CN207582911U - A kind of skyscraper alien invasion spray robot - Google Patents
A kind of skyscraper alien invasion spray robot Download PDFInfo
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- CN207582911U CN207582911U CN201721768377.7U CN201721768377U CN207582911U CN 207582911 U CN207582911 U CN 207582911U CN 201721768377 U CN201721768377 U CN 201721768377U CN 207582911 U CN207582911 U CN 207582911U
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Abstract
A kind of skyscraper alien invasion spray robot, including spray body, vertical lifting device and control system, the spray body includes balancing stand, the upper and lower part of the balancing stand front end face is both provided with camera, camera is connect with control system, the top of balancing stand front end face is equipped with lighting mechanism, lighting mechanism includes cleaning solution spray equipment, clearing apparatus and the lamp cap to front irradiation, lamp cap is fixed on balancing stand, cleaning solution spray equipment includes liquid storage box and high-pressure nozzle, high-pressure nozzle is connect by self priming pump with liquid storage box, high-pressure nozzle is sprayed towards lamp base front end face, lamp base front end face is vertically arranged transparent flat.
Description
Technical field
The utility model is related to spraying equipment more particularly to skyscraper alien invasion spray robots.
Background technology
Existing flush coater is largely to construct indoors, even in external wall construction, it is also necessary to by hanging basket or foot hand
The ancillary equipments such as frame by manually operating completion in person, and not only boundary of works area and working method are subject to certain restrictions, and due to building
Up to tens meters even rice up to a hundred are built, worker in high-altitude easily cause danger by construction, annual because personal caused by external wall construction
Injures and deaths event happens occasionally.Secondly, a large amount of harmful chemicals are adulterated in part coatings, the health of worker can be brought latent
In danger, actual bodily harm may be caused or suffer from occupational disease by working in the environment for a long time.Finally, in working at height, worker
In addition to controlling construction quality, also to take care at the moment, working efficiency can be substantially reduced, therefore develop a kind of height of remote control
Empty spray equipment is extremely urgent.
Although there are also some high-altitude spray robots, equipped with camera, can with real-time delivery work picture, use
Person can accordingly be operated according to the picture that camera transmits, but when dark or construction at night, it can serious shadow
The quality of thecamera head picture is rung, so as to influence the operation of user, although having the part user later stage on existing
Lighting device is increased, but since spray robot can sputter many coating at work, these coating can be fallen to be filled in illumination
It on the lamp cap put and is covered, influences illuminating effect, and the present apparatus works in the air high, user can not be during the work time
Lamp cap is wiped.
Utility model content
For defect in the prior art, the purpose of this utility model is to provide a kind of sprays of skyscraper alien invasion
Robot is applied, there is lighting device, while there is cleaning device corresponding with lighting device.
To achieve the above object, the technical solution adopted in the utility model is：A kind of skyscraper alien invasion spraying robot
People, including spray body, vertical lifting device and control system, the spray body includes balancing stand, the balancing stand
The upper and lower part of front end face is both provided with camera, and camera is connect with control system, and the top of balancing stand front end face is equipped with
Lighting mechanism, lighting mechanism include cleaning solution spray equipment, clearing apparatus and the lamp cap to front irradiation, lamp cap and are fixed on balancing stand
On, cleaning solution spray equipment includes liquid storage box and high-pressure nozzle, and high-pressure nozzle is connect by self priming pump with liquid storage box, high-pressure nozzle
It is sprayed towards lamp base front end face, lamp base front end face is vertically arranged transparent flat, and clearing apparatus includes the first driving motor, fan
Shape gear, sliding block, drive link and driving lever, the first driving motor are fixed on balancing stand, and sector gear is by the first driving electricity
Machine drives, and sliding block, which horizontally slips, to be arranged on balancing stand, and sliding block is equipped with the slot hole extended in left-right direction, the upper inner wall of slot hole
Be respectively equipped with upper rack and lower rack on lower inner wall, upper rack and lower rack upper-lower position correspond to, and sector gear is located at slot hole
Interior, the gear teeth angle of sector gear is 120~175 °, when sector teeth tooth passes through the upper inner wall of slot hole, sector gear
It is engaged with upper rack, when sector teeth tooth passes through the lower inner wall of slot hole, sector gear is engaged with lower rack, drive link one
End is fixedly connected with a slide block, and the other end is rotatablely connected with driving lever lower end, and driving lever is vertically arranged and its underpart connects with balancing stand rotation
It connects, driving lever rotation is driven during sliding block side-to-side movement, driving lever rear end face is equipped with rubber scraping article, and rubber scraping article has lamp base front end face
Pressure, and the whole lamp base front end faces of movement locus covering of rubber scraping article, self priming pump, lamp cap and the first driving motor with control
System connects.
