CN214329758U - Suspension rail type external wall spraying robot and automatic spraying system - Google Patents
Suspension rail type external wall spraying robot and automatic spraying system Download PDFInfo
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- CN214329758U CN214329758U CN202023086096.8U CN202023086096U CN214329758U CN 214329758 U CN214329758 U CN 214329758U CN 202023086096 U CN202023086096 U CN 202023086096U CN 214329758 U CN214329758 U CN 214329758U
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Abstract
The utility model discloses a suspend rail mounted outer wall spraying robot and automatic spraying system in midair, suspend rail mounted outer wall spraying robot in midair and include: the device comprises a rail, a movable sliding table matched with the rail, a manipulator arranged on the movable sliding table and a spraying component arranged on the manipulator; the spray member includes: the spraying support is respectively provided with a vision camera, a spray gun and a range finder; the vision camera and the range finder are respectively arranged on two sides of the spray gun. The movable sliding table can move on the rail, so that the mechanical arm and the spraying component are driven to move along the rail, the rail is lifted, and the outer wall can be sprayed. The vision camera is used to capture images of the spray work surface to derive the ideal working trajectory of the spray gun, and the rangefinder is used for ranging and thickness measurement of the coating. The hanging basket is replaced by the rail, the overhead hanging weight and the windward area of the platform are greatly reduced, and meanwhile, the power failure of the platform is convenient to overhaul and maintain.
Description
Technical Field
The utility model relates to a wall spraying equipment technical field especially relates to a suspend rail mounted outer wall spraying robot and automatic spraying system in midair.
Background
The outer wall spraying is to spray special paint on the outer wall surface of the building, so as to play roles of preventing the wall surface from being directly exposed in the air, beautifying, preventing fire, preventing insects, insulating heat, preserving heat and the like. At present, the outer wall spraying of a high-rise building mostly uses a hanging basket as a platform, and the outer wall construction operation is completed by carrying manpower or robots, paint, spraying equipment and the like on the hanging basket.
An outer wall spraying robot taking a hanging basket as a platform generally comprises a spraying track, a movable sliding table, a manipulator, a control system, a feeding system, a lifting power system and the like. The spraying track is installed on the hanging flower basket, removes the slip table and installs on the spraying track, and the manipulator is installed on removing the slip table, and lift driving system, spraying control system and feeding system place in the hanging flower basket.
The hanging basket platform is complicated, the amount of coatings carried by the platform is greatly reduced due to carrying of various devices, the high-altitude windward area is greatly increased, the wind interference resistance is weak, and the construction operation time is short. The lifting power system is arranged in the hanging basket, and is extremely difficult to maintain when power failure occurs at high altitude. Therefore, an external wall spraying robot which is light and simple, strong in wind interference resistance and easy to overhaul and maintain for a lifting power system is urgently needed.
At present, an outer wall spraying robot taking a hanging basket as a platform is heavy and large, the amount of the coating which can be carried at one time is small, and flat ground transfer is difficult, so that continuous spraying and feeding of a working surface cannot be realized, multiple times of lifting and feeding are needed, and the fed material is difficult to be accurately matched with the last spraying edge, so that the spraying quality is influenced; the platform has large high-altitude windward area, needs large-scale wind-resistant auxiliary equipment, has weak anti-interference capability, cannot be constructed under general severe weather conditions, and seriously reduces the operable time; the power system of the platform is placed in the hanging basket, and when the high-altitude operation breaks down, the maintenance is extremely difficult.
Accordingly, the prior art is deficient and needs improvement.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves: the suspension rail type outer wall spraying robot and the automatic spraying system are provided, and spraying construction of the outer wall is facilitated.
The technical scheme of the utility model as follows: provided is a suspended rail type exterior wall painting robot, including: the device comprises a rail, a movable sliding table matched with the rail, a manipulator arranged on the movable sliding table and a spraying component arranged on the manipulator; the spray member includes: the spraying support is respectively provided with a vision camera, a spray gun and a range finder; the vision camera and the range finder are respectively arranged on two sides of the spray gun. The movable sliding table can move on the rail, so that the mechanical arm and the spraying component are driven to move along the rail, the rail is lifted, and the outer wall can be sprayed. The vision camera is used to capture images of the spray work surface to derive the ideal working trajectory of the spray gun, and the rangefinder is used for ranging and thickness measurement of the coating. The hanging basket is replaced by the rail, the overhead hanging weight and the windward area of the platform are greatly reduced, and meanwhile, the power failure of the platform is convenient to overhaul and maintain. Preferably, the range finder employs a laser radar.
