CN205421857U - Building surface coating robot - Google Patents
Building surface coating robot Download PDFInfo
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- CN205421857U CN205421857U CN201520861629.5U CN201520861629U CN205421857U CN 205421857 U CN205421857 U CN 205421857U CN 201520861629 U CN201520861629 U CN 201520861629U CN 205421857 U CN205421857 U CN 205421857U
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- scraper plate
- guide rail
- equalizer pulley
- vertical shift
- detection sensor
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Abstract
The utility model discloses a building surface coating robot, including the spray gun, the patching machine, big scraper blade, walking dolly and control system, the spray gun passes through the hose and links to each other with the patching machine, walking dolly front end is equipped with the support arm, big scraper blade is through leading the vertical slidable mounting of slip subassembly on the support arm, install on the walking dolly and be used for driving big scraper blade gliding hoist mechanism from top to bottom, spray gun lateral sliding installs on big scraper blade, the shower nozzle and the big scraper blade syntropy of spray gun are arranged, install drive spray gun lateral sliding's actuating mechanism on big scraper blade or the direction slip subassembly, the patching machine is installed on the walking dolly, and patching machine, hoist mechanism and actuating mechanism are connected with the control system electricity respectively. Install on big scraper blade through designing into the spray gun lateral sliding to through direction slip subassembly with big scraper blade slidable mounting on the support arm, thereby realized that automatic whitewashing with automatic floating, and then has realized the automation of plastering on the building wall surface having reduced workman's intensity of labour widely.
Description
Technical field
This utility model belongs to building machinery automatic field, particularly to a kind of building surface spray robot.
Background technology
Construction wall surface plastering is by by floating for the mortar surface to construction wall, allows surface of wall form the technique of one layer of coat of plaster, and the coat of plaster of formation mainly has three kinds of functions:
(1) meeting use functional requirement, coat of plaster can play the effects such as insulation, heat insulation, moistureproof, efflorescence prevention and sound insulation；
(2) meeting requirement attractive in appearance, coat of plaster can make the interface of building smooth, bright and clean, attractive in appearance and comfortable, and the beneficially next procedure such as tiling or Puttying；
(3) protection building, coat of plaster can make the structure division of building or structures not corroded by unfavorable factors such as surrounding apoplexy, rain, snow, Exposure to Sunlight, humidity and harmful gass, extends building or the service life of structures.
Construction wall surface plastering is a heavy physical work, currently mainly has and manually plasters and semi-automation is plastered two ways.Specifically, manually plastering is first to be put on plastering plate by mortar, then passes through plastering plate by floating for mortar on surface of wall, and this process is comparatively laborious, and physical labor intensity is big, efficiency is low, and therefore cost of labor is costly；And semi-automation to plaster be first to be ejected on surface of wall by mortar with spray gun, again by Artificial Control scraper plate by monoblock wall floating, this process labor intensity of more manually plastering reduces, but owing to need nonetheless remain for Artificial Control spray gun and scraper plate, so physical labor intensity is the biggest and efficiency is the most relatively low.
Summary of the invention
Plastering the bigger and inefficient problem of labor intensity to solve existing building surface of wall, this utility model embodiment provides a kind of building surface spray robot.Described technical scheme is as follows:
This utility model embodiment provides a kind of building surface spray robot, including spray gun, pulp shooting machine, big scraper plate, walking dolly and control system, described spray gun is connected with described pulp shooting machine by flexible pipe, the front end of described walking dolly is provided with support arm, described big scraper plate is vertically slidably mounted on described support arm by guiding slide assemblies, hoisting mechanism for driving described guiding slide assemblies to slide up and down is installed on described walking dolly, described spray gun slides laterally and is arranged on described big scraper plate, the shower nozzle of described spray gun is arranged in the same direction with described big scraper plate, the drive mechanism driving described spray gun to slide laterally is installed on described big scraper plate and described guiding slide assemblies；Described pulp shooting machine is arranged on described walking dolly, and described pulp shooting machine, described hoisting mechanism and described drive mechanism electrically connect with described control system respectively.It is slidably mounted on big scraper plate by gun design is open into, and by guiding slide assemblies, big scraper plate is slidably mounted on support arm, so, the transverse shifting not only achieving spray gun is whitewashed the most automatically with vertically moving, and, also achieve the i.e. automatic plastering that vertically moves of big scraper plate, and then achieve the automatization of construction wall surface plastering, greatly reduce the labor intensity of workman；And, after whitewashing, big scraper plate also can from top to bottom overall time floating, so, improve the quality of construction wall surface plastering.
In such scheme, described support arm includes vertical arm and vertical shift guide rail, described vertical arm is fixedly mounted on the front end of described walking dolly, described vertical arm and described vertical shift guide rail are made by channel-section steel, described vertical shift guide rail is respectively provided on two sides with a pair guide wheels outwardly, described vertical shift guide rail is vertically slidably installed in the groove of described vertical arm by described guide wheels, described big scraper plate is vertically slidably mounted in the groove of described vertical shift guide rail by described guiding slide assemblies, described vertical shift guide rail upper end is provided with linkage crossbeam, described linkage crossbeam drives described vertical shift guide rail to slide in described vertical arm for described guiding slide assemblies.
In such scheme, described guiding slide assemblies includes I shape connecting plate and scraper plate directive wheel, a plate of described I shape connecting plate is connected with described big scraper plate, another connecting plate of described I shape connecting plate be respectively arranged at two ends with a pair described scraper plate directive wheel outwardly, described scraper plate directive wheel slides in the groove being installed on described vertical shift guide rail.
