CN107989345A - High building exterior wall automatic spraying machine - Google Patents
High building exterior wall automatic spraying machine Download PDFInfo
- Publication number
- CN107989345A CN107989345A CN201711305990.XA CN201711305990A CN107989345A CN 107989345 A CN107989345 A CN 107989345A CN 201711305990 A CN201711305990 A CN 201711305990A CN 107989345 A CN107989345 A CN 107989345A
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- China
- Prior art keywords
- motor
- leading screw
- foot
- rope device
- roll
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000000725 suspension Substances 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 7
- 239000007921 spray Substances 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 230000008439 repair process Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 25
- 239000011248 coating agent Substances 0.000 description 8
- 238000000576 coating method Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000001680 brushing effect Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 239000003463 adsorbent Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 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
- E04F21/12—Mechanical implements acting by gas pressure, e.g. steam pressure
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention belongs to mechanical engineering field, and in particular to a kind of high building exterior wall automatic spraying machine.Wherein slider-crank mechanism is connected on the nut seat of leading screw, and motor is connected with crank, there is provided power, drives nozzle to move up and down；Decelerating motor is laterally connected on fuselage, and the foot's leading screw for driving longitudinal direction by change gear case rotates, and the nut seat on foot's leading screw is connected with preceding foot support, rear foot stent, realizes that obstacle acts；The axis of roof motor is connected with roll, suspension strop is wound on roll, it is connected in along rope device on the nut seat of reciprocal leading screw, two motion conditions along rope device are opposite, when i.e. the suitable rope device on the left side is to left movement, the suitable rope device on the right moves right, and suspension strop is from roll, reach on scalable hanging bracket, suspension strop end, which is connected to, whitewashes a wall on device.Present invention tradition relatively is whitewashed a wall mode, is greatly improved work efficiency；Effectively avoid the danger manually whitewashed a wall；Cost of whitewashing a wall is reduced, it is simple in structure, it is easy to repair.
Description
Technical field
The invention belongs to mechanical engineering field, and in particular to a kind of wall Work machine.
Background technology
With the development of urbanization process, the height for building building is also constantly riseing, accompanying problem is that
The effect how exterior wall is brushed is good and beautiful, and the coating application in present high building exterior wall face is all by being accomplished manually according to investigations
, manually there are following several shortcomings for brushing：
1st, efficiency is low, metope brushing quality can not be guaranteed.
2nd, the personal safety of operator can not also be guaranteed, because accident is not caused by brushing high building exterior wall is annual
Disconnected to occur, the whitewash a wall drop event of spider-man of high-altitude occurs in succession, and one side construction enterprises not enough weigh the safety of operating personnel
Depending on still further aspect operator's self diathesis is relatively low caused.
3 while more people are needed to be brushed, human resources consumption is excessive, brushes cycle length, of high cost, and each area
The spraying effect in domain is uneven, influences beauty, and coating quality cannot be guaranteed, and spray-on coating is uneven, is coarse, and some
It can see obvious cut roller marks.
The content of the invention
The appearance of high-altitude exterior wall automatic spraying robot effectively solves the problems, such as this, and automation mechanized operation, personnel are not required to
Being suspended on high-altitude and carrying out operation need to only stand and carry out some auxiliary operations just in safety zone, effectively ensure that human life pacifies
Entirely；Distance is determined according to optimal spraying effect is put into practice between metope and nozzle, it is ensured that each regional quality of spraying is identical, spraying
Coating is smooth, smooth, fine and close, and without particle, brush mark, roller marks, the effect than manually brushing from the angle of vision is beautiful；
Spraying rate is fast, efficient, and a spray robot can work instead of more people, and a people can control more machine works
Make, greatly improve the work efficiency of outer wall coating, while also significantly reduce the cost of outer wall coating, large area pushes away
Wide automatic metope exterior paint spray robot can greatly reduce construction cost and improve the generation that efficiency reduces security incident.
The technical scheme is that：High-altitude exterior wall automatic spraying robot, device are divided into four parts, and Part I is
Mobile device, Part II are obstacle avoidance apparatus, and Part III is adsorbent equipment, and Part IV is spray equipment.
