CN115217288B - Automatic putty powder coating robot - Google Patents
Automatic putty powder coating robot Download PDFInfo
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- CN115217288B CN115217288B CN202210816856.0A CN202210816856A CN115217288B CN 115217288 B CN115217288 B CN 115217288B CN 202210816856 A CN202210816856 A CN 202210816856A CN 115217288 B CN115217288 B CN 115217288B
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- 239000000843 powder Substances 0.000 title claims abstract description 21
- 239000011248 coating agent Substances 0.000 title abstract description 20
- 238000000576 coating method Methods 0.000 title abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 115
- 230000007306 turnover Effects 0.000 claims abstract description 33
- 238000005086 pumping Methods 0.000 claims abstract description 27
- 239000000463 material Substances 0.000 claims abstract description 19
- 238000007790 scraping Methods 0.000 claims description 34
- 238000007599 discharging Methods 0.000 claims description 25
- 238000007789 sealing Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
- E04F21/161—Trowels
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Coating Apparatus (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention provides an automatic putty powder coating robot which comprises a frame seat, a traveling mechanism, a material pumping mechanism, a lifting mechanism, a guide rail pair, a putty coating mechanism and a control assembly, wherein the frame seat is arranged on the frame seat; the running mechanism is arranged at the bottom of the frame seat, the pumping mechanism is arranged in the frame seat, the lifting mechanism is arranged at the top of the frame seat, the guide rail pair is arranged at one side of the lifting mechanism, the turnover type ash-batching mechanism is arranged on the guide rail pair, the control component is connected with the running mechanism, the pumping mechanism, the lifting mechanism and the ash-batching mechanism, the control component controls the pumping mechanism to match the pumping flow, and the lifting mechanism drives the lifting movement speed of the ash-batching mechanism to realize uniform ash-batching of opposite walls; when the roof surface is used for carrying out ash, the control assembly controls the ash carrying mechanism to turn over 90 degrees towards the roof surface, and then the running speed and the pumping speed of the travelling mechanism are matched, so that the uniform ash carrying on the roof surface is realized.
Description
Technical Field
The invention relates to an automatic putty powder coating robot, 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 is high, the efficiency is low, and the labor gap is large after the population is aged. In order to solve the problem, a machine for automatically coating putty and plastering walls is produced, such as a numerical control intelligent plastering machine with the application number 2015133984. X, which comprises a movable base, a vertical rod telescopic device erected on two sides of the base, a plastering device arranged on the vertical rod telescopic device, an integrated control device arranged on the base and a power device, wherein the plastering device comprises a plastering plate, a ash bucket, an ash bucket frame and an ash bucket frame lifting device for lifting the ash bucket frame, the power device comprises a winch A and a winch B which are arranged on the base, a touch screen controller is arranged on the base through a supporting rod, the touch screen controller is in communication connection with the integrated control device, and a set of angle adjusting device capable of automatically and intelligently adjusting the inclination angle of the telescopic vertical rod is arranged between the vertical rod telescopic device and the base.
In the patent, the plastering machine needs to be pushed to a proper position away from the wall surface, namely, the gap between the plastering plate and the wall surface accords with plastering thickness; various working parameters of the wall plastering machine, such as the inclination angle parameter of the telescopic vertical frame rod and the tension parameter of the pull rope A (the size of the pull rope A reflects the force of the telescopic vertical frame rod against the roof and the ground, namely, the pull rope A is firmly supported under the condition of how much force but not to bend the telescopic vertical frame rod), the tension of the pull rope B can be displayed on the touch screen, and an alarm value is set for the tension of the pull rope B, so that plastering can be timely processed when the plastering is prevented from encountering obstacles.
This patent needs the manual work to push away before the wall, and the manual control is the distance between them to go up and down to be the stay cord structure, lead to its material that falls seriously, and only can the powder wall, can not carry out the top surface and batch grey.
Application number 202010266257.7 discloses a high-efficient automatic whitewashing machine, including the device base that can remove, correspond around on the upside terminal surface of device base and correspond fixed mounting has outer slide, around correspond install in the outer slide can the gliding interior slide from top to bottom, around correspond outer slide with slidable mounting whitewashing organism on the interior slide, the left side terminal surface of whitewashing organism is equipped with the expansion plate. 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 pouring cement to the wall, does not need the manual work to provide cement for the organism, has reduced the human cost.
