CN219118670U - Robot for automatically coating putty powder on wall - Google Patents

Abstract

The utility model provides an automatic putty powder wall coating robot which comprises a frame seat, a lifting mechanism, a material pumping mechanism and a control component, wherein a travelling mechanism is arranged at the bottom of the frame seat; the control component is connected with and controls the travelling mechanism, the lifting mechanism, the ash batching mechanism and the material pumping mechanism and is used for pumping the material to the ash batching mechanism and controlling travelling; the ash batching mechanism is provided with a rotating structure for rotating towards the roof surface. The automatic ash-collecting device realizes automatic ash collection of wall surfaces and roof surfaces, can automatically identify windows and door openings, and has high ash collection working efficiency and good ash collection quality.

Description

Robot for automatically coating putty powder on wall

Technical Field

The utility model relates to a robot for automatically coating putty powder on walls, and belongs to the technical field of building robots.

Background

At present, the work of putty coating, wall plastering and the like on the inner wall surface of a building mainly takes manpower as a main part. The labor intensity of the work is high, the efficiency is low, the number of workers is small, and along with the increase of the labor gap, machines with high automation degree are increasingly required to replace manual operation.

Among the prior art, application number 2015133984. X discloses a numerical control intelligent whitewashing machine, including mobilizable base, erect the side stand pole telescoping device in the base both sides, set up plastering unit on side stand pole telescoping device, set up integrated control device and power device on the base, plastering unit includes the plastering plate, the ash bucket, ash bucket frame and be used for drawing ash bucket frame elevating gear that rises the ash bucket frame, power device is including installing hoist engine A and hoist engine B on the base, be equipped with touch-sensitive screen controller through the bracing piece on the base, touch-sensitive screen controller and integrated control device communication connection are equipped with the angle modulation device of the flexible side stand pole inclination of one set of automatic intelligent regulation between side stand pole telescoping device and base. It can be seen from the disclosure that the wall plastering machine needs to be pushed to a proper position away from the wall, that is, the gap between the plastering plate and the wall accords with plastering thickness, various working parameters of the wall plastering machine, such as the inclination angle parameter of the telescopic vertical rod, are set through the touch screen controller, the tension parameter of the pull rope A (the magnitude of the tension parameter reflects the force of the telescopic vertical rod against the roof and the ground, that is, the force is firm, the telescopic vertical rod is not bent, under the condition of how much force, the pull force of the pull rope B can be displayed on the touch screen, the warning value is set for the tension of the pull rope B, and the wall plastering machine can be timely processed when the plastering is prevented from touching obstacles. It is difficult to see that this patent needs the manual work to push away the wall and is followed the time, and the manual control is the distance between them to go up and down to be the stay cord structure, leads to its material that falls seriously, and just can only powder the wall, can not carry out the top surface and batch grey.

As another example, application number 202010266257.7 discloses a high-efficiency automatic wall plastering machine, which comprises a movable device base, wherein an outer sliding plate is fixedly installed on the upper side end surface of the device base in a front-back corresponding manner, an inner sliding plate capable of sliding up and down is installed in the outer sliding plate corresponding to the front-back manner, a wall plastering machine body is installed on the outer sliding plate and the inner sliding plate corresponding to the front-back manner in a sliding manner, and a telescopic plate is arranged outside the left side end surface of the wall plastering machine body. Through be equipped with on the wall foundation of whitewashing can adjust the expansion plate with the wall between the distance for the wall whitewashes the thickness of cement and can control, through being equipped with the shower nozzle of pouring that can reciprocate back and forth on the expansion plate top, can carry out high-efficient cement of pouring to the wall. It has been found that the patent is also unable to apply putty to the roof and that automatic avoidance or cutting off of local feed is not possible when encountering door openings and window openings.