In such scheme, described spray gun includes described shower nozzle, base, shower nozzle clamping plate and shower nozzle directive wheel, described shower nozzle is arranged on described base by described shower nozzle clamping plate, described base is slidably mounted on described big scraper plate by described shower nozzle directive wheel, the position of the corresponding described shower nozzle both sides of described base is respectively equipped with distance measuring sensor, described distance measuring sensor electrically connects with described control system, further respectively has a little scraper plate between described shower nozzle and described distance measuring sensor.
In such scheme, the quantity of described spray gun is 2, 2 described spray guns are arranged in the both sides of described guiding slide assemblies, described drive mechanism includes motor, drive sprocket, by movable sprocket, two chains and two drive sprockets, described motor is arranged on described I shape connecting plate, described drive sprocket is arranged on the output shaft of described motor, described it be arranged on described I shape connecting plate by movable sprocket and be in transmission connection with described drive sprocket, two described drive sprockets are separately mounted to the two ends of described big scraper plate, a piece described chain is sleeved on described drive sprocket and a described drive sprocket, chain described in another root is sleeved on described by movable sprocket and another described drive sprocket, the described base of 2 described spray guns is fixing with two described chains respectively to be connected, described motor electrically connects with described control system；The length of described big scraper plate is consistent with the length sum of described two chains, and the described length of big scraper plate matches with the width of metope.
In such scheme, described big scraper plate be respectively arranged at two ends with for detect described spray gun whether move to termination primary importance detection sensor, the centre position of described big scraper plate be respectively provided with detect described spray gun whether move put in place the second position detection sensor；Described linkage crossbeam end face is provided with the 3rd position-detection sensor for detecting described linkage crossbeam and the spacing on wall top；Described linkage crossbeam bottom surface is provided with the 4th position sensor whether moving to described vertical shift rail crown for detecting described guiding slide assemblies, and described vertical arm top is provided with the 5th position-detection sensor whether moving to described vertical arm top for detecting described vertical shift guide rail；It is provided with bottom described vertical arm for detecting described vertical shift guide rail the 6th position-detection sensor whether return puts in place；It is provided with bottom described vertical shift guide rail for detecting described guiding slide assemblies the 7th position-detection sensor whether return puts in place；Described primary importance detection sensor, described second position detection sensor, described 3rd position-detection sensor, described 4th position-detection sensor, described 5th position-detection sensor, described 6th position-detection sensor and described 7th position-detection sensor electrically connect with described control system respectively.
In such scheme, described hoisting mechanism includes hoist engine, first lifting tackle, second lifting tackle, 3rd lifting tackle, 4th lifting tackle and boom hoist cable, described hoist engine is arranged on described walking dolly, the bottom of described vertical shift guide rail installed by described first lifting tackle, described second lifting tackle is arranged on the top of described vertical arm, described 3rd lifting tackle is arranged on described linkage crossbeam, described 4th lifting tackle is arranged on described guiding slide assemblies, described boom hoist cable one end is fixed on the reel of hoist engine, the described boom hoist cable other end walks around described reel successively, described second lifting tackle, described first lifting tackle, described 3rd lifting tackle is connected with described linkage crossbeam after described 4th lifting tackle, described hoist engine electrically connects with described control system.
nullIn such scheme，Robot also includes vertical shift guide rail balanced controls，Described vertical shift guide rail balanced controls include the first guide rail equalizer pulley、Second guide rail equalizer pulley、3rd guide rail equalizer pulley and guide rail balance rope，Described first guide rail equalizer pulley is arranged on the one end at described vertical arm top，Described second guide rail equalizer pulley is arranged on the one end bottom described vertical arm and described second guide rail equalizer pulley is positioned at immediately below described first guide rail equalizer pulley，Described 3rd guide rail equalizer pulley is arranged on the other end bottom described vertical arm，Described guide rail balance rope one end is fixed on the position of upper corresponding described first guide rail equalizer pulley bottom described vertical shift guide rail，The described guide rail balance rope other end walks around described first guide rail equalizer pulley successively、The position of upper corresponding described 3rd guide rail equalizer pulley bottom described vertical shift guide rail it is connected to after described second guide rail equalizer pulley and described 3rd guide rail equalizer pulley.
nullIn such scheme，Robot also includes big scraper plate balanced controls，Described big scraper plate balanced controls include the first scraper plate equalizer pulley、Second scraper plate equalizer pulley、3rd scraper plate equalizer pulley and scraper plate balance rope，Described first scraper plate equalizer pulley is arranged on the bottom of described vertical shift guide rail，Described first scraper plate equalizer pulley and described first lifting tackle state the two ends bottom vertical shift guide rail described in laying respectively at，Described second scraper plate equalizer pulley is arranged on the position bottom described vertical shift guide rail between upper corresponding described first scraper plate equalizer pulley and described first lifting tackle，Described 3rd scraper plate equalizer pulley is arranged on described linkage crossbeam，And described 3rd scraper plate equalizer pulley is positioned at directly over described first scraper plate equalizer pulley，Described scraper plate balance rope one end is fixed on described guiding slide assemblies the position of corresponding described 3rd scraper plate equalizer pulley，The described scraper plate balance rope other end walks around described 3rd scraper plate equalizer pulley successively、The position of corresponding described second scraper plate equalizer pulley it is connected on described guiding slide assemblies after described first scraper plate equalizer pulley and described second scraper plate equalizer pulley.
