed on junction plate 3-5-0, when reductor 3-1 and the first reductor 3-4 adopts hollow turbine worm reducer or flange turbine worm reducer, servomotor 3-2 and the first servomotor 3-5 directly (or by shaft coupling 3-2-1,3-5-1) are connected reductor 3-1 and the first reductor 3-4, second fixed head 3-6 is arranged on the first reductor 3-4 output shaft, combination arm 3-19 bottom is fixed on the second fixed head 3-6, described combination arm 3-19 combines arm 3-19 and comprises at least one group of linear module, the present embodiment can have one group of linear module 3-7 and another to organize linear module 3-10, linear module can adopt screw mandrel or the linear module of belt-type, it is respectively by the second servomotor 3-8, 3rd servomotor 3-11 drives, described one group of linear module 3-7 organizes linear module 3-10 with another can have supporting mechanism, also can, when there being supporting mechanism, the supporting mechanism 3-9 of one group of linear module 3-7 to be fixed on one group of linear module 3-7 and to organize linear module 3-10 with another and is connected, another supporting mechanism 3-12 organizing linear module 3-10 is fixed on another and organizes on linear module 3-10 and to be connected with end arms 3-13 before, the movable part of the supporting mechanism 3-9 of one group of linear module 3-7 along with another organizes that linear module 3-10 moves and mobile and another movable part organizing the supporting mechanism 3-12 of linear module 3-10 moves along with front end arms 3-13 and moves, and plays a supportive role, on the front end fixing front end arms 3-13 with the 4th servomotor 3-14 of reductor and side direction rotates (namely rotating with fixed head 2-0 vertical direction), with on the 4th servomotor 3-14 output shaft of reductor, another fixture 3-15 is installed, the 5th servomotor 3-16 with reductor is fixed on another fixture 3-15, the 5th servomotor 3-16 output shaft with reductor is provided with fixture 3-17, plays rotating action.
Described automatic transfer arm 3 the 4th kind of rotating manner, see Fig. 5-3, 5-4, its structure comprises the reductor 3-1 installed on carrying mounting platform 2 and is driven by servomotor 3-2, side direction can rotate (namely rotating with fixed head 2-0 vertical direction), servomotor 3-2 is fixed on L-type fixed head 3-2-0, reductor 3-1 output shaft is installed the first fixed head 3-3, first fixed head 3-3 fixes the first reductor 3-4, first reductor 3-4 has been driven by the first servomotor 3-5 and has horizontally rotated (namely rotating with fixed head 2-0 parallel direction), when reductor 3-1 and the first reductor 3-4 adopts hollow turbine worm reducer or flange turbine worm reducer, servomotor 3-2 and the first servomotor 3-5 is directly (or by shaft coupling 3-2-1, 3-5-1) connect reductor 3-1 and the first reductor 3-4, second fixed head 3-6 is arranged on the first reductor 3-4 output shaft, combination arm 3-19 bottom is fixed on the second fixed head 3-6, described combination arm 3-19 comprises at least one group of linear module, the present embodiment can have one group of linear module 3-7 and another to organize linear module 3-10, linear module can adopt screw mandrel or the linear module of belt-type, it is respectively by the second servomotor 3-8, 3rd servomotor 3-11 drives, described one group of linear module 3-7 organizes linear module 3-10 with another can have supporting mechanism, also can, when there being supporting mechanism, the supporting mechanism 3-9 of one group of linear module 3-7 to be fixed on one group of linear module 3-7 and to organize linear module 3-10 with another and is connected, another supporting mechanism 3-12 organizing linear module 3-10 is fixed on another and organizes on linear module 3-10 and to be connected with end arms 3-13 before, the movable part of the supporting mechanism 3-9 of one group of linear module 3-7 along with another organizes that linear module 3-10 moves and mobile and another movable part organizing the supporting mechanism 3-12 of linear module 3-10 moves along with front end arms 3-13 and moves, and plays a supportive role, the front end fixing front end arms 3-13 with the 4th servomotor 3-14 of reductor can horizontally rotate (namely rotating with fixed head 2-0 parallel direction), with on the 4th servomotor 3-14 output shaft of reductor, another fixture 3-15 is installed, the 5th servomotor 3-16 with reductor is fixed on another fixture 3-15, the 5th servomotor 3-16 output shaft with reductor is provided with fixture 3-17, plays rotating action.