In addition, there are spraying type machines in the prior art, and the construction process of the spraying type machine is quick, but the spraying type machine is used for putty and wall painting, excessive bubbles can be generated, so that the surface quality is poor, and the quality requirement of the inner wall can not be met. Therefore, there is a need to develop a device that can automatically adapt to the work, not only can greatly improve the working efficiency of wall surface ash-batching, but also can realize top surface ash-batching operation.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides the robot for automatically coating putty and plastering walls, which can not only greatly improve the working efficiency of wall surface plastering, but also realize the top surface plastering operation.

In order to achieve the technical purpose, the technical scheme provided by the utility model is as follows: the robot for automatically coating putty powder on the wall comprises a frame seat, a lifting mechanism, a material pumping mechanism and a control component, wherein a travelling mechanism is arranged at the bottom of the frame seat, the lifting mechanism, the material pumping mechanism and the control component are arranged on the frame seat, a putty coating mechanism is arranged on the lifting mechanism and connected with the material pumping mechanism, and a plurality of sensors are arranged on the putty coating mechanism and used for detecting window holes or door holes; the control component is connected with and controls the travelling mechanism, the lifting mechanism, the ash batching mechanism and the material pumping mechanism and is used for pumping the material to the ash batching mechanism and controlling travelling; the ash batching mechanism is provided with a rotating structure for rotating towards the roof surface.

Further, pump feed mechanism includes feeder hopper, charge pump, is provided with feed divider between pump feed mechanism and batch grey mechanism, feed divider includes branch magazine and a plurality of conveying pipeline, and the feed divider is connected to the one end of a plurality of conveying pipelines, and the discharge mouth is connected to the other end for with the partition control of the material that the pump comes, install the disconnected material cylinder that corresponds with conveying pipeline quantity in branch magazine bottom surface, and the telescopic link of every disconnected material cylinder corresponds a conveying pipeline and divides the magazine connector, and feeder hopper and branch magazine are connected to the charge pump.

Furthermore, the material conveying pipe of the material distributing mechanism is correspondingly arranged with the sensors, the sensors respectively detect window holes or door hole areas and transmit detection signals to the control component, and the control component controls the material distributing mechanism to stop material conveying pipe feeding in the window holes or door hole areas.

Still further, the putty-batching mechanism comprises an upward 45-degree inclined pressure-adjustable constant pressure cylinder, a plastering bracket arranged at one end of the cylinder, a material nozzle seat with two ends respectively connected with one reversing plate through an end shaft, two reversing plates respectively connected with two ends of the plastering bracket, and a scraper group arranged on the material nozzle seat.

Furthermore, a plurality of positioning holes are arranged outside end shafts at two ends of the material nozzle seat in a circumferential array, a plurality of positioning pins are correspondingly arranged on the reversing plate, the positioning shafts are arranged at the other end of the reversing plate and used for penetrating through a plastering support, and a pressure spring and a pressure plate are sleeved at the inner side of the plastering support and locked by nuts.

Furthermore, the scraper group is provided with an upper layer and a lower layer, the upper layer scraper is a saw blade, the lower layer scraper is a straight edge scraper, the straight edge scraper and the working surface are 10-45 degrees, the edge of the straight edge scraper slightly protrudes out of the saw blade, and a scraper pressing plate is arranged below the lower layer scraper.

Further, the travelling mechanism comprises a travelling part and a guiding part, the travelling part comprises four power wheels, the four power wheels are respectively arranged on the periphery of a chassis of the frame seat through four power wheel swinging frames, the power wheel swinging frames are connected with one end of a reversing piece, the other end of the reversing piece is arranged on a reversing piece bracket, and the reversing piece bracket is arranged on the chassis; the guide part comprises a guide wheel bracket and two guide wheels, and the two guide wheels are arranged on the guide wheel bracket and protrude out of the chassis; the reversing piece is an air cylinder or an electric push rod.

