CN108246543A - A kind of intelligence spray robot - Google Patents
A kind of intelligence spray robot Download PDFInfo
- Publication number
- CN108246543A CN108246543A CN201810098716.8A CN201810098716A CN108246543A CN 108246543 A CN108246543 A CN 108246543A CN 201810098716 A CN201810098716 A CN 201810098716A CN 108246543 A CN108246543 A CN 108246543A
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- China
- Prior art keywords
- hinged
- hydraulic cylinder
- connector
- arm joint
- wheel
- Prior art date
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- 239000007921 spray Substances 0.000 title claims abstract description 36
- 238000005507 spraying Methods 0.000 claims abstract description 24
- 238000003756 stirring Methods 0.000 claims abstract description 23
- 239000011248 coating agent Substances 0.000 claims abstract description 22
- 238000000576 coating method Methods 0.000 claims abstract description 22
- 238000005183 dynamical system Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000002156 mixing Methods 0.000 claims description 7
- 239000003351 stiffener Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 2
- 239000011295 pitch Substances 0.000 claims 1
- 239000003973 paint Substances 0.000 abstract description 2
- 239000010720 hydraulic oil Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 239000003921 oil Substances 0.000 description 10
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000000203 mixture Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/1418—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet for supplying several liquids or other fluent materials in selected proportions to a single spray outlet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The present invention provides a kind of intelligent spray robots, and including mobile system, the mobile system is flat bogie, and the flat bogie is equipped with dynamical system, stirring system, feeding system, mechanical arm, the spray equipment of installation on the robotic arm.The present invention is low with solving conventional spray paint mode efficiency, the problem of coating quality is unstable, the robot can complete automatically dispensing in proportion and complete to spray, and working efficiency is high, coating quality is stablized, and greatly mitigates original spraying method and is endangered caused by worker's health.
Description
Technical field
The present invention relates to a kind of intelligent robot technology field more particularly to a kind of equipment that can realize automatic blending,
Specifically refer to a kind of intelligent spray robot.
Background technology
It is well known that surface spraying incrustation antirust treatment and is built in the product casings manufacturing process such as machinery, electrical
Building waterproofing, decoration brush the essential step of processing.It is highly developed for spraying technology of the small workpiece on assembly line and
It is widely used, but huge technology is still suffered from scale and the degree of automation for the spraying technology on large complicated surface
Problem and challenge.At present, the spraying application of large area is still and relies on manually to complete, and not only efficiency is low, and coating quality is unstable
It is fixed, and working environment is extremely severe, seriously endangers the health of worker.
Invention content
The technical problem to be solved by the present invention is to for the shortcoming present in the prior art, provide a kind of intelligence spraying
Robot, solves the problem of conventional spray paint mode efficiency is low, and coating quality is unstable, the robot can complete automatically by than
Example dispensing simultaneously is completed to spray, and working efficiency is high, and coating quality is stablized, and greatly mitigates original spraying method and worker's health is made
Into harm.
The technical solution of the present invention is to provide a kind of following intelligent spray robot, a kind of intelligence spray robot,
Including mobile system, the mobile system is flat bogie, and the flat bogie is equipped with dynamical system, stirring system, feed
System, mechanical arm, the spray equipment of installation on the robotic arm.