Further, hang rail mounted outer wall spraying robot, still include: the left ducted fan and the left attitude sensor are arranged at the left end of the track, and the right ducted fan and the right attitude sensor are arranged at the right end of the track. The left attitude sensor and the right attitude sensor are used for acquiring orbital attitude data, and the control cabinet can control the left ducted fan and the right ducted fan to correct orbital attitude and keep horizontal according to the attitude data.
Further, hang rail mounted outer wall spraying robot, still include: and the air inlet of the pushing fan is over against the outer wall. The pushing fan can push the track to the outer wall, and meanwhile, the recoil force caused by spraying of the spray gun can be offset. Preferably, the number of the pushing fans is 2, and the pushing fans are respectively arranged at two ends of the track.
Further, hang rail mounted outer wall spraying robot, still include: the left travel switch is installed on the left end of the track, and the right travel switch is installed on the right end of the track. And the left travel switch and the right travel switch are used for limiting the movable sliding table.
Further, hang rail mounted outer wall spraying robot, still include: install at the hard spacing buffer board of left side on the track left end, install right side on the track right-hand member is spacing buffer board firmly. And the left hard limiting buffer plate and the right hard limiting buffer plate are used for limiting and buffering the moving sliding table.
Further, hang rail mounted outer wall spraying robot, still include: and the wireless network bridge is arranged on the mobile sliding table. And the wireless network bridge is in communication connection with the control cabinet.
Further, the track is the I-steel, remove the slip table and be I-steel walking dolly.
Further, the utility model also provides an automatic spraying system, include: the suspended rail type outer wall spraying robot comprises a control cabinet, a suspension system, a lifting power system and a feeding system; the suspension includes: hang mechanism, right side and hang the mechanism on a left side, lift driving system includes: the left hoisting machine, a left steel wire rope wound on the left hoisting machine, a right hoisting machine and a right steel wire rope wound on the right hoisting machine, wherein one end of the left steel wire rope penetrates through the left suspension mechanism to be connected with the left end of the track, and one end of the right steel wire rope penetrates through the right suspension mechanism to be connected with the right end of the track; the feeding system is connected with the spray gun. The control cabinet, the suspension system, the lifting power system and the feeding system are placed on the roof of a building, the suspension rail type outer wall spraying robot is suspended on the outer wall of the building through a steel wire rope, and the lifting power system enables the suspension rail type outer wall spraying robot to move up and down, so that the suspension rail type outer wall spraying robot can spray the whole outer wall. The feed system is used to output coating to the spray gun.
Further, the feed system comprises: the coating device comprises a gas source, a coating tank and an electromagnetic valve, wherein the gas source is respectively connected with the coating tank and the electromagnetic valve through gas pipes, the coating tank is connected with a spray gun through a material pipe, the electromagnetic valve is connected with the spray gun through a gas pipe, and the electromagnetic valve is connected with a control cabinet. The electromagnetic valve is used for controlling the feeding system to feed the spray gun.
Further, the control cabinet includes: the electric cabinet body, control panel, manipulator controller, UPS power, servo controller, the industrial computer of installing in the regulator cubicle body in distribution. The control panel receives and processes data obtained by the right attitude sensor, the left attitude sensor and the vision camera and then sends the data to the industrial personal computer for processing; the manipulator controller is used for controlling the manipulator; the UPS provides temporary power for the equipment under the condition of power failure under abnormal conditions; and the servo controller drives a servo motor of the movable sliding table.
According to the above technical scheme, the utility model provides a suspend rail mounted outer wall spraying robot and automatic spraying system in midair with guide rail replacement hanging flower basket body, with placing lift driving system, control system, feeding system etc. on the roof, the platform high altitude that has significantly reduced suspends weight and windward area in midair makes things convenient for platform power trouble to overhaul and maintain simultaneously. The roof is supplied with materials in a centralized manner, so that the continuity of spraying operation is ensured, and the spraying construction of the outer wall is greatly facilitated.