Further, elevating system includes tertiary lifter plate, tertiary lift slider, tertiary lift guide rail, second grade lift frame, second grade lift slider, second grade lift guide rail, one-level lift frame, one-level lift guide pulley, a plurality of fixed pulley, wire rope and lifting machine, wire rope installs on the wire rope reel of lifting machine in one end, and the tertiary lifter plate is connected behind the other end through a plurality of fixed pulleys, and the one-level lift frame passes through the one-level lift guide pulley and installs in the fixed frame of frame seat, and the second grade lift frame passes through second grade lift slider and second grade lift guide rail and installs on the fixed frame, and the tertiary lifter plate passes through tertiary lift slider and third grade lift guide rail and installs on the second grade lift frame.

Furthermore, a buffer spring or a buffer cushion is arranged at the top end of each stage of lifting slide block or guide wheel, so that the rise process is prevented from being aborted.

The beneficial technical effects of the utility model are as follows: the automatic putty coating device has the advantages that automatic putty coating on wall surfaces and roof surfaces is realized, window holes and door holes can be automatically identified, the waste of putty falling is reduced, and the working efficiency of putty coating is high. The control component controls the pump material flow to match the material distribution system, the window opening and the door opening can be automatically identified through the sensor, and the material supply to the window opening and the door opening area can be stopped in time, so that the uniform ash distribution to the wall surface can be realized; when the roof surface is used for coating the putty, the nozzle is rotated for 90 degrees to face the roof surface, so that uniform coating of the putty on the roof surface can be realized.

Drawings

The utility model is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic rear side perspective view of the present utility model;

FIG. 2 is a left side schematic view of the present utility model;

FIG. 3 is a partial view of a left side schematic of the present utility model;

FIG. 4 is a schematic diagram of a front view of the present utility model;

FIG. 5 is a schematic top view of the present utility model;

FIG. 6 is a schematic top view of a partial view of the present utility model;

FIG. 7 is a schematic diagram of a front side perspective view of the present utility model;

FIG. 8 is a schematic view of the bottom structure of the present utility model;

FIG. 9 is a partial view of FIG. 1 of the present utility model;

in the figure: 001. the chassis 002, reversing piece support, 003, reversing cylinder, 004, power wheel swing frame, 005, power wheel, 006, guide wheel support, 007 and guide wheel; 100. the fixed frame, 111, the primary lifting frame, 211, the secondary lifting frame, 212, the secondary lifting slide block, 213, the secondary lifting guide rail, 311, the tertiary lifting plate, 312, the tertiary lifting slide block, 313 and the tertiary lifting guide rail; 400. the scraper group, 401, upper scraper, 402, lower scraper, 403, scraper press plate, 411, positioning shaft, 412, end shaft, 413, positioning pin, 416, cylinder, 418, plastering bracket, 419, reversing plate, 421, material nozzle seat, 444, pressure spring, 445, press plate, 446, nut; 501. distance sensor 502, discharge nozzle 503, material conveying pipe 504, material distributing box cover 505, material distributing box 506, material cutting cylinder 507, material hopper 508, material pump; 701. elevator, 702, wire rope, 703, fixed pulley.

Detailed Description

Example 1

As shown in fig. 1, 2 and 7, the robot for automatically coating putty powder on a wall comprises a frame seat, a lifting mechanism, a pumping mechanism and a control component, wherein a running mechanism is arranged at the bottom of the frame seat, the lifting mechanism, the pumping mechanism and the control component are arranged on the frame seat, a putty coating mechanism is arranged on the lifting mechanism and connected with the pumping mechanism, and a plurality of sensors are arranged on the putty coating mechanism and used for detecting window holes or door openings. The control assembly is connected with and controls the travelling mechanism to travel to a position to be operated according to the set house type parameters, then controls the lifting mechanism to drive the ash batching mechanism to be in position, then controls the pump mechanism to pump materials to the ash batching mechanism, the ash batching mechanism uniformly batching ash on the wall surface, meanwhile, the sensors on the lifting mechanism detect window holes and door openings and transmit information to the control assembly, and the control assembly stops feeding the window holes and the door opening areas; the ash batching mechanism is provided with a rotating structure, and when the roof surface is used for batching ash, the ash batching mechanism is rotated towards the roof surface for uniformly batching ash on the roof surface. And a material distributing mechanism is arranged between the material pumping mechanism and the ash batching mechanism and is used for controlling the pumped materials in a partition mode and equally dividing and outputting the pumped materials at the ash batching mechanism.