First, mobile device by leading screw, shaft coupling, support base, nut seat, slider-crank mechanism, roof motor, form：Silk
The cooperation of thick stick and sliding block makes the second layer plane carry out horizontal direction movement, and mobile accurate steady, coating quality is good；In vertical direction
Upper motor drives 360 ° of rotations of crank, crank handle turns link rotatable, and connecting rod drives nozzle to be moved up and down in default sliding slot；Building
Top discharging mechanism pulls rope come the accurate action and stopping for controlling spray body by motor；
2nd, obstacle device forms：Push rod thrust gear includes decelerating motor, leading screw, shaft coupling, support base, nut seat, branch
Foot, by automated control spray equipment, push rod is withdrawn when close to windowsill, and after crossing windowsill, push rod, which stretches out, to work on.
3rd, adsorbent equipment：Including ducted fan, electricity adjust, throttle, ducted fan provides big thrust, using active force with
Reaction force principle promotes robot to be drawn close to metope.
4th, spray equipment：Selected Fine spray shower nozzle adjusts angle ensures coating quality to wall surface spraying.
The course of work of the present invention divides uplink and downlink, and part roof motor and push rod thrust gear two are removed between uplink and downlink
Partial act changes, and the work of remaining motor remains unchanged.Now by taking downlink working as an example, machine is started to work, and ducted fan opens
Dynamic, producing thrust makes machine abut wall, and under normal operation, crank is rotated with certain speed, is moved down on drive nozzle
It is dynamic, while stepper motor rotates, and by the effect between leading screw and nut seat, drives the movement of slider-crank mechanism integral level.
Round-trip guide screw lead once after, crank motor and stepper motor and nozzle are stopped, and roof motor will whitewash a wall machine decentralization
Stop after certain distance, then crank motor, stepper motor, nozzle repeat above-mentioned action.During normal work, repeat always above-mentioned
Action.In the presence of having barrier, such as Fig. 5, sensor 5 detects that there is barrier in front, and roof motor stops putting rope, and machine is first
Original place sprays once, and after spray coating operations, the motor of the rear foot drives rear foot stent to bounce back by leading screw, and the motor of front foot passes through
Foot support stretches out stent outward before leading screw drives, and makes machine lower part hanging and away from metope, after foot motor works, roof electricity
Machine puts rope, and sensor 2 stops when detecting barrier, and machine latter half has stepped up barrier, and the rear foot puts front foot receipts.At this time,
In two kinds of situation：
First, the rear foot has been put down at this time, if barrier is more flat, when area is much smaller than a spray area of machine, and the rear foot
Sensor 2 still can detect barrier when returning to original state with front foot, and machine is first once sprayed, and spraying terminates
Afterwards, front foot is received the rear foot and is put, and makes machine first half away from metope, and roof motor puts one section of set time of rope, after then front foot is put
Foot is received, and bipod returns original state, and then roof motor rope closing, stops, sensor when sensor 0 detects barrier
0 detects that barrier has been close in machine front end to explanation at this time, and then machine starts to work normally.
If the 2, barrier is bigger, when area is more than a spray area of machine, after the rear foot is put down, machine front meeting
Propped, sensor 2 can't detect barrier at this time, illustrate that machine has climbed up barrier and both feet have returned to original state,
Then machine carries out normal operating conditions.When barrier to be left, sensor 4 does not have signal, illustrates that machine rear portion has had
A part of hanging, roof motor stops at this time, and machine is first once sprayed, and roof motor puts rope, when sensor 1 does not have signal
When stop, front foot receive the rear foot put, roof motor put rope one section of set time, the rear foot receive front foot put, roof motor rope closing, directly
Stop when detecting barrier to sensor 0, then machine starts to work normally.
The beneficial effects of the present invention are：
1st, tradition relatively is whitewashed a wall mode, is greatly improved work efficiency；
2nd, effectively the danger manually whitewashed a wall is avoided；
3rd, cost of whitewashing a wall is reduced, it is simple in structure, it is easy to repair.
