CN107724649A - A kind of wall spray robot - Google Patents
A kind of wall spray robot Download PDFInfo
- Publication number
- CN107724649A CN107724649A CN201711107158.9A CN201711107158A CN107724649A CN 107724649 A CN107724649 A CN 107724649A CN 201711107158 A CN201711107158 A CN 201711107158A CN 107724649 A CN107724649 A CN 107724649A
- Authority
- CN
- China
- Prior art keywords
- spray gun
- front wheel
- guide rod
- gun
- drive
- 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.)
- Pending
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—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
Abstract
The present invention relates to robot field, specifically a kind of wall spray robot, including mobile platform, travel mechanism is provided with described mobile platform, the Z-direction travel mechanism of regulation upper-lower position is additionally provided with described mobile platform, the Y-direction travel mechanism of regulation lateral attitude is provided with described Z-direction travel mechanism, the X of regulation front and back position is provided with described Y-direction travel mechanism to travel mechanism, paint finishing is provided with described mobile platform, relative to joint type spray robot, low cost of the present invention, it is easy to use, it is easy to maintenance；Using the regulation in tri- orientation of X, Y, Z so that spraying has comprehensive and uniformity, avoids spraying phenomenon not in place；Artificial smearing is replaced using robot, the efficiency and quality sprayed automatically is improved while reducing the labor intensity of worker.
Description
Technical field
The present invention relates to robot field, specifically a kind of wall spray robot.
Background technology
The operating environment of spray painting operation in itself is severe, is skilled in technique to spray painting worker high request and 80, after 90s pair
Work it is alternative big the reason for so that spray correlation operating personnel recruitment turn into problem.
At present, the spraying of coating for wall surface is mainly completed by artificial paint during house decoration, and labor intensity is big, building ring
Border is severe, but in recent years, due to the rise of cost of labor, the enhancing of self health perception of worker, causes recruitment difficult and use
Robot replaces artificial smearing, but spray robot present on robot market is mostly with universal joint machine at home
Based on people, price is generally higher.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of wall spray robot.
A kind of wall spray robot, including mobile platform, travel mechanism is provided with described mobile platform, it is described
The Z-direction travel mechanism of regulation upper-lower position is additionally provided with mobile platform, regulation is provided with described Z-direction travel mechanism laterally
The Y-direction travel mechanism of position, the X of regulation front and back position is provided with described Y-direction travel mechanism to travel mechanism, described shifting
Paint finishing is provided with moving platform.
Described mobile platform includes left drive mechanism, the left back drive mechanism coordinated with left drive mechanism and a left side
The right rear drive mechanism that the right front driving mechanism and right front driving mechanism that front driving mechanism and left back drive mechanism coordinate coordinate.
Described left drive mechanism includes the left front wheel shaft of the near front wheel and the near front wheel bearing fit, positioned at left front wheel shaft
The near front wheel bearing I I on one end, left front wheel drive Datong District step band is provided between described the near front wheel bearing I I and left front wheel shaft
Fixes sleeve is taken turns, left front wheel drive Datong District step belt wheel, institute are connected with described left front wheel drive Datong District step belt wheel fixes sleeve
The first drive mechanism is connected with the left front wheel drive Datong District step belt wheel stated；The first described drive mechanism includes driving with the near front wheel
The left front wheel drive timing belt that dynamic big synchronous pulley coordinates, it is small same that described left front wheel drive timing belt is built-in with left front wheel drive
Belt wheel is walked, described left front wheel drive small synchronous pulley is built-in with the near front wheel drive motor shaft, described the near front wheel motor
The near front wheel motor is provided with axle.
Described left back drive mechanism includes left rear wheel, the left back wheel bearing being built in left rear wheel, is built in left rear wheel
Left back wheel shaft in bearing, left rear wheel key is provided with described left rear wheel.
Described right front driving mechanism includes the front right axle of off-front wheel and off-front wheel bearing fit, positioned at front right axle
Off-front wheel bearing II on one end, off-front wheel is provided between described off-front wheel bearing II and front right axle and drives big timing belt
Fixes sleeve is taken turns, described off-front wheel, which drives, is connected with the big synchronous pulley of off-front wheel driving, institute in big synchronous pulley fixes sleeve
The off-front wheel stated drives and is connected with the second drive mechanism on big synchronous pulley；Second drive mechanism includes driving Datong District with off-front wheel
The off-front wheel driving timing belt that belt wheel coordinates is walked, described off-front wheel driving timing belt is built-in with off-front wheel and drives small timing belt
Wheel, described off-front wheel driving small synchronous pulley is built-in with off-front wheel drive motor shaft, in described off-front wheel drive motor shaft
It is provided with off-front wheel motor.
Described right rear drive mechanism includes off hind wheel, the off hind wheel bearing being built in off hind wheel, described off hind wheel
On be provided with off hind wheel key.
