CN110735516A

CN110735516A - Spraying robot

Info

Publication number: CN110735516A
Application number: CN201910975183.1A
Authority: CN
Inventors: 阳凯; 修德敏; 熊会平; 许安鹏; 汪路涛
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-14
Filing date: 2019-10-14
Publication date: 2020-01-31

Abstract

The invention discloses an spraying robot which comprises a travelling mechanism, a mechanical arm and a coating mechanism, wherein the travelling mechanism is provided with a navigator, the end of the mechanical arm is arranged on the travelling mechanism, the mechanical arm has at least two degrees of freedom of movement, the coating mechanism comprises a coating device, a conveying pipe and a material box, the coating device is arranged at the other end of the mechanical arm, the material box is arranged on the travelling mechanism, and two ends of the conveying pipe are respectively connected with the coating device and the material box.

Description

Spraying robot

Technical Field

The invention relates to the technical field of building construction, in particular to spraying robots.

Background

With the continuous improvement of the economic, technical and living standards, higher requirements such as safety, high efficiency and the like are put forward for building construction, and the quality and quantity guarantee is required to be completed.

However, the underground garage is usually buried deeply underground, air circulation is poor, the underground garage is affected by moisture in soil, and long-term moisture is easily caused, particularly in rainy seasons, the air humidity of the underground garage is basically kept above 85%, and when the humidity is serious, the phenomena of water seepage, mildew and the like can occur on walls, ceilings and the like.

Disclosure of Invention

Based on this, it is necessary to provide kinds of spraying robots, and the spraying robots can realize full-automatic spraying, do not need artifical manual spraying, improve spraying efficiency, and promote spraying quality.

The technical scheme is as follows:

spray painting robot comprises a walking mechanism with a navigator, a mechanical arm with end arranged on the walking mechanism and at least two freedom degrees of movement, and a paint mechanism with a paint applicator, a feed delivery pipe and a bin arranged on the other end of the mechanical arm, wherein the two ends of the feed delivery pipe are respectively connected with the paint applicator and the bin.

According to the spraying robot, the navigator conducts space navigation to guide the travelling mechanism to travel, and the mechanical arm moves and drives the coater to conduct spraying operation, so that full-automatic spraying operation is achieved, manual spraying is not needed, and spraying efficiency is greatly improved; meanwhile, compared with the method of controlling the spraying quality by depending on manual skill, the spraying quality of automatic spraying is more balanced and better.

The technical scheme is further explained in the following step :

in embodiments, there are at least two coaters, and the coating mechanism further includes a th mounting plate, a th mounting plate disposed at the other end of the robot arm, and the coaters spaced apart from the th mounting plate.

In of these embodiments, the coater included nozzles and a base for mounting the nozzles, the base being removably attached to the th mounting plate to enable adjustment of the spacing between adjacent coaters.

In of these embodiments, the applicator further includes a solenoid valve for controlling the opening and closing of the nozzle.

In embodiments, the painting mechanism further includes a mounting rod, end of the mounting rod is fixed to the mounting plate, and the other end of the mounting rod is fixed to the robot arm.

In embodiments, the walking mechanism comprises a bottom frame, a mounting frame and walking wheels, the mounting frame and the material box are arranged on the bottom frame, the walking wheels are provided with at least three walking wheels and are arranged at the bottom of the bottom frame at intervals, and the mechanical arms are arranged on the side parts of the mounting frame.

In embodiments, the walking mechanism further comprises walking drivers, and the walking drivers are provided with at least three and are arranged corresponding to the walking wheels .

In embodiments, the robot arm includes a rotating shaft and a driving member for driving the rotating shaft to rotate, the rotating shaft is provided with a plurality of rotating arms and is connected in series to form a serial manipulator, and the driving member is provided with a plurality of rotating arms and is arranged corresponding to the rotating shafts.

In embodiments, the bin comprises a tray disposed on the bottom frame or the mounting frame, a weight sensor disposed on the tray and configured to acquire the weight of the bin, and a box disposed on the tray.

In embodiments, the navigator comprises a protective frame and a navigator, wherein the navigator is arranged on the protective frame, the navigator further comprises a cooling fan, the cooling fan is arranged on the protective frame, and the air outlet direction of the cooling fan is arranged towards the navigator.

