CN109610782B

CN109610782B - Intelligent robot for plastering wall

Info

Publication number: CN109610782B
Application number: CN201811335338.7A
Authority: CN
Inventors: 颜谋者
Original assignee: Zhejiang Hetu Decoration Engineering Co ltd
Current assignee: Zhejiang Hetu Decoration Engineering Co ltd
Priority date: 2018-11-10
Filing date: 2018-11-10
Publication date: 2020-09-08
Anticipated expiration: 2038-11-10
Also published as: CN109610782A

Abstract

The invention discloses an intelligent robot for painting a wall, which relates to the technical field of construction machinery equipment and comprises a base, a mounting frame, a control mechanism and a painting mechanism, wherein the base is provided with a driving wheel mechanism; the intelligent control painting mechanism of the control mechanism can move in the horizontal and vertical directions, and the wall surface painting machine can automatically paint the wall surface, so that the labor intensity of operators is reduced, and the painting efficiency is improved.

Description

Intelligent robot for plastering wall

Technical Field

The invention relates to the technical field of construction machinery equipment, in particular to an intelligent robot for painting a wall.

Background

The last procedure of the building engineering is generally to perform painting work, the existing painting equipment adopts a mode that an operator carries a painting bucket to paint the wall surface once and dips the painting bucket, and a scaffold is required to be built for painting when the height is high; the traditional mode is high in labor intensity, easy to cause physical fatigue of operators and low in painting efficiency.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the intelligent robot for painting the wall, which has the effects of reducing the labor intensity of operators and improving the painting efficiency.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides an intelligent robot for whitewashing wall, includes base, mounting bracket, control mechanism and whitewashes the mechanism base bottom is provided with the drive wheel mechanism that is used for driving the base and removes be provided with between base and the mounting bracket and be used for driving the vertical drive mechanism that the mounting bracket is in the vertical direction up-and-down motion, whitewash the mechanism including setting up inboard whitewash subassembly and the outside whitewash subassembly and be used for splendid attire whitewash ground paste and carry the powder thick liquid to inboard whitewash subassembly and the feed cylinder subassembly on the subassembly is whitewashed in the outside respectively the mounting bracket is provided with the link gear who is used for driving inboard and the outside and whitewashes the subassembly and move in opposite directions be provided with the transverse driving mechanism who is used for driving inboard and the outside and whitewashes the subassembly transverse motion that whitewashes, control mechanism respectively with drive wheel mechanism, The vertical driving mechanism, the linkage mechanism and the transverse driving mechanism are connected.

The control mechanism controls the driving wheel mechanism so as to enable the whole body to achieve the effect of transportation and movement; according to the position and the requirement of the wall surface to be painted, the base is fixed in a specific area, and meanwhile, the height position of the mounting frame is adjusted through the vertical driving mechanism, so that the inner painting component and the outer painting component in the painting mechanism are positioned on two sides of the wall surface; the material barrel assembly conveys powder slurry to the inner painting assembly and the outer painting assembly, and the control mechanism further controls the linkage mechanism to drive the inner painting assembly and the outer painting assembly to be close to each other and abut against the wall surface; when the wall surface is painted, the inner painting component and the outer painting component are driven to transversely move on the wall surface through the transverse driving mechanism, and the charging barrel component continuously feeds materials to the inner painting component and the outer painting component, so that the painting purpose is achieved; after the wall surface is painted with powder on the same surface, the control mechanism drives the linkage mechanism to drive the inner painting component and the outer painting component to move back and forth, namely, to be separated from the wall surface, the vertical driving mechanism drives the mounting frame to move along the vertical direction, so that the inner painting component and the outer painting component are located at the other height position for painting, the linkage mechanism drives the inner painting component and the outer painting component to abut against the wall surface, and the horizontal plane in the height direction is painted again through the transverse driving mechanism; so reciprocal, whitewash mechanism, vertical drive mechanism, link gear and horizontal actuating mechanism through control mechanism control respectively, control mechanism intelligent control whitewashes the motion of whitewashing that the mechanism is in two dimensions of level and vertical direction, reaches and whitewashes the two-sided automation of wall simultaneously to have the intensity of labour who reduces operating personnel, improve and whitewash the effect of efficiency.

Further setting: link gear sets up drive shaft, middle-end and drive shaft fixed connection's drive plate on the mounting bracket including rotating, rotates respectively and connects in the first linkage board and the second linkage board at drive plate both ends, rotates the first mounting panel of connecting on first linkage board, rotates the connecting plate of connecting on the second linkage board, with connecting plate fixed connection's litter, the second mounting panel of being connected with the litter and be used for driving the drive shaft and be in the pivoted driving piece on the mounting bracket, the litter slides respectively and wears to establish set up in on mounting bracket and the first mounting panel, first mounting panel and second mounting panel pass through transverse driving mechanism whitewashes the subassembly with the inboard respectively, the outside is whitewashed and is brushed the subassembly and be connected.