The material pumping mechanism comprises a feeding hopper 507 and a material pump 508, and materials of a batch wall are put into the feeding hopper 507; the material distributing mechanism comprises a material distributing box 505 and a plurality of material conveying pipes 503, one ends of the material conveying pipes 503 are connected with the material distributing box 505, the other ends are connected with discharging nozzles 502, material breaking cylinders 506 corresponding to the material conveying pipes 503 in number are arranged on the bottom surface of the material distributing box 505, telescopic rods of each material breaking cylinder 506 correspond to connecting ports of one material conveying pipe 503 and the material distributing box 505, and a material pump 508 is connected with the material feeding hopper 507 and the material distributing box 505. The material distributing box 505 is provided with a material distributing box cover 504, which is convenient for installation and inspection and maintenance of internal devices.

The material conveying pipe 503 adopts an array type material conveying hose, the material breaking cylinders 506 are correspondingly distributed by adopting an array type cylinder, the array type cylinders are vertically corresponding to the array type material conveying hose, and the material breaking cylinders 506 are ejected out of the telescopic rods to plug the material conveying pipe 503. The feed box 505 is connected to delivery hose one end, and discharge gate 502 in the one end connection material mouth seat 421, discharge gate 502 equidistance array on material mouth seat 421, and distance sensor 501 is close to the installation of conveying pipeline 503 array on plastering support 418, in actual operation, probably runs into several kinds of situations, like: just all the ash-batching mechanisms are positioned at the door opening or the window opening or part of the conveying pipes are positioned at the door opening or the window opening, at this time, according to signals generated when the distance sensor 501 (the sensor is an array sensor and is used for controlling the material distributing mechanism) detects the door opening or the window opening, when encountering the window opening and the door opening area, the control assembly timely ejects the cylinders corresponding to the conveying pipes, and part of the material in the area in the material distributing mechanism is stopped.

As shown in fig. 3, 6 and 9, the ash-batching mechanism comprises an adjustable pressure constant-pressure cylinder 416 with 45 degrees inclined upwards, a plastering bracket 418 arranged at one end of the cylinder 416, a material nozzle seat 421 with two ends respectively connected with one reversing plate 419 through end shafts, two reversing plates 419 respectively connected with two ends of the plastering bracket 418, and a scraper group 400 arranged on the material nozzle seat 421; when the putty is batched, the air cylinder 416 stretches out to enable the scrapers of the scraper group 400 to be in contact with a construction surface, the air cylinder 416 is obliquely upwards for 45 degrees and is used for constant pressure on the wall surface or the top surface, and the air cylinder air pressure is adjusted to adjust the thickness of the putty; the cylinder is pushed out, the material nozzle seat is constructed on the wall surface when facing the wall surface, the material nozzle seat is constructed on the top surface when facing the top surface, the cylinder is retracted, the material nozzle seat is separated from the construction surface, and the station can be replaced.

As a further preferred design, a plurality of positioning holes are arranged in a circumferential array outside the end shafts 412 at two ends of the nozzle seat 421, a plurality of positioning pins 413 are correspondingly arranged on the reversing plate 419, a positioning shaft 411 is arranged at the other end of the reversing plate 419 and is used for penetrating through the plastering bracket 418, a compression spring 444 and a pressing plate 445 are sleeved at the inner side of the plastering bracket 418, and the pressing plate 445 is locked by a nut 446, so that the positioning pins 413 of the reversing plate 419 are separated from the positioning holes on the nozzle seat 421 and are used for turning over the nozzle seat 421, and the end shaft 412 at the moment serves as a turning shaft.

