CN220565629U - Intelligent spraying building robot - Google Patents

Abstract

The application provides an intelligent spraying building robot, which comprises a movable connecting block; the bottom side of the movable connecting block is provided with a robot movable sole, and the robot movable sole is fixedly connected with the movable connecting block; an inverted hook is arranged on the outer side surface of the moving sole of the robot, and is hooked on the surface of the hanging basket floor; the upper side of the movable connecting block is connected with a robot main body, one side of the robot main body is provided with a paint storage box, the other side of the robot main body is provided with a spray gun, and the spray gun is communicated with the interior of the paint storage box; one end of the robot main body, which is far away from the movable connecting block, is provided with a robot controller, and the robot controller is electrically connected with the spray gun; the robot controller is used for controlling the robot to move and controlling the spray gun to spray. The robot that this application was through setting up removes the sole, fixes through the slot of inverting couple with hanging flower basket floor, thereby can be fine stabilize the robot, thereby the problem of the unable firm normal spraying of influence of robot when solving the aerial work.

Description

Intelligent spraying building robot

Technical Field

The application relates to the technical field of robots, in particular to an intelligent spraying building robot.

Background

In traditional high altitude spraying operation, mainly adopt artifical the brush, but artifical equipment such as scaffold, hanging flower basket or springboard of need setting up of brushing, and the staff adopts the roller to brush the dress in the high altitude during operation, has the problem that coating efficiency is low, the operation security is low, consequently, adopts paint spraying robot to replace artifical spraying to improve coating efficiency, reduce the potential safety hazard.

The paint spraying robot is an industrial robot capable of automatically spraying paint or other paint, and mainly comprises a robot body, a computer and a corresponding control system, wherein a wrist of the paint spraying robot which is advanced adopts a flexible wrist, can bend in all directions and rotate, acts like a wrist of a person, can conveniently extend into a workpiece through a small hole, and is used for spraying the inner surface of the workpiece.

At present, when a paint spraying robot used in the construction engineering sprays paint on a wall surface or a metal building material, high-altitude operation is often required in the operation process of the robot, and in a hanging basket, the paint spraying robot cannot be stable, and the normal spraying is affected by shaking.

Disclosure of Invention

The intelligent spraying building robot comprises a movable connecting block, wherein the movable connecting block is used for enabling a mechanical arm to be capable of reasonably adjusting the angle of a paint spray head when the mechanical arm is used for adjusting in a hanging basket, enabling a spraying robot to be incapable of being stable, and enabling the shaking condition to influence normal spraying;

the bottom side of the movable connecting block is provided with a robot movable sole, and the robot movable sole is fixedly connected with the movable connecting block;

an inverted hook is arranged on the outer side surface of the moving sole of the robot, and is hooked on the surface of the hanging basket floor;

the upper side of the movable connecting block is connected with a robot main body, one side of the robot main body is provided with a paint storage box, the other side of the robot main body is provided with a spray gun, and the spray gun is communicated with the interior of the paint storage box;

a robot controller is arranged at one end of the robot main body, which is far away from the movable connecting block, and the robot controller is electrically connected with the spray gun;

the robot controller is used for controlling the robot to move and controlling the spray gun to spray.

In one possible implementation, the top of the paint storage box is provided with a paint pouring opening, the bottom of the paint storage box is provided with a paint outlet, and the paint outlet is communicated with the spray gun;

the paint pouring opening is provided with a power supply device, and the robot controller is electrically connected with the power supply device.

In one possible implementation, the spray gun includes a first paint pouring tube and a second paint pouring tube, the first paint pouring tube having a diameter greater than a diameter of the second paint pouring tube;

one end of the first paint backflow pipe is communicated with the paint outlet, and the other end of the first paint backflow pipe is communicated with one end of the second paint backflow pipe;

the spray gun is characterized in that the other end of the second paint backflow pipe is provided with a spray gun body, a spray head is arranged in the spray gun body, and the spray head is communicated with the second paint backflow pipe.

In one possible implementation, a front spray pipe is arranged at one end of the second paint backflow pipe, which is close to the spray gun body;

the front spray pipe is arranged at one end of the second paint backflow pipe, which is close to the spray gun body, and a spray head air pressure controller is arranged between the front spray pipe and the spray gun body;

the front spray pipe is electrically connected with the power supply device and is used for atomizing sprayed paint;

the spray head air pressure controller is electrically connected with the robot controller and is used for controlling the speed of spraying paint from the spray head.