Drawings

FIG. 1 is a schematic view of the overall structure of a painting robot in an embodiment;

FIG. 2 is a schematic view of the traveling mechanism and the mounting bracket of the embodiment of FIG. 1;

FIG. 3 is a schematic diagram of the robotic arm of the embodiment of FIG. 1;

FIG. 4 is a schematic diagram of the structure of the coating mechanism in the embodiment of FIG. 1;

FIG. 5 is a schematic structural diagram of the navigator in the embodiment of FIG. 1;

FIG. 6 is a schematic view of the structure of the bin of the embodiment of FIG. 1.

Reference is made to the accompanying drawings in which:

110. the automatic coating machine comprises a bottom frame, a base frame, a mounting frame, a 121, a third mounting plate, a 130, a traveling wheel, a 140, a navigator, a 141, a protective frame, a 142, a navigator, a 143, a cooling fan, a 150, a traveling driver, a 160, an electric control cabinet, a 200, a mechanical arm, a 210, a driver, a 220, a second driver, a 230, a third driver, a 240, a fourth driver, a 250, a fifth driver, a 260, a sixth driver, a 270, a connecting rod, a 280, a second connecting rod, a 290, a second mounting plate, a 300, a coating mechanism, a 310, a coating device, a 311, a nozzle, a 312, a base, a 313, an electromagnetic valve, a 320, a bin, a 321, a tray, a 322, a weight sensor, a 323, a box body, a 330, a .

Detailed Description

Embodiments of the present invention are described in detail below with reference to the accompanying drawings:

it should be noted that when an element is referred to herein as being "fixed" to another elements, it may be directly on the other elements or intervening elements may also be present, when elements are referred to as being "connected" to another elements, it may be directly connected to the other elements or intervening elements may be present.

The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, the term "and/or" as used herein includes any and all combinations of or more of the associated listed items.

Referring to fig. 1 to 6, spraying robot comprises a traveling mechanism provided with a navigator 140, a robot arm 200 having a end of the robot arm 200 disposed at the traveling mechanism, the robot arm 200 having at least two degrees of freedom of movement, and a coating mechanism 300, wherein the coating mechanism 300 comprises a coater 310, a feed pipe and a bin 320, the coater 310 is disposed at the other end of the robot arm 200, the bin 320 is disposed at the traveling mechanism, and two ends of the feed pipe are respectively connected to the coater 310 and the bin 320.

According to the spraying robot, the navigator 140 conducts space navigation to guide the travelling mechanism to travel, and the mechanical arm 200 moves and drives the coater 310 to conduct spraying operation, so that full-automatic spraying operation is achieved, manual spraying is not needed, and spraying efficiency is greatly improved; meanwhile, compared with the method of controlling the spraying quality by depending on manual skill, the spraying quality of automatic spraying is more balanced and better.

The traveling mechanism is used for providing a function of moving at any time, and can be a traveling trolley, a crawler belt type and the like, the navigator 140 provides traveling navigation, and can be a device capable of enabling the traveling mechanism to move according to a preset track, so that the coating mechanism 300 reaches a specified position to spray a specific area; of course, the traveling mechanism is provided with the navigator 140, and therefore, the traveling mechanism can also be understood as a moving structure with an automatic navigation function, such as an AGV cart, and the description thereof is omitted here.

The mechanical arm 200 provides the spraying position adjustment of the coating mechanism 300, the mechanical arm 200 may be an arm of a serial mechanism, or an arm of a parallel mechanism, or may be other arm mechanisms or mechanical mechanisms capable of achieving the position adjustment of the coating mechanism 300, the mechanical arm 200 has at least two degrees of freedom, so that the position adjustment is more flexible (for example, the mechanical arm 200 may be a six-degree-of-freedom serial mechanical arm, so that the coating mechanism 300 at the end of the mechanical arm 200 not only obtains a larger working space, but also enables the coating mechanism 300 to extend into a narrow area with a complex space for spraying operation), and details are not repeated.