As a further preferred design, the scraper set 400 is an upper layer and a lower layer, the upper layer scraper 401 is a serrated scraper, the lower layer scraper 402 is a straight edge scraper, the straight edge scraper and the working surface are 10-45 degrees, the edge of the straight edge scraper slightly protrudes from the serrated scraper, the serrated scraper is used for spreading out the material, the straight edge scraper is used for trowelling the material, the scraper pressing plate 403 is arranged below the lower layer scraper 402, and the scraper can be replaced by detaching the scraper pressing plate 403.

Example 2

As shown in fig. 4, 5, 7 and 8, as an optimized design of embodiment 1, the running mechanism comprises a running part and a guiding part, the running part comprises four power wheels 005, the four power wheels 005 are respectively installed around a chassis 001 of the frame seat through four power wheel swinging frames 004, the power wheel swinging frames 004 are connected with one end of a reversing cylinder 003, the other end of the reversing cylinder 003 is installed on a reversing piece bracket 002, and the reversing piece bracket 002 is installed on the chassis 001; the guide part comprises a guide wheel bracket 006 and two guide wheels 007, the two guide wheels 007 are arranged on the guide wheel bracket 006 and protrude out of the chassis 001, when a wall surface is batched, the two guide wheels 007 are in rolling contact with the wall surface, the reversing piece pulls the power wheel swing frame 004, the four power wheels 005 are turned to be parallel to the wall surface, and after one station is batched, the control assembly controls the power wheels 005 to move to the next station; when the top surface is batched, four power wheels 005 are adjusted to enable two sides to be parallel, and putty is batched on the whole top surface by walking; the reversing piece is an air cylinder or an electric push rod.

The three-stage lifting mechanism comprises a three-stage lifting plate 311, a three-stage lifting sliding block 312, a three-stage lifting guide rail 313, a two-stage lifting frame 211, a two-stage lifting sliding block 212, a two-stage lifting guide rail 213, a one-stage lifting frame 111, a one-stage lifting guide wheel, a plurality of fixed pulleys 703, a steel wire rope 702 and a lifting machine 701, wherein one end of the steel wire rope 702 is arranged on a steel wire rope roll of the lifting machine 701, the other end of the steel wire rope 702 is connected with the three-stage lifting plate 311 through the fixed pulleys 703, the one-stage lifting frame 111 is arranged in a fixed frame 100 of a frame seat through the one-stage lifting guide wheel, the two-stage lifting frame 211 is arranged on the fixed frame 100 through the two-stage lifting sliding block 212 and the two-stage lifting guide rail 213, and the three-stage lifting plate 311 is arranged on the two-stage lifting frame 211 through the three-stage lifting sliding block 312 and the three-stage lifting guide rail 313. A buffer spring or a buffer cushion is arranged at the top end of each stage of lifting slide block or guide wheel to prevent a bump in the lifting process.

The above embodiments are merely illustrative of the technical solutions of the present utility model, but not limiting, and all simple modifications on the basis of the present utility model are within the scope of the present utility model.

Claims (9)

1. The utility model provides an automatic batch putty powder wall's robot which characterized in that: the automatic feeding device comprises a frame seat, a lifting mechanism, a material pumping mechanism and a control component, wherein a travelling mechanism is arranged at the bottom of the frame seat, the lifting mechanism, the material pumping mechanism and the control component are arranged on the frame seat, an ash batching mechanism is arranged on the lifting mechanism and connected with the material pumping mechanism, and a plurality of sensors are arranged on the ash batching mechanism and used for detecting window holes or door holes; the control component is connected with and controls the travelling mechanism, the lifting mechanism, the ash batching mechanism and the material pumping mechanism and is used for pumping the material to the ash batching mechanism and controlling travelling; the ash batching mechanism is provided with a rotating structure for rotating towards the roof surface.