It can be found that the patent cannot apply putty and powder to the indoor top surface, and the base of the two patents limits the effect of the base on the putty and powder at the lowest end of the wall, and has higher requirement on the consistency of the wall surface height and poorer adaptability to different working conditions.
Of course, there are also spraying type machines in the prior art, and the construction process of the spraying type machine is quick, but when 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.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the automatic putty powder coating robot which can not only greatly improve the working efficiency of wall surface putty coating, but also realize the top surface putty coating operation.
In order to achieve the technical aim, the invention provides an automatic putty powder coating robot which comprises a frame seat, a traveling mechanism, a pumping mechanism, a lifting mechanism, a guide rail pair, a putty coating mechanism and a control assembly; the running mechanism is arranged at the bottom of the frame seat, the pumping mechanism is arranged in the frame seat, the lifting mechanism is arranged at the top of the frame seat, the guide rail pair is arranged at one side of the lifting mechanism, the turnover type ash-batching mechanism is arranged on the guide rail pair, the control component is connected with the running mechanism, the pumping mechanism, the lifting mechanism and the ash-batching mechanism, the control component controls the pumping mechanism to match the pumping flow, and the lifting mechanism drives the lifting movement speed of the ash-batching mechanism to realize uniform ash-batching of opposite walls; when the roof is used for batching, the control assembly controls the ash batching mechanism to turn over 90 degrees towards the roof, and then the running speed and the pumping speed of the travelling mechanism are matched, so that uniform ash batching on the roof is realized.
As a lifting design, the automatic putty powder wall coating robot further comprises an industrial camera and a motion controller, wherein the industrial camera is installed on a frame seat, the motion controller supports visual recognition, the motion controller is connected with the camera, and through visual recognition and control planning, the positions of a door opening and a window opening are avoided, so that full-automatic putty powder operation of an indoor wall surface is realized.
Further, elevating system is double scissor fork lift subassembly, articulated end installation suspension bar in one side top of two scissor fork lift subassemblies, vice top of guide rail and suspension bar fixed connection, servo electric jar one end is installed in the frame seat, elevating system is connected to the telescopic link, be used for driving elevating system and go up and down, elevating system installs one side of elevating system suspension bar, the lead screw is connected to the elevating system, the lead screw is parallel with the guide rail pair, batch ash mechanism installs on the guide rail pair and connects the lead screw, batch ash mechanism and go up and down by screw drive, the whole lift process of batch ash mechanism has two sets of independent and servo motor drive of combined action, can be through the motion parameter of adjustment control system, in order to realize the disposable construction operation from the bottom to the top surface of not high wall.
Further, the scissor fork type lifting assembly comprises a plurality of lifting rods, sliding blocks and sliding rails, the middle parts of every 2 lifting rods are mutually hinged to form a scissor fork group, two end parts of the two scissor fork groups are mutually hinged and connected, and the two end parts are sequentially connected to form a scissor fork type lifting structure; the sliding rail is arranged at the top of the frame seat, one end of the two ends of the two lifting rods at the bottom of the scissor type lifting structure is hinged with the top of the frame seat, the other end of the two ends of the two lifting rods is arranged on the sliding block, the sliding block is arranged on the sliding rail and can reciprocate along the sliding rail, and the hanging rods are arranged at the top ends of the lifting rods of the top scissor type groups of the two scissor type lifting assemblies which are arranged at one side hinged with the frame seat.
Furthermore, a guide chamfer is arranged on the bottom surface of the guide rail pair towards one side of the lifting rod, supporting shafts are arranged between corresponding hinge points of the two scissor fork type lifting assemblies positioned on one side of the hanging rod, and the bottom surface of the guide rail is tangent to the supporting shafts and used for supporting the upper part of the guide rail pair in the lifting process; and the back support shafts parallel to the support shafts are arranged in an array from top to bottom at the positions of the frames corresponding to the support shafts and are used for supporting the lower stroke of the guide rail pair in the lifting process.