Described Z-direction travel mechanism include the Z-direction guide-bar mechanism that is parallel to each other on a mobile platform and ball screw framework,
The Z-direction being arranged on Z-direction guide-bar mechanism and ball screw framework moves support, positioned at Z-direction guide-bar mechanism and ball screw framework
The top plate of end, Z-direction motor installing plate is provided with described top plate, is set on described Z-direction motor installing plate
There is Z-direction motor, lead-screw drive mechanism is provided between described Z-direction motor installing plate and Z-direction motor；It is described
Z-direction guide-bar mechanism be included on mobile platform 1 and led in the Z-direction guide rod I, Z-direction guide rod II, Z-direction guide rod III, Z-direction of rule distribution
Bar IV, described Z-direction guide rod I, Z-direction guide rod II, Z-direction guide rod III, Z-direction guide rod IV bottoms are respectively arranged with Z-direction guide rod I and fixed
Bearing, Z-direction guide rod II hold-down supports, Z-direction guide rod III hold-down supports, Z-direction guide rod IV hold-down supports；Described ball-screw machine
Structure is included in the ball-screw I set on mobile platform 1, is arranged on the ball-screw bearing II of ball-screw end, described
It is provided with ball-screw for the ball guide screw nat with Z-direction movement support assorted；Described lead-screw drive mechanism includes
The shaft coupling being connected with Z-direction motor, the ball-screw axle key, the ball with ballscrew shaft key connection that are connected with shaft coupling
Leading screw bearing I.
Described Y-direction travel mechanism includes left side Y-direction travel mechanism and right side Y-direction travel mechanism, and described left side Y-direction is moved
Motivation structure includes left gun stand, the left side spray gun Y-direction mobile electric push rod on left gun stand, is arranged on left spray gun
The left side Y-direction laser range sensor of support one end, the left side Y-direction movement sliding block coordinated with left gun stand, described left side Y
The left side Y-direction moving guide rail for coordinating and sliding is provided with to the lower end of mobile sliding block；Described right side Y-direction travel mechanism includes right spray
Gun carriage, the right side spray gun Y-direction mobile electric push rod on right gun stand, the right side for being arranged on right gun stand one end
Y-direction laser range sensor, the right side Y-direction movement sliding block coordinated with right gun stand, described right side Y-direction are moved under sliding block
End is provided with the right side Y-direction moving guide rail for coordinating and sliding.
Described X to travel mechanism include X to support, X coordinate to support upper bearing (metal) and the X that is parallel to each other to guide rod I,
X is provided with right side X to mobile branch to guide rod I, X to guide rod II and X to rack, described X to guide rod II and X to one end of rack
Frame, described X are provided with left side X to mobile support to guide rod I, X to guide rod II and X to the other end of rack, and described X is to branch
It is provided with actuating unit on frame, described actuating unit is included with X to the X that rack coordinates to drive gear, and described X is to driving
X is provided with gear to drive shaft, described X is to being connected with X to motor in drive shaft.
Described paint finishing includes being separately positioned on the left spray gun mechanism at Z-direction travel mechanism both ends and right spray gun mechanism,
Coating mechanism is connected with described left spray gun mechanism and right spray gun mechanism, described coating mechanism includes being arranged on mobile platform
On paint can, the pump on paint can, the pump motor being connected with pump, threeway is installed on described paint can,
The exit of described pump is provided with pump discharge snap joint, and coating is provided between described pump discharge snap joint and threeway
Pipe；Described right spray gun mechanism includes the right spray gun coating pipe being connected with threeway, the right spray gun gas being connected with right spray gun coating pipe
The snap joint of lance tube end, right spray gun magnetic valve is combined with described right spray gun tracheae spray gun end snap joint and connects source of the gas gas
Pipe, described right spray gun magnetic valve connect and right gun controls magnetic valve are connected with source of the gas tracheae, described right gun controls electromagnetism
Right spray gun gas solenoid end snap joint is connected with valve, is connected with described right spray gun gas solenoid end snap joint
Right spray gun tracheae, described right spray gun tracheae in right spray gun tracheae spray gun end snap joint with being connected with right spray gun；A described left side
Spray gun mechanism is quick including the left spray gun coating pipe being connected with threeway, the left spray gun tracheae spray gun end being connected with left spray gun coating pipe
Joint, left spray gun magnetic valve is combined with described left spray gun tracheae spray gun end snap joint and connects source of the gas tracheae, described left spray
Rifle magnetic valve is connect and left gun controls magnetic valve is connected with source of the gas tracheae, and left spray is connected with described left gun controls magnetic valve
The end snap joint of rifle gas solenoid, left spray gun tracheae, institute are connected with described left spray gun gas solenoid end snap joint
The left spray gun tracheae stated in left spray gun tracheae spray gun end snap joint with being connected with left spray gun.