2. The robot for automatically painting a putty powder as set forth in claim 1 and further comprising: the pump material mechanism includes feeder hopper, charge pump, is provided with feed divider between pump material mechanism and batch grey mechanism, feed divider includes branch magazine and a plurality of conveying pipeline, and the feed divider is connected to the one end of a plurality of conveying pipelines, and the discharge mouth is connected to the other end for with the partition control of the material that pumps, install the disconnected material cylinder that corresponds with conveying pipeline quantity in branch magazine bottom surface, and the telescopic link of every disconnected material cylinder corresponds a conveying pipeline and divides the magazine connector, and feeder hopper and branch magazine are connected to the charge pump.

3. The robot for automatically painting a putty powder as set forth in claim 2 and further comprising: the conveying pipe of the distributing mechanism is correspondingly arranged with the sensors, the sensors respectively detect window holes or door hole areas and transmit detection signals to the control component, and the control component controls the distributing mechanism to stop the feeding of the conveying pipe in the window holes or the door hole areas.

4. The robot for automatically painting a putty powder as set forth in claim 2 and further comprising: the ash-batching mechanism comprises an obliquely upward 45-degree pressure-adjustable constant-pressure air cylinder, a plastering support arranged at one end of the air cylinder, a material nozzle seat, two ends of which are respectively connected with one reversing plate through end shafts, two reversing plates respectively connected with two ends of the plastering support, and a scraper group arranged on the material nozzle seat.

5. The robot for automatically painting a putty powder as set forth in claim 4 and further comprising: the end shafts at two ends of the material nozzle seat are provided with a plurality of positioning holes in a circumferential array, the reversing plate is correspondingly provided with a plurality of positioning pins, the other end of the reversing plate is provided with a positioning shaft which is used for penetrating through a plastering bracket, and the inner side of the plastering bracket is sleeved with a pressure spring and a pressing plate and is locked by a nut.

6. The robot for automatically painting a putty powder as set forth in claim 4 and further comprising: the scraper group is provided with an upper layer and a lower layer, the upper layer scraper is a serrated scraper, the lower layer scraper is a straight edge scraper, the straight edge scraper and the working surface are 10-45 degrees, the edge of the straight edge scraper protrudes out of the serrated scraper, and a scraper pressing plate is arranged below the lower layer scraper.

7. The robot for automatically painting a putty powder as set forth in claim 1 and further comprising: the traveling mechanism comprises a traveling part and a guide part, the traveling part comprises four power wheels, the four power wheels are respectively arranged on the periphery of a chassis of the frame seat through four power wheel swinging frames, the power wheel swinging frames are connected with one end of a reversing piece, the other end of the reversing piece is arranged on a reversing piece bracket, and the reversing piece bracket is arranged on the chassis; the guide part comprises a guide wheel bracket and two guide wheels, and the two guide wheels are arranged on the guide wheel bracket and protrude out of the chassis; the reversing piece is an air cylinder or an electric push rod.

8. The robot for automatically painting a putty powder as set forth in claim 1 and further comprising: the lifting mechanism comprises a three-stage lifting plate, a three-stage lifting sliding block, a three-stage lifting guide rail, a two-stage lifting frame, a two-stage lifting sliding block, a two-stage lifting guide rail, a one-stage lifting frame, a one-stage lifting guide wheel, a plurality of fixed pulleys, a steel wire rope and a lifting machine, wherein one end of the steel wire rope is arranged on a steel wire rope roll of the lifting machine, the other end of the steel wire rope is connected with the three-stage lifting plate after passing through the fixed pulleys, the one-stage lifting frame is arranged in a fixed frame of a frame seat through the one-stage lifting guide wheel, and the two-stage lifting frame is arranged on the fixed frame through the two-stage lifting sliding block and the two-stage lifting guide rail.

9. The robot for automatically painting a putty powder as set forth in claim 8 and further comprising: a buffer spring or a buffer cushion is arranged at the top end of each stage of lifting slide block or guide wheel to prevent a bump in the lifting process.

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