Further, the ash-batching mechanism comprises an ascending bracket, a plate overturning frame, a constant pressure cylinder, a turnover cylinder, a push rod frame, a material outlet bin, an angle swinging cylinder and an ash scraping knife, wherein two ends of the plate overturning frame are positioned outside the ascending bracket and hinged with the ascending bracket; one end of the constant pressure cylinder is arranged on the turnover plate frame, and the other end of the constant pressure cylinder is fixedly connected with the push rod frame and is used for providing constant thrust for the ash scraping knife and compensating the stroke difference of the scraper in the up-down swinging range; one end of the turnover cylinder is hinged to the lifting support, the other end of the turnover cylinder is hinged to the turnover frame, the turnover cylinder is driven to shrink to drive the turnover frame to turn over around the hinge point of the lifting support as an axis for adjusting the working face, and when the turnover cylinder stretches out, the ash scraping knife forms an oblique angle of 10-45 degrees with the wall surface for scraping the wall surface; when the overturning cylinder retracts, the ash scraping knife forms an oblique angle of 10 to 45 degrees with the top surface and is used for the top surface of the batch; one end of the swing angle cylinder is hinged to the push rod frame, the other end of the swing angle cylinder is hinged to the discharging bin, the ash scraping knife is hinged to the lower part of the discharging hole of the discharging bin, the lower parts of the two ends of the push rod frame are hinged to the supporting knife bar, and the other end of the supporting knife bar is hinged to a suspension piece on the side, close to the discharging hole, of the discharging bin; one end of the supporting cutter bar, which is close to the ash scraping cutter, is fixedly connected with a top cutter shaft, and the top cutter shaft supports the lower surface of the ash hanging cutter.
Further, pump material mechanism includes storage silo, pump, conveyer pipe, and storage silo and conveyer pipe are connected to the pump, will batch the feed inlet on ash material through conveyer pipe pump income play feed bin upper portion, and the play feed bin front end sets up rectangle discharge gate, and play feed bin has a reverse V-arrangement with play feed gate and buckles, makes the discharge gate of play feed gate slant downwards, sets up to grid formula export at the discharge gate.
Furthermore, the two sides of the discharging nozzle are close to the discharging hole, a flow limiting rod for limiting flow is inserted from the two ends of the flow limiting hole, and the discharging width is adjusted by controlling the depth of the flow limiting rod inserted, so that the discharging amount of the construction overlapping area is reduced.
Furthermore, the material sealing holes are arranged on two side walls of the discharging nozzle so as to seal the material sealing plates.
Further, the running gear is including installing four walking wheels in frame seat bottom, and wherein two diagonal angle installation's walking wheels are wheel hub motor, and two other diagonal angle installation's walking wheels are the universal wheel, wheel hub motor connection control assembly, realize turning and mobile position through the positive and negative rotation of two wheel hub motors of control.
The beneficial technical effects of the invention are as follows: the automatic putty and wall powder coating work of the wall surface and the roof surface is realized by combining the lifting mechanism, the guide rail pair and the ash coating mechanism, the pumping mechanism automatically feeds materials, the discharging nozzle is designed to enable the discharging amount to be controllable, the discharging is more uniform, and the wall surface ash coating work efficiency is greatly improved;
the movable frame of the scissor type lifting mechanism is connected with the movable frame by adopting a sliding block and guide rail structure instead of the traditional wheel type connection, so that the clearance error of lifting is reduced, two parts of lifting control of the ash batching mechanism are controlled, no pause is generated in the working process, and the movable frame can adapt to wall surfaces and top surfaces with different heights by adjusting parameters;
the oscillating angle cylinder enables the ash scraping knife to move up and down in a small range and is used for compensating the height space of the whole ash scraping mechanism, reducing the area of the leaked batch, and the front-back travel difference of the ash scraping knife in the oscillating range depends on the travel compensation of the constant pressure cylinder.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a top partial view of the structure of the present invention;
FIG. 3 is a schematic diagram of the front view structure of the present invention;
FIG. 4 is an enlarged schematic view of a part of the ash handling mechanism of FIG. 3 according to the present invention;
FIG. 5 is a schematic cross-sectional view of the ash handling mechanism of the present invention;
FIG. 6 is a partial perspective view of the ash handling mechanism of the present invention;
FIG. 7 is a schematic diagram of the invention in a 90 degree flipped top surface state;
in the figure: 1. the device comprises a pumping mechanism, 2, a frame seat, 3, a sliding rail, 4, a sliding block, 5, a lifting mechanism, 51, a lifting rod, 6, a servo electric cylinder, 7, a guide rail pair, 8, a lifting sliding block, 9, a dust scraping mechanism, 10, a screw rod, 11, a hanging rod, 12, a synchronous wheel, 13, a backing shaft, 14, a jacking cutter shaft, 15, a feed inlet, 16, a lifting motor, 17, a swing angle cylinder, 18, a suspension piece, 19, a material sealing plate, 20, a material sealing hole, 21, a lifting support, 22, a turnover plate frame, 23, a constant pressure cylinder, 24, a push rod frame, 25, a supporting cutter rod, 26, a dust scraping cutter, 27, a discharge bin, 28, a discharge nozzle, 29, a swing angle cylinder rod, 30, a constant pressure cylinder rod, 31, a turnover cylinder, 32 and a discharge port.