The balancing stand upper end is provided with lifting lug, and flush coater and material storing box, the discharge port of material storing box are provided in balancing stand
The feed inlet of flush coater is connected by feed pipe, the both sides of balancing stand are respectively arranged with vertical rails, are slided between vertical rails
Horizontal slide rail is connected with, mechanical arm pedestal is slidably connected on cross slide way, mechanical arm, mechanical arm are provided on mechanical arm pedestal
Top is provided with Multidirectional spray nozzle, and Multidirectional spray nozzle is connected the discharge port of flush coater by discharge nozzle, is additionally provided in vertical rails
For driving the horizontal slide rail vertical rails driving mechanism that vertically sliding rail reciprocatingly slides, it is additionally provided with to drive in horizontal slide rail
The mechanical arm pedestal horizontal slide rail driving mechanism that transversely sliding rail reciprocatingly slides；The vertical lifting device is connected by traction rope
Lifting lug is connect, the control system drives with flush coater, mechanical arm, Multidirectional spray nozzle, vertical rails driving motor, horizontal slide rail
Motor and the electrical connection of vertical lifting device.
Electric cabinet is additionally provided on the balancing stand, power supply and radio transmission apparatus are provided in electric cabinet, is sprayed
Machine, mechanical arm, Multidirectional spray nozzle, camera, vertical rails driving motor, self priming pump, lamp cap, the first driving motor and transverse direction are sliding
Rail driving motor is communicated by radio transmission apparatus with control system.
Balancing fan is also symmetrically arranged on the balancing stand, balancing fan passes through radio transmission apparatus and control system
Communication.
The balancing stand lower end is provided with obstacle detection instrument, and obstacle detection instrument passes through radio transmission apparatus and control system
Communication.
The material storing box is arranged on the middle part of balancing stand by fixed arm, and liquid level gauge, liquid are provided at the top of material storing box
Position meter is communicated by radio transmission apparatus with control system.
The Multidirectional spray nozzle includes being rotated up and down nozzle, nozzle electric rotating machine, rotates left and right jet nozzle and jet nozzle
Electric rotating machine, the jet nozzle electric rotating machine are fixed on the top of mechanical arm, the output shaft of jet nozzle electric rotating machine vertically to
On, it rotates left and right jet nozzle and is arranged on the output shaft of jet nozzle electric rotating machine, nozzle electric rotating machine is arranged on left rotation and right rotation spray
On head frame, the output shaft of nozzle electric rotating machine is parallel to horizontal slide rail, is rotated up and down nozzle and is arranged on the defeated of nozzle electric rotating machine
On shaft.
The vertical lifting device includes fixing bracket and vertical lifting driving motor, the setting of vertical lifting driving motor
On fixing bracket, the output shaft of vertical lifting driving motor is connected with rope winder by transmission mechanism, traction rope be wrapped in around
It restricts on device, pulse coder and rangefinder is additionally provided on vertical lifting driving motor.
The support bracket fastened top is equipped with rectangle through hole, and crossbeam, vertical lifting driving are equipped in rectangle through hole
Motor is fixed on one end of crossbeam, and the other end of crossbeam is provided with directive wheel, and directive wheel lower end is provided with gravity sensor.
The support bracket fastened lower part is triangle frame, and high high adjustment is respectively equipped on two adjacent walls of triangle frame
Hole, height adjustment hole is interior to be equipped with fastening screw.