Described spray equipment 4 comprises: the substrate 4-1 be connected with fixture 3-17 and spray gun 4-3 or pneumatic air drill 4-5, as shown in Figure 10 and Figure 10-2, spray gun 4-3 or pneumatic air drill 4-5 is fixed on substrate 4-1, fixes with the 5th fixed head 4-2.Spraying cylinder 4-4 is fixed on substrate 4-1, during work, detects pressure in spray cans 4-6, controls spraying cylinder 4-4 action, realizes automatic coating; Or control spraying cylinder 4-4 makes pneumatic air drill 4-5 carry out boring action.
Described crashproof polishing dust collection mechanism 5 comprises shell 5-1, mill 5-2, electro spindle 5-3, sweep-up pipe 5-4, dust arrester 5-5, optical axis 5-8 and gas-tpe fitting 5-6, optical axis 5-8 is arranged on fixture 3-17, 4 directions on fixture 3-17 respectively fill 1 mechanical limit switch be connected with central processing unit, prevent shell 5-1 from colliding body of wall, polishing cylinder 3-17-2 is fixed on fixture 3-17 and its projecting shaft is connected with shell 5-1, drive the optical axis 5-8 in the shell 5-1 of crashproof polishing dust collection mechanism can move forward and backward on linear bearing 3-17-1, wherein mill 5-2 has boring lead angle 5-7 every certain angle, make it all can match with thimble 3-17-3 in any position by boring lead angle 5-7, thimble 3-17-3 is fixed on fixture 3-17, dry sanding paper is inhaled on before mill 5-2, thimble 3-17-3 can make Sand paper for polishing depart from crashproof workpiece polishing mechanism 5, realize automatically changing sand paper.Crashproof polishing dust collection mechanism 5 comprises band dust-absorbing function shell 5-1, shell 5-1 is connected with dust arrester 5-5 by sweep-up pipe 5-4, mill 5-2 is connected with electro spindle 5-3, electro spindle 5-3 is fixed on fixed head 2-0, dust in shell 5-1 is collected by sweep-up pipe 5-4 by electro spindle 5-3 control mill 5-2, dust arrester 5-5, external tracheae 5-6, completes the crashproof sanding operation of automatic dust-free.
Described grasping mechanism 7 comprises the 4th fixed head 7-1, and the 4th fixed head 7-1 mono-side and fixture 3-17 fix, one group of vacuum cup 7-2 or gripping device 7-3 is at least fixed in another side; The one group of vacuum cup 7-2 be fixed with, rises and captures function; Gripping device 7-3 is used for gripping object etc.
The utility model also comprises automatic measurement, long range positioning transmission data, image, remote control 6, described automatic measurement, long range positioning transmission data, image, remote control 6 comprise horizontal rotary mechanism 6-1, measuring apparatus 6-2 and camera head 6-3, measuring apparatus 6-2 and camera head 6-3 is or wire communication wireless with host computer 6-4 respectively, utilizes GPRS module to transmit data and image remote control appliance startup stopping.
Above-mentioned linear module is a kind of linear transmission, mainly contains two kinds of modes.One is ball-screw and line slideway composition, and another kind is with Timing Belt and synchronous pulley composition.
During utility model works, working platform is moved to appointed place, plug alternating current and air compressor machine tracheae, now host computer 6-4 judges that whether carrying mounting platform 2 is parallel with metope, carrying mounting platform 2 whether level, when not parallel, control 4 synchronizing wheel 1-4 by two the servomotor 1-3 being distributed in the left and right sides and rotate leveling row, when not being when being in level, order about three by electric cylinder and regulate pin 2-2, 2-3 and 2-4 level-off, when processing horizontal and parallel with metope time, CPU or motion board combination CPU drives servomotor 3-2, first servomotor 3-5, second servomotor 3-8, 3rd servomotor 3-11, 4th servomotor 3-14, 5th servomotor 3-16 action, carry out spraying or crashproof polishing or crawl or boring, when crashproof workpiece polishing mechanism encounters metope, then send warning, stop relevant action.

Claims (10)

1. a full automatic wall surface canopy face spraying sanding apparatus, comprising: travel mechanism, carrying mounting platform (2) and automatic transfer arm; It is characterized in that: described travel mechanism adopts hand operated shifting mechanisms or automatic moving mechanism (1), on the adjustment bearing that the fixed head (2-0) of carrying mounting platform is arranged on travel mechanism or bulb; Bearing or bulb is regulated to be connected on the adjustment pin of electric cylinder driving; Electric cylinder is connected on the base plate (1-1) of travel mechanism, and base plate (1-1) realizes movement by travel mechanism; Automatic transfer arm (3) is arranged in carrying mounting platform (2), and the front end of automatic transfer arm (3) is provided with spray equipment (4) or grasping mechanism (7) or crashproof polishing dust collection mechanism (5).
2. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 1, it is characterized in that: described automatic moving mechanism (1) comprises base plate (1-1), universal wheel (1-2) balanced support with synchronizing wheel (1-4) is had under described base plate (1-1), and take turns (1-4) rotation by servomotor (1-3) control synchronization, universal wheel is driven to move by Timing Belt (1-5) again, universal wheel motion track is specified by host computer (6-4), after controlling to move to assigned address through host computer (6-4), Powerful vacuum chuck (1-7) is under cylinder (1-6) effect, move down and start vacuum valve (1-8) and hold ground and play firm effect, described cylinder (1-6) is contained on base plate (1-1), described in the cylinder (1-6) be contained on base plate (1-1) be connected with the Powerful vacuum chuck (1-7) with vacuum valve (1-8).
3. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 1 and 2, it is characterized in that: described carrying mounting platform (2) comprises fixed head (2-0), and be fixed on the fixing feet of the one end on base plate (1-1) with bulb, described electric cylinder is connected with base plate (1-1) corresponding position, bottom surface, described adjustment pin is fixed on the output shaft of corresponding electric cylinder, described adjustment pin upper end is connected with fixed head (2-0) by regulating bearing (2-5), fixed head (2-0) is fixed with obliquity sensor (2-6), correlation measurement information is fed back to host computer (6-4) by obliquity sensor (2-6), touch and electric cylinder is driven regulate pin and fixed head (2-0) is up to the standard state.
4. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 3, it is characterized in that: described its structure of automatic transfer arm comprises the reductor (3-1) installed in carrying mounting platform (2), reductor (3-1) is driven by servomotor (3-2), can horizontally rotate on the direction parallel with fixed head (2-0), reductor (3-1) output shaft is installed the first fixed head (3-3), first fixed head (3-3) is fixed the first reductor (3-4), first reductor (3-4) has been driven by the first servomotor (3-5) and has rotated on the direction vertical with fixed head (2-0), second fixed head (3-6) is arranged on the first reductor (3-4) output shaft, combination arm (3-19) bottom is fixed on the second fixed head (3-6), described combination arm comprises at least one group of linear module, comprise one group of linear module (3-7) wherein and another organizes linear module (3-10), it is respectively by the second servomotor (3-8), 3rd servomotor (3-11) drives, the front end being fixed on front end arms (3-13) with the 4th servomotor (3-14) of reductor can side direction rotate, with on the 4th servomotor (3-14) output shaft of reductor, another fixture (3-15) is installed, the 5th servomotor (3-16) with reductor is fixed on another fixture (3-15), and the 5th servomotor (3-16) output shaft with reductor is provided with fixture (3-17).
5. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 3, it is characterized in that: described its structure of automatic transfer arm comprises the 3rd fixed head (3-0), it installs in carrying mounting platform (2), reductor (3-1) is fixed on the 3rd fixed head (3-0) and goes up and driven by servomotor (3-2), side rotary can be carried out on the direction vertical with fixed head (2-0) to turn, reductor (3-1) output shaft is installed the first fixed head (3-3), the first reductor fixed by first fixed head (3-3), first reductor (3-4) has been driven by the first servomotor (3-5) and has horizontally rotated, second fixed head (3-6) is arranged on the first reductor (3-4) output shaft, combination arm (3-19) bottom is fixed on the second fixed head (3-6), described combination arm (3-19) comprises at least one group of linear module, comprise one group of linear module (3-7) wherein and another organizes linear module, it is respectively by the second servomotor (3-8), 3rd servomotor (3-11) drives, the front end being fixed on front end arms (3-13) with the 4th servomotor of reductor can horizontally rotate, with on the 4th servomotor (3-14) output shaft of reductor, another fixture (3-15) is installed, the 5th servomotor (3-16) with reductor is fixed on another fixture (3-15), and the 5th servomotor (3-16) output shaft with reductor is provided with fixture (3-17).
6. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 3, it is characterized in that: described its structure of automatic transfer arm comprises the reductor (3-1) installed in carrying mounting platform (2), it is driven by servomotor (3-2), can horizontally rotate, servomotor (3-2) is fixed on L-type fixed head (3-2-0), reductor (3-1) output shaft is installed the first fixed head (3-3), first fixed head (3-3) is fixed the first reductor (3-4), first reductor (3-4) has driven side direction to rotate by the first servomotor (3-5), when reductor (3-1) and the first reductor (3-4) adopt hollow turbine worm reducer or flange turbine worm reducer, servomotor (3-2) and the first servomotor (3-5) are directly or be connected reductor (3-1) and the first reductor (3-4) by shaft coupling, second fixed head (3-6) is arranged on the first reductor (3-4) output shaft, combination arm (3-19) bottom is fixed on the second fixed head (3-6), described combination arm (3-19) comprises at least one group of linear module, comprise one group of linear module (3-7) wherein and another organizes linear module (3-10), linear module can adopt screw mandrel or the linear module of belt-type, and it is driven by the second servomotor (3-8), the 3rd servomotor (3-11) respectively, on the front end being fixed on front end arms (3-13) with the 4th servomotor (3-14) of reductor and side direction rotate, with on the 4th servomotor (3-14) output shaft of reductor, another fixture (3-15) is installed, the 5th servomotor (3-16) with reductor is fixed on another fixture (3-15), and the 5th servomotor (3-16) output shaft with reductor is provided with fixture (3-17).
7. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 3, it is characterized in that: described its structure of automatic transfer arm comprises the reductor (3-1) installed in carrying mounting platform (2), it is driven by servomotor (3-2), can side direction rotate, servomotor (3-2) is fixed on L-type fixed head (3-2-0), reductor (3-1) output shaft is installed the first fixed head (3-3), first fixed head (3-3) is fixed the first reductor (3-4), first reductor (3-4) has been driven by the first servomotor (3-5) and has horizontally rotated, when reductor (3-1) and the first reductor (3-4) adopt hollow turbine worm reducer or flange turbine worm reducer, servomotor (3-2) and the first servomotor (3-5) are directly or be connected reductor (3-1) and the first reductor (3-4) by shaft coupling, second fixed head (3-6) is arranged on the first reductor (3-4) output shaft, combination arm (3-19) bottom is fixed on the second fixed head (3-6), described combination arm (3-19) comprises at least one group of linear module, comprise one group of linear module (3-7) wherein and another organizes linear module (3-10), it is driven by the second servomotor (3-8), the 3rd servomotor (3-11) respectively, the front end being fixed on front end arms with the 4th servomotor (3-14) of reductor can horizontally rotate, with on the 4th servomotor (3-14) output shaft of reductor, another fixture (3-15) is installed, the 5th servomotor (3-16) with reductor is fixed on another fixture (3-15), and the 5th servo motor output shaft with reductor is provided with fixture (3-17).
8. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 4 or 5 or 6 or 7, it is characterized in that: described spray equipment (4) comprising: the substrate (4-1) be connected with fixture (3-17) and spray gun (4-3) or pneumatic air drill, spray gun (4-3) or pneumatic air drill (4-5) are fixed on substrate (4-1), fix with the 5th fixed head (4-2); Spraying cylinder (4-4) is fixed on substrate (4-1), during work, detects pressure in spray cans (4-6), controls the action of spraying cylinder, realizes automatic coating; Or opening spraying cylinder (4-4) drives pneumatic air drill (4-5) to hole.
9. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 4 or 5 or 6 or 7, it is characterized in that: described crashproof polishing dust collection mechanism (5) comprises shell (5-1), mill (5-2), electro spindle (5-3), sweep-up pipe (5-4), dust arrester (5-5), optical axis (5-8) and gas-tpe fitting (5-6), optical axis (5-8) is enclosed within fixture (3-17), shell is connected with dust arrester (5-5) by sweep-up pipe (5-4), mill (5-2) is connected with electro spindle (5-3), mill (5-2) is controlled by electro spindle, dust arrester (5-5) is collected the dust in shell (5-1) by sweep-up pipe (5-4), fixture at least one direction fills 1 mechanical limit switch be connected with host computer, prevent shell (5-1) from colliding body of wall, polishing cylinder (3-17-2) is fixed on upper and its projecting shaft of fixture (3-17) and is connected with shell (5-1), optical axis (5-8) in shell (5-1) can move forward and backward on linear bearing (3-17-1), wherein mill (5-2) has boring lead angle every certain angle, make it all can match with thimble (3-17-3) in any position by boring lead angle (5-7), thimble (3-17-3) is fixed on fixture (3-17), dry sanding paper is inhaled on before mill (5-2).