Detailed Description
Example 1
The automatic putty powder coating robot shown in fig. 1 comprises a frame seat 2, a travelling mechanism, a pumping mechanism 1, a lifting mechanism 5, a guide rail pair 7, a putty coating mechanism 9 and a control component; the running mechanism is arranged at the bottom of the frame seat 2, the pumping mechanism 1 is arranged in the frame seat 2, the lifting mechanism 5 is arranged at the top of the frame seat 2, the guide rail pair 7 is arranged at one side of the lifting mechanism, the turnover type ash batching mechanism 9 is arranged on the guide rail pair 7, the control component is connected with the running mechanism, the pumping mechanism 1, the lifting mechanism 5 and the ash batching mechanism 9, the control component controls the pumping mechanism 1 to match the pumping flow, and the lifting mechanism 5 drives the lifting movement speed of the ash batching mechanism 9 to realize rapid and uniform ash batching of opposite walls; when the roof is used for batching, the control assembly controls the ash batching mechanism to turn over 90 degrees to face the roof, and then, the running speed and the pumping speed of the running mechanism are matched to realize the rapid and uniform ash batching operation of the roof.
Example 2
As a preferred design, on the basis of embodiment 1, the automatic putty powder wall coating robot further comprises an industrial camera installed on the frame base and a motion controller supporting visual recognition, wherein the motion controller is connected with the camera, and through visual recognition and control planning, positions of door openings and window openings are avoided, so that automatic putty powder coating operation of indoor wall surfaces is realized.
Example 3
As a specific design of the embodiment 1, as shown in fig. 2 and 3, the lifting mechanism 5 is a double-scissor type lifting assembly, a hanging rod 11 is installed at the hinged end of the top of one side of the two scissor type lifting assemblies, the top of the guide rail pair 7 is fixedly connected with the hanging rod 11, one end of a servo electric cylinder 6 is installed in the frame seat 2, the telescopic rod is connected with the lifting mechanism 5 and is used for driving the lifting mechanism 5 to lift, a lifting motor 16 is installed at one side of the hanging rod 11 of the lifting mechanism, the lifting motor 16 is connected with a lead screw 10 through a synchronous wheel 12, the lead screw 10 is parallel to the guide rail pair 7, a dust-collecting mechanism 9 is installed on the guide rail pair 7 and is connected with the lead screw 10, and the dust-collecting mechanism 9 is driven to lift by the lead screw 10.
The structure can be seen that the lifting of the ash batching mechanism 9 is divided into two parts, firstly, the servo electric cylinder 6 drives the lifting mechanism 5 to integrally lift, and the lifting mechanism 5 is driven by the servo electric cylinder 6 instead of the traditional oil cylinder; secondly, the ash scraping mechanism 9 is lifted relative to the guide rail pair 7, the lifting of the ash scraping mechanism 9 is driven by the lifting motor 16, parameter setting is carried out according to the wall height through the control assembly, the scissor type lifting mechanism is lifted to the top of the wall, meanwhile, the ash scraping mechanism 9 is just lifted to the top of the guide rail, no pause exists in the middle, and the parameter setting can be adjusted to adapt to the wall surfaces and the top surfaces of different heights.
Preferably, the scissor fork type lifting assembly comprises a plurality of lifting rods 51, sliding blocks 3 and sliding rails 4, wherein the middle parts of every 2 lifting rods 51 are mutually hinged to form a scissor fork group, and two end parts of the two scissor fork groups are mutually hinged and connected in sequence to form a scissor fork type lifting structure; the sliding rail 3 is installed at the top of the frame seat 2, one end of the two ends of the two lifting rods 51 at the bottom of the scissor fork type lifting structure is hinged with the top of the frame seat 2, the other end of the two ends of the two lifting rods is installed on the sliding block 3, the sliding block 3 is installed on the sliding rail 4 and can reciprocate along the sliding rail 4, and the hanging rod 11 is installed at the top ends of the lifting rods 11 of the top scissor fork groups of the two scissor fork type lifting assemblies located at one side hinged with the frame seat 2. The scissor type lifting mechanism adopts a structure that a sliding block 3 and a sliding rail 4 are connected with a frame seat 2 instead of the traditional wheel type connection, so that the clearance error of a lifting platform is reduced.
