CN105201182B - A kind of numerically controlled intelligent plastering machine - Google Patents
A kind of numerically controlled intelligent plastering machine Download PDFInfo
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- CN105201182B CN105201182B CN201510333984.XA CN201510333984A CN105201182B CN 105201182 B CN105201182 B CN 105201182B CN 201510333984 A CN201510333984 A CN 201510333984A CN 105201182 B CN105201182 B CN 105201182B
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Abstract
The present invention is a kind of numerically controlled intelligent plastering machine, include movably base, be erected at the stand bar retractor device of base both sides, be arranged on the apparatus of plastering on stand bar retractor device, be arranged on integrated control device and power set on base, apparatus of plastering includes plastering plate, ash bucket, ash ladder and for drawing high the grey ladder lowering or hoisting gear of grey ladder, power set include the hoist engine A and the hoist engine B that are arranged on base, on base, be also provided with a touch screen controller by support bar, touch screen controller and integrated control device communication connection, between stand bar retractor device and base, be provided with a set of adjusting angle device that can automated intelligent regulates telescopic vertical hack lever angle of inclination, the present invention has overcome many defects of existing plastering machine, has wide accommodation, and simple to operate, man-machine safety is secure, and plastering quality is good, and the efficiency of plastering is high, and transition is convenient, saves time, and laborsaving, saving of labor, has good economic promotional value.
Description
Technical field
The present invention relates to construction machinery equipment technical field, especially a kind of numerically controlled intelligent plastering machine.
Background technology
Plastering machine is a kind of machinery that is used for specially whitewashing wall face in house, can smear various brick walls and cement wall surface,Current most advanced practicality, most popular plastering machine have two types, and one is hydraulic pressure fixed plastering machine, and another kind is intelligentPlastering machine.
One, hydraulic pressure fixed plastering machine, its structure and functional characteristics are as follows:
Two vertical rods are inserted on underframe hydraulic stem, can transfer to, plug, and in the middle of vertical rod, without crossbeam, rod end has the slotting crossbeam of dialling,Hydraulic stem can make vertical rod rising 15cm left and right hold out against roof by hydraulic pressure; This type is furnished with several groups of vertical rods different in size, to fitJust roof, moves into one's husband's household upon marriage, and construction hole etc., dial vertical rod, after passing, then plug vertical rod, set up top crossbeam; Ash bucket and main frameDisjunctor, a lifting; Be furnished with an infrared ray vertical collimator, be used for regulating vertical rod perpendicularity; Electric characteristic: be furnished with bat-handle switch(wired or wireless), controls motor; Owner's body is equipped with upper limit position switch, lower position switch.
Main operating process:
(1) vertical rod hue angle location: plastering machine is shifted onto from metope correct position, and a people is the leveling of infrared ray vertical collimator,Projection vertical infrared, makes infrared ray face equate with two vertical rod lower end distances, and another people manually adjusts respectively vertical rod upper end, makes two to standBar forms a plane, simultaneously with infrared parallel line surface.
(2) hydraulic pressure vertical rod is fixed: then repeatedly step on hydrodynamic pressure pedal, hydraulic stem is extended, above select masthead roof, lower topGround. Hand firmly shakes vertical rod, rocks and steps on, until shake motionless vertical rod.
(3) fill cement mortar to ash bucket.
(4) start vibration motor, the rising of main body lifting motor, make body edge rise limit vibrations and plaster, start to plaster about 2 secondsAfter, continue to add cement mortar, until add less than ash bucket; Observe grey ladder jacking condition simultaneously, block or ash bucket draws distortionDeng, show that grey ladder runs into wall nail, steel bar end, protruding brick, closes motor.
(5) main body upper limit position switch is depressed on roof, and main body declines, and vibration motor stops.
(6) main body lifting motor drops to underframe and depresses limit switch, and main body motor stops.
(7) bleed off hydraulic selector, hydraulic pressure declines, and vertical rod declines.
Mainly there is following defect in hydraulic pressure fixed plastering machine:
(1), vertical rod hue angle locate mode defect: after the time-consuming level-off of infrared ray vertical collimator, could project vertically redOutside line, manual push-and-pull plastering machine is wasted time and energy, and two bar vertical rods will be adjusted respectively, and two vertical rod center lines are mutually parallel, all want simultaneouslyEquate with infrared ray face; Take a lot of work, a people adjusts infrared ray vertical collimator, people's push-and-pull plastering machine; Accommodation is narrow, and angle is restricted:Framework house is more at present, and brick wall has been non-load bearing wall, and crooked body of wall often has, the vertical 90 degree location of plastering machine, a lot of wallsBody cannot powder; The body of plastering wall, the mortar ash of smearing, lower Bao Shanghou, thick and hollowing, or depart from; The mortar ash of smearing, lower thick thin, smearHawk touches wall, gently destroys plastering plate, and heavy machine is ruined people's wound; Bigger error: infrared ray vertical collimator is adjusted uneven, just has error, handWork is adjusted also error; Angle is adjusted improper, and plastering quality is poor, and the angle of plastering does not conform to wall, grey hollowing, and disengaging is many.
(2), hydraulic pressure vertical rod fixed form defect: vertical rod often transfer to, plug special time-consuming, require great effort, take a lot of work, plug after vertical rod,Although than the short 15CM in roof left and right, more than door, the hole height of constructing, the hole of moving into one's husband's household upon marriage, construct, two people to coordinate dial-out, plug vertical rod,Crossbeam etc.; Need several groups of vertical rods different in size for subsequent use, too heavy, too many, deposit, shift very inconvenience; It is solid that pin is stepped on hydraulic pressure pedalDetermine vertical rod, a hand steered vertical rod, pin one pin is stepped on hydraulic pressure pedal, affects vertical rod orientation angle, effort, time-consuming, and strengthened verticalBar angular deviation.