The beneficial effects of the invention are as follows：Relative to joint type spray robot, low cost of the present invention, it is easy to use, maintenance
It is convenient；Using the regulation in tri- orientation of X, Y, Z so that spraying has comprehensive and uniformity, avoids spraying phenomenon not in place；
Artificial smearing is replaced using robot, the efficiency and quality sprayed automatically is improved while reducing the labor intensity of worker.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is travel mechanism's dimensional structure diagram one of the present invention；
Fig. 3 is travel mechanism's dimensional structure diagram two of the present invention；
Fig. 4 is the Z-direction travel mechanism dimensional structure diagram of the present invention；
Fig. 5 is the X of the present invention to travel mechanism, Y-direction travel mechanism dimensional structure diagram；
Fig. 6 is the paint finishing dimensional structure diagram of the present invention；
Fig. 7 is the mobile platform dimensional structure diagram of the present invention；
The Z-direction that Fig. 8 is the present invention moves support dimensional structure diagram；
Fig. 9 is the shaft coupling dimensional structure diagram of the present invention；
Figure 10 is the near front wheel dimensional structure diagram of the present invention；
Figure 11 is the top plate dimensional structure diagram of the present invention；
Figure 12 is the paint can dimensional structure diagram of the present invention；
Figure 13 is Fig. 2 of present invention I partial enlarged drawings；
Figure 14 is Fig. 6 of present invention II partial enlarged drawings；
Figure 15 is Fig. 4 of present invention III partial enlarged drawings；
Figure 16 is Fig. 5 of present invention IV partial enlarged drawings.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Fig. 1 to Figure 16, a kind of wall spray robot, including mobile platform 1, set on described mobile platform 1
Travel mechanism is equipped with, the Z-direction travel mechanism 3 of regulation upper-lower position is additionally provided with described mobile platform 1, described Z-direction is moved
The Y-direction travel mechanism of regulation lateral attitude is provided with motivation structure 3, regulation anteroposterior position is provided with described Y-direction travel mechanism
The X put is provided with paint finishing to travel mechanism 5 on described mobile platform 1.
Described travel mechanism includes left drive mechanism, the left back drive mechanism coordinated with left drive mechanism and a left side
The right rear drive mechanism that the right front driving mechanism and right front driving mechanism that front driving mechanism and left back drive mechanism coordinate coordinate.
Described left drive mechanism includes the left front wheel shaft 21 of the near front wheel 13 and the bearing fit of the near front wheel 13, positioned at a left side
The near front wheel bearing I I16 on the one end of front axle 21, is provided with left front between described the near front wheel bearing I I16 and left front wheel shaft 21
The big synchronous pulley fixes sleeve 18 of wheel drive, described left front wheel drive Datong District walk and are connected with the near front wheel in belt wheel fixes sleeve 18
Big synchronous pulley 17 is driven, the first drive mechanism is connected with described left front wheel drive Datong District step belt wheel 17；Described first
Drive mechanism includes the left front wheel drive timing belt 8 coordinated with left front wheel drive Datong District step belt wheel 17, described left front wheel drive
Timing belt 8 is built-in with left front wheel drive small synchronous pulley 9, and described left front wheel drive small synchronous pulley 9 is built-in with the near front wheel drive
Motor shaft 10 is moved, the near front wheel motor 11 is provided with described the near front wheel drive motor shaft 10.
It is provided with described the near front wheel 13 for fixed the near front wheel retaining washer 48 and the near front wheel fixing nut 49.
The near front wheel bearing I I end caps 14 are provided with described the near front wheel bearing I I16 and by the near front wheel bearing I I end caps
Fixing bolt 15 connects.
Described one end of left front wheel drive Datong District step belt wheel fixes sleeve 18 is provided with the near front wheel bearing I 56, a described left side
The near front wheel bearing I end cap 20 is provided with front-wheel bearing I56 and is connected by the left front end cap fixing bolt 19 of wheel bearing I.
It is provided with described the near front wheel motor 11 for fixed the near front wheel motor fixing bolt 12.
Described left back drive mechanism includes left rear wheel 30, the left back wheel bearing 31 being built in left rear wheel 30, is built in
Left back wheel shaft 32 in left back wheel bearing 31, left rear wheel key 52 is provided with described left rear wheel 30.
It is provided with described left back wheel bearing 31 for fixed left rear wheel bearing (ball) cover 50 and left rear wheel bearing (ball) cover
Fixing bolt 51.
It is provided with described left rear wheel 30 for fixed left rear wheel retaining washer 53 and left rear wheel fixing nut 54.
Described right front driving mechanism includes the front right axle 28 of off-front wheel 39 and the bearing fit of off-front wheel 39, positioned at the right side
Off-front wheel bearing II45 on the one end of front axle 28, before being provided with the right side between described off-front wheel bearing II45 and front right axle 28
The big synchronous pulley fixes sleeve 25 of wheel drive, described off-front wheel drive and are connected with off-front wheel in big synchronous pulley fixes sleeve 25
Big synchronous pulley 27 is driven, described off-front wheel drives and is connected with the second drive mechanism on big synchronous pulley 27；Second driving machine
Structure includes driving timing belt 26, described off-front wheel driving timing belt with the off-front wheel that off-front wheel drives big synchronous pulley 27 to coordinate
26 are built-in with off-front wheel driving small synchronous pulley 46, and described off-front wheel driving small synchronous pulley 46 is built-in with off-front wheel driving electricity
Arbor 47, off-front wheel motor 43 is provided with described off-front wheel drive motor shaft 47.
It is provided with described off-front wheel motor 43 for fixed off-front wheel motor fixing bolt 44.