Preferably, a guiding chamfer is arranged on the bottom surface of the guide rail pair 7 towards one side of the lifting rod, supporting shafts are arranged between corresponding hinge points of the two scissor fork type lifting assemblies positioned on one side of the hanging rod 11, and the bottom surface of the guide rail is tangent to the supporting shafts and used for supporting the guide rail pair 7 in the lifting process; the back support shafts 13 parallel to the support shafts are arranged in an array from top to bottom at the positions of the frame base 2 corresponding to the support shafts and are used for supporting the guide rail pairs 7 in the descending process.
Example 4
As a specific design of the embodiment 1, as shown in fig. 5, 6 and 7, the ash batching mechanism 9 comprises a lifting bracket 21, a turning plate frame 22, a constant pressure cylinder 23, a turning cylinder 31, a push rod frame 24, a discharging bin 27, a swing angle cylinder 17 and an ash scraping knife 26, wherein two ends of the turning plate frame 22 are positioned outside the lifting bracket 21 and hinged with the lifting bracket 21; one end of the constant pressure cylinder 23 is arranged on the turnplate frame 22, and the other end is connected with the push rod frame 24 through a constant pressure cylinder rod 30; the constant pressure cylinder 23 is used for adjusting a working surface and providing constant thrust for the ash scraping knife 26, and when the constant pressure cylinder 23 stretches out, the ash scraping knife 26 forms an oblique angle of 10 to 45 degrees with the wall surface and is used for scraping the wall surface; when the constant pressure cylinder 23 is retracted, the scraper 26 is at an oblique angle of 10 to 45 degrees to the top surface for the top surface of the batch; one end of the turnover cylinder 31 is hinged with the lifting support 21, the other end of the turnover cylinder is hinged with the turnover plate frame 22, and the turnover cylinder 31 is driven to shrink to drive the turnover plate frame 22 to turn over by taking a hinge point of the lifting support 21 as an axle center; one end of the swing angle cylinder 17 is hinged on the push rod frame 24, the other end of the swing angle cylinder is hinged with the discharge bin 27 through a swing angle cylinder rod 29, the ash scraping knife 26 is hinged on the lower part of a discharge hole 32 of the discharge bin 27, the lower parts of the two ends of the push rod frame 24 are hinged with the support knife bar 25, and the other end of the support knife bar 25 is hinged with the suspension piece 18 on the side, close to the discharge hole 32, of the discharge bin 27; one end of the supporting cutter bar 25, which is close to the ash scraping cutter 26, is fixedly connected with a top cutter shaft 14, and the top cutter shaft 14 supports the lower surface of the ash hanging cutter 26. The oscillating angle cylinder 17 enables the ash scraping knife 26 to move up and down in a small range, is used for compensating the height space of the whole ash scraping mechanism 9, reduces the area of the leaked batch, and the front-back travel difference of the ash scraping knife 26 in the oscillating range depends on the travel compensation of the constant pressure cylinder 23.
Example 5
As a specific design of embodiment 1, the pumping mechanism 1 includes a storage bin, a pump, and a conveying pipe, the pump is connected with the storage bin and the conveying pipe, the batch ash is pumped into the feed inlet 15 on the upper portion of the discharge bin 27 through the conveying pipe, the front end of the discharge bin 27 is provided with a rectangular discharge nozzle 28, the discharge bin 27 and the discharge nozzle 28 have an inverted V-shaped bend, so that the discharge outlet 15 of the discharge nozzle 28 is inclined downward, and the discharge outlet 15 is provided with a grid outlet.
Preferably, the two sides of the discharging nozzle 28 are provided with sealing holes 20 near the discharging hole, the two ends of the sealing holes 20 are inserted with flow limiting rods for limiting flow, and the discharging width is adjusted by controlling the depth of the inserted flow limiting rods so as to reduce the discharging amount of the construction overlapping area.