Drawings
FIG. 1 is a schematic structural view of the automatic coating system of the present invention in use;
FIG. 2 is a schematic structural view of a rail and components mounted on the rail;
FIG. 3 is a schematic structural diagram of a mobile sliding table, a manipulator and a wireless network bridge;
FIG. 4 is a schematic structural view of a spray member;
FIG. 5 is a schematic view of the feed system;
fig. 6 is a schematic structural diagram of the control cabinet.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1-6, the present invention provides a suspension rail type exterior wall painting robot, including: the device comprises a rail 10, a movable sliding table 11 matched with the rail 10, a manipulator 12 installed on the movable sliding table 11, and a spraying component 13 installed on the manipulator 12; the spray member 13 includes: the spraying support 14 is respectively provided with a vision camera 15, a spray gun 16 and a range finder 17 which are arranged on the spraying support 14; the vision camera 15 and the range finder 17 are respectively arranged at two sides of the spray gun 16. The movable sliding table 11 can move on the track 10, so as to drive the manipulator 12 and the spraying component 13 to move along the track 10, and lift the track 10, so as to spray the outer wall. The vision camera 15 is used to capture images of the sprayed work surface and thus to derive the ideal working trajectory of the spray gun 16, and the rangefinder 17 is used for ranging and measurement of the thickness of the coating. Preferably, the range finder 17 employs a laser radar.
Hang rail mounted outer wall spraying robot in midair still includes: a left ducted fan 18 and a left attitude sensor 19 mounted on the left end of the rail 10, and a right ducted fan 20 and a right attitude sensor 21 mounted on the right end of the rail 10. The left attitude sensor 19 and the right attitude sensor 21 are configured to acquire attitude data of the track 10, and the control cabinet 28 may control the left ducted fan 18 and the right ducted fan 20 according to the attitude data to correct the attitude of the track 10 and maintain the horizontal attitude.
Hang rail mounted outer wall spraying robot in midair still includes: and the pushing fan 22 is arranged on the track 10, and an air inlet of the pushing fan 22 is opposite to the outer wall. The propelling fan 22 can propel the track 10 toward the exterior wall and also counteract the recoil forces caused by the spray gun 16 during spraying. Preferably, the number of the push fans 22 is 2, and the push fans are respectively arranged at both ends of the track 10.
Hang rail mounted outer wall spraying robot in midair still includes: a left travel switch 23 installed on the left end of the rail 10, and a right travel switch 24 installed on the right end of the rail 10. The left travel switch 23 and the right travel switch 24 are used for limiting the movable sliding table 11.
Hang rail mounted outer wall spraying robot in midair still includes: a left hard limit buffer plate 25 arranged on the left end of the track 10 and a right hard limit buffer plate 26 arranged on the right end of the track 10. The left hard limiting buffer plate 25 and the right hard limiting buffer plate 26 are used for limiting and buffering the moving sliding table 11.
Hang rail mounted outer wall spraying robot in midair still includes: a wireless bridge 27 mounted on the mobile ramp 11. The wireless bridge 27 is communicatively connected to a control cabinet 28.
The track 10 is the I-steel, remove the slip table 11 and be I-steel walking dolly.
The utility model also provides an automatic spraying system, include: the suspended rail type outer wall spraying robot comprises a control cabinet 28, a suspension system, a lifting power system and a feeding system; the suspension includes: left suspension mechanism 29, right suspension mechanism 30, the lift driving system includes: the left hoisting machine 31, a left steel wire rope 32 wound on the left hoisting machine 31, a right hoisting machine 33 and a right steel wire rope 34 wound on the right hoisting machine 33, wherein one end of the left steel wire rope 32 penetrates through the left suspension mechanism 29 to be connected with the left end of the track 10, and one end of the right steel wire rope 34 penetrates through the right suspension mechanism 30 to be connected with the right end of the track 10; the feed system is connected to the lance 16. The control cabinet 28, the suspension system, the lifting power system and the feeding system are placed on the roof of a building, the suspension rail type outer wall spraying robot is suspended on the outer wall of the building through a steel wire rope, and the lifting power system moves the suspension rail type outer wall spraying robot up and down, so that the suspension rail type outer wall spraying robot can spray the whole outer wall. The feed system is used to output coating to the spray gun 16.
The feed system comprises: the paint spraying device comprises a gas source 35, a paint tank 36 and an electromagnetic valve 37, wherein the gas source 35 is respectively connected with the paint tank 36 and the electromagnetic valve 37 through gas pipes, the paint tank 36 is connected with the spray gun 16 through a material pipe, the electromagnetic valve 37 is connected with the spray gun 16 through a gas pipe, and the electromagnetic valve 37 is connected with the control cabinet 28. The solenoid valve 37 is used to control the feed system to feed the lance 16.