Brief description of the drawings
Fig. 1 is the front view of the present invention.
Wherein, 1, ducted fan；2nd, change gear case；3rd, decelerating motor；4th, preceding foot support；5th, nozzle；6th, rear foot stent.
Fig. 2 is the top view of the present invention.
Wherein, 7, slider-crank mechanism；8th, crank motor；9th, polished rod；10th, leading screw；11st, stepper motor；12nd, shaft coupling.
Fig. 3 is side view.
Wherein, 13, foot's leading screw.
Fig. 4 is the structure chart of roof device.
Wherein, 14, scalable hanging bracket；15th, roll；16th, roof motor；17th, gear；18th, reciprocal leading screw；19、
Along rope device.
Fig. 5 is the location arrangements figure of each sensor
Embodiment
The present invention is illustrated below in conjunction with attached drawing.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present invention includes ducted fan 1, change gear case 2, decelerating motor 3, front foot branch
Frame 4, nozzle 5, rear foot stent 6, slider-crank mechanism 7, crank motor 8, polished rod 9, leading screw 10, stepper motor 11, shaft coupling 12,
Foot's leading screw 13, scalable hanging bracket 14, roll 15, roof motor 16, gear 17, reciprocal leading screw 18, suitable rope device 19；It is bent
Handle slide block mechanism 7, crank motor 8, polished rod 9, leading screw 10, stepper motor 11, shaft coupling 12 collectively constitute spray equipment, wherein bent
Handle slide block mechanism 7 is connected on the nut seat of leading screw, and stepper motor 11 provides power, crank motor 8 and slider-crank mechanism 7
Crank is connected；Change gear case 2, decelerating motor 3, preceding foot support 4, nozzle 5, rear foot stent 6 form obstacle crossing device, wherein slowing down
Motor 3 is laterally connected on fuselage, drives longitudinal foot's leading screw 13 to rotate by change gear case 2, on foot's leading screw 13
Nut seat is connected with preceding foot support 4, rear foot stent 6；Scalable hanging bracket 14, roll 15, roof motor 16, gear 17,
Reciprocal leading screw 18, along restricting, device 19 forms suspension arrangement, wherein, axis and the roll of roof motor 16 are connected, and suspension strop is wound on
On roll 15, roll 15 is connected on base, is connected in along rope device 19 on the nut seat of reciprocal leading screw 18, and two along rope device
On the contrary, when i.e. the suitable rope device on the left side is to left movement, the suitable rope device on the right moves right 19 motion conditions, and suspension strop is from roll
15 set out, and first pass through along rope device 19, finally on scalable hanging bracket 14, suspension strop end, which is connected to, whitewashes a wall on device.
The course of work of the present invention divides uplink and downlink, and 3 liang of part roof motor 16 and decelerating motor are removed between uplink and downlink
Motor action changes, and the work of remaining motor remains unchanged.Now by taking downlink working as an example, machine is started to work, and ducted fan 1 opens
Dynamic, producing thrust makes machine be close to wall, and under normal operation, crank motor 8 is rotated with certain speed, drives nozzle 5
Move up and down, while stepper motor 11 rotates, and by the effect between leading screw 10 and nut seat, drives slider-crank mechanism 7 whole
Body moves horizontally.Round-trip 9 helical pitch of leading screw once after, crank motor 8 and stepper motor 11 and nozzle 5 are stopped, roof electricity
Machine 16, which will whitewash a wall after machine transfers certain distance, to be stopped, and then crank motor 8, stepper motor 11, nozzle 5 repeat above-mentioned action.