Preferably, the sealing holes 20 are arranged on two side walls of the discharging nozzle 28 to be sealed by the sealing plates 19.
The running gear is including installing four walking wheels in frame seat bottom, and wherein two walking wheels of diagonal angle installation are wheel hub motor, and two other walking wheels of diagonal angle installation are the universal wheel, wheel hub motor connection control assembly, can realize turning and mobile position through the positive and negative rotation of two wheel hub motors of control, and this kind of overall arrangement simple structure turns to in a flexible way, with low costs.
The above embodiments are merely illustrative of the technical solutions of the present invention, but not limiting, and all simple modifications on the basis of the present invention are within the scope of the present invention.
Claims (6)
1. An automatic putty powder wall robot, which is characterized in that: comprises a frame seat, a travelling mechanism, a material pumping mechanism, a lifting mechanism, a guide rail pair, a dust-collecting mechanism and a control component; the running mechanism is arranged at the bottom of the frame seat, the pumping mechanism is arranged in the frame seat, the lifting mechanism is arranged at the top of the frame seat, the guide rail pair is arranged at one side of the lifting mechanism, the turnover type ash-batching mechanism is arranged on the guide rail pair, the control component is connected with the running mechanism, the pumping mechanism, the lifting mechanism and the ash-batching mechanism, the control component controls the pumping mechanism to match the pumping flow, and the lifting mechanism drives the lifting movement speed of the ash-batching mechanism to realize uniform ash-batching of opposite walls; when the roof is used for batching, the control assembly controls the ash batching mechanism to turn over 90 degrees towards the roof, and then the running speed and the pumping speed of the travelling mechanism are matched to realize uniform batching of the roof;
the lifting mechanism is a double-scissor type lifting assembly, a hanging rod is arranged at the hinged end of one side top of each of the two scissor type lifting assemblies, the top of the guide rail pair is fixedly connected with the hanging rod, one end of the servo electric cylinder is arranged in the frame seat, the telescopic rod is connected with the lifting mechanism and used for driving the lifting mechanism to lift, the lifting motor is arranged at one side of the hanging rod of the lifting mechanism and connected with a lead screw, the lead screw is parallel to the guide rail pair, the ash scraping mechanism is arranged on the guide rail pair and connected with the lead screw, and the ash scraping mechanism is driven by the lead screw to lift;
the bottom surface of the guide rail pair faces one side of the lifting rod, a guide chamfer is arranged on one side of the lifting rod, supporting shafts are arranged between corresponding hinge points of two scissor-fork type lifting assemblies on one side of the hanging rod, and the bottom surface of the guide rail pair is tangent to the supporting shafts and used for supporting the guide rail pair in the lifting process; the back support shafts which are parallel to the support shafts are arranged in an array mode from top to bottom at the positions of the frames corresponding to the support shafts and are used for supporting in the descending process of the guide rail pairs;
the ash-scraping mechanism comprises a lifting bracket, a plate turning frame, a constant pressure cylinder, a turning cylinder, a push rod frame, a material outlet bin, an angle swinging cylinder and an ash scraping knife, wherein two ends of the plate turning frame are positioned outside the lifting bracket and are hinged with the lifting bracket; one end of the constant pressure cylinder is arranged on the turnover plate frame, and the other end of the constant pressure cylinder is fixedly connected with the push rod frame and is used for providing constant thrust for the ash scraping knife and compensating the stroke difference of the scraper in the up-down swinging range; one end of the turnover cylinder is hinged to the lifting support, the other end of the turnover cylinder is hinged to the turnover frame, the turnover cylinder is driven to shrink to drive the turnover frame to turn over around the hinge point of the lifting support as an axis for adjusting the working face, and when the turnover cylinder stretches out, the ash scraping knife forms an oblique angle of 10-45 degrees with the wall surface for scraping the wall surface; when the overturning cylinder retracts, the ash scraping knife forms an oblique angle of 10 to 45 degrees with the top surface and is used for the top surface of the batch; one end of the swing angle cylinder is hinged to the push rod frame, the other end of the swing angle cylinder is hinged to the discharging bin, the ash scraping knife is hinged to the lower part of the discharging hole of the discharging bin, the lower parts of the two ends of the push rod frame are hinged to the supporting knife bar, and the other end of the supporting knife bar is hinged to a suspension piece on the side, close to the discharging hole, of the discharging bin; a top cutter shaft is fixedly connected to one end of the supporting cutter bar, which is close to the ash scraping cutter, and the top cutter shaft supports the lower surface of the ash hanging cutter;
the pump material mechanism comprises a storage bin, a pump and a conveying pipe, wherein the pump is connected with the storage bin and the conveying pipe, the batch ash material is pumped into a feed inlet at the upper part of a discharge bin through the conveying pipe, a rectangular discharge nozzle is arranged at the front end of the discharge bin, and the discharge bin and the discharge nozzle are provided with an inverted V-shaped bend, so that the discharge hole of the discharge nozzle is inclined downwards, and the discharge hole is arranged as a grid type outlet.