The control cabinet 28 includes: the electric cabinet 38 is provided with a control board 39, a manipulator controller 40, a UPS 41, a servo controller 42 and an industrial personal computer 43 which are arranged in the electric cabinet 38 in a distributed manner. The control panel 39 receives and processes data obtained by the right attitude sensor 21, the left attitude sensor 19 and the vision camera 15 and then sends the processed data to the industrial personal computer 43 for processing; the manipulator controller 40 is configured to control the manipulator 12; the UPS 41 provides temporary power for the equipment under the condition of abnormal power failure; the servo controller 42 drives a servo motor that moves the slide table 11.
To sum up, the utility model provides a suspend rail mounted outer wall spraying robot and automatic spraying system in midair replaces the hanging flower basket body with the guide rail, places lift driving system, control system, feeding system etc. on the roof, and the platform high altitude that has significantly reduced suspends weight and windward area in midair makes things convenient for platform power trouble to overhaul and maintain simultaneously. The roof is supplied with materials in a centralized manner, so that the continuity of spraying operation is ensured, and the spraying construction of the outer wall is greatly facilitated.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A suspension rail type outer wall spraying robot is characterized by comprising: the device comprises a rail, a movable sliding table matched with the rail, a manipulator arranged on the movable sliding table and a spraying component arranged on the manipulator; the spray member includes: the spraying support is respectively provided with a vision camera, a spray gun and a range finder; the vision camera and the range finder are respectively arranged on two sides of the spray gun.
2. The suspended track type exterior wall painting robot of claim 1, further comprising: the left ducted fan and the left attitude sensor are arranged at the left end of the track, and the right ducted fan and the right attitude sensor are arranged at the right end of the track.
3. The suspended track type exterior wall painting robot of claim 1, further comprising: and the air inlet of the pushing fan is over against the outer wall.
4. The suspended track type exterior wall painting robot of claim 1, further comprising: the left travel switch is installed on the left end of the track, and the right travel switch is installed on the right end of the track.
5. The suspended track type exterior wall painting robot of claim 1, further comprising: install at the hard spacing buffer board of left side on the track left end, install right side on the track right-hand member is spacing buffer board firmly.
6. The suspended track type exterior wall painting robot of claim 1, further comprising: and the wireless network bridge is arranged on the mobile sliding table.
7. The suspended track type outer wall spraying robot as claimed in claim 1, wherein the track is made of i-steel, and the movable sliding table is an i-steel walking trolley.
8. An automated spray system, comprising: the suspended rail type exterior wall painting robot of any one of claims 1 to 7, a control cabinet, a suspension system, a lifting power system, a feeding system; the suspension includes: hang mechanism, right side and hang the mechanism on a left side, lift driving system includes: the left hoisting machine, a left steel wire rope wound on the left hoisting machine, a right hoisting machine and a right steel wire rope wound on the right hoisting machine, wherein one end of the left steel wire rope penetrates through the left suspension mechanism to be connected with the left end of the track, and one end of the right steel wire penetrates through the right suspension mechanism to be connected with the right end of the track; the feeding system is connected with the spray gun.
9. The automated coating system of claim 8, wherein the feed system comprises: the coating device comprises a gas source, a coating tank and an electromagnetic valve, wherein the gas source is respectively connected with the coating tank and the electromagnetic valve through gas pipes, the coating tank is connected with a spray gun through a material pipe, the electromagnetic valve is connected with the spray gun through a gas pipe, and the electromagnetic valve is connected with a control cabinet.
10. The automated spray coating system of claim 8 wherein said control cabinet comprises: the electric cabinet body, control panel, manipulator controller, UPS power, servo controller, the industrial computer of installing in the regulator cubicle body in distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023086096.8U CN214329758U (en) | 2020-12-18 | 2020-12-18 | Suspension rail type external wall spraying robot and automatic spraying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023086096.8U CN214329758U (en) | 2020-12-18 | 2020-12-18 | Suspension rail type external wall spraying robot and automatic spraying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214329758U true CN214329758U (en) | 2021-10-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023086096.8U Active CN214329758U (en) | 2020-12-18 | 2020-12-18 | Suspension rail type external wall spraying robot and automatic spraying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214329758U (en) |
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2020
- 2020-12-18 CN CN202023086096.8U patent/CN214329758U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 3A17, Building U2, Junxiang U8 Intelligent Manufacturing Industrial Park, Guxing Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong 518000 Patentee after: ZHUCHENG TECHNOLOGY (SHENZHEN) Co.,Ltd. Address before: 518000 601, Huichuang space 2018 Creative Park, 93a, Gushu 1st Road, Gushu community, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: ZHUCHENG TECHNOLOGY (SHENZHEN) Co.,Ltd. |
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| CP02 | Change in the address of a patent holder |