In one possible implementation, the spray gun further comprises a robotic arm master controller and a built-in control tube;

the built-in control electric tube is sleeved outside the second paint backflow tube, the mechanical arm main controller is sleeved outside the connection position of the first paint backflow tube and the built-in control electric tube,

the mechanical arm main controller is electrically connected with the robot controller, the mechanical arm main controller is also electrically connected with the built-in control electric tube, and the mechanical arm main controller is used for controlling the spray gun to move through the built-in control electric tube.

In one possible implementation, the spray gun further comprises a rotating chassis and a chassis controller;

the rotary chassis is covered on the chassis controller and is connected with the spray gun body;

the chassis controller is electrically connected with the robot controller, and the chassis controller is used for controlling the spraying angle of the spray gun body through the rotary chassis.

In a possible implementation, the paint pouring opening is provided with an anti-corrosion cover; and a protective layer is arranged on the inner wall of the paint storage box.

In one possible implementation, a paint tube securing gasket is provided between the first paint pouring tube and the paint outlet.

In one possible implementation, the mobile connection block is connected to the robot mobile sole and the robot body by means of welding.

From the foregoing, the present application provides an intelligent spraying construction robot, including a mobile connection block; the bottom side of the movable connecting block is provided with a robot movable sole, and the robot movable sole is fixedly connected with the movable connecting block; an inverted hook is arranged on the outer side surface of the moving sole of the robot, and is hooked on the surface of the hanging basket floor; the upper side of the movable connecting block is connected with a robot main body, one side of the robot main body is provided with a paint storage box, the other side of the robot main body is provided with a spray gun, and the spray gun is communicated with the interior of the paint storage box; a robot controller is arranged at one end of the robot main body, which is far away from the movable connecting block, and the robot controller is electrically connected with the spray gun; the robot controller is used for controlling the robot to move and controlling the spray gun to spray. The robot that this application was through setting up removes the sole, fixes through the slot of inverting couple with hanging flower basket floor, thereby can be fine stabilize the robot, thereby the problem of the unable firm normal spraying of influence of robot when solving the aerial work.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the practice of the utility model and together with the description, serve to explain the principles of the embodiments of the utility model. It is evident that the drawings in the following description are only some embodiments of the implementation of the present utility model and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic structural view of an intelligent spraying robot according to an exemplary embodiment of the present application;

fig. 2 is a schematic structural view of an intelligent spraying robot according to another exemplary embodiment of the present application.

Reference numerals illustrate:

100-moving the connecting block; 200-a robot body; 300-paint storage bin; 400-spraying gun; 500-a robot controller;

110-robot moves sole; 120-inverting the hook; 310-paint pouring port; 320-paint outlet; 330-a protective layer; 410-a paint pouring tube; 420-a second paint pour tube; 430-a spray gun body; 440-front nozzle; 450-a robotic arm master controller; 460-a built-in control electric tube; 470-rotating the chassis; 480-chassis controller; 490-paint pipe fixing shim; 431-spray head; 432-showerhead air pressure controller.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the implementations of embodiments of the utility model.

The paint spraying robot is an industrial robot capable of automatically spraying paint or other paint, and mainly comprises a robot body, a computer and a corresponding control system, wherein a wrist of the paint spraying robot which is advanced adopts a flexible wrist, can bend in all directions and rotate, acts like a wrist of a person, can conveniently extend into a workpiece through a small hole, and is used for spraying the inner surface of the workpiece. At present, when a paint spraying robot used in the construction engineering sprays paint on a wall surface or a metal building material, high-altitude operation is often required in the operation process of the robot, and in a hanging basket, the paint spraying robot cannot be stable, and the normal spraying is affected by shaking.

In order to solve the above problems, the present application provides an intelligent spraying construction robot, referring to fig. 1, fig. 1 is a schematic structural diagram of an intelligent spraying robot according to an exemplary embodiment of the present application, which includes a mobile connection block 100; the bottom side of the movable connecting block 100 is provided with a robot movable sole 110, and the robot movable sole 110 is fixedly connected with the movable connecting block 100; an inverted hook 120 is provided on the outer surface of the robot moving sole 110, and the inverted hook 120 is hooked on the surface of the basket floor.

By moving the connection block 100, the intelligent spraying construction robot can be moved to any position, and when working aloft is needed, the intelligent spraying construction robot is moved into the hanging basket. The inverted hook 120 may be disposed at any position on the robot moving sole 110 according to the structure of the basket, for example, on the side of the robot moving sole 110, and is fixed in cooperation with the inside of a slot at the railing in the basket, or disposed at the bottom of the robot moving sole 110 and fixed in the inside of a slot on the floor of the basket.