(3) plaster in process, observe ash bucket state defectiveness: by observing ash bucket running status, judge whether obstacle,When rising, followed closely by wall by ash bucket, steel bar end, and protruding bricks etc. block, and manually close motor, often bad grey ladder, stay cord, motor etc., man-machine uneasinessEntirely.
(4) upper limit position switch restriction main body rising defectiveness: when on the roof, grey ladder top, concavo-convex roof, grey ladder is encountered protrudingPlace, upper limit position switch touches less than recess, malfunctioning switch, motor does not stop in time, and the stressed large easily distortion of grey ladder damages, vertical rodFrame bends, rope is broken.
(5) the disjunctor defectiveness such as ash bucket and main body motor: have very large fatal crass's risk when main body lifting, grey ladderToo large with weight such as main body motors, more than 100kg; Add the above cement mortar of 100kg, often reach 250kg-350kg altogether, smearWhen ash in, is seriously top-heavy, and vertical rod is fixing tight, or hydraulic system makes mistakes, or operate miss etc., machine is pricked people, just easily meets accidentTherefore.
(6) main body ash bucket can only be down to having on wheel underframe, plaster trowel is liftoff 20CM, and after vibrations are plastered, plaster trowel end opening is spaciousOpen, cement mortar shakes off a lot; Plaster the edge of a knife without shutoff, and in it, cement mortar pressure is inadequate, smears rear cement mortar ash, hollowing,Come off.
(7) grey dipper capacity is too little, also will add ash, inconvenience while plastering.
Two, intelligent plastering machine: on market, some are known as intelligent plastering machine, full-automatic wall plastering machine etc., actually automatically local: to hang downStraight instrument is flexible according to vertical angle control direct current generator push rod, and its structure and principle, functional characteristics are as follows:
(1) below vertical rod frame, be made up of the fixing square tube of two bars and a middle fixing pipe, three tubular axis line parallels, have crossbeamBe welded and fixed; Three pipes are all welded on plastering machine base; Flexible by two bar telescopic rail square tubes and one of centre above riser jacketStressed pipe composition, top is connected by crossbeam; Below vertical rod frame, fix (the little square tube outside of the little square tube of telescopic rail on generous pipe boxIt is long that length is slightly less than large square tube inner edge); In the middle of below vertical rod frame, 1 fixing pipe is with flexible stressed pipe is parallel upper and lower side by side abovePull, vertical rod frame upper end fixed cross beam has fixed pulley, and fixed pulley is drawn stay cord one end and connected flexible force rod lower end, and stay cord another end connectsConnect motor reel; Two rod guide bar lateral separations are less than 70CM; Operation principle: motor pulls a flexible force rod to transport up and downMoving, a flexible force rod, by top crossbeam, drives two telescopic rail pipes one to start, by the fixing roof of top crossbeam. UnderFace fixed guide square tube and above telescopic rail square tube erect to ash bucket the guide rail effect that moves up and down.
(2) below vertical rod frame, fixed guide square tube is wherein equipped with vertical collimator (publicity is micro computer) in a bar side, inside has coreSheet, power supply, vertical collimator, have angles of display screen outward; Flexible rod end has direct current generator push rod, and direct current generator push rod is perpendicular to verticalBar. Vertical collimator and direct current generator push rod are that plastering machine is used for hue angle location, and principle is that vertical collimator takes measurement of an angle, chip controlsDirect current push rod both forward and reverse directions, plastering machine vertical rod is less than vertical 90 degree, and push rod stretches; Plastering machine vertical rod is greater than vertical 90 degree,Push rod is flexible.
(3) plastering machine, is furnished with the independent guide rail angle bar different in size of several bars, is that plastering machine is used for hue angle location, fixingWith.
(4) below plastering machine main body, there is V shaped wheel, be used for pressing angle bar to fix plastering machine.
(5) ash bucket and main body are splits, and ash bucket slides up and down along vertical rod guide rail pole; Main body is fixed on base.
(6) plastering machine has two to hold up hound, and vertical rod frame is fixed in hound one end, and one end is fixed on main frame, two diagonal bracesIn the middle of bar, there are electronic box and shift knob.
(7) electric characteristic, the motor of vertical rod is drawn in regular tap control, draws the motor of ash bucket, the motor of vibrations, vertical instrument controlDirect current generator push rod processed.
Main operating process:
(1) vertical rod hue angle location: first guide rail angle bar is fallen to V on request and be placed on ground, adjusting angle bar is from the suitable distance of metopeFrom, a people stablizes angle bar, other people carry on plastering machine on angle bar, make two V shaped wheels at the bottom of plastering machine aim at angle bar, plastering machine four-wheel fromGround, then hand push plastering machine, direct current generator push rod heads on wall, starts and draws expansion link motor, makes expansion link from roof 10CM left and right,Start direct current generator push rod, push rod is flexible according to angle, until vertical collimator shows the fluctuation up and down of 90 degree, turns off push rod switch, pushes awayBar stops, and holds up steady plastering machine by hand, starts and draws expansion link motor, upper roof, vertical rod top.
(2) vertical rod is fixed: hold up steady plastering machine by hand, start motor, pull on flexible force rod and move, flexible force rod is logicalCross top crossbeam, drive two telescopic rail pipes one to start, head on roof by top crossbeam, just turn off motor, firmly shake with handOne shakes vertical rod frame, shakes the motionless lower step action of just carrying out, and just shake point driving switch again, then shake vertical rod frame, shake, then crawl is openedClose, until shake motionless vertical rod frame.
(3) fill cement mortar to ash bucket.
(4) start vibration motor, the rising of main body lifting motor, make body edge rise limit vibrations and plaster, start to plaster about 2 secondsAfter, continue to add cement mortar, until add less than ash bucket; Observe grey ladder jacking condition simultaneously, block or grey ladder draws distortionDeng, show that ash bucket runs into wall nail, steel bar end, protruding brick, closes motor.