Preferably, the mechanical arm be arranged on roof on tablet can be with the machinery of multiple degrees of freedom hydraulic-driven
Arm, the mechanical arm are three-stage, can realize that flexion-extension is swung between the mechanical arm, the mechanical arm bottom is equipped with can
The revolving support of mechanical arm rotation 180 degree is driven, the revolving support bottom is equipped with ring flange, and the revolving support is disk
Shape, the revolving support top are equipped with otic placode, and stiffener plate is equipped between the otic placode and revolving support, and the otic placode includes a left side
Right two vertically arranged straight panels, the otic placode are equipped with the first arm joint and first hydraulic cylinder, first arm joint and the first liquid
Cylinder pressure is located between two straight panels of otic placode or so, and the first connector is equipped at the top of first arm joint and first hydraulic cylinder, described
It is hinged between first connector and the first arm joint and first hydraulic cylinder, first connector includes two fixed plates in left and right,
Axis pin is equipped between two fixed plates and the first arm joint, first hydraulic cylinder, be further connected on first connector the second arm joint and
Second hydraulic cylinder, second arm joint and second hydraulic cylinder are located between two fixed plates, second connector be equipped with to
The axis pin of upper protrusion fixes otic placode, and the axis pin fixes one end that second hydraulic cylinder is hinged at otic placode, the second hydraulic cylinder
The second connector is equipped with the one end of the second arm joint far from the first connector, is hinge between second connector and the second arm joint
It connects, the second hydraulic cylinder end is hinged with first connecting rod, and the first connecting rod is two groups, one of which first connecting rod and second
Arm joint is hinged, and another group of first connecting rod is hinged with the second connector, and second connector is equipped with third arm joint and third liquid
Cylinder pressure, the third hydraulic cylinder are hinged on the second connector, and the third hydraulic cylinder end is hinged with second connecting rod, and described
Two connecting rods are two groups, and one of which second connecting rod is hinged with third arm joint, and another group of second connecting rod is hinged with rotation motor and fixes
Seat, hinged between the rotation motor fixed seat and third arm joint, the rotation motor fixed seat bottom is equipped with rotation motor, also
Equipped with hydraulic motor.
Preferably, the flat bogie includes vehicle frame, the bottom of frame is equipped with front-wheel vehicle bridge and trailing wheel vehicle bridge, described
Vehicle frame is equipped with driving motor, and the front-wheel vehicle bridge includes crossbeam, and the crossbeam both ends are equipped with to install wheel fixed hub
Connector, the end of the wheel fixed hub is equipped with wheel, the otic placode to raise up, the left side is equipped in the middle part of the crossbeam
Supporting rod is equipped between right two wheel fixed hubs, is to be hinged between two wheel fixed hubs of the connector and left and right,
Telescopic hydraulic cylinder is equipped between the crossbeam and one of wheel fixed hub, the hydraulic cylinder both ends are fixed with wheel
It is connected between axle sleeve, crossbeam by axis pin, the cross rail top is equipped with the locating piece to raise up, and the trailing wheel vehicle bridge includes subtracting
Fast device, the retarder both sides are equipped with power output shaft, and the power output shaft two is terminated with wheel, on the power output shaft
Connecting plate is additionally provided with, the vehicle frame includes the rectangle frame frame body being welded by section bar, is equipped at the top of the rectangle frame frame body flat
Platen, the frame body bottom are equipped with babinet, are equipped with motor, storage battery and charger in the babinet, the motor with after wheel
The retarder connection of bridge, the frame body side surface are respectively equipped with front and rear baffle and side board, the rectangle frame frame body bottom peace
The position for filling front-wheel vehicle bridge is equipped with downwardly convex hinged support, the otic placode that the hinged support is equipped with front-wheel vehicle bridge crossbeam
It is hinged, the hinged support both sides be additionally provided with cross rail top raise up setting locating piece cooperation cradling piece, the square
The position of shape frame body bottom installation trailing wheel vehicle bridge is equipped with the stent extended downwardly, and the stent ends are equipped with being arranged on power
The installing plate of connecting plate cooperation on output shaft.
Preferably, the feeding system includes air compressor machine, and pass through tracheae and be connected to cylinder, the cylinder is connect by piston
The discharge nozzle of feeding system, and material is delivered in the mixing channel of stirring system.
Preferably, the stirring system further includes the agitating shaft being arranged in mixing channel, it is connected to and stirs on the agitating shaft
Mix motor.
Preferably, the dynamical system includes motor.
Preferably, the hydraulic cylinder of the actuating arm is connected to hydraulic station by oil pipe.