The utility model is easy to use, implements high-altitude spraying using control system and vertical lifting device cooperation spray body
Work falls injures and deaths and coating damage health instead of the personnel that in working at height, can not only manually avoid occurring
Situations such as, and greatly improve work efficiency；The spray body of the utility model sets horizontal slide rail and is erected on balancing stand
To sliding rail, mechanical arm and Multidirectional spray nozzle in horizontal slide rail are set, a variety of spray patterns can be realized, to different types of wall
Spraying is implemented in face, effectively expands the scope of application；The utility model passes through mechanical arm reciprocatingly sliding in horizontal slide rail and horizontal stroke
It is sprayed to sliding rail reciprocatingly sliding in vertical rails, utilizes the mechanical arm and Multidirectional spray nozzle for being capable of flexible angle adjustment
Implement spray coating operations, fully ensured that coating quality and efficiency, after lamp cap is dirty, utilize cleaning solution spray equipment and cleaning
Device cleans lamp cap.
Description of the drawings
Fig. 1 is the front view of spray body described in the utility model；
Fig. 2 is the left view of spray body described in the utility model；
Fig. 3 is the structure diagram of mechanical arm described in the utility model and Multidirectional spray nozzle；
Fig. 4 is the structure diagram of vertical lifting device described in the utility model；
Fig. 5 is support bracket fastened structure diagram described in the utility model；
Fig. 6 is the use state diagram of the utility model；
Fig. 7 is the utility model lighting mechanism structure diagram.
Specific embodiment
A kind of skyscraper alien invasion spray robot, including spray body, vertical lifting device and control system, spraying
Mechanism, vertical lifting device and control system are the prior art.
Spray body is used for building exterior wall surface sprayed coating, and vertical lifting device is built for drawing spray body edge
Exterior wall moves up and down, and realizes the spray coating operations of different metopes, and control system is electrically connected respectively with spray body and vertical lifting device
It connects, controls the course of work of spray body and vertical lifting device.
As depicted in figs. 1 and 2, the spray body of the utility model includes balancing stand 1, and the upper end of balancing stand 1 is symmetrical arranged
There is lifting lug 2, vertical lifting device can realize moving up and down for balancing stand 1 by lifting by crane lifting lug 2.Electricity is provided in balancing stand 1
Case 5, flush coater 3 and storage vat 4 are controlled, electric cabinet 5 is located at the bottom of balancing stand 1, and power supply is equipped in electric cabinet 5 and is wirelessly passed
Transfer device, power supply access after 220v alternating currents and provide required voltage, radio transmission apparatus and spray body electricity for spray body
The wireless communication of spray body and control system is realized in connection.Flush coater 3 is fixed on the bottom of balancing stand 1, and storage vat 4 passes through
The fixed arm 6 of both sides is fixed on the middle part of balancing stand 1, and the bottom end of storage vat 4 is equipped with feed pipe 7, and the middle part of feed pipe 7 is provided with
Solenoid valve 8, the feed inlet of the end connection flush coater 3 of feed pipe 7 are fed, control system is controlled by radio transmission apparatus and sprayed
The open and close of machine 3 and charging solenoid valve 8.The top of storage vat 4 is provided with liquid level gauge 9, and liquid level gauge 9 detects storage vat in real time
Coating surplus in 4, and pass through radio transmission apparatus and be sent to control system, personnel easy to operation check addition coating in time.
The both sides of balancing stand 1 are respectively arranged with vertical rails 10, and the both ends of vertical rails 10 are solid by sliding track holder 11
It is scheduled on balancing stand 1.Horizontal slide rail 12 is provided between vertical rails 10, the both ends of horizontal slide rail 12 pass through sliding track holder 11
It is slidably connected in vertical rails 10, one end of vertical rails 10 is additionally provided with and can drive horizontal slide rail 12 vertically sliding rail 10 is past
The vertical rails driving motor 13 slided again.Mechanical arm pedestal 14, mechanical arm pedestal 14 and transverse direction are provided on cross slide way 12
Guide rail 12 is slidably connected.One end of horizontal slide rail 12 is additionally provided with and can drive mechanical arm pedestal 14 transversely sliding rail 12 reciprocatingly slides
Horizontal slide rail driving motor 19.It is provided with mechanical arm 15 on mechanical arm pedestal 14, the top of mechanical arm 15 is provided with multi-faceted
Nozzle 16, Multidirectional spray nozzle 16 connect the discharge port of flush coater 3 by discharge nozzle 17, and the middle part of discharge nozzle 17 is provided with discharging electricity
Magnet valve 18, control system control discharging solenoid valve 18, vertical rails driving motor 13 and horizontal slide rail by radio transmission apparatus
The open and close of driving motor 19.