The paint mechanism 300 is used for providing a spraying function, the bin 320 may be disposed on the traveling mechanism, the bin 320 is filled with a material liquid for spraying, an end of the material conveying pipe is communicated with the bin 320, and another end of the material conveying pipe is abutted with the paint applicator 310 to convey the material liquid to the paint applicator 310 for spraying operation by the paint applicator 310, of course, when spraying operation is performed, it should be understood by those skilled in the art that the function of spraying the material from the bin 320 to the paint applicator 310 via the material conveying pipe may be implemented in various existing manners, and details are not repeated herein.

It should be noted that, the coater 310 refers to a device capable of applying the coating solution on the wall, and the coating may be performed by spraying or brushing, for example, the coater 310 may be a nozzle to perform the coating operation by spraying; for example, the coater 310 may be a brush head to perform a coating operation by brushing, which is not described in detail herein.

In addition, the spraying robot that this application provided still includes control mechanism, control mechanism include automatically controlled cabinet 160 and locate controller or control system in the automatically controlled cabinet 160, running gear (navigator 140), arm 200 and coating mechanism 300 all with controller (control system) electric connection.

When the intelligent control system works, the traveling mechanism (the navigator 140) receives a control instruction of the controller and travels to a preset area; the mechanical arm 200 receives a control instruction of the controller, and moves the coating mechanism 300 to a preset position; the coating mechanism 300 receives the command from the controller and performs a coating operation on the area to be coated.

Of course, the spraying robot provided by the present application may also be a remote control, specifically: the control mechanism comprises an electric control cabinet 160, a signal transceiver is arranged in the electric control cabinet 160, and the traveling mechanism (the navigator 140), the mechanical arm 200 and the coating mechanism 300 are electrically connected with the signal transceiver. The control system at the remote end sends a control signal, and the signal transceiver transmits the signal to the traveling mechanism, the mechanical arm 200 and the coating mechanism 300 to carry out remote control on the spraying robot, which is not described in detail.

Referring to fig. 4, at least two coaters 310 are provided, the coating mechanism 300 further includes an -th mounting plate 330, a -th mounting plate 330 is disposed at the other end of the robot arm 200, and the coaters 310 are disposed on the -th mounting plate 330 at intervals.

At least two coating devices 310 are arranged, the coating devices 310 are arranged at intervals, spraying areas are formed by every coating devices 310, spraying areas with larger ranges are formed by the two or more spraying areas, and the spraying efficiency can be improved, meanwhile, the critical positions of the spraying areas corresponding to the two adjacent coating devices 310 just meet the spraying requirements (namely, the uniformity of sprayed material liquid and the like) through designing and calculating the spraying areas, so that the spraying uniformity of the large-range areas formed by the spraying of the different coating devices 310 is ensured, and the spraying quality is improved.

The side of the th mounting plate 330 is fixed to the robot arm 200, and at least two coaters 310 are fixed to the side of the th mounting plate 330 at intervals, as shown in fig. 4, two coaters 310 are arranged on the th mounting plate 330 at intervals, and of course, three or four coaters 310 may be arranged, and the arrangement is specifically set according to actual needs and spraying ranges, and will not be described again.

Referring to fig. 4, the coater 310 includes a nozzle 311 and a base 312 for mounting the nozzle 311, and the base 312 is detachably coupled to an -th mounting plate 330 to enable adjustment of the interval between adjacent coaters 310.

The nozzle 311 is used to spray the feed liquid directly, the nozzle 311 is connected to and communicates with the feed delivery pipe to receive the feed liquid, the base 312 is fixed to the -th mounting plate 330, and the base 312 is easily detached from the -th mounting plate 330 to adjust the position of the base 312 on the -th mounting plate 330, thereby adjusting the distance between different coaters 310.

As shown in FIG. 4, the -th mounting plate 330 is provided with a plurality of mounting holes (which may be a plurality of rows of equidistant threaded holes) in rows, the bases 312 are engaged with the mounting holes by screws or bolts to mount the bases 312 on the -th mounting plate 330, so as to achieve the function of mounting the coaters 310 on the -th mounting plate 330, the bases 312 are engaged with different mounting holes by screws or bolts to mount the bases 312 on the -th mounting plate 330 at different positions, so as to adjust the distance between two adjacent coaters 310 to match different feed liquids and different spray pressures, and achieve that parts of the spray areas formed by the spray nozzles 311 of two adjacent coaters 310 are overlapped, so as to ensure that the spray materials of all the spray areas generated by two or more coaters 310 are uniform, and no further description is given.