Preferably, the spray equipment includes the spraying support in tripod structure, the spraying support bottom bar
Nozzle is equipped with, the nozzle is connected the coating in stirring system by pipeline.
Preferably, plunger pump assembly is additionally provided on the flat car.Plunger pump assembly one passes through oil pipe and hydraulic oil
Case connects, and is then connected with feed pipe；It is connected between hydraulic oil container and valve body by oil pipe, the opposite side of valve body is connected with hydraulic oil
Pipe, the other end of hydraulic oil pipe are connected with corresponding hydraulic cylinder, and hydraulic buttery valve is additionally provided on valve body to control the dynamic of hydraulic cylinder
Make.
Preferably, it is additionally provided with signal receiver on the flat car.
Using the advantageous effect of the technical program：The present invention using the above scheme, manually distinguishes two different coating
It is put into feeding system, two kinds of coating can be sent in stirring system by feeding system in the ratio set in advance, stirring system
Two kinds of coating are mixed evenly system, and the coating mixed is sent in feed pipe by plunger case assembly by suction tube, into
And nozzle is sent to, realize spraying.In spraying process, the spray coating operations of large area are completed in the continuous continual movement of trolley.
In spraying process, people only needs to come the walking and steering of remote control trolley with crossing remote controler, and mechanical arm can be with
Realize positive and negative 180 degree rotation, to meet the position of different sprayings, the spray equipment of mechanical arm front end is in rotation motor and mechanical arm
Collective effect under can realize the spraying of horizontal plane, perpendicular and curved surface.
Description of the drawings
Fig. 1 is the structure diagram of intelligent spray robot.
Fig. 2 is the rearview of Fig. 1.
Fig. 3 is the vertical view of Fig. 1.
Fig. 4 is the stereogram of Fig. 1（Figure middle part oil distributing pipe, tracheae are to draw）.
Fig. 5 is the structure diagram of multiple degrees of freedom hydraulic manipulator.
Fig. 6 is the bottom view of Fig. 1.
Fig. 7 is dimensional structure diagram.
Fig. 8 is the structure diagram of bridge before wheel of the present invention.
Fig. 9 is the vertical view of Fig. 8.
Figure 10 is the dimensional structure diagram of Fig. 8.
Figure 11 is the structure diagram of wheel rear axle of the present invention.
Figure 12 is the vertical view of Figure 11.
Figure 13 is the dimensional structure diagram of Figure 11.
Figure 14 is frame body structure schematic diagram.
Figure 15 is the left view of Figure 14.
Figure 16 is the dimensional structure diagram of Figure 14.
Figure 17 be can stepless speed regulation remote-controlled movement trolley structure diagram.
Figure 18 is the left view of Figure 17.
Figure 19 is the vertical view of Figure 17.
Figure 20 is that Figure 17 omits the structure diagram after baffle.
Figure 21 is the dimensional structure diagram of Figure 17.
Shown in figure：1st, mobile system, 2, mechanical arm, 3, stirring system, 3.1, mixing channel, 3.2, agitating shaft, 3.3, stir
Mix motor, 4, feeding system, 4.1, air compressor machine, 5, dynamical system, 6, spray equipment, 6.1, spraying support, 6.2 nozzles, 7, oil
Case, 8, plunger pump assembly, 9, valve body, 10, signal receiver.
1.1st, vehicle frame, 1.2, front-wheel vehicle bridge, 1.3, trailing wheel vehicle bridge, 1.4, driving motor, 1.5, crossbeam, 1.6, connector,
1.7th, wheel fixed hub, 1.8, wheel, 1.9, otic placode, 1.10, supporting rod, 1.11, hydraulic cylinder, 12, axis pin, 1.13, positioning
Block, 1.14, retarder, 1.15, power output shaft, 1.16, connecting plate, 1.17, frame body, 1.18, landing slab, 1.19, babinet,
1.20th, installing plate, 1.21, storage battery, 1.22, charger, 1.23, baffle, 1.24, car door, 1.25, lock switch, 1.26, stent
Bar, 1.27, stent, 1.28, hinged support.