(5) ash bucket upper limit position switch is depressed on roof, and ash bucket declines, and vibration motor stops.
(6) main body lifting motor drops to underframe and depresses limit switch, and main body motor stops.
(7) hold up steady plastering machine by hand, start and draw expansion link motor, make expansion link leave roof, promote plastering machine to lower placeWork.
This kind of intelligent plastering machine major defect:
(1) vertical rod hue angle locate mode defect: putting guide rail angle bar wastes time and energy, wants two when plastering machine upper rail angle barPeople coordinates above, takes a lot of work, and angle bar one moves, do over again and heavily come, and people push away machine could hue angle, misplace hand, machine is ruined people's wound;Framework house is more at present, and brick wall has been non-load bearing wall, and crooked body of wall often has, the vertical 90 degree location of plastering machine, a lot of wallsBody cannot powder; Body of wall that can powder, the mortar ash of smearing, if lower Bao Shanghou, thick and hollowing, or depart from, if lower thick thin, plasterPlate touches wall, gently destroys plastering plate, the heavy machine wound of falling people; Error is larger, and direct current generator push rod inertia is large, and plastering machine vertical rod is verticalLarger between 90 degree wave zones; Start and draw after expansion link motor, direct current generator push rod can be sliding along metope, and direct current generator pusher slide is crossed wallWhen face is uneven, plastering machine vertical rod meeting, along with changing vertical angle, makes plastering quality variation; Adjusting angle location, increases for this reasonAdd the annexes such as angle bar, deposit in building site, shifts inconvenience, along with house is different in size, need join many guide rail angle bar different in size.
(2) vertical rod fixed form and structural system defect: 1 force rod, produces stress surface little, in the vibrations vibrations of plasteringUnder, two guide rail square tubes are moved, and rotate around stress point, and plastering machine cannot be reinforced; Roof is uneven, or the uneven plastering machine in ground is askewTiltedly, crossbeam one end, vertical rod frame top belling, another end and middle unsettled, vertical rod frame cannot be reinforced, and can significantly move, rotate; VerticalBridge is too narrow, and the width of plastering is narrow, and the joint of plastering is many; Fixing unstable, shaking force can not strengthen, and gaul comes off many, fixes notJail, can not plaster by macroseism, need to often do over again; Add ash inconvenience, vertical rod pipe is many, narrow between pipe, between bar, cannot add ash; Transition inconvenience,After vertical rod frame is flexible, higher than common door, cross common door inconvenience, crooked passing; Vertical rod frame is not torn open not got off, dolly closed car, and dress is notUnder.
(3) plaster in process, by observing ash bucket running status, judged whether obstacle, be difficult to reaction in time, man-machineSafety, normal bad machine.
(4) upper limit position switch restriction main body rising defectiveness: when on the roof, grey ladder top, concavo-convex roof, grey ladder is encountered protrudingPlace, upper limit position switch touches less than recess, malfunctioning switch, motor does not stop in time, and the stressed large deformation breaking-up of grey ladder, vertical rod frame are pressedCurved, rope breaks.
(5) the 20CM left and right under metope of plastering, ash smear less than; 20cm-50cm smears unreal, grey hollowing, comes off; Ash machine startsLeak ash many.
(6) grey dipper capacity is too little, also will add ash, inconvenience while plastering.
Summary of the invention
Object of the present invention is exactly the problems referred to above and the defect existing for existing plastering machine, provides a kind of simple to operateEfficiently, wide accommodation, man-machine safety is secure, the numerically controlled intelligent plastering machine that automaticity is high.
Concrete scheme of the present invention is: a kind of numerically controlled intelligent plastering machine, includes movably base, is erected at base both sidesStand bar retractor device, be arranged on apparatus of plastering on stand bar retractor device, be arranged on the integrated control device on baseAnd power set, apparatus of plastering includes plastering plate, ash bucket, grey ladder and for drawing high the grey ladder lowering or hoisting gear of grey ladder,Vibrating motor is housed after plastering plate, and described power set include the hoist engine A and the hoist engine B that are arranged on base, in instituteState on base and be also provided with a touch screen controller by support bar, described touch screen controller and integrated control device communication linkConnect, between described stand bar retractor device and base, be provided with a set of telescopic vertical hack lever angle of inclination that can automated intelligent regulatesAdjusting angle device, described stand bar retractor device includes two main vertical rods that are symmetricly set on base both sides, every main vertical rodInside, upper end is provided with one section of guide rail, and a flexible vertical rod is respectively housed in two guide rails, and flexible vertical rod lower end is provided with slide construction, described inFlexible vertical rod can slide up and down in guide rail; Between two main vertical rods, be positioned at upper shelf and be provided with a crossbeam, left and right, crossbeam bottom twoEnd is arranged with two fixed pulley A and B, is also arranged with two fixed pulleys equally in crossbeam bottom between fixed pulley A and BC and D, be provided with movable pulley A between fixed pulley A and C, be provided with movable pulley B between fixed pulley D and B, passes successively the fixed pulley in left sideA, movable pulley A, fixed pulley C, fixed pulley D, movable pulley B and fixed pulley B are provided with a stay cord A, and the two ends, left and right of described stay cord A are dividedThe lower end of madial wall that Chuan Guo two main vertical rods and corresponding flexible vertical rod is connected, and described movable pulley A or one of them bottom of B are passed throughStay cord is connected with base, and another movable pulley bottom is connected with described hoist engine A by stay cord, at described stand bar retractor deviceIn be also provided with a power sensors A, this power sensors A is for monitoring the pulling force of stay cord A; Described grey ladder lowering or hoisting gear includesBe arranged on fixed pulley group A, the fixed pulley group B of two flexible rod ends and be arranged side by side the angle pulley at grey ladder back, instituteState fixed pulley group A and B and include two fixed pulleys one in front and one in back arranging, successively through fixed pulley group A, angle pulley, fixedAssembly pulley B is equipped with stay cord B, and one end of stay cord B is connected with base, and the other end of stay cord B is connected with hoist engine B, at described ashIn ladder lowering or hoisting gear, be also provided with power sensor B, described power sensor B is for monitoring the pulling force of stay cord B; Be positioned at described grey ladderOn the base of below, be also provided with two covers and lift ash bucket push rod device, two lift between ash bucket push rod device and are provided with and lift grey ladder circleBar, described grey ladder middle part corresponding position is provided with the stressed round bar of lifting; Described integrated control device and power sensors A, power sensingDevice B, hoist engine A, hoist engine B, adjusting angle device, vibrating motor, push rod device and touch screen controller are all set up each otherCommunication connection.