Of course, the detachable connection between the base 312 and the th mounting plate 330 may be in various manners, for example, a strip-shaped groove is formed on the th mounting plate 330, and the base 312 is matched with the strip-shaped groove at different positions through a bolt or a screw, so that the position adjustment can be realized in the same manner, and the like, and a person skilled in the art can adopt the same or equivalent manner to realize the position adjustment of the base 312 on the th mounting plate 330, which is not described again.

It should be noted that, of course, not all the bases 312 of the coaters 310 need to be able to be adjusted, and in some cases, the positions of or two coaters 310 may be allowed to be unadjustable, for example, when only two coaters 310 are disposed on the -th mounting plate 330, the positions of coaters 310 may be unadjustable, so that adjusting the positions of another coaters 310 may achieve the function of adjusting the distance, and if there are three or more coaters 310, it may be considered that the positions of the coaters 310 at both ends of the -th mounting plate 330 are unadjustable to adjust the distance of the coater 310 in the middle, and details are not repeated herein.

Referring to fig. 4, the coater 310 further includes a solenoid 313, and the solenoid 313 is used for controlling the opening and closing of the nozzle 311.

The electromagnetic valve 313 (the electromagnetic valve 313 is electrically connected with the controller and is controlled by receiving a control instruction of the controller) is used for controlling the opening and closing of the nozzle 311 so as to realize intelligent spraying operation; in addition, multi-mode operations such as single-coater 310 spraying, double-coater 310 spraying or multi-coater 310 spraying can be realized by controlling the spraying of different coaters 310, so that the spraying requirements of different area positions are met, the spraying precision is improved, and the feed liquid is saved; of course, other devices capable of controlling the material spraying operation of the nozzle 311 may be adopted, and those skilled in the art may select the devices according to actual requirements, which are not described herein again.

Referring to fig. 4, the painting mechanism 300 further includes an -th mounting rod 340, a -th mounting rod 340 having a end fixed to the -th mounting plate 330, and a -th mounting rod 340 having another end fixed to the robot arm 200.

The th mounting bar 340 has two ends secured to the other end (distal end) of the robot arm 200 and the th mounting plate 330, respectively, to interface the paint mechanism 300 with the robot arm 200.

, the robot arm 200 has degrees of freedom that enables the th mounting lever 340 to rotate about the lever axis direction of the th mounting lever 340.

In addition, the -th mounting rod 340 is arranged, and the adjustable arrangement of the base 312 on the -th mounting plate 330 is matched (the distance between two adjacent coaters 310 is changed), so that the coating mechanism 300 can extend into a narrow concave groove area to perform coating operation, and the coating range and the application range are expanded.

If the robot arm 200 has a rotary driving member, the rotary driving member is disposed at the end of the robot arm 200, and when the rotary driving member rotates, the th mounting rod 340 can be driven to rotate along the axis direction of the th mounting rod 340, so that the th mounting plate 330 and the coater 310 thereon can be extended into a narrow space for spraying, and the spraying direction can be adjusted by rotation or the spraying can be conveniently extended into a region with a complicated spatial position by rotation, which is not described in detail.

Referring to fig. 1 and 2, the traveling mechanism includes a bottom frame 110, a mounting frame 120 and traveling wheels 130, the mounting frame 120 and the material box 320 are both disposed on the bottom frame 110, and the traveling wheels 130 are disposed on the bottom of the bottom frame 110 at least three intervals.

The bottom frame 110 is used for mounting traveling wheels 130, mounting frames 120 and the like, and plays a role in supporting the whole spraying robot, the bottom frame 110 can be of a rectangular frame structure, the number of the traveling wheels 130 is four, the four traveling wheels are respectively arranged at the corresponding positions of four corners of the bottom frame 110, and the mounting frames 120 are of a support structure and are mounted at the upper part of the bottom frame 110; the bin 320 can be arranged on the mounting frame 120, and the bin 320 can also be directly arranged on the bottom frame 110; the road wheels 130 can realize autonomous walking under the control of the controller.