2.1st, revolving support, 2.2, ring flange, the 2.3, second otic placode, 2.4, stiffener plate, the 2.5, first arm joint, 2.6,
One hydraulic cylinder, the 2.7, first connector, 2.8, axis pin, the 2.9, second arm joint, the 2.10, second hydraulic stem, 2.11, axis pin fixed ear
Plate, the 2.12, second connector, 2.13, first connecting rod, 2.14, third arm joint, 2.15, third hydraulic cylinder, 2.16, second connecting rod,
2.17th, rotation motor fixed seat, 2.18, rotation motor, 2.19, hydraulic motor.
Specific embodiment
For purposes of illustration only, it below in conjunction with the accompanying drawings, elaborates to a kind of intelligent spray robot of invention.
As shown in FIG., technical solution of the invention is to provide a kind of following intelligent spray robot, including movement
System 1, the mobile system 1 are flat bogie, and the flat bogie is equipped with dynamical system 5, stirring system 3, feeding system
4th, mechanical arm 2, the spray equipment 6 on mechanical arm 2.
The mechanical arm be arranged on roof on tablet can be with the mechanical arm 2 of multiple degrees of freedom hydraulic-driven, the machine
Tool arm 2 is three-stage, can realize that flexion-extension is swung between the mechanical arm 2,2 bottom of mechanical arm, which is equipped with, can drive machinery
Arm 2 rotates the revolving support 2.1 of 180 degree；2.1 bottom of revolving support is equipped with ring flange 2.2, and the revolving support 2.1 is
It is discoid；2.1 top of revolving support is equipped with the second otic placode 2.3, is set between second otic placode 2.3 and revolving support 2.1
There is stiffener plate 2.4；Second otic placode 2.3 includes the two vertically arranged straight panels in left and right, and the straight panel is equipped with mounting hole,
Second otic placode 2.3 is equipped with the first arm joint 2.5 and first hydraulic cylinder 2.6, first arm joint 2.5 and first hydraulic cylinder
2.6 between 2.3 or so two straight panels of the second otic placode；First arm joint 2.5 and 2.6 top of first hydraulic cylinder are equipped with first
Connector 2.7 is hinged between first connector, 2.7 and first arm joint 2.5 and first hydraulic cylinder 2.6；Described first connects
Fitting 2.7 includes two fixed plates in left and right, and axis pin is equipped between two fixed plates and the first arm joint 2.5, first hydraulic cylinder 2.6
2.8；The second arm joint 2.9 and second hydraulic cylinder 10, second arm joint 2.9 and second are further connected on first connector 2.7
Hydraulic cylinder 10 is located between two fixed plates, and first connector 2.7 is equipped with the axis pin to raise up and fixes otic placode 2.11,
The axis pin fixes one end that second hydraulic cylinder 10 is hinged at otic placode 2.11；10 and second arm joint 2.9 of second hydraulic cylinder
One end far from the first connector 2.7 is equipped with the second connector 2.12, between 2.12 and second arm joint 2.9 of the second connector
It is hinged, 10 end of second hydraulic cylinder is hinged with first connecting rod 2.13, and the first connecting rod 2.13 is two groups, one of which
2.13 and second arm joint 2.9 of first connecting rod is hinged, and another group of 2.13 and second connector 2.12 of first connecting rod is hinged；Described second
Connector 2.12 is equipped with third arm joint 2.14 and third hydraulic cylinder 2.15, and the third hydraulic cylinder 2.15 is hinged on the second connection
On part 2.12,2.15 end of third hydraulic cylinder is hinged with second connecting rod 2.16, and the second connecting rod 2.16 is two groups, wherein
One group of second connecting rod 2.16 is hinged with third arm joint 2.14, and another group of second connecting rod 2.16 is hinged with rotation motor fixed seat
2.17；It is hinged between the rotation motor fixed seat 2.17 and third arm joint 2.14,2.17 bottom of rotation motor fixed seat
Equipped with rotation motor 2.18, it is additionally provided with hydraulic motor 2.19.