Upper left, lower-left, upper right and the bottom right position of balancing stand 1 are both provided with camera 20, can monitor each section metope
Spraying situation.The monitoring picture of camera 20 is sent to control system by radio transmission apparatus, and operating personnel monitor in real time
The process of spraying and the obstacle encountered, to be adjusted in due course.The bottom of balancing stand 1 is also symmetrically arranged with balancing fan 21,
When balancing stand 1 waves or meet in the construction process wind weather, control system opens balance wind by radio transmission apparatus
Fan 21 makes two sidewinds reciprocity, keeps balancing stand 1 steady.The lower end of balancing stand 1 is provided with obstacle detection instrument, obstacle detection instrument
Testing result control system is sent to by radio transmission apparatus.When balancing stand 1 and the distance of ground or other barriers are small
When 1 meter, the alarm of control system automatic sounding prompts operating personnel's spray coating operations already close to coda or to encounter barrier.
As shown in figure 3, the mechanical arm 15 of the utility model stretches bent motor 23, machine by mechanical arm electric rotating machine 22, mechanical arm
Tool forearm 24, the mechanical compositions such as underarm 25 and transmission mechanism, connection and drive connection due to 15 each section of mechanical arm are this
The prior art of field maturation, details are not described herein.Wherein, mechanical arm electric rotating machine 22 can drive Multidirectional spray nozzle 16 perpendicular
Face interior left-right rotation directly, mechanical arm, which stretches bent motor 23, can drive Multidirectional spray nozzle 16 to move forward and backward.The utility model it is multi-party
Position nozzle 16 includes being rotated up and down nozzle 26, nozzle electric rotating machine 27, rotates left and right jet nozzle 28 and jet nozzle electric rotating machine 29,
Jet nozzle electric rotating machine 29 is fixed on the top of mechanical arm 15, the output shaft of jet nozzle electric rotating machine 29 straight up, left-right rotary
Turn jet nozzle 28 to be arranged on the output shaft of jet nozzle electric rotating machine 29, jet nozzle electric rotating machine 29 can drive left rotation and right rotation to spray
First 26 left-right rotations in the horizontal plane；Nozzle electric rotating machine 27, which is arranged on, to be rotated left and right on jet nozzle 28, nozzle electric rotating machine 27
Output shaft be parallel to horizontal slide rail 12, be rotated up and down nozzle 26 and be arranged on the output shaft of nozzle electric rotating machine 27, nozzle rotation
Rotating motor 27, which can drive, to be rotated up and down nozzle 26 and is rotated upwardly and downwardly in vertical plane.In spraying process, control system is led to respectively
Cross radio transmission apparatus control machinery arm electric rotating machine 22, mechanical arm stretches bent motor 23, nozzle electric rotating machine 27 and jet nozzle revolve
Rotating motor 29 acts, and can realize the spray angle adjustment in space in three vertical direction, make nozzle face variously-shaped
Spraying metope, spraying effect is effectively ensured.
As shown in Figure 4 and Figure 5, the vertical lifting device of the utility model includes fixing bracket 30 and vertical lifting driving electricity
Machine 31, the top of fixing bracket 30 are equipped with rectangle through hole 32, T-shaped crossbeam 33, fixing bracket 30 are equipped in rectangle through hole 32
Lower part for triangle frame, be respectively equipped with height adjustment hole 34 on two adjacent walls of triangle frame, set in height adjustment hole 34
There is fastening screw 35, according to the angle at 30 top of desired height adjustment fixing bracket, and run through high high adjustment with fastening screw 35
Hole 34 is fixed.Vertical lifting driving motor 31 is fixed on one end of T-shaped crossbeam 33, the output of vertical lifting driving motor 31
Axis is connected with rope-winding shaft 36 by worm screw case 37, and the both ends of rope-winding shaft 36 are respectively arranged with rope winder 38, and traction rope 39 is wrapped in
On rope winder 38, one end of rope-winding shaft 36 is provided with pulse coder 40, and pulse coder 40 can detect vertical lifting driving
The rotation angle and speed of motor 31, and control system is transferred to, control system is by adjusting vertical lifting driving motor 31
Start and stop and the lifting distance and speed of rotating speed control balancing stand 1, the other end of rope-winding shaft 36 are provided with rangefinder 41, rangefinder 41
The unwrapping wire length of traction rope 39 when balancing stand 1 declines every time is measured and records, i.e. spray body drops to ground from building top
Distance, to calculate spray area.The other end of T-shaped crossbeam 33 is provided with directive wheel 42 and signal transmitting and receiving antenna, traction rope
39 connect the lifting lug 2 of balancing stand 1 by directive wheel 42, and signal transmitting and receiving antenna is as wireless relay to the wireless biography on balancing stand 1
Communication signal between transfer device and control system is forwarded.The lower end of directive wheel 42 is provided with gravity sensor, works as balance
Frame 1 is preferably minimized place or stops that gravity sensor sends a signal to control system, and control system is automatically cut off when declining by obstacle
The power supply of vertical lifting driving motor 31, balancing stand 1 stop declining.