In such scheme, described walking dolly is provided with for fixing supporting leg, described supporting leg includes two movable supporting legs and two fixed supporting legs, and it is anterior that said two movable supporting legs is arranged in described walking dolly, and said two fixed supporting leg is arranged in described walking dolly rear portion.
The technical scheme that this utility model embodiment provides has the benefit that
It is slidably mounted on big scraper plate by gun design is open into, and by guiding slide assemblies, big scraper plate is slidably mounted on support arm, so, the transverse shifting not only achieving spray gun is whitewashed the most automatically with vertically moving, and, also achieve the i.e. automatic plastering that vertically moves of big scraper plate, and then achieve the automatization of construction wall surface plastering, greatly reduce the labor intensity of workman；And, after whitewashing, big scraper plate also can from top to bottom overall time floating, so, improve the quality of construction wall surface plastering.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the original state structural representation of the robot that this utility model embodiment provides；
Fig. 2 is the intermediateness structural representation of the robot that this utility model embodiment provides；
Fig. 3 is the end-state structural representation of the robot that this utility model embodiment provides；
Fig. 4 be Fig. 3 face structural representation；
Fig. 5 is the structural representation after the robot that this utility model embodiment provides removes steel wire rope and pulley；
Fig. 6 is the structural representation after Fig. 5 removes spray gun, big scraper plate and vertical shift guide rail；
Fig. 7 is the structural representation of the vertical shift guide rail that this utility model embodiment provides；
Fig. 8 is spray gun and the structural representation of big scraper plate of this utility model embodiment offer；
Fig. 9 is the structural representation guiding slide assemblies that this utility model embodiment provides；
Figure 10 is the big scraper plate that this utility model embodiment provides and the structural representation guiding slide assemblies；
Figure 11 is the structural representation of the drive mechanism that this utility model embodiment provides；
Figure 12 is the structural representation of the spray gun that this utility model embodiment provides；
Figure 13 is the mounting structure schematic diagram of the spray gun that this utility model embodiment provides；
When Figure 14 is the robot initial state that this utility model embodiment provides, the position relationship schematic diagram of each steel wire rope and pulley；
When Figure 15 is the robot intermediateness that this utility model embodiment provides, the position relationship schematic diagram of each steel wire rope and pulley；
During the robot end-state that Figure 16 this utility model embodiment provides, the position relationship schematic diagram of each steel wire rope and pulley.
In figure, each symbol represents that implication is as follows:
nullSpray gun 1，Shower nozzle 1a，Base 1b，Shower nozzle clamping plate 1c，Shower nozzle directive wheel 1d，Distance measuring sensor 1e，Little scraper plate 1f，Pulp shooting machine 2，Big scraper plate 3，Walking dolly 4，Support arm 5，Vertical arm 5a，Vertical shift guide rail 5b，Guide wheels 5c，Linkage crossbeam 5d，Guide slide assemblies 6，I shape connecting plate 6a，Scraper plate directive wheel 6b，Hoisting mechanism 7，Hoist engine 7a，First lifting tackle 7b，Second lifting tackle 7c，3rd lifting tackle 7d，4th lifting tackle 7e，Boom hoist cable 7f，Drive mechanism 8，Motor 8a，Drive sprocket 8b，By movable sprocket 8c，Chain 8d，Drive sprocket 8e，Primary importance detection sensor 9，Second position detection sensor 10，4th position-detection sensor 12，Vertical shift guide rail balanced controls 13，First guide rail equalizer pulley 13a，Second guide rail equalizer pulley 13b，3rd guide rail equalizer pulley 13c，Guide rail balance rope 13d，Big scraper plate balanced controls 14，First scraper plate equalizer pulley 14a，Second scraper plate equalizer pulley 14b，3rd scraper plate equalizer pulley 14c，Scraper plate balance rope 14d，Supporting leg 15，Movable supporting legs 15a，Two fixed supporting leg 15b，3rd position-detection sensor 16，5th position-detection sensor 17，6th position-detection sensor 18，7th position-detection sensor 19.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing, this utility model embodiment is described in further detail.
Embodiment
Such as Fig. 1, Fig. 2, shown in Fig. 3 and Fig. 4, a kind of building surface spray robot that this utility model embodiment provides, including spray gun 1, pulp shooting machine 2, big scraper plate 3, walking dolly 4 and control system, spray gun 1 is connected with pulp shooting machine 2 by flexible pipe, the front end of walking dolly 4 is provided with support arm 5, big scraper plate 3 is vertically slidably mounted on support arm 5 by guiding slide assemblies 6, the hoisting mechanism 7 slided up and down for band action-oriented slide assemblies 6 is installed on walking dolly 4, spray gun 1 slides laterally and is arranged on big scraper plate 3, the shower nozzle 1a of spray gun 1 arranges in the same direction with big scraper plate 3, on big scraper plate 3 and guiding slide assemblies 6, the drive mechanism 8 driving spray gun 1 to slide laterally is installed；Pulp shooting machine 2 is arranged on walking dolly 4, and pulp shooting machine 2, hoisting mechanism 7 and drive mechanism 8 electrically connect with control system respectively.Walking dolly 4 is provided with for fixing supporting leg 15, supporting leg 15 includes two movable supporting legs 15a and two fixed supporting leg 15b, two movable supporting legs 15a are arranged in walking dolly 4 front portion, and two fixed supporting leg 15b are arranged in walking dolly 4 rear portion, and two movable supporting legs 15a are deployable.It is arranged on big scraper plate 3 by being designed to slide laterally by spray gun 1, and by guiding slide assemblies 6, big scraper plate 3 is slidably mounted on support arm 5, so, the transverse shifting not only achieving spray gun 1 is whitewashed the most automatically with vertically moving, and, also achieve the i.e. automatic plastering that vertically moves of big scraper plate 3, and then achieve the automatization of construction wall surface plastering, greatly reduce the labor intensity of workman；And, after whitewashing, big scraper plate 3 also can from top to bottom overall time floating, so, improve the quality of construction wall surface plastering.