Off-front wheel bearing II end caps 29, described off-front wheel bearing II end caps are provided with described off-front wheel bearing II45
It is provided with 29 for the fixed end cap fixing bolt 42 of off-front wheel bearing II.
Described off-front wheel drives big one end of synchronous pulley fixes sleeve 25 to be provided with off-front wheel bearing I24, the described right side
Off-front wheel bearing I end cap 23 is provided with front-wheel bearing I24 and is connected by the end cap fixing bolt 22 of off-front wheel bearing I.
It is provided with described off-front wheel 39 for fixed off-front wheel fixing nut 40 and off-front wheel retaining washer 41.
Described right rear drive mechanism includes off hind wheel 36, the off hind wheel bearing 55 being built in off hind wheel 36, described
Off hind wheel key 35 is provided with off hind wheel 36.
Off hind wheel bearing (ball) cover 34 is provided with described off hind wheel bearing 55 and fixes spiral shell using off hind wheel bearing (ball) cover
Bolt 33 is used to fix.
It is provided with described off hind wheel 36 for fixed off hind wheel fixing nut 37 and off hind wheel retaining washer 38.
Described off hind wheel 36, off-front wheel 39, left rear wheel 30, the structure all same of the near front wheel 13.
Described paint finishing includes being separately positioned on the left spray gun mechanism at the both ends of Z-direction travel mechanism 3 and right spray gun mechanism,
Coating mechanism is connected with described left spray gun mechanism and right spray gun mechanism, described coating mechanism includes being arranged on mobile platform
Paint can 161 on 1, the pump 159 on paint can 161, the pump motor 157 being connected with pump 159, described coating
Threeway 155 is installed on bucket 161, the exit of described pump 159 is provided with pump discharge snap joint 156, described pump discharge
It is provided between snap joint 156 and threeway 155 and applies expects pipe 153；Described right spray gun mechanism includes the right side being connected with threeway 155
Spray gun coating pipe 152, the right spray gun tracheae spray gun end snap joint 151 being connected with right spray gun coating pipe 152, described right spray gun
Right spray gun magnetic valve is combined with tracheae spray gun end snap joint 151 and connects source of the gas tracheae 147, described right spray gun magnetic valve connects gas
Right gun controls magnetic valve 146 is connected with source tracheae 147, right spray gun is connected with described right gun controls magnetic valve 146
Gas solenoid end snap joint 145, right spray gun tracheae is connected with described right spray gun gas solenoid end snap joint 143
144, described right spray gun tracheae 144 in right spray gun tracheae spray gun end snap joint 151 with being connected with right spray gun 150；Described
Left spray gun mechanism includes the left spray gun coating pipe 163 being connected with threeway 155, the left spray gun gas being connected with left spray gun coating pipe 163
Lance tube end snap joint 164, left spray gun magnetic valve is combined with described left spray gun tracheae spray gun end snap joint 164 and connects gas
Source tracheae 162, described left spray gun magnetic valve, which connects, is connected with left gun controls magnetic valve 142, a described left side on source of the gas tracheae 162
Left spray gun gas solenoid end snap joint 143, described left spray gun gas solenoid are connected with gun controls magnetic valve 142
Left spray gun tracheae 141 is connected with the snap joint 143 of end, described left spray gun tracheae 141 and left spray gun tracheae spray gun end are quick
Left spray gun 165 is connected with joint 164.
The paint can fixing bolt 166 being connected with mobile platform 1 is provided with described paint can 161.
The fixing bolt 80 of ball-screw bearing I is provided with described ball-screw bearing I79.
The fixing bolt 95 of ball-screw bearing II is provided with described ball-screw bearing II96.
Z-direction motor installing plate fixing bolt 72 is installed on described Z-direction motor installing plate 72.
Z-direction drive motor shaft 75 is provided with described Z-direction motor 73, is set in described Z-direction drive motor shaft 75
It is equipped with Z-direction motor axle key 76；Z-direction motor fixing bolt 74 is additionally provided with described Z-direction motor 73.
Ball guide screw nat connecting bolt 64 is provided with described ball guide screw nat 63.
Z-direction the sliding bearing I60 and Z for being easy to slide are combined between described Z-direction movement support 90 and Z-direction guide rod I58
To sliding bearing I fixing bolts 61, the fixing nut 69 of Z-direction guide rod I is provided with described Z-direction sliding bearing I60.
Be combined between described Z-direction movement support 90 and Z-direction guide rod II60 the Z-direction sliding bearing II65 of being easy to slide and
Z-direction sliding bearing II fixing bolts 66.
The Z-direction sliding bearing III67 for being easy to slide is combined between described Z-direction movement support 90 and Z-direction guide rod III83
With Z-direction sliding bearing III fixing bolts 68, the fixing nut 81 of Z-direction guide rod III is provided with described Z-direction sliding bearing III67.
Be combined between described Z-direction movement support 90 and Z-direction guide rod IV84 the Z-direction sliding bearing IV91 of being easy to slide and
Z-direction sliding bearing IV fixing bolts 92, the fixing bolt 87 of Z-direction sliding bearing IV is provided with described Z-direction sliding bearing IV91.