The utility model can spray external wall of high-rise building automatically, be treated as shown in fig. 6, lifting system is mounted on
The roof of coated building, and spray body is sling using traction rope 39, operating personnel are in roof by control system to spray
It applies mechanism and vertical lifting device is monitored and sets, horizontal slide rail 12 is driven to do eventually by vertical rails driving motor 13
It moves back and forth up and down, horizontal slide rail driving motor 19 drives mechanical arm pedestal 14 to do left and right reciprocating movement and vertical lifting dress
It puts and the whole spray coating operations of lifting completion is carried out to balancing stand 1.Specifically, control is transmitted to according to the camera 20 on balancing stand 1
The monitored picture of system, operating personnel are to walking origin, travel distance and the speed of travel of mechanical arm 15, flush coater 3, charging electricity
Magnet valve 8 discharges the open and close of solenoid valve 18 and the lifting distance of lifting system and lifting speed completes surface rule
The spray coating operations of metope.In spraying process, bent motor 23, mechanical arm electric rotating machine 22, nozzle can be stretched using tool arm at any time and revolved
Rotating motor 27 and jet nozzle electric rotating machine 29 adjust the angle of nozzle, its face is made to spray metope.
As shown in fig. 7, the top of 1 front end face of balancing stand be equipped with lighting mechanism, lighting mechanism include cleaning solution spray equipment,
Clearing apparatus and the lamp cap 43 to front irradiation, lamp cap 43 are fixed on balancing stand 1, and cleaning solution spray equipment includes 44 He of liquid storage box
High-pressure nozzle 45, high-pressure nozzle 45 are connect by self priming pump with liquid storage box 44, and high-pressure nozzle 45 is sprayed towards 43 front end face of lamp cap,
Cleaning solution spray equipment and lamp cap 43 are the prior art, and 43 front end face of lamp cap is vertically arranged transparent flat, clearing apparatus
Including the first driving motor 46, sector gear 47, sliding block 48, drive link 49 and driving lever 50, the first driving motor 46 is fixedly installed
On balancing stand 1, sector gear 47 is driven by the first driving motor 46, and sliding block 48, which horizontally slips, to be arranged on balancing stand 1, sliding block
48 are equipped with the slot hole 51 extended in left-right direction, and upper rack 52 and lower tooth are respectively equipped on the upper inner wall of slot hole 51 and lower inner wall
Item 53, upper rack 52 and lower 53 upper-lower position of rack correspond to, and sector gear 47 is located in slot hole 51, the wheel tooth angle of sector gear 47
It is 120~175 ° to spend, and when the teeth of sector gear 47 pass through the upper inner wall of slot hole 51, sector gear 47 is nibbled with upper rack 52
It closes, when the teeth of sector gear 47 pass through the lower inner wall of slot hole 51, sector gear 47 is engaged with lower rack 53, drive link 49 1
End is fixedly connected with sliding block 48, and the other end and 50 lower end of driving lever are rotatablely connected, and driving lever 50 is vertically arranged and its underpart and balancing stand 1
Rotation connection drives driving lever 50 to rotate during 48 side-to-side movement of sliding block, and 50 rear end face of driving lever is equipped with rubber scraping article, and rubber scraping article is to lamp
First 43 front end face has pressure, and whole 43 front end faces of lamp cap of movement locus covering of rubber scraping article, self priming pump, lamp cap 43 and the
One driving motor 46 is connect by radio transmission apparatus with control system.