Referring to fig. 1, the robot arm 200 is disposed at a side portion of the mounting frame 120. The robot arm 200 is disposed at a side portion of the mounting frame 120, and particularly, when the robot arm 200 is a six-degree-of-freedom robot arm 200, a working space is greatly increased compared to the lifting type robot arm 200 under the same condition.

The mechanical arm 200 is arranged at the side part of the mounting frame 120, which is also commonly called side-type mounting, and under the same condition, the limit range of the mechanical arm 200 horizontally mounted on a vertical surface can reach-186 mm to 1731mm, and the vertical direction is 1917 mm; in the present application, after horizontal installation (i.e. the same type of robot arm 200 is rotated 90 ° to be side-mounted) (the robot arm 200 may be a six-degree-of-freedom serial robot arm 200 as shown in fig. 3), the limit that can be reached in the vertical direction is-1310 mm to 1310mm, and the stroke in the vertical direction is 2610mm, which is larger than the stroke 1917mm of horizontal installation. Therefore, the mechanical arm 200 is mounted at the side of the mounting frame 120, so that the working space range of the coating mechanism 300 at the tail end of the mechanical arm 200 can be greatly increased, the movement range in the vertical direction can be utilized to the maximum extent, and the spraying range of the coating mechanism 300 is increased, which is not described again.

, the mounting bracket 120 is provided with a third mounting plate 121, the third mounting plate 121 is disposed longitudinally, the end of the mechanical arm 200 is provided with a second mounting plate 290, the second mounting plate 290 and the third mounting plate 121 are fixedly disposed, so as to laterally mount the mechanical arm 200 on the mounting bracket 120, which is not described in detail.

In embodiments, the walking mechanism further comprises walking drivers 150, and the walking drivers 150 are provided with at least three and are arranged corresponding to the walking wheels 130 .

The walking driver 150 and the walking wheels 130 are arranged correspondingly, namely, each walking wheel 130 is provided with an independent walking driver 150, the walking drivers 150 can control and drive the rotation and the steering of the walking wheels 130, the controller sends a control instruction, and the walking drivers 150 realize different motions of the walking wheels 130 under the control of the control instruction, so that the walking mechanism can realize omnidirectional movement (movement and turning in any direction), and the convenience of the motion is improved.

The walking driver 150 is provided with a steering structure for controlling the walking wheels 130 to steer and a driving structure for controlling the walking wheels 130 to rotate, so that the walking wheels 130 and the walking driver 150 which meet the functions can be directly purchased by a person skilled in the art, and the person can feel that the person needs to purchase the walking wheels and the walking driver 150, and the detailed description is omitted.

Referring to fig. 3, the robot arm 200 includes a plurality of rotating shafts and driving members for driving the rotating shafts to rotate, the rotating shafts are connected in series to form a serial manipulator, and the driving members are provided in plurality and corresponding to the rotating shafts.

The driving piece is used for driving the rotating shafts to rotate, and the adjacent rotating shafts can be arranged in an included angle mode to achieve the functions of multiple motion freedom degrees and large working space of the serial manipulator.

The driving member may be a driving motor (for example, a motor capable of realizing rotation), so as to drive the rotating shafts to rotate, and a connecting rod may be further disposed between the rotating shafts, so as to further increase the working space by , which is not described in detail.

As shown in fig. 3, the robot arm 200 is a six-degree-of-freedom tandem robot arm, the robot arm 200 includes an th actuator 210, a second actuator 220, a third actuator, a fourth actuator, a fifth actuator 250, and a sixth actuator 260, and the robot arm 200 further includes a th link 270 and a second link 280.

The end of the robot arm 200 is provided with a second mounting plate 290, the second mounting plate 290 is fixedly arranged on a third mounting plate 121 on the mounting frame 120 so as to mount the robot arm 200 on the side of the mounting frame 120, the second mounting plate 290 is provided with a driver 210, the second driver 220 is arranged at the output end of the driver 210, the link 270 is arranged between the second driver 220 and the third driver, the fourth driver is arranged at the output end of the third driver, the second link 280 is arranged in front of the fourth driver and the fifth driver 250, and the sixth driver 260 is arranged at the output end of the fifth driver 250.