Adjusting angle device described in the present invention includes the rotating shaft that is horizontally installed on base bottom, in main bottom of upright rod inner sideThe each rail plate groove that is vertically provided with of the right and left, the end, both sides of described rotating shaft is all stretched in corresponding rail plate groove, and twoRail plate groove top is respectively provided with the baffle plate of an Intermediate Gray perforation, and two baffle plate tops are equipped with spring, and spring at front end is provided with and pushes awayBar, described spring is fixedly located on the madial wall of main vertical rod, and the push rod of spring through the perforation on corresponding baffle plate with described in turnContact is rotated in the end of axle; In described main vertical rod middle and lower part, transverse strands is provided with a cross bar, is one in front and one in back provided with two on cross barDirection force rod down; Be fixed with the motor push rod of an adjusting angle on described base top, in described motor push rodDrive motors is stepper motor or servomotor, and motor push rod front end is provided with a promotion termination, and described promotion termination puts in twoIn the middle of force rod and can promote two force rods and make it swing, in described main vertical rod, be also provided with an angular transducer,Between described angular transducer and motor push rod, integrated control device and touch screen controller, communicate to connect.
Two ends, grey ladder left and right described in the present invention are equipped with limit guide rail roller set, and described limit guide rail roller set can edgeThe main vertical rod scroll-up/down of both sides is respectively provided with one section of movable guiding rail above the main vertical rod of both sides, and described movable guiding rail is sleeved onIn corresponding flexible vertical rod, two movable guiding rail upper ends are arranged with two grooved mouths in the inner part, in each movable guiding rail and main vertical rodContact coordinate part be equipped with guide rail switch, be also provided with a postive stop baffle stretching out at the lateral surface of each movable guiding rail,Ash ladder drives movable guiding rail to slide up and down together with flexible vertical rod by guide rail switch and postive stop baffle.
Flexible vertical rod in the present invention described in two is tubular structure, and two stretch, and vertical rod upper inner is symmetrical to be provided withTwo grooved mouths corresponding with grooved mouth on movable guiding rail, the flexible vertical rod top the right and left described in two has set up oneBalancing pole, the two ends of described balancing pole are respectively provided with a root post, in two flexible vertical rod tops are equal, are provided with linear bearing or straight line cunningPiece, balancing pole can slide up and down at grooved mouth, and two columns glide in the linear bearing in flexible vertical rod or linear sliderMoving.
Described in the present invention, promote termination front end and circular arc rod shaped structure is arranged in force rod contact position.
Between the A of movable pulley described in the present invention or B bottom and base, be also provided with pulling force buffer spring A, described stay cord B bottomAnd between base, be also provided with pulling force buffer spring B.
Multi-axis foot is all equipped with in telescopic vertical masthead portion in the present invention described in two, and two main bottom of upright rods are equipped with universal equallyPin.
Described in the present invention, below ash bucket, be provided with spring assembly, this spring assembly can be depressed ash bucket or rise; Described ashLadder is provided with plastering plate varied angle strut device, and described grey ladder upper and lower is respectively equipped with upper limit position switch and lower limitSwitch.
Power sensors A described in the present invention can be located at stay cord A above or in the bottom of hoist engine A, power sensor B canBe located at stay cord B upper or in the bottom of hoist engine B.
Integrated control device described in the present invention include internal or external analog quantity modular converter Programmable Logic Controller,Driver and drive circuit, wherein Programmable Logic Controller is for gathering the angle of inclination letter of main vertical rod by angular transducerNumber, gather respectively the pulling force signal of stay cord A and stay cord B by power sensors A and power sensor B, and by inclination angle signal withThe pulling force signal of stay cord A and stay cord B transfers to touch screen controller after treatment; Touch screen controller and Programmable Logic ControllerReal-time communication, and realize man-machine interaction; Programmable Logic Controller moves by driver drives motor push rod, and passes through contactorOr drive circuit control hoist engine A, the hoist engine B of relay formation and the operation of vibrating motor and motor push rod.
Main operating process of the present invention:
1. plastering machine is shifted onto to the position suitable from metope, the space between plastering plate and metope meets depth of plastering;
2. set the various running parameters of plastering machine, for example angle of inclination of telescopic vertical hack lever by touch screen controllerParameter, (its size has been reacted telescopic vertical hack lever and has withstood the size of the power on roof and ground, many for the pulling force parameter of stay cord AIn the situation of large power, withstand firmly but be unlikely to the bending of telescopic vertical hack lever), on touch-screen, also can show drawing of stay cord BPower size, arranges warning value to stay cord B pulling force size, prevents from plastering and can process in time while encountering obstacle.