The Z-direction sliding bearing IV 86 and the fixing nut of Z-direction guide rod IV of mutual cooperation are provided with described Z-direction guide rod IV84
82。
The Z-direction sliding bearing V 88 and Z-direction sliding bearing V of mutual cooperation are additionally provided with described Z-direction movement support 90
Fixing bolt 89.
Described Y-direction travel mechanism includes left side Y-direction travel mechanism 2 and right side Y-direction travel mechanism 4, described left side Y-direction
Travel mechanism 2 include left gun stand 117, the left side spray gun Y-direction mobile electric push rod 115 on left gun stand 117,
It is arranged on the left side Y-direction laser range sensor 118, the left side Y coordinated with left gun stand 117 of left one end of gun stand 117
To mobile sliding block 120, the lower end of described left side Y-direction movement sliding block 120 is provided with the left side Y-direction moving guide rail for coordinating and sliding
121；Described right side Y-direction travel mechanism 4 includes right gun stand 104, the right side spray gun Y on right gun stand 104
To mobile electric push rod 105, it is arranged on the right side Y-direction laser range sensor 102 of right one end of gun stand 104 and right spray gun
The right side Y-direction movement sliding block 98 that support 104 coordinates, the lower end of described right side Y-direction movement sliding block 98, which is provided with, coordinates what is slided
Right side Y-direction moving guide rail 100.
Left gun stand fixing bolt 123 is installed on described left gun stand 117.
Right side Y-direction moving guide rail fixing bolt 99 is provided with described right side Y-direction moving guide rail 100.
Right gun stand fixing bolt 101 is provided with described right gun stand 104.
Right side Y-direction laser range sensor fixing bolt is installed on described right side Y-direction laser range sensor 102
103。
Right side spray gun Y-direction mobile electric push rod is installed on described right side spray gun Y-direction mobile electric push rod 105 and fixes spiral shell
Bolt 106.
Left side spray gun Y-direction mobile electric push rod is installed on described left side spray gun Y-direction mobile electric push rod 115 and fixes spiral shell
Bolt 116.
Left side Y-direction laser range sensor fixing bolt is installed on described right side Y-direction laser range sensor 102
119。
Left side Y-direction guide rail fixing bolt 122 is installed on described left side Y-direction moving guide rail 121.
The X that described X coordinates and is parallel to each other to the upper bearing (metal) of support 127 to support 127, in X including X to travel mechanism 5
To guide rod I108, X to guide rod II124 and X to rack 109, described X is to guide rod I108, X to guide rod II124 and X to rack
109 one end is provided with right side X to mobile support 97, and described X is to guide rod I108, X to guide rod II124 and X to rack 109
The other end is provided with left side X to mobile support 114, and described X is to being provided with actuating unit, described engine on support 127
Structure is included with X to the X that rack 109 coordinates to drive gear 134, and described X is to being provided with X to drive shaft on drive gear 134
131, described X are to being connected with X to motor 133 in drive shaft 131.
Described X is to being provided with X to bracket fixing bolt 135 on support 127.
Described X is to being provided with X on guide rod I108 to fixing nut 138 on the left of guide rod I.
Described X is to being provided with X on rack 109 to fixing bolt 139 on the left of rack and X to fixing bolt on the right side of rack
148。
Described X to be provided with guide rod II124 X to fixing nut 140 on the left of guide rod II and X to guide rod II on the right side of it is fixed
Nut 149.
Described X is to being provided with X in drive shaft 131 to driving shaft bearing 130, and described X is to setting on driving shaft bearing 130
X is equipped with to driving shaft bearing end cap 129, described X is to being provided with X to driving shaft bearing end cap on driving shaft bearing end cap 129
Fixing bolt 128.
Described X is to being provided with motor 133 for fixed X to motor fixing bolt 132.
Described X is to being provided with X on guide rod I108 to fixing nut 107 on the right side of guide rod I.
Described X is to being provided with X on guide rod I108 to sliding bearing I110, and described X is to setting on sliding bearing I110
There is X to sliding bearing I fixing bolts 111；Described X is to being additionally provided with X to sliding bearing II112, described X on guide rod I108
X is provided with to sliding bearing II112 to sliding bearing II fixing bolts 113.
Described X is to being provided with X on guide rod II124 to sliding bearing III126, and described X is on sliding bearing III126
X is provided with to sliding bearing III fixing bolts 125；Described X is to being provided with X to sliding bearing IV136, institute on guide rod II124
The X stated is to being provided with X to sliding bearing IV fixing bolts 137 on sliding bearing IV136.