The light that lamp cap 43 is sent out can be radiated on skyscraper alien invasion, when splashing upper painting on the front end transparent flat of lamp cap 43
During material, lamp cap 43 sends out light can shade on skyscraper alien invasion, and starting self priming pump by control system at this time makes high pressure
Nozzle 45 sprays cleaning solution on the front end transparent flat of lamp cap 43, then starts the first driving motor 46, and sector gear 47 is suitable
Hour hands rotate, and when sector gear 47 is engaged with lower rack 53, for lower rack 53 with movable slider 48 to left movement, driving lever 50 drives rubber
Glue scraping article rotates clockwise, and the front end transparent flat of lamp cap 43 is cleaned, when sector gear 47 and the disengaging of lower rack 53,
Driving lever 50 moves to limit on the right-right-hand limit, and when sector gear 47 is engaged with upper rack 52, sliding block 48 moves right, and driving lever 50 drives rubber
Scraping article rotates counterclockwise, and the front end transparent flat of lamp cap 43 is cleaned, and when sector gear 47 and the disengaging of upper rack 52, dials
Bar 50 moves to limit on the left, and the first driving motor 46 often rotates one week, and the front end transparent flat of lamp cap 43 is cleaned twice, works as lamp
When first 43 front end transparent flat cleans up, the first driving motor 46 is closed.
The control system of the utility model can set multiple-working mode, such as automatic left and right pattern, automatic lifting pattern and
Manual operation mode.When being sprayed to regular metope, using automatic left and right pattern, adjusted first by control system multi-faceted
Nozzle 16 makes itself and wall face, then sets walking origin, the speed of travel and walking of the mechanical arm 15 in horizontal slide rail 12
Distance, the lifting speed of the speed of travel and travel distance and vertical lifting device of the horizontal slide rail 12 in vertical rails 10
And lifting distance, automatic left-right switch is finally opened, then mechanical arm 15 automatically returns to walking origin, flush coater 3, charging solenoid valve
8 open simultaneously with discharging solenoid valve 18, and spray body is started to work.When being sprayed to a working face, mechanical arm 15 is first
The single direction stroke in horizontal slide rail 12 is first completed, then horizontal slide rail 12 slides certain distance in vertical rails 10, finally
Mechanical arm 15 returns to walking origin in horizontal slide rail 12, and so on, until mechanical arm 15 is completed entirely according to setting path
The spraying of working face, lifting system are carried out etc. according to the lifting distance of setting by the pulse signal that pulse coder 39 is sent out
Distance elevating, mechanical arm 15 along reversed route backtracking, spray next working face again, until returning to walking origin
A complete spraying bout is completed, when whole wall surface sprayings finish, spray body is stopped.
When to longitudinal surface rule, the irregular metope of lateral surfaces sprays, using automatic lifting pattern, i.e., first
Walking origin, the speed of travel and travel distance of the horizontal slide rail 12 in vertical rails 10 are set, mechanical arm 15 is in horizontal slide rail
The lifting speed and lifting distance of the speed of travel and travel distance and vertical lifting device on 12, to a working face
When being sprayed, horizontal slide rail 12 drives mechanical arm 15 to complete the single direction stroke in vertical rails 10 first, then mechanical arm
15 slide certain distance in horizontal slide rail 12, and last horizontal slide rail 12 drives mechanical arm 15 to return to walking in vertical rails 10
Origin, and so on, until mechanical arm 15 completes the spraying of entire working face according to setting path, lifting system rises according to setting
After drop distance is lifted, mechanical arm 15 along reversed route backtracking, sprays next working face again, until returning
Origin of walking completes a complete spraying bout, and when whole wall surface sprayings finish, spray body is stopped.To lateral table
When longitudinal surface all irregular metope in face is sprayed, manual operation mode, spray are used using the monitoring picture of camera 20
The movement of horizontal slide rail 12, vertical rails 10 and lifting system is controlled during painting according to actual conditions, and adjusts machine at any time
The angle of tool arm 15 and Multidirectional spray nozzle 16 ensures face spraying metope.