3. mainly contain following three kinds of mode of operations:
A. fully automatic mode, only need press touch screen controller automatic button, and plastering machine completes all operations automatically:
1. automatically adjust angle orientation; 2. ground, roof fixation; 3. automatically wait for and add ash on time; 4. automatic vibration is smearedAsh; If 5. apparatus of plastering run into barrier can automatic alarm and show the size of obstruction force, then manually remove barriers again byKnob down works on; 6. automatic plastering pushes up to wall; 7. grey ladder declines and troweling red dog, drops to end prompting automatically; 8.Lift ash bucket push rod device and can stretch out liftoff grey ladder jack-up, integrated control device can send instruction telescopic vertical hack lever is leftRoof puts down.
B. divide step mode: the manual operation interface in touch screen controller, by technological operation flow process, press successively respectively byButton, substep completes operations safely, in time, efficiently, flexibly.
C. maintenance mode: when maintenance plastering machine, at maintenance operation interface, manipulate flexibly separately every hoist engine or electronic pushing awayBar.
Plastering machine functional characteristics of the present invention and beneficial effect:
(1) unmanned automatic calibration location: angular transducer identification vertical rod frame perpendicularity, power sensors A identification vertical rod frame is solidDetermine dynamics, integrated control device automatically performs location according to parameter and programme-control hoist engine A, and accuracy is high, full automationCarry out, time saving and energy saving.
(2) automatically powder just, crooked wall: angular transducer is measured wall perpendicularity, touch screen controller locking or set ginsengNumber, integrated control device is controlled, and the positive askew wall of wall all can automatic plastering.
(3) fixation, concavo-convex ground and height roof (in 60CM) also can fix tightlies: when fixing, telescopic vertical hack lever fallsGround, on telescopic vertical hack lever, flexible vertical rod bottom stay cord is connected, thereby ensures that two ends pulling force equates, and simultaneous retractable vertical rod is flexible both flatRow also can have 6CM poor with inner height, thereby is suitable for concavo-convex ground and uneven roof.
(4) Digital Control, touch screen controller parameters: sensor perception environment, passes through integrated control deviceIn the converting digital such as Programmable Logic Controller and analog module, touch screen controller setup parameter, realizes Digital Control powderWall telephone.
(5) one-touch, automatically identify and complete all processes: a key starts, and integrated control device is according to program and touchScreen controller established parameter, together with sensor feedback co-controlling.
(6) white washed wall is on earth: on the base of ash bucket below, a pair of ash bucket push rod device of lifting is installed, and while starting to plaster wall, ash bucketLand, from foundation powder; When plastering machine moves, ash bucket is lifted liftoff, and conveniently moving is simple.
The present invention has overcome many defects of existing plastering machine, has wide accommodation, and simple to operate, man-machine safety has guarantorBarrier, plastering quality is good, and the efficiency of plastering is high, and transition is convenient, saves time, and laborsaving, saving of labor, has good economic promotional value.
Brief description of the drawings
Fig. 1 is the main apparent direction structural representation of the present invention;
Fig. 2 is the left apparent direction structural representation of the present invention;
Fig. 3 is that direction structure schematic diagram is tiltedly looked up in front of the present invention;
Fig. 4 tiltedly looks up direction structure schematic diagram after the present invention;
Fig. 5 is structural representation after the present invention;
Fig. 6 is shaft of the present invention and main vertical rod junction structural representation;
Fig. 7 is cross bar and adjusting angle motor connecting structure schematic diagram in the present invention;
Fig. 8 is control structure block diagram of the present invention.
In figure: 1-multi-axis foot, 2-fixed pulley group A, 3-stay cord B, 4-flexible vertical rod, 5-postive stop baffle, 6-activityGuide rail, 7-fixed pulley A, 8-movable pulley A, 9-grey ladder, 10-main vertical rod, 11-base, 12-balancing pole, 13-fixed slidingWheels B, 14-stay cord A, 15-crossbeam, 16-fixed pulley D, 17-movable pulley B, 18-touch screen controller, 19-spacing leadingRail roller set, 20-angular transducer, 21-integrated control device, 22-hoist engine B, 23-motor push rod, 24-guide rail is openedClose, 25-ash bucket, 26-plastering plate, 27-push rod device, 28-support bar, 29-grooved mouth, 30-plastering plate varied angle is pressedLever apparatus, 31-rotating shaft, the 32-stressed round bar of lifting, 33-angle pulley, 34-force rod, 35-promotion termination, 36-gearPlate, 37-rail plate groove, 38-power sensor B, 39-pulling force buffer spring B, 40-cross bar, 41-power sensors A, 42-Spring, 43-pulling force buffer spring A, 44-lift grey ladder round bar, 45-hoist engine A, 46-fixed pulley C, 47-fixed pulleyB。
Detailed description of the invention
Referring to Fig. 1-Fig. 7, the present invention is a kind of numerically controlled intelligent plastering machine, includes movably base 11, is erected at the endThe stand bar retractor device of seat both sides, be arranged on apparatus of plastering on stand bar retractor device, be arranged on the integrated control on baseDevice 21 processed and power set, apparatus of plastering includes plastering plate 26, ash bucket 25, grey ladder 9 and for drawing high the ash of grey ladderLadder lowering or hoisting gear, is equipped with vibrating motor after plastering plate, and described power set include the hoist engine A45 being arranged on baseWith hoist engine B22, on described base, be also provided with a touch screen controller 18 by support bar 28, described touch screen controller withIntegrated control device communication connection is provided with a set of can automated intelligent adjusting stretching between described stand bar retractor device and baseThe adjusting angle device at contracting stand bar angle of inclination, described stand bar retractor device includes and is symmetricly set on two of base both sidesMain vertical rod 10, inside, every main vertical rod upper end is provided with one section of guide rail, and a flexible vertical rod 4 is respectively housed in two guide rails, flexible vertical rodLower end is provided with slide construction, and described flexible vertical rod can