Described paint finishing includes being separately positioned on the left spray gun mechanism at the both ends of Z-direction travel mechanism 3 and right spray gun mechanism,
Be connected with coating mechanism on described left spray gun mechanism and right spray gun mechanism, described coating mechanism include with left spray gun mechanism and
The pump discharge of right spray gun mechanism connection applies expects pipe 153, and described pump discharge applies and threeway 155 is connected with expects pipe 153, and described three
Pump discharge snap joint 156 is connected with logical 155, pump motor 157 is connected with described pump discharge snap joint 156,
Pump 159 is connected with described pump motor 157, the paint can 161 for providing coating is connected with described pump 159；
Described left spray gun mechanism includes applying left spray gun coating pipe 163 and the left spray gun coating pipe 163 that expects pipe 153 is connected with pump discharge
The left spray gun tracheae spray gun end snap joint 164 coordinated, a left side is combined with described left spray gun tracheae spray gun end snap joint 164
Spray gun magnetic valve connects source of the gas tracheae 162, and described left spray gun magnetic valve, which connects, is connected with left gun controls electromagnetism on source of the gas tracheae 162
Valve 142, left spray gun gas solenoid end snap joint 143, a described left side are connected with described left gun controls magnetic valve 142
Left spray gun tracheae 141, described left spray gun tracheae 141 and left spray gun are connected with spray gun gas solenoid end snap joint 143
Left spray gun 165 is connected with tracheae spray gun end snap joint 164；Described right spray gun mechanism includes applying expects pipe 153 with pump discharge
The right spray gun coating pipe 152 of connection, the right spray gun tracheae spray gun end snap joint 151 coordinated with right spray gun coating pipe 152, it is described
Right spray gun tracheae spray gun end snap joint 151 on be combined with right spray gun magnetic valve and connect source of the gas tracheae 147, described right spray gun electricity
Magnet valve connects and right gun controls magnetic valve 146 is connected with source of the gas tracheae 147, is connected on described right gun controls magnetic valve 146
There is right spray gun gas solenoid end snap joint 145, the right side is connected with described right spray gun gas solenoid end snap joint 143
Spray gun tracheae 144, described right spray gun tracheae 144 in right spray gun tracheae spray gun end snap joint 151 with being connected with right spray gun
150。
Threeway fixing bolt 154 is provided between described threeway 155 and pump discharge snap joint 156.
Pump motor fixing bolt 158 is provided with described pump motor 157.
Pump fixing bolt 160 is provided with described pump 159.
Described right spray gun 150 and left spray gun 165 is arranged on X on the end of travel mechanism 5.
The application method of the present invention：Paint finishing is placed on mobile platform 1, and adjusts Z-direction travel mechanism 3, Y-direction shifting
Motivation structure and X are to travel mechanism 5 so that the position that paint finishing needs to spray against metope, the transfer tube 159 of pump motor 157
Coating is aspirated, coating enters by pump discharge snap joint 156 applies expects pipe 153, enters left spray gun coating pipe by threeway 155
163 and right spray gun coating pipe 152, the coating in left spray gun coating pipe 163 enters by left spray gun tracheae spray gun end snap joint 164
Enter left spray gun 165, the coating in right spray gun coating pipe 152 enters right spray gun by right spray gun tracheae spray gun end snap joint 151
150, compressed gas connects source of the gas tracheae 162 by left spray gun magnetic valve and enters left gun controls magnetic valve 142, passes through left spray gun gas
Pipe 141 enters left spray gun 165, and the compressed gas into right spray gun tracheae 144 passes through right gun controls magnetic valve 146, into the right side
Spray gun tracheae 144, enter right spray gun 150 by right spray gun tracheae 144.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Thing defines.
Claims (10)
- A kind of 1. wall spray robot, it is characterised in that：Including mobile platform (1), described mobile platform is provided with (1) Travel mechanism, the Z-direction travel mechanism (3) of regulation upper-lower position is additionally provided with described mobile platform (1), and described Z-direction is moved The Y-direction travel mechanism of regulation lateral attitude is provided with motivation structure (3), is provided with described Y-direction travel mechanism before and after regulation The X of position is provided with paint finishing to travel mechanism (5), described mobile platform on (1).
- A kind of 2. wall spray robot according to claim 1, it is characterised in that：Described travel mechanism includes left front What drive mechanism, the left back drive mechanism coordinated with left drive mechanism and left drive mechanism and left back drive mechanism coordinated Right front driving mechanism, the right rear drive mechanism coordinated with right front driving mechanism.
- A kind of 3. wall spray robot according to claim 2, it is characterised in that：Described left drive mechanism includes The near front wheel (13), left front wheel shaft (21), the near front wheel on left front wheel shaft (21) one end with the near front wheel (13) bearing fit Bearing I I (16), left front wheel drive Datong District step belt wheel is provided between described the near front wheel bearing I I (16) and left front wheel shaft (21) Fixes sleeve (18), described left front wheel drive Datong District, which walks, is connected with left front wheel drive Datong District step band in belt wheel fixes sleeve (18) Take turns (17), the first drive mechanism is connected with described left front wheel drive Datong District step belt wheel (17)；The first described drive mechanism It is synchronous including the left front wheel drive timing belt (8) coordinated with left front wheel drive Datong District step belt wheel (17), described left front wheel drive Band (8) is built-in with left front wheel drive small synchronous pulley (9), and described left front wheel drive small synchronous pulley (9) is built-in with the near front wheel Drive motor shaft (10), the near front wheel motor (11) is provided with described the near front wheel drive motor shaft (10).