As shown in Figure 5, support arm 5 includes vertical arm 5a and vertical shift guide rail 5b, vertical arm 5a is fixedly mounted on the front end of walking dolly 4, vertical arm 5a and vertical shift guide rail 5b are made by channel-section steel, vertical shift guide rail 5b is respectively provided on two sides with a pair guide wheels 5c outwardly, vertical shift guide rail 5b is vertically slidably installed in the groove of vertical arm 5a by guide wheels 5c, big scraper plate 3 is vertically slidably mounted in the groove of vertical shift guide rail 5b by guiding slide assemblies 6, vertical shift guide rail 5b upper end is provided with linkage crossbeam 5d, linkage crossbeam 5d is used for guiding slide assemblies 6 and drives vertical shift guide rail 5b to slide in vertical arm 5a.On the one hand, by support arm 5 is designed to stretching structure, the carrying of robot is facilitated；On the other hand, make support arm 5 with channel-section steel, so can not only alleviate the weight of support arm 5, and being slidably installed of big scraper plate 3 can also be facilitated.Support arm 5 extend completely after highly consistent with metope of its height.Guide slide assemblies 6 and include I shape connecting plate 6a and scraper plate directive wheel 6b, a plate of I shape connecting plate 6a is connected with big scraper plate 3, be respectively arranged at two ends with a pair scraper plate directive wheel 6b outwardly, scraper plate directive wheel 6b of another connecting plate of I shape connecting plate 6a slide in the groove being installed on vertical shift guide rail 5b.For preventing guide wheels 5c and scraper plate directive wheel 6b abjection, a spacing flange (seeing Fig. 6, Fig. 7 and Fig. 9) also need to be done respectively in the both sides of the groove of support arm 5.
As shown in figure 11, spray gun 1 includes shower nozzle 1a, base 1b, shower nozzle clamping plate 1c and shower nozzle directive wheel 1d, shower nozzle 1a is arranged on base 1b by shower nozzle clamping plate 1c, base 1b is slidably mounted on big scraper plate 3 by shower nozzle directive wheel 1d, the position of base 1b correspondence shower nozzle 1a both sides is respectively equipped with distance measuring sensor 1e, distance measuring sensor 1e electrically connects with control system, further respectively has a little scraper plate 1f between shower nozzle 1a and distance measuring sensor 1e.The coating thickness of mortar can be monitored in real time by the distance measuring sensor 1e added.Distance measuring sensor 1e is ultrasonic distance-measuring sensor, certainly, it is possible to use other kinds of distance measuring sensor.The quantity of spray gun 1 is 2, 2 spray guns 1 are arranged in the both sides guiding slide assemblies 6, drive mechanism 8 includes motor 8a, drive sprocket 8b, by movable sprocket 8c, two chain 8d and two drive sprocket 8e, motor 8a is arranged on I shape connecting plate 6a, drive sprocket 8b is arranged on the output shaft of motor 8a, it is arranged on I shape connecting plate 6a by movable sprocket 8c and is in transmission connection with drive sprocket 8b, two drive sprocket 8e are separately mounted to the two ends of big scraper plate 3, a piece chain 8d is sleeved on a drive sprocket 8b and drive sprocket 8e, another root chain 8d is sleeved on by movable sprocket 8c and another drive sprocket 8e, the base 1b of 2 spray guns 1 is fixing with two chain 8d respectively to be connected, motor 8a electrically connects with control system.Certainly, it is possible to only one spray gun 1 of design, but 2 spray guns 1 of design can greatly improve working performance (see 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10).
As shown in Figure 10, big scraper plate 3 be respectively arranged at two ends with for detect spray gun 1 whether move to termination primary importance detection sensor 9, the centre position of big scraper plate 3 be respectively provided with detection spray gun 1 whether move put in place the second position detection sensor 10；Linkage crossbeam 5d end face is provided with the 3rd position-detection sensor 16 for detecting linkage crossbeam 5d and the spacing on wall top；Linkage crossbeam 5d bottom surface is provided with the 4th position sensor 12 whether moving to vertical shift guide rail 5b top for detecting guiding slide assemblies 6, and vertical arm 5a top is provided with the 5th position-detection sensor 17 whether moving to vertical arm 5a top for detecting vertical shift guide rail 5b；It is provided with bottom vertical arm 5a for detecting vertical shift guide rail 5b the 6th position-detection sensor 18 whether return puts in place；It is provided with bottom vertical shift guide rail 5b for detecting guiding slide assemblies 6 the 7th position-detection sensor 19 whether return puts in place；Primary importance detection sensor 9, second position detection sensor the 10, the 3rd position-detection sensor the 16, the 4th position-detection sensor the 12, the 5th position-detection sensor the 17, the 6th position-detection sensor 18 and the 7th position-detection sensor 19 electrically connect with control system respectively.Primary importance detection sensor 9, second position detection sensor the 10, the 3rd position-detection sensor the 16, the 4th position-detection sensor the 12, the 5th position-detection sensor the 17, the 6th position-detection sensor 18 and the 7th position-detection sensor 19 are proximity switch, certainly, it is possible to use other kinds of sensor.