slide up and down in guide rail; Between two main vertical rods, be positioned at upper shelf and be provided with oneRoot crossbeam 15, two ends, left and right, crossbeam bottom are arranged with two fixed pulley A7 and B47, are positioned at fixed pulley A equally in crossbeam bottomAnd between B, be also arranged with two fixed pulley C46 and D16, between fixed pulley A and C, be provided with movable pulley A8, between fixed pulley D and BBe provided with movable pulley B17, pass successively fixed pulley A, movable pulley A, fixed pulley C, fixed pulley D, movable pulley B and the fixed pulley B in left sideBe provided with a stay cord A14, the madial wall of two main vertical rods is passed respectively with under corresponding flexible vertical rod in the two ends, left and right of described stay cord AEnd is connected, and described movable pulley A or one of them bottom of B are connected with base by stay cord, and stay cord is passed through in another movable pulley bottomBe connected with described hoist engine A, in described stand bar retractor device, be also provided with a power sensors A 41, this power sensors A is used forThe pulling force of monitoring stay cord A; Described grey ladder lowering or hoisting gear includes and is arranged on the fixed pulley group A2 of two flexible rod ends, fixed cunningWheels B13 and be arranged side by side the angle pulley 33 at grey ladder back, described fixed pulley group A and B have included one in front and one in back clothTwo fixed pulleys putting, are equipped with stay cord B3, one end of stay cord B and the end through fixed pulley group A, angle pulley, fixed pulley group B successivelySeat connects, and the other end of stay cord B is connected with hoist engine B, in described grey ladder lowering or hoisting gear, is also provided with power sensor B38,Described power sensor B is for monitoring the pulling force of stay cord B; Be positioned at and on the base of described grey ladder below, be also provided with two covers and lift ash bucketPush rod device 27, two is lifted between ash bucket push rod device and is provided with and lifts grey ladder round bar 44, described grey ladder middle part corresponding positionBe provided with the stressed round bar 32 of lifting; Described integrated control device and power sensors A, power sensor B, hoist engine A, hoist engine B, angle modulationDegree device, vibrating motor, push rod device and touch screen controller all establish a communications link each other.
Power sensors A described in the present embodiment and B can be separately positioned on stay cord A and stay cord B according to actual conditionsAppropriate location, or all can in the bottom that is arranged on corresponding hoist engine.
Adjusting angle device described in the present embodiment includes the rotating shaft 31 that is horizontally installed on base bottom, at main bottom of upright rodThe each rail plate groove 37 that is vertically provided with of inner side the right and left, corresponding rail plate groove is all stretched in the end, both sides of described rotating shaftIn, baffle plate 36, the two baffle plate tops that two rail plate groove tops are respectively provided with an Intermediate Gray perforation are equipped with spring 42, before springEnd is provided with push rod, and described spring is fixedly located on the madial wall of main vertical rod, and the push rod of spring is through the perforation on corresponding baffle plateRotate and contact with the end of described rotating shaft; In described main vertical rod middle and lower part, transverse strands is provided with a cross bar 40, and on cross bar, one is lastAfter be provided with two directions force rod 34 down; Be fixed with the motor push rod 23 of an adjusting angle on described base top, instituteThe drive motors of stating in motor push rod is stepper motor or servomotor, and motor push rod front end is provided with a promotion termination 35, instituteState and promote termination and put in two in the middle of force rods and can promote two force rods and make it swing, in described main vertical rod, also establishThere is an angular transducer 20, between described angular transducer and motor push rod, integrated control device 21 and touch screen controller 18Communication connection.
Two ends, grey ladder left and right described in the present embodiment are equipped with limit guide rail roller set 19, described limit guide rail roller setCan, along the main vertical rod scroll-up/down of both sides, above the main vertical rod of both sides, respectively be provided with one section of movable guiding rail 6, described movable guiding rail coverBe contained in corresponding flexible vertical rod, two movable guiding rail upper ends are arranged with two grooved mouths 29 in the inner part, each movable guiding rail withThe contact of main vertical rod coordinates part to be equipped with guide rail switch 24, is also provided with a limit of stretching out at the lateral surface of each movable guiding railPosition baffle plate 5, grey ladder drives movable guiding rail to slide up and down together with flexible vertical rod by guide rail switch and postive stop baffle.
Flexible vertical rod in the present embodiment described in two is tubular structure, and two stretch, and vertical rod upper inner is symmetrical establishesHave two grooved mouths corresponding with grooved mouth on movable guiding rail, the flexible vertical rod top the right and left described in two has set up oneRoot balancing pole 12, the two ends of described balancing pole are respectively provided with a root post, in two flexible vertical rod tops are equal, are provided with linear bearing or straightLine slide block, balancing pole can slide up and down at grooved mouth, two columns in the linear bearing in flexible vertical rod or linear slider onLower slider.
Described in the present embodiment, promote termination 35 front ends and force rod contact position and be arranged to circular arc rod shaped structure.
Between the A of movable pulley described in the present embodiment or B bottom and base, be also provided with pulling force buffer spring A43, described stay cord BBetween bottom and base, be also provided with pulling force buffer spring B 39.
Telescopic vertical masthead portion in the present embodiment described in two is all equipped with 1, two main bottom of upright rod of multi-axis foot and is equipped with equallyMulti-axis foot.
Described in the present embodiment, below ash bucket, be provided with spring assembly, this spring assembly can be depressed ash bucket or rise; DescribedAsh ladder be provided with plastering plate varied angle strut device 30, described grey ladder upper and lower be respectively equipped with upper limit position switch and underLimit switch.