During normal work, above-mentioned action is repeated always.In the presence of having barrier, sensor 5 detects that there are barrier, roof electricity in front
Machine 16 stops putting rope, and once, after spray coating operations, the decelerating motor 3 of the rear foot passes through foot's leading screw 13 to the original place spraying of machine elder generation
Rear foot stent 6 is driven to bounce back, the decelerating motor 3 of front foot drives preceding foot support 4 to make machine toward stent is overhang by foot's leading screw 13
Device lower part is hanging and away from metope, and after foot motor 3 works, roof motor 16 puts rope, when sensor 2 detects barrier
Stop, machine latter half has stepped up barrier, and the rear foot puts front foot receipts.At this time, in two kinds of situation：
First, rear foot stent 6 has been put down at this time, if barrier is more flat, such as Fig. 5, area is much smaller than the once spraying of machine
During area, sensor 2 still can detect barrier when rear foot stent 6 and preceding foot support 4 return to original state, and machine is advanced
Row once sprays, and after spraying, the preceding receipts rear foot of foot support 4 stent 6 is put, and makes machine first half away from metope, roof motor
16 put one section of set time of rope, and then preceding foot support 4 is put rear foot stent 6 and received, and bipod returns original state, then roof motor
16 rope closings, stop when sensor 0 detects barrier, and sensor 0 detects that obstacle has been close in machine front end to explanation at this time
Thing, then machine start to work normally.
If the 2, barrier is bigger, when area is more than a spray area of machine, after rear foot stent 6 is put down, before machine
Portion can be propped, and sensor 2 can't detect barrier at this time, illustrate that machine has climbed up barrier and both feet have returned to initial shape
State, then machine carry out normal operating conditions.When barrier to be left, sensor 4 does not have signal, has illustrated machine rear portion
Some is hanging, and roof motor 16 stops at this time, and machine is first once sprayed, and roof motor 16 puts rope, when sensor 1 does not have
Stop when having signal, the preceding receipts rear foot of foot support 4 stent 6 is put, and roof motor 16 puts one section of set time of rope, rear foot stent 4
Foot support 6 is put before receipts, and 16 rope closing of roof motor, stops, then machine starts normally when sensor 0 detects barrier
Work.
Claims (4)
1. high building exterior wall automatic spraying machine, it is characterised in that ducted fan (1), change gear case (2), decelerating motor (3), front foot
Stent (4), nozzle (5), rear foot stent (6), slider-crank mechanism (7), crank motor (8), polished rod (9), leading screw (10), stepping
Motor (11), shaft coupling (12), foot's leading screw (13), scalable hanging bracket (14), roll (15), roof motor (16),
Gear (17), reciprocal leading screw (18), suitable rope device (19)；Ducted fan (1) is suspended from above machine of whitewashing a wall, by four angles of machine
Stent is fixed；Slider-crank mechanism (7), crank motor (8), polished rod (9), leading screw (10), stepper motor (11), shaft coupling (12)
Spray equipment is collectively constituted, wherein slider-crank mechanism (7) is connected on the nut seat of leading screw, and stepper motor (11) provides dynamic
Power, crank motor (8) and the crank of slider-crank mechanism (7) are connected；Change gear case (2), decelerating motor (3), preceding foot support
(4), nozzle (5), rear foot stent (6) form obstacle crossing device, and wherein decelerating motor (3) is laterally connected on fuselage, passes through deflecting
Gear-box (2) drives foot's leading screw (13) of longitudinal direction to rotate, the nut seat on foot's leading screw (13) and preceding foot support (4), the rear foot
Stent (6) is connected；Scalable hanging bracket (14), roll (15), roof motor
(16), gear (17), reciprocal leading screw (18), suitable rope device (19) form suspension arrangement, wherein, the axis of roof motor (16)
It is connected with roll, suspension strop is wound on roll (15), and roll (15) is connected on base, is connected in along rope device (19) past
On the nut seat of multifilament thick stick (18), two motion conditions along rope device (19) are on the contrary, when i.e. suitable the rope device on the left side is to left movement, the right side
The suitable rope device on side moves right, and from roll, (15)s, first pass through along rope device (19), finally to scalable hanging wire branch suspension strop
On frame (14), suspension strop end, which is connected to, whitewashes a wall on device.
2. high building exterior wall automatic spraying machine according to claim 1, it is characterised in that the preceding foot support (4) and the rear foot
Stent (6) is driven by foot's leading screw (13).
3. high building exterior wall automatic spraying machine according to claim 1, it is characterised in that two on the reciprocal leading screw (18)
A moving direction along rope device (19) is opposite.