2. The automated putty powder robot of claim 1, wherein: still including installing the industry camera on the frame seat and supporting visual identification's motion controller, motion controller connects the camera, through visual identification and control planning, avoids door opening and window hole position, realizes the full-automatic operation of graying of indoor wall.
3. The automated putty powder robot of claim 1, wherein: the scissor fork type lifting assembly comprises a plurality of lifting rods, sliding blocks and sliding rails, wherein the middle parts of every 2 lifting rods are mutually hinged to form a scissor fork group, and two end parts of the two scissor fork groups are mutually hinged and connected to form a scissor fork type lifting structure in sequence; the sliding rail is arranged at the top of the frame seat, one end of the two ends of the two lifting rods at the bottom of the scissor type lifting structure is hinged with the top of the frame seat, the other end of the two ends of the two lifting rods is arranged on the sliding block, the sliding block is arranged on the sliding rail and can reciprocate along the sliding rail, and the hanging rods are arranged at the top ends of the lifting rods of the top scissor type groups of the two scissor type lifting assemblies which are arranged at one side hinged with the frame seat.
4. The automated putty powder robot of claim 1, wherein: the discharge mouth both sides are close to the discharge gate position and are set up the material sealing hole, insert the current-limiting pole that is used for the current-limiting from material sealing hole both ends, adjust the ejection of compact width through the depth of control inserted current-limiting pole for reduce the play material volume of construction overlapping region.
5. The automated putty powder robot of claim 4, wherein: the material sealing holes are formed in two side walls of the discharging nozzle to be plugged by the material sealing plates.
6. The automated putty powder robot of claim 1, wherein: the travelling mechanism comprises four travelling wheels arranged at the bottom of the frame seat, wherein the two travelling wheels arranged at opposite angles are hub motors, the other two travelling wheels arranged at opposite angles are universal wheels, the hub motors are connected with a control assembly, and turning and moving positions are realized by controlling the forward and reverse rotation of the two hub motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210816856.0A CN115217288B (en) | 2022-07-12 | 2022-07-12 | Automatic putty powder coating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111764605A (en) * | 2020-08-06 | 2020-10-13 | 南京工业职业技术学院 | Multifunctional wall painting machine |
| CN113272508A (en) * | 2018-09-13 | 2021-08-17 | 萨蒂什·帕蒂尔 | Machine for plastering and finishing ceilings, interior walls and exterior walls |
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| JPH07324475A (en) * | 1994-06-01 | 1995-12-12 | Fujita Corp | Exterior wall automatic spray device |
| CN201794277U (en) * | 2010-09-26 | 2011-04-13 | 何干清 | Full-automatic multifunctional wall whitewashing machine |
| CN103452300A (en) * | 2013-09-17 | 2013-12-18 | 杨宝堂 | Suspension type sufficient-water plastering machine |
| CN205935581U (en) * | 2016-08-15 | 2017-02-08 | 陈月凤 | Semi -automatic no dead angle mechanical float |
| CN107060290A (en) * | 2017-04-19 | 2017-08-18 | 黑龙江海存鑫科技有限公司 | A kind of intelligent mechanical float |
| CN208563898U (en) * | 2018-06-07 | 2019-03-01 | 黑龙江海存鑫科技有限公司 | A kind of Novel wall mechanical float |
| CN113272508A (en) * | 2018-09-13 | 2021-08-17 | 萨蒂什·帕蒂尔 | Machine for plastering and finishing ceilings, interior walls and exterior walls |
| CN111764605A (en) * | 2020-08-06 | 2020-10-13 | 南京工业职业技术学院 | Multifunctional wall painting machine |
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| CN115217288A (en) | 2022-10-21 |
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