It should be understood that when the 4th position-detection sensor 12 triggers, and when having one to trigger among the 3rd position-detection sensor the 16, the 5th position-detection sensor 17, hoist engine 7a quits work, and guides slide assemblies 6 the most upwards lifting, and vertical promotion has worked；When the 6th position-detection sensor 18, when the 7th position-detection sensor 19 all triggers, system returns to initial position, equipment downtime, and wall surface spraying has worked.5th position-detection sensor 17 and the 7th position-detection sensor 19 function is interchangeable or only replaces with sensor.
As shown in Figure 1, hoisting mechanism 7 includes hoist engine 7a, first lifting tackle 7b, second lifting tackle 7c, 3rd lifting tackle 7d, 4th lifting tackle 7e and boom hoist cable 7f, hoist engine 7a is arranged on walking dolly 3, first lifting tackle 7b installs the bottom of vertical shift guide rail 5b, second lifting tackle 7c is arranged on the top of vertical arm 5a, 3rd lifting tackle 7d is arranged on linkage crossbeam 5d, 4th lifting tackle 7e is arranged on guiding slide assemblies 6, boom hoist cable 7f one end is fixed on the reel of hoist engine 7a, the boom hoist cable 7f other end walks around reel successively, second lifting tackle 7c, first lifting tackle 7b, it is connected with linkage crossbeam 5d after 3rd lifting tackle 7d and the 4th lifting tackle 7e, hoist engine 7a electrically connects with control system.Certainly, it is possible to use the hoisting mechanism (seeing Figure 14, Figure 15 and Figure 16) of other structures.
nullAs shown in Figure 1，Robot also includes vertical shift guide rail balanced controls 13，Vertical shift guide rail balanced controls 13 include the first guide rail equalizer pulley 13a、Second guide rail equalizer pulley 13b、3rd guide rail equalizer pulley 13c and guide rail balance rope 13d，First guide rail equalizer pulley 13a is arranged on the one end at vertical arm 5a top，Second guide rail equalizer pulley 13b is arranged on the one end bottom vertical arm 5a and the second guide rail equalizer pulley 13b is positioned at immediately below the first guide rail equalizer pulley 13a，3rd guide rail equalizer pulley 13c is arranged on the other end bottom vertical arm 5a，Guide rail balance rope 13d one end is fixed on the position of upper corresponding first guide rail equalizer pulley 13a bottom vertical shift guide rail 5b，The guide rail balance rope 13d other end walks around the first guide rail equalizer pulley 13a successively、The position of upper corresponding 3rd guide rail equalizer pulley 13c bottom vertical shift guide rail 5b it is connected to after second guide rail equalizer pulley 13b and the 3rd guide rail equalizer pulley 13c.So, pulling force can be shared the two ends bottom vertical shift guide rail 5b by guide rail balance rope 13d, thus plays balanced action (seeing Figure 14, Figure 15 and Figure 16).
nullAs shown in Figure 1，Robot also includes big scraper plate balanced controls 14，Big scraper plate balanced controls 14 include the first scraper plate equalizer pulley 14a、Second scraper plate equalizer pulley 14b、3rd scraper plate equalizer pulley 14c and scraper plate balance rope 14d，First scraper plate equalizer pulley 14a is arranged on the bottom of vertical shift guide rail 5b，First scraper plate equalizer pulley 14a and the first lifting tackle 7b lays respectively at the two ends stated bottom vertical shift guide rail 5b，Second scraper plate equalizer pulley 14b is arranged on the position bottom vertical shift guide rail 5b between upper corresponding first scraper plate equalizer pulley 14a and the first lifting tackle 7b，3rd scraper plate equalizer pulley 14c is arranged on linkage crossbeam 5d，And the 3rd scraper plate equalizer pulley 14c be positioned at directly over the first scraper plate equalizer pulley 14a，Scraper plate balance rope 14d one end is fixed on and guides the position of corresponding 3rd scraper plate equalizer pulley 14c on slide assemblies 6，The scraper plate balance rope 14d other end walks around the 3rd scraper plate equalizer pulley 14c successively、It is connected to guide the position of corresponding second scraper plate equalizer pulley 14b on slide assemblies 6 after first scraper plate equalizer pulley 14a and the second scraper plate equalizer pulley 14b.So, pulling force can be shared the two ends guiding slide assemblies 6 by scraper plate balance rope 14d, thus plays balanced action (seeing Figure 14, Figure 15 and Figure 16).
The length of above-mentioned big scraper plate 3 is consistent with the length sum of two chain 8d, and the big length of scraper plate 3 matches with the width of metope.It should be understood that big scraper plate 3 and two chain 8d can be replaced according to the size of metope, the spraying of different metope can be realized by the big scraper plate 3 and chain 8d changing different length size, so, the versatility of this spray robot can be improved.