10. a kind of full automatic wall surface canopy face spraying sanding apparatus according to claim 4 or 5 or 6 or 7, it is characterized in that: described grasping mechanism (7) comprises the 4th fixed head (7-1), the 4th fixed head (7-1) side and fixture (3-17) are fixing, one group of vacuum cup (7-2) or gripping device (7-3) are at least fixed in another side; Described one group of linear module has supporting mechanism (3-9), and it is upper and organize linear module (3-10) with another and be connected that described supporting mechanism (3-9) is fixed on one group of linear module (3-7); Described another organizes linear module (3-10) supporting mechanism (3-12), and described supporting mechanism is fixed on another, and to organize linear module (3-10) upper and be connected with end arms before (3-13); The movable part of the supporting mechanism (3-9) of one group of linear module (3-7) along with another organize mobile and mobile and another movable part organizing the supporting mechanism (3-12) of linear module of linear module (3-10) along with front end arms (3-13) mobile and move, and to play a supportive role; Also comprise automatic measurement, long range positioning transmission data image, remote control (6), described automatic measurement, long range positioning transmission data, image, remote control (6) comprise horizontal rotary mechanism (6-1), measuring apparatus (6-2) and camera head (6-3), described measuring apparatus (6-2) and camera head (6-3) be or wire communication wireless with host computer (6-4) respectively, utilizes GPRS module transmission data and image remote to control to start or stop.
CN201420819430.1U 2014-12-22 2014-12-22 A kind of full automatic wall surface canopy face spraying sanding apparatus CN204728657U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104563458A (en) * 2014-12-22 2015-04-29 董旺建 Fully automatic wall surface and shed surface spray coating grinding device
CN106381990A (en) * 2016-11-04 2017-02-08 浙江百施通网络科技有限公司 Robot for wall and floor paving
CN107322391A (en) * 2017-08-09 2017-11-07 宿州云宏建设安装有限公司 A kind of building wall automatically grinding equipment
CN107690272A (en) * 2017-08-31 2018-02-13 阜阳扬宇充电设备有限公司 A kind of electronic component grabbing device of power module production inserter
CN108005357A (en) * 2017-11-27 2018-05-08 宁波市鄞州智伴信息科技有限公司 A kind of architectural decoration mechanical grinding device
CN108381317A (en) * 2018-03-01 2018-08-10 袁超 A kind of splicing intelligent concrete sanding machine of multimode design
CN109267731A (en) * 2018-11-09 2019-01-25 余选兵 It is a kind of to plaster, scrape white, polishing and spraying all-in-one machine

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104563458A (en) * 2014-12-22 2015-04-29 董旺建 Fully automatic wall surface and shed surface spray coating grinding device
CN104563458B (en) * 2014-12-22 2017-02-22 董旺建 Fully automatic wall surface and shed surface spray coating grinding device
CN106381990A (en) * 2016-11-04 2017-02-08 浙江百施通网络科技有限公司 Robot for wall and floor paving
CN106381990B (en) * 2016-11-04 2018-08-21 浙江百施通网络科技有限公司 Wall ground paving robot
CN107322391A (en) * 2017-08-09 2017-11-07 宿州云宏建设安装有限公司 A kind of building wall automatically grinding equipment
CN107322391B (en) * 2017-08-09 2018-12-21 滁州普立惠技术服务有限公司 A kind of building wall automatically grinding equipment
CN107690272A (en) * 2017-08-31 2018-02-13 阜阳扬宇充电设备有限公司 A kind of electronic component grabbing device of power module production inserter
CN107690272B (en) * 2017-08-31 2019-11-19 安徽荣盛精密科技有限责任公司 A kind of power module production electronic component grabbing device of plug-in machine
CN108005357B (en) * 2017-11-27 2019-10-15 台州市汇源模具有限公司 A kind of architectural decoration mechanical grinding device
CN108005357A (en) * 2017-11-27 2018-05-08 宁波市鄞州智伴信息科技有限公司 A kind of architectural decoration mechanical grinding device
CN108381317A (en) * 2018-03-01 2018-08-10 袁超 A kind of splicing intelligent concrete sanding machine of multimode design
CN109267731A (en) * 2018-11-09 2019-01-25 余选兵 It is a kind of to plaster, scrape white, polishing and spraying all-in-one machine

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