Flat bogie includes vehicle frame 1.1, and 1.1 bottom of vehicle frame is equipped with front-wheel vehicle bridge 1.2 and trailing wheel vehicle bridge 1.3, described
Vehicle frame 1.1 is equipped with driving motor 1.4, and the front-wheel vehicle bridge 1.2 includes crossbeam 1.5, and 1.5 both ends of crossbeam are equipped with to pacify
The connector 1.6 of wheel-mounted fixed hub 1.7, the end of the wheel fixed hub 1.7 are equipped with wheel 1.8, the crossbeam 1.5
Middle part is equipped with the otic placode 1.9 to raise up, and supporting rod 1.10 is equipped between described two wheel fixed hubs 1.7 in left and right, described
1.10 both ends of supporting rod are connect respectively by connecting pole with wheel fixed hub, are connect between supporting rod and connecting pole for axis, described
It is hinged, the crossbeam 1.5 and one of wheel fixing axle between two wheel fixed hubs 1.7 of connector 1.6 and left and right
Be equipped with telescopic hydraulic cylinder 1.11 between set 1.7,1.11 both ends of hydraulic cylinder and wheel fixed hub 1.7, crossbeam 1.5 it
Between connected by axis pin 1.12,1.5 top of the crossbeam is equipped with the locating piece 1.13 to raise up；The trailing wheel vehicle bridge 1.3 is wrapped
Retarder 1.14 is included, 1.14 both sides of retarder are equipped with power output shaft 1.15, and 1.15 liang of the power output shaft is terminated with
Wheel 1.8 is additionally provided with connecting plate 1.16 on the power output shaft 1.15；The vehicle frame 1.1 includes what is be welded by section bar
Rectangle frame frame body 1.17,1.17 top of rectangle frame frame body are equipped with landing slab 1.18, and 1.17 bottom of frame body is equipped with case
Body 1.19, the babinet 1.19 is interior to be equipped with driving motor 1.4, storage battery 1.21 and charger 1.22, the motor 20 and wheel 1.8
The retarder 1.14 of rear axle connects；1.17 side of frame body is respectively equipped with front and rear baffle 1.23 and side board 1.23, institute
Side board 1.23 is stated equipped with dismountable car door 1.24, the car door 1.24 is equipped with to control trolley start and stop
Lock switch 1.25；The position of 1.17 bottom of the rectangle frame frame body installation front-wheel vehicle bridge 1.2 is equipped with downwardly convex be hinged
Support 1.28, the hinged support 1.28 and the otic placode 1.9 that 1.2 crossbeam 1.5 of front-wheel vehicle bridge is equipped with are hinged, the hinged support
1.28 both sides are additionally provided with the cradling piece 1.26 coordinated with the locating piece 1.13 for the setting that raises up at the top of crossbeam 1.5；The rectangle
The position of 1.17 bottom of frame body installation trailing wheel vehicle bridge 1.3 is equipped with the stent 1.27 extended downwardly, and 1.27 end of stent is set
The installing plate 1.20 of the cooperation of connecting plate 1.16 for having and being arranged on power output shaft 1.15.
The feeding system 4 includes air compressor machine 4.1, and passes through tracheae and be connected to cylinder, and the cylinder connects feed by piston
The discharge nozzle of system, and material is delivered in the mixing channel 3.1 of stirring system 3.
The stirring system 3 further includes the agitating shaft 3.2 being arranged in mixing channel 3.1, is connected to and stirs on the agitating shaft 3.2
Mix motor 3.3.
The dynamical system 5 includes motor or internal combustion engine, and the motor is driven empty by transmission belt or driving chain
Press 4.1, hydraulic pump action.