The robot body 200 is connected to the upper side of the movable connection block 100, a paint storage box 300 is provided at one side of the robot body 200, a spray gun 400 is provided at the other side, and the spray gun 400 communicates with the interior of the paint storage box 300. The end of the robot body 200 away from the mobile connection block 100 is provided with a robot controller 500, and the robot controller 500 is electrically connected with the spray gun 400; the robot controller 500 is used to control the movement of the robot and also to control the spray gun 400 to spray.

The paint storage box 300 is used for storing and placing spraying paint, spraying paint is sprayed out through the spray gun 400, spraying of a building is achieved, the intelligent spraying building robot starts to move to a designated area through the robot controller 500 in the using process, when the intelligent spraying building robot needs to work in a hanging basket, the inverted hook 120 can be directly clamped into a clamping groove of the hanging basket to be fixed, and when the intelligent spraying building robot leaves the hanging basket, the intelligent spraying building robot can move to the rear side of the inverted hook 120 only by controlling the robot intelligent spraying building robot through the robot controller 500, and can be separated from the hanging basket to move.

The robot controller 500 is also used for controlling the spraying angle, the distance, the paint usage amount and the like of the spray gun, so as to realize complete control of the intelligent spraying building robot.

In some embodiments of the present application, referring to fig. 2, fig. 2 is a schematic structural diagram of an intelligent spraying robot according to another exemplary embodiment of the present application, a paint pouring inlet 310 is provided at the top of a paint storage tank 300, a paint outlet 320 is provided at the bottom of the paint storage tank 300, and the paint outlet 320 is in communication with a spray gun 400; a power supply device is provided at the paint pouring opening 310, and the robot controller 500 is electrically connected to the power supply device.

The paint pouring opening 310 is used for filling paint into the paint storage box 300, and the paint outlet 320 is communicated with the spray gun 400, so that paint can enter the spray gun 400, and the power supply device supplies power to the robot controller 500 and simultaneously supplies power to the whole intelligent spraying robot.

In some embodiments, with continued reference to fig. 2, paint pouring port 310 is provided with an anti-corrosion cover to prevent contaminants from falling into paint reservoir 300 and contaminating the paint during operation of the intelligent spray robot. The inner wall of the paint storage box 300 is provided with a protective layer 330, so that the oxidation corrosion to the paint storage box 300 is reduced through the protective layer 330, and the service life of the paint storage box 300 is prolonged.

In some embodiments of the present application, with continued reference to fig. 2, spray gun 400 includes a first paint pouring tube 410 and a second paint pouring tube 420, the first paint pouring tube 410 having a diameter greater than the diameter of the second paint pouring tube 420; one end of the first paint reverse flow pipe 410 is communicated with the paint outlet 320, and the other end of the first paint reverse flow pipe 410 is communicated with one end of the second paint reverse flow pipe 420; the other end of the second paint reverse flow pipe 420 is provided with a spray gun body 430, a spray head 431 is arranged in the spray gun body 430, and the spray head 431 is communicated with the second paint reverse flow pipe 420.

After paint flows out of the paint storage box 300, the paint firstly passes through the first paint backflow pipe 410 and the second paint backflow pipe 420, the diameter on the path gradually decreases, the diameter is minimum when reaching the spray head 431, the consumption of the paint can be effectively controlled, and the uneven thickness of the sprayed surface caused by excessive paint spraying can be avoided.

In some embodiments of the present application, with continued reference to FIG. 2, a paint tube securing gasket 490 is provided between the first paint pouring tube 410 and the paint outlet 320. The paint tube securing gasket 490 is used to secure the first paint pouring tube 410, ensure that the first paint pouring tube 410 is tightly docked with the paint outlet 320, and prevent the first paint pouring tube 410 from being dislodged or falling, resulting in paint spillage.

In some embodiments of the present application, with continued reference to FIG. 2, a forward spout 440 is provided at an end of the second paint downpipe 420 adjacent the spray gun body 430; the front spray pipe 440 is disposed at one end of the second paint backflow pipe 420 near the spray gun body 430, the front spray pipe 440 is electrically connected with a power supply device, and the front spray pipe 440 is used for atomizing sprayed paint.

The front nozzle 440 atomizes the sprayed paint so that the coating layer is thinner after the paint is sprayed on the surface of the building, the coating is more uniform, and the consumption of the paint is reduced.

A nozzle air pressure controller 432 is arranged between the front nozzle 440 and the spray gun body 430; the spray head air pressure controller 432 is electrically connected with the robot controller 500, and the spray head air pressure controller 432 is used for controlling the speed of spraying paint from the spray head 431.