The work process of the present embodiment is as follows:
(1) shift robot onto construction location, by leveling unit such as fixed length pole etc. by being manually erected in vertical arm 5a, levelling complete after fixed the position of walking dolly 4 by regulation fixed supporting leg 15；
(2) starting robot, shower nozzle 1a just starts whitewashing, and meanwhile, control system controls drive mechanism 8 and drives shower nozzle 1a traversing on big scraper plate 3, during the traversing whitewashing of shower nozzle 1a, and the most traversing floating mortar of little scraper plate 1f of shower nozzle 1a both sides；
(3) when shower nozzle 1a traversing to big scraper plate 3 end, primary importance detection sensor 9 sends a signal to control system, control system just controls hoisting mechanism 7 and works, big scraper plate 3 is made to rise one section of height, carry out the spraying of the non-Spray Application of upper row, simultaneously, a line metope whitewashed also is carried out floating by big scraper plate 3, meanwhile, control system also controls motor 8a reversion, make shower nozzle 1a traversing to returning, until shower nozzle 1a is traversing to second position detection sensor 10, second position detection sensor 10 sends a signal to again control system, control system controls the most again hoisting mechanism 7 and works, big scraper plate 3 is made to rise one section of height again, carry out again the spraying of the non-Spray Application of upper row, so circulation；
(4) when the position of the 4th position-detection sensor 12 that big scraper plate 3 drives vertical shift guide rail 5b to rise to vertical arm 5a top end, whole metope has sprayed complete, now, 4th position-detection sensor 12 just sends a signal to control system, control system controls hoisting mechanism 7 and inverts, making big scraper plate 3 drop to initial position, during big scraper plate 3 declines, whole metope can be carried out the most floating by big scraper plate 3 again；
(5), after the spraying of whole sidewalls, promote robot to move to another metope being not fully complete spraying, repeat whole process, until all wall surface sprayings are complete.
The present embodiment is slidably mounted on big scraper plate by gun design being open into, and by guiding slide assemblies, big scraper plate is slidably mounted on support arm, so, the transverse shifting not only achieving spray gun is whitewashed the most automatically with vertically moving, and, also achieve the i.e. automatic plastering that vertically moves of big scraper plate, and then achieve the automatization of construction wall surface plastering, greatly reduce the labor intensity of workman；And, after whitewashing, big scraper plate also can from top to bottom overall time floating, so, improve the quality of construction wall surface plastering.
Below only described is preferred embodiment of the present utility model, and not in order to limit this utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
- null1. a building surface spray robot，Including spray gun (1)、Pulp shooting machine (2)、Big scraper plate (3) and control system，Described spray gun (1) is connected with described pulp shooting machine (2) by flexible pipe，It is characterized in that，Also include walking dolly (4)，The front end of described walking dolly (4) is provided with support arm (5)，Described big scraper plate (3) is vertically slidably mounted on described support arm (5) by guiding slide assemblies (6)，Hoisting mechanism (7) for driving described guiding slide assemblies (6) to slide up and down is installed on described walking dolly (4)，Described spray gun (1) slides laterally and is arranged on described big scraper plate (3)，The shower nozzle (1a) of described spray gun (1) is arranged in the same direction with described big scraper plate (3)，The drive mechanism (8) driving described spray gun (1) to slide laterally is installed on described big scraper plate (3) and described guiding slide assemblies (6)；Described pulp shooting machine (2) is arranged on described walking dolly (4), and described pulp shooting machine (2), described hoisting mechanism (7) and described drive mechanism (8) electrically connect with described control system respectively.
- nullBuilding surface spray robot the most according to claim 1，It is characterized in that，Described support arm (5) includes vertical arm (5a) and vertical shift guide rail (5b)，Described vertical arm (5a) is fixedly mounted on the front end of described walking dolly (4)，Described vertical arm (5a) and described vertical shift guide rail (5b) are made by channel-section steel，Described vertical shift guide rail (5b) is respectively provided on two sides with a pair guide wheels (5c) outwardly，Described vertical shift guide rail (5b) is vertically slidably installed in the groove of described vertical arm (5a) by described guide wheels (5c)，Described big scraper plate (3) is vertically slidably mounted in the groove of described vertical shift guide rail (5b) by described guiding slide assemblies (6)，Described vertical shift guide rail (5b) upper end is provided with linkage crossbeam (5d)，Described linkage crossbeam (5d) drives described vertical shift guide rail (5b) in the upper slip of described vertical arm (5a) for described guiding slide assemblies (6).
- Building surface spray robot the most according to claim 2, it is characterized in that, described guiding slide assemblies (6) includes I shape connecting plate (6a) and scraper plate directive wheel (6b), a plate of described I shape connecting plate (6a) is connected with described big scraper plate (3), another connecting plate of described I shape connecting plate (6a) be respectively arranged at two ends with a pair described scraper plate directive wheel (6b) outwardly, described scraper plate directive wheel (6b) is slided in the groove being installed on described vertical shift guide rail (5b).
- Building surface spray robot the most according to claim 3, it is characterized in that, described spray gun (1) includes described shower nozzle (1a), base (1b), shower nozzle clamping plate (1c) and shower nozzle directive wheel (1d), described shower nozzle (1a) is arranged on described base (1b) by described shower nozzle clamping plate (1c), described base (1b) is slidably mounted on described big scraper plate (3) by described shower nozzle directive wheel (1d), the position of described base (1b) corresponding described shower nozzle (1a) both sides is respectively equipped with distance measuring sensor (1e), described distance measuring sensor (1e) electrically connects with described control system, a little scraper plate (1f) is further respectively had between described shower nozzle (1a) and described distance measuring sensor (1e).