Referring to fig. 3, the rotation direction of the driving shaft of the th actuator 210 is the th direction (which may be a vertical direction), the rotation direction of the driving shaft of the second actuator 220 is the second direction perpendicular to the th direction, the th link 270 rotates along with the driving shaft of the second actuator 220, the rotation direction of the driving shaft of the third actuator is the third direction, the third direction is parallel to the second direction, the rotation direction of the driving shaft of the fourth actuator is the fourth direction perpendicular to the third direction, the second link 280 rotates along with the driving shaft of the fourth actuator, the rotation direction of the driving shaft of the fifth actuator 250 is the fifth direction parallel to the third direction, the rotation direction of the rotation shaft of the sixth actuator 260 is the sixth direction perpendicular to the fifth direction, the sixth direction is kept with the axial direction of the th mounting rod 340, and the th mounting rod 340 is driven to rotate when the sixth actuator 260 rotates.

The driver at the end of the mechanical arm 200 can drive the th mounting rod 340 to rotate, so that the th mounting plate 330 and the coater 310 thereon can be driven to spray at a more complex spatial adjustment position, such as primer and finish paint spraying for a plane wall, a ceiling, a house beam and a stand column, manual operation is effectively replaced, construction efficiency and construction quality are improved, and labor cost is reduced.

Of course, the specific structure of the robot arm 200 can be set by those skilled in the art according to actual needs to achieve the desired position of the coating mechanism 300 at the end, and will not be described in detail.

It should be noted that the th driver 210, the second driver 220, the third driver, the fourth driver, the fifth driver 250, and the sixth driver 260 are all driving structures capable of providing rotational power, such as driving motors, and are not described again.

Referring to fig. 6, the bin 320 includes a tray 321, a weight sensor 322, and a box 323, wherein the tray 321 is disposed on the bottom frame 110 or the mounting frame 120, the box 323 is disposed on the tray 321, and the weight sensor 322 and the tray 321 are disposed integrally and are configured to obtain a weight of the box 323.

The box body 323 is provided with a discharge port and a feed port, the end of the feed delivery pipe corresponds to the discharge port and is communicated with the box body 323, the feed port is used for supplementing feed liquid (such as spraying liquid), the weight sensor 322 is used for detecting the weight of the box body 323, when the feed liquid is used to degree, the weight of the box body 323 is lighter, therefore, the weight of the box body 323 can be judged to determine the range and time of the spraying robot which can carry out steps of spraying so as to prepare for supplementing the feed liquid, and similarly, when the feed is added, whether the box body 323 is full can be determined by judging the weight of the box body 323.

For example, the weight sensor 322 may detect the weight of the tank 323 in real time, and when the weight is lower than the th predetermined value, it indicates that the liquid in the tank 323 is insufficient, and send a signal to the controller to remind the user to charge the tank, and when the weight sensor 322 detects that the weight of the tank 323 is higher than or equal to the second predetermined value, it indicates that the liquid in the tank 323 is full, and send a signal to the controller to remind the user to stop charging the tank.

Of course, the weight sensor 322 may detect the weight of the feed liquid in real time or at regular time, and feed back the weight information to the controller in real time, and the controller may control the feed liquid condition in the material box 320 according to a built-in comparison program, which is not described again.

Referring to fig. 5, the navigator 140 includes a protection frame 141 and a navigator 142, and the navigator 142 is disposed on the protection frame 141.

In fig. 5, the protective frame 141 is provided in a housing structure, and the navigator 142 is fixed in the housing structure of the protective frame 141 to protect the navigator 142 and prevent sprayed feed liquid and the like from dripping on the navigator 142.

, the navigator 140 further includes a heat dissipation fan 143, the heat dissipation fan 143 is disposed on the protection frame 141, and an air outlet direction of the heat dissipation fan 143 is set toward the navigator 142.

The heat dissipation fan 143 is used for dissipating heat to the navigator 142, and the number of the heat dissipation fans 143 can be two, and the two heat dissipation fans are all arranged towards the navigator 142, which is not described again.