Integrated control device described in the present embodiment includes the control able to programme of internal or external analog quantity modular converterDevice, driver and drive circuit, wherein Programmable Logic Controller is for gathering the angle of inclination of main vertical rod by angular transducerSignal, gathers respectively the pulling force signal of stay cord A and stay cord B by power sensors A and power sensor B, and by inclination angle signalTransfer to after treatment touch screen controller with the pulling force signal of stay cord A and stay cord B; Touch screen controller and control able to programmeDevice real-time communication, and realize man-machine interaction; Programmable Logic Controller moves by driver drives motor push rod, and by contactDrive circuit control hoist engine A, the hoist engine B that device or relay form and the operation of vibrating motor and motor push rod.
Main operating process of the present invention:
1. plastering machine is shifted onto to the position suitable from metope, the space between plastering plate and metope meets depth of plasteringCan;
2. set the various running parameters of plastering machine by touch screen controller, for example the angle of inclination of telescopic vertical hack lever ginsengNumber, (its size has been reacted telescopic vertical hack lever and has withstood the size of the power on roof and ground, much for the pulling force parameter of stay cord AThe situation of power under withstand firmly but be unlikely to the bending of telescopic vertical hack lever), on touch-screen, also can show the pulling force of stay cord BSize, arranges warning value to stay cord B pulling force size, prevents from plastering and can process in time while encountering obstacle.
3. mainly contain following three kinds of mode of operations:
A. fully automatic mode, only need press touch screen controller automatic button, and plastering machine completes all operations automatically:
1. automatically adjust angle orientation; 2. ground, roof fixation; 3. automatically wait for and add ash on time; 4. automatic vibration is smearedAsh; If 5. apparatus of plastering run into barrier can automatic alarm and show the size of obstruction force, then manually remove barriers again byKnob down works on; 6. automatic plastering pushes up to wall; 7. grey ladder declines and troweling red dog, drops to end prompting automatically; 8.Lift ash bucket push rod device and can stretch out liftoff grey ladder jack-up, integrated control device can send instruction telescopic vertical hack lever is leftRoof puts down.
B. divide step mode: the manual operation interface in touch screen controller, by technological operation flow process, press successively respectively byButton, substep completes operations safely, in time, efficiently, flexibly.
C. maintenance mode: when maintenance plastering machine, at maintenance operation interface, manipulate flexibly separately every hoist engine or electronic pushing awayBar.
Claims (10)
1. a numerically controlled intelligent plastering machine, include base movably, be erected at base both sides stand bar retractor device, establishPut apparatus of plastering on stand bar retractor device, be arranged on integrated control device and power set on base, apparatus of plasteringInclude plastering plate, ash bucket, grey ladder and for drawing high the grey ladder lowering or hoisting gear of grey ladder, vibration electricity is housed after plastering plateMachine, is characterized in that: described power set include the hoist engine A and the hoist engine B that are arranged on base, on described base, goes backBe provided with a touch screen controller by support bar, described touch screen controller and integrated control device communication connection, describedBetween stand bar retractor device and base, be provided with a set of adjusting angle device that can automated intelligent regulates telescopic vertical hack lever angle of inclination,Described stand bar retractor device includes two main vertical rods that are symmetricly set on base both sides, and inside, every main vertical rod upper end is provided withOne section of guide rail, is respectively equipped with a flexible vertical rod in two guide rails, flexible vertical rod lower end is provided with slide construction, and described flexible vertical rod can beIn guide rail, slide up and down; Between two main vertical rods, be positioned at upper shelf and be provided with a crossbeam, two ends, left and right, crossbeam bottom are arranged with twoIndividual fixed pulley A and B are also arranged with two fixed pulley C and D, fixed pulley A in crossbeam bottom equally between fixed pulley A and BAnd between C, be provided with movable pulley A, between fixed pulley D and B, be provided with movable pulley B, successively through fixed pulley A, the movable pulley A in left side, fixedPulley C, fixed pulley D, movable pulley B and fixed pulley B are provided with a stay cord A, and the two ends, left and right of described stay cord A are main vertical through two respectivelyThe madial wall of bar is connected with the lower end of corresponding flexible vertical rod, and described movable pulley A or one of them bottom of B connect by stay cord and baseConnect, another movable pulley bottom is connected with described hoist engine A by stay cord, in described stand bar retractor device, is also provided with onePower sensors A, this power sensors A is for monitoring the pulling force of stay cord A; Described grey ladder lowering or hoisting gear include be arranged on two flexibleFixed pulley group A, the fixed pulley group B of rod end and be arranged side by side the angle pulley at grey ladder back, described fixed pulley group A andB includes two fixed pulleys one in front and one in back arranging, is equipped with and draws successively through fixed pulley group A, angle pulley, fixed pulley group BRope B, one end of stay cord B is connected with base, and the other end of stay cord B is connected with hoist engine B, in described grey ladder lowering or hoisting gearAlso be provided with power sensor B, described power sensor B is for monitoring the pulling force of stay cord B; Also be positioned on the base of described grey ladder belowBe provided with two covers and lift ash bucket push rod device, two lift between ash bucket push rod device and are provided with and lift grey ladder round bar, described grey ladderMiddle part corresponding position is provided with the stressed round bar of lifting; Described integrated control device and power sensors A, power sensor B, hoist engine A, volumeRaising machine B, adjusting angle device, vibrating motor, push rod device and touch screen controller all establishes a communications link each other.
2. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: described adjusting angle device includes horizontal strokeTo the rotating shaft that is arranged on base bottom, the each rail plate groove that is vertically provided with of the right and left inside main bottom of upright rod, described in turnThe end, both sides of axle is all stretched in corresponding rail plate groove, and two rail plate groove tops are respectively provided with the gear of an Intermediate Gray perforationPlate, two baffle plate tops are equipped with spring, and spring at front end is provided with push rod, and described spring is fixedly located on the madial wall of main vertical rod, andThe push rod of spring rotates and contacts with the end of described rotating shaft through the perforation on corresponding baffle plate; Horizontal in described main vertical rod middle and lower partSet up a cross bar, on cross bar, be one in front and one in back provided with two directions force rod down; Be fixed with on described base topThe motor push rod of one adjusting angle, the drive motors in described motor push rod is stepper motor or servomotor, motor push rodFront end is provided with a promotion termination, and described promotion termination puts in the middle of two force rods and can promote two force rods and makes it front and back pendulumMoving, in described main vertical rod, be also provided with an angular transducer, described angular transducer and motor push rod, integrated control device and tactileTouch between screen controller and communicate to connect.
3. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: all establish at two ends, described grey ladder left and rightLimited location track roller group, described limit guide rail roller set can be along the main vertical rod scroll-up/down of both sides, in the main vertical rod of both sidesSide is respectively provided with one section of movable guiding rail, and described movable guiding rail is sleeved in corresponding flexible vertical rod, and two movable guiding rail upper ends in the inner partBe arranged with two grooved mouths, coordinate part to be equipped with guide rail switch at each movable guiding rail with contacting of main vertical rod, in each workThe lateral surface of moving guide rail is also provided with a postive stop baffle stretching out, and grey ladder is led by guide rail switch and postive stop baffle drive activityRail slides up and down together along flexible vertical rod.
4. according to a kind of numerically controlled intelligent plastering machine described in claim 1 or 3, it is characterized in that: the flexible vertical rod described in twoBe tubular structure, two flexible vertical rod upper inner are symmetrical is provided with two grooveds corresponding with grooved mouth on movable guiding railMouthful, the flexible vertical rod top the right and left described in two has set up a balancing pole, and the two ends of described balancing pole are respectively provided with oneColumn, is provided with linear bearing or linear slider in two flexible vertical rod tops are equal, and balancing pole can slide up and down at grooved mouth, two columnsIn the linear bearing in flexible vertical rod or linear slider, slide up and down.
5. a kind of numerically controlled intelligent plastering machine according to claim 2, is characterized in that: described promotion termination front end and stressedCircular arc rod shaped structure is arranged in bar contact position.
6. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: described movable pulley A or B bottom and the endBetween seat, be also provided with pulling force buffer spring A, between described stay cord B bottom and base, be also provided with pulling force buffer spring B.
7. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: the telescopic vertical masthead portion described in twoMulti-axis foot is all housed, and two main bottom of upright rods are equipped with multi-axis foot equally.
8. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: below described ash bucket, be provided with spring dressPut, this spring assembly can be depressed ash bucket or rise; Described grey ladder is provided with plastering plate varied angle strut device, described ash bucketFrame upper and lower is respectively equipped with upper limit position switch and lower position switch.
9. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: described power sensors A can be located atStay cord A is upper or in the bottom of hoist engine A, and it is upper or in the bottom of hoist engine B that power sensor B can be located at stay cord B.
10. a kind of numerically controlled intelligent plastering machine according to claim 1, is characterized in that: described integrated control device comprisesThere are Programmable Logic Controller, driver and the drive circuit of internal or external analog quantity modular converter, wherein Programmable Logic ControllerFor gather the inclination angle signal of main vertical rod by angular transducer, gather and draw respectively by power sensors A and power sensor BThe pulling force signal of rope A and stay cord B, and the pulling force signal of inclination angle signal and stay cord A and stay cord B is transferred to after treatmentTouch screen controller; Touch screen controller and Programmable Logic Controller real-time communication, and realize man-machine interaction; Programmable Logic Controller is logicalThe device drive motors push rod of overdriving operation, and the drive circuit control hoist engine A, the elevator that form by contactor or relayThe operation of machine B and vibrating motor and motor push rod.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105735623B (en) * | 2016-03-04 | 2018-02-09 | 重庆科技学院 | The plastering method of Intelligent tracking apparatus of plastering |
| CN105822045A (en) * | 2016-04-06 | 2016-08-03 | 中亿丰建设集团股份有限公司 | Automatic plastering construction method for mortar anchor machine |
| CN105804376B (en) * | 2016-04-08 | 2018-03-27 | 中国科学院自动化研究所 | Intelligent wall plastering machine people |
| CN105986661B (en) * | 2016-06-07 | 2018-06-08 | 新力建设集团有限公司 | A kind of roller type is whitewashed a wall apparatus of plastering |
| CN106760430A (en) * | 2017-01-18 | 2017-05-31 | 佛山意瑞达建筑机械有限公司 | A kind of plastering machine electric-control overturning patter |
| CN106869464A (en) * | 2017-04-14 | 2017-06-20 | 合肥威控节能技术有限公司 | A kind of intelligent metope scraping device |
| CN111270819B (en) * | 2020-02-22 | 2021-09-03 | 北京正升建设工程有限公司 | Wall painting device |
| CN114275716B (en) * | 2020-06-10 | 2023-04-25 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111924743B (en) * | 2020-06-10 | 2021-08-31 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
| CN111891967B (en) * | 2020-06-10 | 2022-03-18 | 广东博智林机器人有限公司 | Lifting device and plastering equipment |
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| JPH06226156A (en) * | 1993-02-08 | 1994-08-16 | Kajima Corp | Automatic coating device |
| CN203080880U (en) * | 2013-03-07 | 2013-07-24 | 陈运松 | Rail-mounted wall whitewashing device |
| CN204728661U (en) * | 2015-06-17 | 2015-10-28 | 湖北超顺智能粉墙机有限公司 | A kind of numerically controlled intelligent plastering machine |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06226156A (en) * | 1993-02-08 | 1994-08-16 | Kajima Corp | Automatic coating device |
| CN203080880U (en) * | 2013-03-07 | 2013-07-24 | 陈运松 | Rail-mounted wall whitewashing device |
| CN204728661U (en) * | 2015-06-17 | 2015-10-28 | 湖北超顺智能粉墙机有限公司 | A kind of numerically controlled intelligent plastering machine |
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