Claims (10)
1. a kind of skyscraper alien invasion spray robot, it is characterised in that：Including spray body, vertical lifting device and control
System, the spray body include balancing stand, and the upper and lower part of the balancing stand front end face is both provided with camera, takes the photograph
Connect with control system as head, the top of balancing stand front end face equipped with lighting mechanism, lighting mechanism including cleaning solution spray equipment,
Clearing apparatus and the lamp cap to front irradiation, lamp cap are fixed on balancing stand, and cleaning solution spray equipment includes liquid storage box and high pressure spray
Head, high-pressure nozzle are connect by self priming pump with liquid storage box, and high-pressure nozzle is sprayed towards lamp base front end face, and lamp base front end face is vertical
The transparent flat of setting, clearing apparatus include the first driving motor, sector gear, sliding block, drive link and driving lever, the first driving electricity
Machine is fixed on balancing stand, and sector gear is driven by the first driving motor, and sliding block, which horizontally slips, to be arranged on balancing stand, sliding
Block is equipped with the slot hole extended in left-right direction, and upper rack and lower rack are respectively equipped on the upper inner wall of slot hole and lower inner wall, on
Rack and lower rack upper-lower position correspond to, and sector gear is located in slot hole, and the gear teeth angle of sector gear is 120~175 °, when
When sector teeth tooth passes through the upper inner wall of slot hole, sector gear is engaged with upper rack, when sector teeth tooth is through long
During the lower inner wall in hole, sector gear is engaged with lower rack, and drive link one end is fixedly connected with a slide block, and the other end turns with driving lever lower end
Dynamic connection, driving lever is vertically arranged and its underpart is rotatablely connected with balancing stand, and when sliding block side-to-side movement drives driving lever rotation, after driving lever
End face is equipped with rubber scraping article, and rubber scraping article has lamp base front end face on pressure, and the whole lamps of movement locus covering of rubber scraping article
Head front end face, self priming pump, lamp cap and the first driving motor are connect with control system.
2. a kind of skyscraper alien invasion spray robot according to claim 1, it is characterised in that：On the balancing stand
End is provided with lifting lug, flush coater and material storing box is provided in balancing stand, the discharge port of material storing box connects flush coater by feed pipe
Feed inlet, the both sides of balancing stand are respectively arranged with vertical rails, horizontal slide rail are slidably connected between vertical rails, is laterally led
Mechanical arm pedestal is slidably connected on rail, mechanical arm is provided on mechanical arm pedestal, mechanical arm top is provided with Multidirectional spray nozzle,
Multidirectional spray nozzle connects the discharge port of flush coater by discharge nozzle, is additionally provided with to drive horizontal slide rail vertically in vertical rails
The vertical rails driving mechanism that sliding rail reciprocatingly slides, is additionally provided with that transversely sliding rail is past for driving mechanical arm pedestal in horizontal slide rail
The horizontal slide rail driving mechanism slided again；The vertical lifting device connects lifting lug, the control system by traction rope
With flush coater, mechanical arm, Multidirectional spray nozzle, vertical rails driving motor, horizontal slide rail driving motor and vertical lifting device electricity
Connection.
3. a kind of skyscraper alien invasion spray robot according to claim 2, it is characterised in that：The balancing stand
On be additionally provided with electric cabinet, be provided with power supply and radio transmission apparatus in electric cabinet, flush coater, mechanical arm, Multidirectional spray nozzle,
Camera, vertical rails driving motor, self priming pump, lamp cap, the first driving motor and horizontal slide rail driving motor are by wireless
Transmission device communicates with control system.
4. a kind of skyscraper alien invasion spray robot according to claim 3, it is characterised in that：The balancing stand
On be also symmetrically arranged with balancing fan, balancing fan is communicated by radio transmission apparatus with control system.
5. a kind of skyscraper alien invasion spray robot according to claim 4, it is characterised in that：The balancing stand
Lower end is provided with obstacle detection instrument, and obstacle detection instrument is communicated by radio transmission apparatus with control system.
6. a kind of skyscraper alien invasion spray robot according to claim 5, it is characterised in that：The material storing box
The middle part of balancing stand is arranged on by fixed arm, liquid level gauge is provided at the top of material storing box, liquid level gauge passes through radio transmission apparatus
It communicates with control system.