The robot controller 500 can further control the speed of paint spraying by controlling the gas pressure of the nozzle air pressure controller 432 and adjusting the force of paint spraying from the nozzle 431. Specifically, when the distance is relatively short and the spraying area is relatively small, the speed of sprayed paint can be controlled to be relatively low, so that the paint is prevented from being sprayed outside a designated area; when the distance is far, the spraying area is large, the speed of sprayed paint can be controlled to be high, so that the spraying can be rapidly finished, and the working efficiency is improved.

In some embodiments of the present application, with continued reference to FIG. 2, the spray gun 400 further includes a robotic master controller 450 and built-in control electronics 460; the built-in control electric tube 460 is sleeved outside the second paint pouring tube 420, the mechanical arm main controller 450 is sleeved outside the connection position of the first paint pouring tube 410 and the built-in control electric tube 460, the mechanical arm main controller 450 is electrically connected with the robot controller 500, the mechanical arm main controller 450 is further electrically connected with the built-in control electric tube 460, and the mechanical arm main controller 450 is used for controlling the spray gun 400 to move through the built-in control electric tube 460.

When spraying in large areas, the spray gun 400 needs to be moved to a designated position to spray the building, and the spray gun 400 can be adjusted to move by the mechanical arm main controller 450 until the spray gun body 430 reaches the designated position, and then the building is sprayed.

In some embodiments of the present application, with continued reference to FIG. 2, the spray gun 400 further includes a rotating chassis 470 and a chassis controller 480; the chassis controller 480 is arranged at one end of the second paint backflow pipe 420 close to the spray gun body 430, the rotary chassis 470 covers the chassis controller 480, and the rotary chassis 470 is connected with the spray gun body 430; the chassis controller 480 is electrically connected with the robot controller 500, and the chassis controller 480 is used to control the spray angle of the spray gun body 430 by rotating the chassis 470.

When spraying to some special positions, the angle of the spray gun body 430 needs to be changed, the robot controller 500 controls the chassis controller 480 to enable the rotary chassis 470 to rotate, so that the spray gun body 430 changes the spraying angle, and specifically, when the rotary chassis 470 rotates, the spray heads 431 can be adjusted to be at different angles in the up-down, left-right directions, so that the spraying operation of different planes of a building is realized. Therefore, in this way, the corner position or the special position on the building can be adjusted for spraying, and the condition of incomplete spraying is avoided.

In some embodiments of the present application, the mobile connection block 100 is connected to the robot moving sole 110 and the robot body 200 by means of welding. The connection strength between the components can be ensured through welding fixation, separation between the components is avoided, and it can be understood that other fixed connection modes such as bolts and nuts can be adopted, and the application is not limited specifically.

In the using process of the intelligent spraying building robot, firstly, the robot controller 500 enables the robot main body 200 to start moving to a designated area, and when the intelligent spraying building robot needs to work in a hanging basket, the intelligent spraying building robot is clamped into a clamping groove of the floor of the hanging basket through the inverted hook 120 to be fixed; pouring paint from the paint pouring inlet 310 into the paint storage box 300, flowing into the front spray pipe 440 through the first paint pouring pipe 410 and the second paint pouring pipe 420, and moving the spray gun 400 to the spray gun main body 430 to align with the area to be sprayed by the intelligent spraying construction robot through the mechanical arm main controller 450; the head air pressure controller 432 controls the spray gun body 430 to start spraying. When an angle change is required, the chassis controller 480 rotates the rotary chassis 470 to change the spraying angle of the spray gun body 430, and spraying is completed in the spraying area. After the spraying is completed, when the intelligent spraying construction robot leaves the hanging basket, the robot controller 500 controls the movable connecting block 100 to move to the rear side of the inverted hook 120 so as to be separated from the hanging basket.

As can be seen from the foregoing embodiments, the present application provides an intelligent spraying construction robot, including a mobile connection block; the bottom side of the movable connecting block is provided with a robot movable sole, and the robot movable sole is fixedly connected with the movable connecting block; an inverted hook is arranged on the outer side surface of the moving sole of the robot, and is hooked on the surface of the hanging basket floor; the upper side of the movable connecting block is connected with a robot main body, one side of the robot main body is provided with a paint storage box, the other side of the robot main body is provided with a spray gun, and the spray gun is communicated with the interior of the paint storage box; one end of the robot main body, which is far away from the movable connecting block, is provided with a robot controller, and the robot controller is electrically connected with the spray gun; the robot controller is used for controlling the robot to move and controlling the spray gun to spray. The robot that this application was through setting up removes the sole, fixes through the slot of inverting couple with hanging flower basket floor, thereby can be fine stabilize the robot, thereby the problem of the unable firm normal spraying of influence of robot when solving the aerial work.