- A kind of 4. wall spray robot according to claim 2, it is characterised in that：Described left back drive mechanism includes Left rear wheel (30), the left back wheel bearing (31) being built in left rear wheel (30), the left rear wheel being built in left back wheel bearing (31) Axle (32), left rear wheel key (52) is provided with described left rear wheel (30).
- A kind of 5. wall spray robot according to claim 2, it is characterised in that：Described right front driving mechanism includes Off-front wheel (39), front right axle (28), the off-front wheel on front right axle (28) one end with off-front wheel (39) bearing fit Bearing I I (45), off-front wheel is provided between described off-front wheel bearing II (45) and front right axle (28) and drives big synchronous pulley Fixes sleeve (25), described off-front wheel, which drives, is connected with the big timing belt of off-front wheel driving on big synchronous pulley fixes sleeve (25) Take turns (27), described off-front wheel drives and is connected with the second drive mechanism on big synchronous pulley (27)；Second drive mechanism include with Off-front wheel drives the off-front wheel driving timing belt (26) that big synchronous pulley (27) coordinates, described off-front wheel driving timing belt (26) Off-front wheel driving small synchronous pulley (46) is built-in with, described off-front wheel driving small synchronous pulley (46) is built-in with off-front wheel driving Motor shaft (47), off-front wheel motor (43) is provided with described off-front wheel drive motor shaft (47).
- A kind of 6. wall spray robot according to claim 2, it is characterised in that：Described right rear drive mechanism includes Off hind wheel (36), the off hind wheel bearing (55) being built in off hind wheel (36), described off hind wheel are provided with off hind wheel on (36) Key (35).
- A kind of 7. wall spray robot according to claim 1, it is characterised in that：Described Z-direction travel mechanism (3) bag Include the Z-direction guide-bar mechanism being parallel to each other on mobile platform (1) and ball screw framework, be arranged on Z-direction guide-bar mechanism and ball Z-direction movement support (90), the top plate (70) positioned at Z-direction guide-bar mechanism and ball screw framework end on screw mechanism, it is described Top plate (70) on be provided with Z-direction motor installing plate (72), be provided with Z on described Z-direction motor installing plate (72) To motor (73), lead screw transmission is provided between described Z-direction motor installing plate (72) and Z-direction motor (73) Mechanism；Described Z-direction guide-bar mechanism is included on mobile platform (1) in Z-direction guide rod I (58), the Z-direction guide rod II of rule distribution (60), Z-direction guide rod III (83), Z-direction guide rod IV (84), described Z-direction guide rod I (58), Z-direction guide rod II (60), Z-direction guide rod III (83), Z-direction guide rod IV (84) bottom is respectively arranged with Z-direction guide rod I hold-down supports (57), Z-direction guide rod II hold-down supports (59), Z To guide rod III hold-down supports (93), Z-direction guide rod IV hold-down supports (94)；Described ball screw framework is included in mobile platform (1) the ball-screw I (85) that is set on, the ball-screw bearing II (96) for being arranged on ball-screw (85) end, described rolling The ball guide screw nat (63) for coordinating with Z-direction movement support (90) is provided with ballscrew (85)；Described leading screw passes Motivation structure includes the shaft coupling (77) being connected with Z-direction motor (73), the ball-screw axle key being connected with shaft coupling (77) (78), the ball-screw bearing I (79) being connected with ball-screw axle key (78).
- A kind of 8. wall spray robot according to claim 1, it is characterised in that：Described Y-direction travel mechanism includes Left side Y-direction travel mechanism (2) and right side Y-direction travel mechanism (4), described left side Y-direction travel mechanism (2) include left gun stand (117), the left side spray gun Y-direction mobile electric push rod (115) on left gun stand (117), be arranged on left gun stand (117) the left side Y-direction laser range sensor (118) of one end, the left side Y-direction movement sliding block coordinated with left gun stand (117) (120), the lower end of described left side Y-direction movement sliding block (120) is provided with the left side Y-direction moving guide rail (121) for coordinating and sliding；Institute The right side Y-direction travel mechanism (4) stated includes right gun stand (104), the right side spray gun Y on right gun stand (104) To mobile electric push rod (105), be arranged on right gun stand (104) one end right side Y-direction laser range sensor (102), with The right side Y-direction movement sliding block (98) that right gun stand (104) coordinates, the lower end of described right side Y-direction movement sliding block (98) are set There is the right side Y-direction moving guide rail (100) for coordinating and sliding.
- A kind of 9. wall spray robot according to claim 1, it is characterised in that：Described X wraps to travel mechanism (5) Include X to support (127), coordinate in X to support (127) upper bearing (metal) and the X that is parallel to each other is to guide rod I (108), X to guide rod II (124) and X is set to rack (109), one end of described X to guide rod I (108), X to guide rod II (124) and X to rack (109) Right side X is equipped with to mobile support (97), described X is to guide rod I (108), X to guide rod II (124) and X to the another of rack (109) One end is provided with left side X to mobile support (114), and described X is to being provided with actuating unit, described power on support (127) Mechanism is included with X to the X that rack (109) coordinates to drive gear (134), and described X is to being provided with X on drive gear (134) To drive shaft (131), described X is to being connected with X to motor (133) in drive shaft (131).