7. a kind of skyscraper alien invasion spray robot according to claim 2, it is characterised in that：Described is multi-faceted
Nozzle includes being rotated up and down nozzle, nozzle electric rotating machine, rotates left and right jet nozzle and jet nozzle electric rotating machine, the jet nozzle
Electric rotating machine is fixed on the top of mechanical arm, and the output shaft of jet nozzle electric rotating machine straight up, rotates left and right jet nozzle setting
On the output shaft of jet nozzle electric rotating machine, nozzle electric rotating machine, which is arranged on, to be rotated left and right on jet nozzle, nozzle electric rotating machine
Output shaft is parallel to horizontal slide rail, is rotated up and down nozzle and is arranged on the output shaft of nozzle electric rotating machine.
8. a kind of skyscraper alien invasion spray robot according to claim 2, it is characterised in that：The vertical liter
Falling unit includes fixing bracket and vertical lifting driving motor, and vertical lifting driving motor is arranged on fixing bracket, vertical to rise
The output shaft of drop driving motor is connected with rope winder by transmission mechanism, and traction rope is wrapped on rope winder, vertical lifting driving
Pulse coder and rangefinder are additionally provided on motor.
9. a kind of skyscraper alien invasion spray robot according to claim 8, it is characterised in that：The fixed branch
The top of frame is equipped with rectangle through hole, and crossbeam is equipped in rectangle through hole, and vertical lifting driving motor is fixed on one end of crossbeam,
The other end of crossbeam is provided with directive wheel, and directive wheel lower end is provided with gravity sensor.
10. a kind of skyscraper alien invasion spray robot according to claim 9, it is characterised in that：The fixation
The lower part of stent is triangle frame, is respectively equipped with height adjustment hole on two adjacent walls of triangle frame, is set in height adjustment hole
There is fastening screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721768377.7U CN207582911U (en) | 2017-12-18 | 2017-12-18 | A kind of skyscraper alien invasion spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721768377.7U CN207582911U (en) | 2017-12-18 | 2017-12-18 | A kind of skyscraper alien invasion spray robot |
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| Publication Number | Publication Date |
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| CN207582911U true CN207582911U (en) | 2018-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721768377.7U Expired - Fee Related CN207582911U (en) | 2017-12-18 | 2017-12-18 | A kind of skyscraper alien invasion spray robot |
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| CN (1) | CN207582911U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110056167A (en) * | 2019-05-21 | 2019-07-26 | 广东博智林机器人有限公司 | Spray gun assembly and spray robot |
| WO2020077662A1 (en) * | 2018-10-19 | 2020-04-23 | 广东飞码机器人科技有限公司 | Painting system and method for industrial building high wall surface |
| CN111997319A (en) * | 2020-08-17 | 2020-11-27 | 陈六英 | Paint spraying equipment for building construction |
| CN112554512A (en) * | 2020-12-08 | 2021-03-26 | 江苏淮洋建筑材料有限公司 | Automatic paint spraying system for building outer wall |
| CN114837374A (en) * | 2021-02-02 | 2022-08-02 | 伍隆国际有限公司 | Coating system for construction engineering or construction site and application method thereof |
-
2017
- 2017-12-18 CN CN201721768377.7U patent/CN207582911U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020077662A1 (en) * | 2018-10-19 | 2020-04-23 | 广东飞码机器人科技有限公司 | Painting system and method for industrial building high wall surface |
| 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 |
| CN110056167A (en) * | 2019-05-21 | 2019-07-26 | 广东博智林机器人有限公司 | Spray gun assembly and spray robot |
| CN110056167B (en) * | 2019-05-21 | 2021-01-26 | 广东博智林机器人有限公司 | Spray gun assembly and spraying robot |
| CN111997319A (en) * | 2020-08-17 | 2020-11-27 | 陈六英 | Paint spraying equipment for building construction |
| CN111997319B (en) * | 2020-08-17 | 2021-07-16 | 安徽朗辰建筑工程有限公司 | Paint spraying equipment for building construction |
| CN112554512A (en) * | 2020-12-08 | 2021-03-26 | 江苏淮洋建筑材料有限公司 | Automatic paint spraying system for building outer wall |
| CN114837374A (en) * | 2021-02-02 | 2022-08-02 | 伍隆国际有限公司 | Coating system for construction engineering or construction site and application method thereof |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20191218 |