- nullBuilding surface spray robot the most according to claim 4，It is characterized in that，The quantity of described spray gun (1) is 2，2 described spray guns (1) are arranged in the both sides of described guiding slide assemblies (6)，Described drive mechanism (8) includes motor (8a)、Drive sprocket (8b)、By movable sprocket (8c)、Two chains (8d) and two drive sprockets (8e)，Described motor (8a) is arranged on described I shape connecting plate (6a)，Described drive sprocket (8b) is arranged on the output shaft of described motor (8a)，It is described that to be arranged on described I shape connecting plate (6a) by movable sprocket (8c) upper and be in transmission connection with described drive sprocket (8b)，Two described drive sprockets (8e) are separately mounted to the two ends of described big scraper plate (3)，A piece described chain (8d) is sleeved on described drive sprocket (8b) and a described drive sprocket (8e)，Chain (8d) described in another root is sleeved on described by movable sprocket (8c) and another described drive sprocket (8e)，The described base (1b) of 2 described spray guns (1) is fixing with two described chains (8d) respectively to be connected，Described motor (8a) electrically connects with described control system；The length of described big scraper plate (3) is consistent with the length sum of described two chains (8d), and the length of described big scraper plate (3) matches with the width of metope.
- Building surface spray robot the most according to claim 5, it is characterized in that, described big scraper plate (3) be respectively arranged at two ends with for detect described spray gun (1) whether move to termination primary importance detection sensor (9), the centre position of described big scraper plate (3) be respectively provided with detect described spray gun (1) whether move put in place the second position detection sensor (10)；Described linkage crossbeam (5d) end face is provided with the 3rd position-detection sensor (16) for detecting described linkage crossbeam (5d) and the spacing on wall top；Described linkage crossbeam (5d) bottom surface is provided with the 4th position-detection sensor (12) whether moving to described vertical shift guide rail (5b) top for detecting described guiding slide assemblies (6), and described vertical arm (5a) top is provided with the 5th position-detection sensor (17) whether moving to described vertical arm (5a) top for detecting described vertical shift guide rail (5b)；Described vertical arm (5a) bottom is provided with for detecting described vertical shift guide rail (5b) the 6th position-detection sensor (18) whether return puts in place；Described vertical shift guide rail (5b) bottom is provided with for detecting described guiding slide assemblies (6) the 7th position-detection sensor (19) whether return puts in place；Described primary importance detection sensor (9), the described second position detection sensor (10), described 3rd position-detection sensor (16), described 4th position-detection sensor (12), described 5th position-detection sensor (17), described 6th position-detection sensor (18) and described 7th position-detection sensor (19) electrically connect with described control system respectively.
- nullBuilding surface spray robot the most according to claim 2，It is characterized in that，Described hoisting mechanism (7) includes hoist engine (7a)、First lifting tackle (7b)、Second lifting tackle (7c)、3rd lifting tackle (7d)、4th lifting tackle (7e) and boom hoist cable (7f)，Described hoist engine (7a) is arranged on described walking dolly (4)，Described first lifting tackle (7b) installs the bottom of described vertical shift guide rail (5b)，Described second lifting tackle (7c) is arranged on the top of described vertical arm (5a)，Described 3rd lifting tackle (7d) is arranged on described linkage crossbeam (5d)，Described 4th lifting tackle (7e) is arranged on described guiding slide assemblies (6)，Described boom hoist cable (7f) one end is fixed on the reel of hoist engine (7a)，Described boom hoist cable (7f) other end walks around described reel successively、Described second lifting tackle (7c)、Described first lifting tackle (7b)、Described 3rd lifting tackle (7d) is connected with described linkage crossbeam (5d) afterwards with described 4th lifting tackle (7e)，Described hoist engine (7a) electrically connects with described control system.
- nullBuilding surface spray robot the most according to claim 7，It is characterized in that，Also include vertical shift guide rail balanced controls (13)，Described vertical shift guide rail balanced controls (13) includes the first guide rail equalizer pulley (13a)、Second guide rail equalizer pulley (13b)、3rd guide rail equalizer pulley (13c) and guide rail balance rope (13d)，Described first guide rail equalizer pulley (13a) is arranged on the one end at described vertical arm (5a) top，Described second guide rail equalizer pulley (13b) is arranged on the one end bottom described vertical arm (5a) and described second guide rail equalizer pulley (13b) is positioned at immediately below described first guide rail equalizer pulley (13a)，Described 3rd guide rail equalizer pulley (13c) is arranged on the other end of described vertical arm (5a) bottom，Described guide rail balance rope (13d) one end is fixed on described vertical shift guide rail (5b) bottom the position of corresponding described first guide rail equalizer pulley (13a)，Described guide rail balance rope (13d) other end walks around described first guide rail equalizer pulley (13a) successively、The position of corresponding described 3rd guide rail equalizer pulley (13c) it is connected on described vertical shift guide rail (5b) bottom after described second guide rail equalizer pulley (13b) and described 3rd guide rail equalizer pulley (13c).