4. high building exterior wall automatic spraying machine according to claim 1, it is characterised in that the roof motor (16) is normal
Being capable of self-locking under state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711305990.XA CN107989345B (en) | 2017-12-11 | 2017-12-11 | Automatic spraying machine for outer wall of high building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711305990.XA CN107989345B (en) | 2017-12-11 | 2017-12-11 | Automatic spraying machine for outer wall of high building |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107989345A true CN107989345A (en) | 2018-05-04 |
| CN107989345B CN107989345B (en) | 2024-03-29 |
Family
ID=62037525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711305990.XA Active CN107989345B (en) | 2017-12-11 | 2017-12-11 | Automatic spraying machine for outer wall of high building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107989345B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109162431A (en) * | 2018-10-31 | 2019-01-08 | 陕西理工大学 | A kind of high building wall spray robot |
| CN111677247A (en) * | 2020-06-18 | 2020-09-18 | 合肥皖兴建设工程有限公司 | Waterproof engineering waterproof paint brushing construction method |
| CN113171906A (en) * | 2021-04-27 | 2021-07-27 | 合肥工业大学 | Movable electro-hydraulic compound drive spraying robot with large working space |
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|---|---|---|---|---|
| CN101922229A (en) * | 2009-06-17 | 2010-12-22 | 陈永生 | High-altitude paint multi-nozzle machine and roll painting method |
| CN104339358A (en) * | 2013-07-27 | 2015-02-11 | 昝士录 | Skilled robot for scrubbing or spraying outer layer surface of high-rise building |
| CN104631791A (en) * | 2015-01-21 | 2015-05-20 | 广西大学 | Shear type lifting wall plastering machine driven by slider-crank and capable of fixing step-length and adjusting working range |
| CN205100520U (en) * | 2015-11-16 | 2016-03-23 | 江苏建筑职业技术学院 | Outer wall paint spraying apparatus |
| CN107100352A (en) * | 2017-05-25 | 2017-08-29 | 韩登银 | A kind of wall covering safeguards unmanned plane |
| CN208310129U (en) * | 2017-12-11 | 2019-01-01 | 青岛科技大学 | High building exterior wall automatic spraying machine |
-
2017
- 2017-12-11 CN CN201711305990.XA patent/CN107989345B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101922229A (en) * | 2009-06-17 | 2010-12-22 | 陈永生 | High-altitude paint multi-nozzle machine and roll painting method |
| CN104339358A (en) * | 2013-07-27 | 2015-02-11 | 昝士录 | Skilled robot for scrubbing or spraying outer layer surface of high-rise building |
| CN104631791A (en) * | 2015-01-21 | 2015-05-20 | 广西大学 | Shear type lifting wall plastering machine driven by slider-crank and capable of fixing step-length and adjusting working range |
| CN205100520U (en) * | 2015-11-16 | 2016-03-23 | 江苏建筑职业技术学院 | Outer wall paint spraying apparatus |
| CN107100352A (en) * | 2017-05-25 | 2017-08-29 | 韩登银 | A kind of wall covering safeguards unmanned plane |
| CN208310129U (en) * | 2017-12-11 | 2019-01-01 | 青岛科技大学 | High building exterior wall automatic spraying machine |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109162431A (en) * | 2018-10-31 | 2019-01-08 | 陕西理工大学 | A kind of high building wall spray robot |
| CN109162431B (en) * | 2018-10-31 | 2021-03-23 | 陕西理工大学 | High-rise wall spraying robot |
| CN111677247A (en) * | 2020-06-18 | 2020-09-18 | 合肥皖兴建设工程有限公司 | Waterproof engineering waterproof paint brushing construction method |
| CN113171906A (en) * | 2021-04-27 | 2021-07-27 | 合肥工业大学 | Movable electro-hydraulic compound drive spraying robot with large working space |
| CN113171906B (en) * | 2021-04-27 | 2022-08-05 | 合肥工业大学 | Movable electro-hydraulic compound drive spraying robot with large working space |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107989345B (en) | 2024-03-29 |
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