Dynamical system（External 380V electricity）It is connect between hydraulic oil container by belt, it is therefore an objective to power is provided for fuel tank 7,
The hydraulic oil in fuel tank 7 is made to be input in fluid pressure line, completes hydraulic circulation.Air compressor machine 4.1 needs to connect 220V power supplys, air compressor machine
4.1 effect is exactly that air carries out being compressed to certain pressure, is then sent into the compressed air of certain pressure by pneumatic hose
To the cylinder of feeding system, cylinder pushes piston to move under the promotion of compressed gas, the coating in barrel is sent to stirring
In system 3.
It is connected between hydraulic oil container and plunger pump by hydraulic oil pipe, the piston under the promotion of hydraulic oil in plunger pump is past
It is multiple mobile.The coating being stirred is drawn into plunger pump again by feed pipe by coating by the reciprocating movement of piston by suction tube
It is sent to the nozzle of spray equipment 6.
The hydraulic cylinder of the actuating arm 2 is connected to hydraulic station by oil pipe.
The spray equipment 6 includes the spraying support 6.1 in tripod structure, the 6.1 bottom straight line mould of spraying support
Group is equipped with nozzle 6.2, and the nozzle 6.2 is connected the coating in stirring system by pipeline.
The reciprocating movement of piston realizes the coating that will be stirred and is drawn into plunger pump, then by feed pipe by coating
It is sent at nozzle, nozzle is mounted on the straight line module below spraying support, there is synchronous belt, synchronous pulley, stepping electricity in straight line
Machine drives synchronous pulley rotation, and synchronous belt moves back and forth, and nozzle follows synchronous belt to move back and forth the spray for realizing one fixed width
It applies.Worker can remotely control the movement of trolley by remote controler, and then complete automatic spraying.
Plunger pump assembly 8 is additionally provided on the flat car, described this assembly of plunger 8 passes through oil pipe and hydraulic oil container and hydraulic pressure
Cylinder connects, and the valve body 9 for fluid distribution is additionally provided on the oil pipe, valve body 9 is control machinery arm oil cylinder, with plunger case
Assembly is not related.
Plunger case assembly bottom is connected by suction tube with stirring system, and top is connected with one end of feed pipe, utilizes work
The coating being stirred is sent to feed pipe by the reciprocating movement of plug.
Signal receiver 10 is additionally provided on the flat car.The flat car is equipped with valve body, valve body and hydraulic oil container, machine
It is connected between tool arm hydraulic cylinder by hydraulic oil pipe, the valve body is equipped with solenoid directional control valve, worker's remote operation remote controler, letter
After number receiver receives signal, the opening and closing of the solenoid directional control valve on application valve body, and then control machinery arm corresponds to the dynamic of oil cylinder
The rotation of work or mechanical arm end hydraulic motor.
Before work, necessary inspection first is carried out to each component, it is ensured that the course of work does not have unexpected situation.Dynamical system
After system and air compressor machine power on, distance of the spray equipment apart from ground is adjusted according to spraying requirement, opens opening for switch board
It closes, adjusts each section parameter, the speed that worker is only needed trolley to be controlled to spray by remote controller according to spraying effect at this time
Degree.Under the action of air compressor machine, coating in the ratio set is sent to and stirred by feeding system by two different coating
It mixes in system, stirring system is stirred evenly coating by built-in agitating shaft, and plunger case assembly makes under the driving of hydraulic oil
The coating mixed is sent to nozzle by piston reciprocating movement by feed pipe.Nozzle is moved back and forth in the effect of synchronous belt.
In the above-described embodiments, the preferred forms of the present invention are described, it is obvious that in the inventive concept of the present invention
Under, many variations can be still made, here, it should be noted that any change made under the inventive concept of the present invention will all be fallen
Enter in protection scope of the present invention.
Claims (10)
1. a kind of intelligence spray robot, it is characterized in that：Including mobile system, the mobile system is flat bogie, described flat
Plate trolley is equipped with dynamical system, stirring system, feeding system, mechanical arm, the spray equipment of installation on the robotic arm.