- nullBuilding surface spray robot the most according to claim 7，It is characterized in that，Also include big scraper plate balanced controls (14)，Described big scraper plate balanced controls (14) include the first scraper plate equalizer pulley (14a)、Second scraper plate equalizer pulley (14b)、3rd scraper plate equalizer pulley (14c) and scraper plate balance rope (14d)，Described first scraper plate equalizer pulley (14a) is arranged on the bottom of described vertical shift guide rail (5b)，Described first scraper plate equalizer pulley (14a) and described first lifting tackle (7b) state the two ends bottom vertical shift guide rail (5b) described in laying respectively at，Described second scraper plate equalizer pulley (14b) is arranged on described vertical shift guide rail (5b) bottom the position between corresponding described first scraper plate equalizer pulley (14a) and described first lifting tackle (7b)，Described 3rd scraper plate equalizer pulley (14c) is arranged on described linkage crossbeam (5d)，And described 3rd scraper plate equalizer pulley (14c) is positioned at directly over described first scraper plate equalizer pulley (14a)，Described scraper plate balance rope (14d) one end is fixed on the position of the upper corresponding described 3rd scraper plate equalizer pulley (14c) of described guiding slide assemblies (6)，Described scraper plate balance rope (14d) other end walks around described 3rd scraper plate equalizer pulley (14c) successively、The position of the upper corresponding described second scraper plate equalizer pulley (14b) of described guiding slide assemblies (6) it is connected to after described first scraper plate equalizer pulley (14a) and described second scraper plate equalizer pulley (14b).
- Building surface spray robot the most according to claim 1, it is characterized in that, described walking dolly (4) is provided with for fixing supporting leg (15), described supporting leg (15) includes two movable supporting legs (15a) and two fixed supporting legs (15b), it is anterior that said two movable supporting legs (15a) is arranged in described walking dolly (4), and said two fixed supporting leg (15b) is arranged in described walking dolly (4) rear portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520861629.5U CN205421857U (en) | 2015-10-30 | 2015-10-30 | Building surface coating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520861629.5U CN205421857U (en) | 2015-10-30 | 2015-10-30 | Building surface coating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205421857U true CN205421857U (en) | 2016-08-03 |
Family
ID=56518534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520861629.5U Withdrawn - After Issue CN205421857U (en) | 2015-10-30 | 2015-10-30 | Building surface coating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205421857U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105317201A (en) * | 2015-10-30 | 2016-02-10 | 武汉科技大学 | Building surface spray painting robot |
| CN107138309A (en) * | 2017-05-06 | 2017-09-08 | 阜南县申通机械制造有限公司 | A kind of semi-automatic spraying equipment of agriculture semi-trailer |
| CN108355879A (en) * | 2018-05-14 | 2018-08-03 | 深圳市金润建设工程有限公司 | A kind of construction material surface spraying device |
| WO2018163036A1 (en) | 2017-03-05 | 2018-09-13 | Wallart Ltd. | Integrated vertical portable inkjet printer |
| CN109184159A (en) * | 2018-11-09 | 2019-01-11 | 广州市思成机械有限公司 | Induction system and its control method for metope processing equipment |
| CN110561921A (en) * | 2019-09-27 | 2019-12-13 | 北京华科恒润智能科技有限公司 | wall body colored drawing printing method and device and wall body colored drawing machine |
| CN110984526A (en) * | 2019-12-25 | 2020-04-10 | 武汉科技大学 | Steel wire rope transmission paint brushing machine |
| CN112482699A (en) * | 2020-12-04 | 2021-03-12 | 重庆机电职业技术大学 | Multifunctional wall body color painting integrated machine |
| CN114382311A (en) * | 2021-12-29 | 2022-04-22 | 上海建工四建集团有限公司 | Surface treatment method and spraying system for rammed earth wall |
| CN115217293A (en) * | 2022-09-21 | 2022-10-21 | 南通鑫泽机械科技有限公司 | Floating operation robot |
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2015
- 2015-10-30 CN CN201520861629.5U patent/CN205421857U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105317201B (en) * | 2015-10-30 | 2017-12-29 | 武汉科技大学 | Building surface spray robot |
| CN105317201A (en) * | 2015-10-30 | 2016-02-10 | 武汉科技大学 | Building surface spray painting robot |
| EP3592564A4 (en) * | 2017-03-05 | 2020-12-16 | Wallart Ltd. | Integrated vertical portable inkjet printer |
| WO2018163036A1 (en) | 2017-03-05 | 2018-09-13 | Wallart Ltd. | Integrated vertical portable inkjet printer |
| US11590768B2 (en) | 2017-03-05 | 2023-02-28 | Wallart Ltd. | Integrated vertical portable inkjet printer |
| CN107138309A (en) * | 2017-05-06 | 2017-09-08 | 阜南县申通机械制造有限公司 | A kind of semi-automatic spraying equipment of agriculture semi-trailer |
| CN108355879A (en) * | 2018-05-14 | 2018-08-03 | 深圳市金润建设工程有限公司 | A kind of construction material surface spraying device |
| CN109184159A (en) * | 2018-11-09 | 2019-01-11 | 广州市思成机械有限公司 | Induction system and its control method for metope processing equipment |
| CN110561921A (en) * | 2019-09-27 | 2019-12-13 | 北京华科恒润智能科技有限公司 | wall body colored drawing printing method and device and wall body colored drawing machine |
| CN110984526A (en) * | 2019-12-25 | 2020-04-10 | 武汉科技大学 | Steel wire rope transmission paint brushing machine |
| CN112482699A (en) * | 2020-12-04 | 2021-03-12 | 重庆机电职业技术大学 | Multifunctional wall body color painting integrated machine |
| CN114382311A (en) * | 2021-12-29 | 2022-04-22 | 上海建工四建集团有限公司 | Surface treatment method and spraying system for rammed earth wall |
| CN115217293A (en) * | 2022-09-21 | 2022-10-21 | 南通鑫泽机械科技有限公司 | Floating operation robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160803 Effective date of abandoning: 20171229 |