The navigator 142 can adopt laser scanning's mode to carry out all-round modeling to the space of basement, in order to confirm the architectural feature, carry out subsequent spraying regional division and running gear's walking planning, and the position of accurate control coating mechanism 300, carry out accurate spraying, of course, the navigator 142 also can directly lead-in existing building model, navigate, the BIM information of navigator 142 and controller is compared, in order to confirm running gear's initial position and final spraying position, in the moving process, running gear has automatic real-time function of rectifying, positioning accuracy can reach 40 mm.

The application provides a spraying robot, running gear can be full-automatic dolly that cruises, and full-automatic dolly that cruises cooperates with six degree of freedom series connection arms 200, removes coating mechanism 300 to the spraying region to accurate location, thereby realize the full-automatic, even, the high-efficient spraying in different regions.

The application provides a spraying robot's work flow as follows:

the spraying robot is transported to a basement (such as an underground garage) through a truck and the like, and the working mode of the spraying robot is started;

the spraying robot performs self-detection through a built-in program to determine that the traveling mechanism, the mechanical arm 200 and the coating mechanism 300 are normal in function and determine that the feed liquid in the feed box 320 is in a sufficient state;

the navigator 140 reads the space model of the basement and transmits the position information to the controller, so that the controller plans a spraying area according to the position information;

the traveling mechanism moves to a preset position, the mechanical arm 200 moves the coating mechanism 300 to a preset area under the control of the controller, and the coating mechanism 300 sprays the preset area and finishes spraying under the control of the controller (when the pressure reaches an atomization condition, the electromagnetic valve 313 is opened so that the nozzle 311 can spray the feed liquid);

the controller controls the travelling mechanism to move to the lower positions to spray the next preset areas.

After finishing the spraying of preset areas, the spraying robot can move to another preset areas in parallel to spray.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

A painting robot of kinds, characterized by comprising:

the travelling mechanism is provided with a navigator;

a robot arm, the end of the robot arm being disposed on the traveling mechanism, the robot arm having at least two degrees of freedom of movement, an

The coating mechanism comprises a coating device, a conveying pipe and a material box, the coating device is arranged at the other end of the mechanical arm, the material box is arranged on the traveling mechanism, and two ends of the conveying pipe are respectively connected with the coating device and the material box.
2. A painting robot as claimed in claim 1, in which there are at least two of the applicators, the paint mechanism further including an th mounting plate, the th mounting plate being provided at the other end of the arm, the applicators being spaced from the th mounting plate.
3. A painting robot as claimed in claim 2, in which the applicators comprise nozzles and bases for mounting the nozzles, the bases being detachably connected to the mounting plates to enable adjustment of the spacing between adjacent applicators.
4. A painting robot as claimed in claim 3, in which the applicator further comprises a solenoid valve for controlling the opening and closing of the nozzle.
5. The paint robot of claim 2 further including an th mounting rod, wherein the th mounting rod has a end secured to the th mounting plate and the th mounting rod has another end secured to the robotic arm.
6. The robot of any one of claims 1-5 and , wherein the traveling mechanism comprises a bottom frame, a mounting frame and traveling wheels, the mounting frame and the bin are arranged on the bottom frame, the traveling wheels are at least three and are arranged at intervals on the bottom of the bottom frame, and the mechanical arms are arranged on the side portions of the mounting frame.
7. The painting robot of claim 6, wherein the traveling mechanism further comprises a traveling drive, the traveling drive being provided with at least three and being provided in correspondence with the traveling wheels .
8. The robot of claim 6, wherein the mechanical arm comprises a plurality of rotating shafts and a plurality of driving members for driving the rotating shafts to rotate, the rotating shafts are connected in series to form a serial manipulator, and the driving members are provided in plurality and corresponding to the rotating shafts.
9. The painting robot of claim 6, wherein the bin includes a tray disposed on the base frame or the mounting frame, a weight sensor disposed on the tray, and a box disposed on the tray, the weight sensor being disposed integrally with the tray and configured to acquire a weight of the box.
10. The spray coating robot of claim 6 wherein said navigator comprises a protective frame and a navigator, said navigator being disposed on said protective frame; the navigator further comprises a heat dissipation fan, the heat dissipation fan is arranged on the protection frame, and the air outlet direction of the heat dissipation fan faces the navigator.