It should be noted that the embodiments of the present application are intended to cover a non-exclusive inclusion, such that a structure, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such structure, article, or apparatus. Without further limitation, the statement "comprises … …" does not exclude that an additional identical element is present in a structure, article or apparatus that comprises the element.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (9)

1. An intelligent spraying construction robot is characterized by comprising a movable connecting block (100);

the bottom side of the movable connecting block (100) is provided with a robot movable sole (110), and the robot movable sole (110) is fixedly connected with the movable connecting block (100);

an inverted hook (120) is arranged on the outer side surface of the moving sole (110) of the robot, and the inverted hook (120) is hooked on the surface of the hanging basket floor;

the upper side of the movable connecting block (100) is connected with a robot main body (200), one side of the robot main body (200) is provided with a paint storage box (300), the other side of the robot main body is provided with a spray gun (400), and the spray gun (400) is communicated with the interior of the paint storage box (300);

one end of the robot main body (200) far away from the movable connecting block (100) is provided with a robot controller (500), and the robot controller (500) is electrically connected with the spray gun (400);

the robot controller (500) is used for controlling the robot to move and controlling the spray gun (400) to spray.

2. The intelligent spraying construction robot according to claim 1, wherein a paint pouring opening (310) is formed in the top of the paint storage box (300), a paint outlet (320) is formed in the bottom of the paint storage box (300), and the paint outlet (320) is communicated with the spray gun (400);

and a power supply device is arranged at the paint pouring opening (310), and the robot controller (500) is electrically connected with the power supply device.

3. The intelligent spray painting construction robot according to claim 2, wherein the spray gun (400) comprises a first paint pouring tube (410) and a second paint pouring tube (420), the first paint pouring tube (410) having a larger diameter than the second paint pouring tube (420);

one end of the first paint reverse flow pipe (410) is communicated with the paint outlet (320), and the other end of the first paint reverse flow pipe (410) is communicated with one end of the second paint reverse flow pipe (420);

the other end of the second paint reverse flow pipe (420) is provided with a spray gun body (430), a spray head (431) is arranged in the spray gun body (430), and the spray head (431) is communicated with the second paint reverse flow pipe (420).

4. The intelligent spraying construction robot as claimed in claim 3, wherein a front-end spray pipe (440) is provided at an end of the second paint pouring pipe (420) adjacent to the spray gun body (430);

the front spray pipe (440) is arranged at one end of the second paint backflow pipe (420) close to the spray gun body (430), and a spray nozzle air pressure controller (432) is arranged between the front spray pipe (440) and the spray gun body (430);

the front spray pipe (440) is electrically connected with the power supply device, and the front spray pipe (440) is used for atomizing sprayed paint;

the sprayer air pressure controller (432) is electrically connected with the robot controller (500), and the sprayer air pressure controller (432) is used for controlling the speed of spraying paint from the sprayer (431).

5. The intelligent spray painting construction robot according to claim 3, wherein the spray gun (400) further comprises a robotic arm master controller (450) and a built-in control electric tube (460);

the built-in control electric tube (460) is sleeved outside the second paint backflow tube (420), and the mechanical arm main controller (450) is sleeved outside the connection position of the first paint backflow tube (410) and the built-in control electric tube (460);

the mechanical arm main controller (450) is electrically connected with the robot controller (500), the mechanical arm main controller (450) is also electrically connected with the built-in control electric tube (460), and the mechanical arm main controller (450) is used for controlling the spray gun (400) to move through the built-in control electric tube (460).

6. The intelligent spray painting construction robot according to claim 3, wherein the spray gun (400) further comprises a rotating chassis (470) and a chassis controller (480);

the chassis controller (480) is arranged at one end of the second paint backflow pipe (420) close to the spray gun body (430), the rotary chassis (470) is covered on the chassis controller (480), and the rotary chassis (470) is connected with the spray gun body (430);

the chassis controller (480) is electrically connected with the robot controller (500), and the chassis controller (480) is used for controlling the spraying angle of the spray gun body (430) through the rotary chassis (470).

7. The intelligent spray construction robot according to claim 2, wherein the paint pouring opening (310) is provided with an anti-corrosion cover; and a protective layer (330) is arranged on the inner wall of the paint storage box (300).

8. The intelligent spray construction robot according to claim 3, wherein a paint tube securing gasket (490) is provided between the first paint pouring tube (410) and the paint outlet (320).

9. The intelligent spray construction robot according to claim 1, wherein the mobile connection block (100) is connected to the robot mobile sole (110) and the robot body (200) by means of welding.