2. intelligence spray robot according to claim 1, it is characterized in that：The mechanical arm is is arranged on roof on tablet
Portion can be with the mechanical arm of multiple degrees of freedom hydraulic-driven, the mechanical arm is three-stage, can be realized between the mechanical arm
It pitches and swings, the mechanical arm bottom is equipped with the revolving support that can drive mechanical arm rotation 180 degree, the revolving support bottom
Equipped with ring flange, for the revolving support to be discoid, the revolving support top is equipped with otic placode, the otic placode and revolving support it
Between be equipped with stiffener plate, the otic placode includes the two vertically arranged straight panels in left and right, and the otic placode is equipped with the first arm joint and the
One hydraulic cylinder, first arm joint and first hydraulic cylinder are located between two straight panels of otic placode or so, first arm joint and first
The first connector is equipped at the top of hydraulic cylinder, is to be hinged between first connector and the first arm joint and first hydraulic cylinder, it is described
First connector includes two fixed plates in left and right, and axis pin is equipped between two fixed plates and the first arm joint, first hydraulic cylinder, described
The second arm joint and second hydraulic cylinder are further connected on first connector, second arm joint and second hydraulic cylinder are located at two fixed plates
Between, second connector is equipped with the axis pin to raise up and fixes otic placode, and the axis pin is fixed at otic placode and is hinged with second
One end of hydraulic cylinder, the one end of the second hydraulic cylinder and the second arm joint far from the first connector is equipped with the second connector, described
It is hinged between second connector and the second arm joint, the second hydraulic cylinder end is hinged with first connecting rod, the first connecting rod
It is two groups, one of which first connecting rod is hinged with the second arm joint, and another group of first connecting rod is hinged with the second connector, and described second
Connector is equipped with third arm joint and third hydraulic cylinder, and the third hydraulic cylinder is hinged on the second connector, the third liquid
Cylinder pressure end is hinged with second connecting rod, and the second connecting rod is two groups, and one of which second connecting rod is hinged with third arm joint, another
Group second connecting rod is hinged with rotation motor fixed seat, hinged between the rotation motor fixed seat and third arm joint, the rotation
Motor fixing base bottom is equipped with rotation motor, is additionally provided with hydraulic motor.
3. intelligence spray robot according to claim 1, it is characterized in that：The flat bogie includes vehicle frame, the vehicle
Frame bottom is equipped with front-wheel vehicle bridge and trailing wheel vehicle bridge, and the vehicle frame is equipped with driving motor, and the front-wheel vehicle bridge includes crossbeam, described
Crossbeam both ends are equipped with the connector for installing wheel fixed hub, and the end of the wheel fixed hub is equipped with wheel, described
The otic placode to raise up is equipped in the middle part of crossbeam, supporting rod, the connector are equipped between described two wheel fixed hubs in left and right
It is hinged between the two wheel fixed hubs in left and right, is equipped between the crossbeam and one of wheel fixed hub scalable
Hydraulic cylinder, connected between the hydraulic cylinder both ends and wheel fixed hub, crossbeam by axis pin, the cross rail top be equipped with to
The locating piece of upper protrusion, the trailing wheel vehicle bridge include retarder, and the retarder both sides are equipped with power output shaft, and the power is defeated
Shaft two is terminated with wheel, and connecting plate is additionally provided on the power output shaft, and the vehicle frame includes the square being welded by section bar
Shape frame body, the rectangle frame frame body top are equipped with landing slab, and the frame body bottom is equipped with babinet, is equipped in the babinet electric
The retarder connection of mechanical, electrical bottle and charger, the motor and wheel rear axle, the frame body side surface are respectively equipped with front and rear baffle
And side board, the position of the rectangle frame frame body bottom installation front-wheel vehicle bridge are equipped with downwardly convex hinged support, the hinge
It connects the otic placode that support is equipped with front-wheel vehicle bridge crossbeam to be hinged, the hinged support both sides are additionally provided with to raise up with cross rail top
The cradling piece of the locating piece cooperation of setting, the position of the rectangle frame frame body bottom installation trailing wheel vehicle bridge are equipped with the branch extended downwardly
Frame, the stent ends are equipped with the installing plate of connecting plate cooperation with being arranged on power output shaft.