- A kind of 10. wall spray robot according to claim 1, it is characterised in that：Described paint finishing includes dividing The left spray gun mechanism at Z-direction travel mechanism (3) both ends and right spray gun mechanism, described left spray gun mechanism and right spray gun machine are not arranged on It is connected with coating mechanism on structure, paint can (161) that described coating mechanism includes being arranged on mobile platform (1), is arranged on Pump (159) on paint can (161), the pump motor (157) being connected with pump (159), described paint can are installed on (161) There is threeway (155), the exit of described pump (159) is provided with pump discharge snap joint (156), the fast quick access of described pump discharge It is provided between head (156) and threeway (155) and applies expects pipe (153)；Described right spray gun mechanism includes what is be connected with threeway (155) Right spray gun coating pipe (152), the right spray gun tracheae spray gun end snap joint (151) being connected with right spray gun coating pipe (152) are described Right spray gun tracheae spray gun end snap joint (151) on be combined with right spray gun magnetic valve and connect source of the gas tracheae (147), described right spray Rifle magnetic valve connects and right gun controls magnetic valve (146) is connected with source of the gas tracheae (147), described right gun controls magnetic valve (146) right spray gun gas solenoid end snap joint (145), described right spray gun gas solenoid end snap joint are connected with (143) right spray gun tracheae (144), described right spray gun tracheae (144) and right spray gun tracheae spray gun end snap joint are connected with (151) right spray gun (150) is connected with；Described left spray gun mechanism includes the left spray gun coating pipe being connected with threeway (155) (163), the left spray gun tracheae spray gun end snap joint (164) being connected with left spray gun coating pipe (163), described left spray gun tracheae Left spray gun magnetic valve is combined with spray gun end snap joint (164) and connects source of the gas tracheae (162), described left spray gun magnetic valve connects gas Left gun controls magnetic valve (142) is connected with source tracheae (162), is connected with described left gun controls magnetic valve (142) Left spray gun gas solenoid end snap joint (143), it is connected with described left spray gun gas solenoid end snap joint (143) Left spray gun tracheae (141), described left spray gun tracheae (141) on left spray gun tracheae spray gun end snap joint (164) with being connected with Left spray gun (165).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107158.9A CN107724649A (en) | 2017-11-10 | 2017-11-10 | A kind of wall spray robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107158.9A CN107724649A (en) | 2017-11-10 | 2017-11-10 | A kind of wall spray robot |
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| Publication Number | Publication Date |
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| CN107724649A true CN107724649A (en) | 2018-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711107158.9A Pending CN107724649A (en) | 2017-11-10 | 2017-11-10 | A kind of wall spray robot |
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Cited By (7)
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| CN108716277A (en) * | 2018-07-27 | 2018-10-30 | 彭守晔 | A kind of multifunctional coating flush coater |
| CN108797978A (en) * | 2018-07-28 | 2018-11-13 | 江苏广源幕墙工程有限公司 | A kind of curtain wall gluing equipment |
| CN108868151A (en) * | 2018-07-18 | 2018-11-23 | 浙江工业大学之江学院 | A kind of wall surface spraying equipment |
| CN110565913A (en) * | 2019-09-06 | 2019-12-13 | 马鞍山南马智能制造研究所有限公司 | Intelligent spraying robot for building construction |
| CN111021685A (en) * | 2019-12-19 | 2020-04-17 | 广东博智林机器人有限公司 | Feeding system and coating robot with same |
| CN112727016A (en) * | 2020-12-29 | 2021-04-30 | 温州顺启建筑有限公司 | Cement face floating device for partition construction |
| CN114749313A (en) * | 2022-03-18 | 2022-07-15 | 浙江迦南科技股份有限公司 | Spray gun support structure convenient to adjust |
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| CN104260076A (en) * | 2014-09-26 | 2015-01-07 | 哈尔滨工程大学 | Omni-directional intelligent furniture paint spraying robot |
| CN105619417A (en) * | 2016-02-27 | 2016-06-01 | 山东思创机器人科技有限公司 | Automatic five-axis spraying robot |
| CN205476352U (en) * | 2015-12-25 | 2016-08-17 | 深圳职业技术学院 | High -efficient wall -brushing device |
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| CN108868151A (en) * | 2018-07-18 | 2018-11-23 | 浙江工业大学之江学院 | A kind of wall surface spraying equipment |
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| CN108797978A (en) * | 2018-07-28 | 2018-11-13 | 江苏广源幕墙工程有限公司 | A kind of curtain wall gluing equipment |
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| CN111021685A (en) * | 2019-12-19 | 2020-04-17 | 广东博智林机器人有限公司 | Feeding system and coating robot with same |
| CN112727016A (en) * | 2020-12-29 | 2021-04-30 | 温州顺启建筑有限公司 | Cement face floating device for partition construction |
| CN114749313A (en) * | 2022-03-18 | 2022-07-15 | 浙江迦南科技股份有限公司 | Spray gun support structure convenient to adjust |
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