4. intelligence spray robot according to claim 1, it is characterized in that：The feeding system includes air compressor machine, and leads to
It crosses tracheae and is connected to cylinder, the cylinder connects the discharge nozzle of feeding system by piston, and material is delivered to the mixed of stirring system
It closes in slot.
5. intelligence spray robot according to claim 1, it is characterized in that：The stirring system, which further includes, is arranged on mixing
Agitating shaft in slot is connected to stirring motor on the agitating shaft.
6. intelligence spray robot according to claim 1, it is characterized in that：The dynamical system includes motor.
7. intelligence spray robot according to claim 1, it is characterized in that：The hydraulic cylinder of the actuating arm is connect by oil pipe
There is hydraulic station.
8. intelligence spray robot according to claim 1, it is characterized in that：The spray equipment is included in tripod structure
Spraying support, the spraying support bottom bar is equipped with nozzle, and the nozzle is by pipeline by the coating in stirring system
Connection.
9. intelligence spray robot according to claim 1, it is characterized in that：It is total that plunger pump is additionally provided on the flat car
Into.
10. intelligence spray robot according to claim 1, it is characterized in that：Signal reception is additionally provided on the flat car
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810098716.8A CN108246543A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligence spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810098716.8A CN108246543A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligence spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108246543A true CN108246543A (en) | 2018-07-06 |
Family
ID=62743936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810098716.8A Pending CN108246543A (en) | 2018-01-31 | 2018-01-31 | A kind of intelligence spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108246543A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261407A (en) * | 2018-10-19 | 2019-01-25 | 飞码机器人私人有限公司 | A kind of external coating robot manipulating task system and method |
| CN112404824A (en) * | 2020-11-25 | 2021-02-26 | 江西科技学院 | Automatic welded structure and new energy automobile axle processing equipment |
| CN112403747A (en) * | 2019-12-19 | 2021-02-26 | 杨凯 | Multi-gun mixed control paint spraying robot based on visual servo |
| CN112974060A (en) * | 2021-04-27 | 2021-06-18 | 河南科技学院 | Electric paint spraying intelligent trolley for crane box girder |
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| CN201432305Y (en) * | 2009-05-13 | 2010-03-31 | 重庆大学 | Mechanical arm of indoor spraying robot |
| CN104923431A (en) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | Spraying robot driven by multiple parallelogram links in parallel |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201432305Y (en) * | 2009-05-13 | 2010-03-31 | 重庆大学 | Mechanical arm of indoor spraying robot |
| CN104923431A (en) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | Spraying robot driven by multiple parallelogram links in parallel |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261407A (en) * | 2018-10-19 | 2019-01-25 | 飞码机器人私人有限公司 | A kind of external coating robot manipulating task system and method |
| CN109261407B (en) * | 2018-10-19 | 2021-07-16 | 飞码机器人私人有限公司 | Surface coating robot operation system and method |
| CN112403747A (en) * | 2019-12-19 | 2021-02-26 | 杨凯 | Multi-gun mixed control paint spraying robot based on visual servo |
| CN112403747B (en) * | 2019-12-19 | 2021-11-02 | 苏州许本科技有限公司 | Multi-gun mixed control paint spraying robot based on visual servo |
| CN112404824A (en) * | 2020-11-25 | 2021-02-26 | 江西科技学院 | Automatic welded structure and new energy automobile axle processing equipment |
| CN112974060A (en) * | 2021-04-27 | 2021-06-18 | 河南科技学院 | Electric paint spraying intelligent trolley for crane box girder |
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Application publication date: 20180706 |