So set up, the driving piece rotates through driving the drive shaft, and then makes the drive plate drive first linkage board and the motion of second linkage board, and the second mounting panel passes through the effect of connecting plate and litter, impels between first mounting panel and the second mounting panel in opposite directions, promptly, inboard whitewashes the effect that realizes in opposite directions between subassembly and the outside whitewashes the subassembly, reaches inboard whitewashes the subassembly and whitewashes the subassembly in the outside and contradicts each other on the wall or breaks away from each other on the wall.

Further setting: the driving piece comprises a fixed plate fixedly connected with the driving shaft and a linkage cylinder which is rotatably connected to the fixed plate and far away from one end of the driving shaft, and the linkage cylinder is fixedly connected with the mounting frame and electrically connected with the control mechanism.

So set up, control mechanism drives the drive shaft and is in the rotation on the mounting bracket through control linkage cylinder in east, and then makes the fixed plate, reaches the effect that first linkage board and second linkage board linked to first mounting panel and second mounting panel respectively.

Further setting: the inner side painting component and the outer side painting component comprise painting sticks arranged on the transverse driving mechanism in a rotating mode and painting cotton sleeves sleeved on the circumferential surfaces of the painting sticks, spiral grooves are formed in the circumferential surfaces of the painting sticks, and the material cylinder components are connected with the spiral grooves respectively.

According to the arrangement, the powder slurry is conveyed into the spiral groove by the material cylinder assembly, so that the powder slurry is uniformly distributed on the circumferential surface of the conveying roller and further attached to the brushing cotton sleeve; the plastering stick is abutted against the wall surface, so that the plastering slurry is smeared on the wall surface, and the function of plastering the wall surface is achieved.

Further setting: the circumferential surface of the brushing rod is provided with a pressure sensor, and the pressure sensor is connected with the linkage mechanism through a control mechanism.

So set up, feed back the principle that the whitewashing rod acted on the wall through pressure-sensitive sensor, and then feed back and locate to control mechanism and adjust linkage, make whitewashing rod rationally atress on the wall, improve the effect of whitewashing rod.

Further setting: the feed cylinder subassembly includes the barrel, sets up stirring rake in the barrel, sets up in the delivery pump of barrel bottom and the hose that the delivery pump is connected, the hose keep away from the delivery pump one end respectively with two the helicla flute is connected.

So set up, guarantee through the stirring rake that the powder thick liquid in the barrel is in certain thick consistency, when needs whitewash the wall surface, the delivery pump passes through the hose with the powder thick liquid and carries to the helicla flute of whitewash rod in, reaches the effect of lasting pay-off.

Further setting: the transverse driving mechanism is a multi-stage cylinder which is fixedly arranged on the first mounting plate and the second mounting plate respectively, a piston rod of the multi-stage cylinder is connected with the inner side painting component and the outer side painting component respectively, and the multi-stage cylinder is electrically connected with the control mechanism.

So set up, through the multistage cylinder drive motion on first mounting panel of control mechanism control and the second mounting panel, make the inboard subassembly of painting and the outside subassembly motion of painting of drive be in the horizontal direction motion, realize the effect of painting to the horizontal direction of wall.

Further setting: the vertical driving mechanism comprises a vertical plate vertically and fixedly arranged on the base, a sliding guide sleeve and a vertical cylinder, the sliding guide sleeve is sleeved on the vertical plate in a sliding mode, the vertical cylinder is fixedly arranged on the base, the sliding guide sleeve is fixedly connected with the mounting frame and fixedly connected with a piston rod of the vertical cylinder, and the vertical cylinder is electrically connected with the control mechanism.

So set up, through the motion on the vertical plate of control mechanism control vertical cylinder drive slip guide pin bushing, can realize being in the altitude mixture control of vertical direction to the mounting panel, reach the ascending regulatory action of automated control mounting bracket direction of height, whitewash the regional regulation effect of subassembly whitewashing to inboard whitewashing subassembly and outside promptly.

Further setting: the vertical plate is provided with a plurality of equidistantly arranged notches along the length direction of the vertical plate, and the sliding guide sleeve is provided with a light sensor which is in signal connection with the control mechanism.

So set up, when the slip guide pin bushing was in the vertical plate through perpendicular cylinder and moves, the light sense ware was given signal feedback to control mechanism through response breach number of times, realized the control to slip guide pin bushing displacement, improved the automatic effect of regulation that perpendicular cylinder drive mounting bracket was in the vertical direction motion.

Further setting: the driving wheel mechanism comprises a supporting seat rotatably connected with the base, crawler belts arranged on two sides of the supporting seat and a power source for controlling the crawler belts to drive, and the power source is electrically connected with the control mechanism.

So set up, control mechanism makes the track on the supporting seat drive the base and removes through the control power supply, realizes the effect to intelligent robot overall movement.

Compared with the prior art, the invention has the following advantages by adopting the technical scheme:

1. the pressure sensor is used for sensing the pressure of the plastering stick acting on the wall surface, so that the control mechanism can adjust the distance between the two plastering sticks by controlling the linkage mechanism, and the plastering effect of the plastering stick acting on the wall surface is improved;

2. the position of the notch on the vertical plate is sensed through the light sensor, and a signal is fed back to the control mechanism, so that the moving distance of the sliding guide sleeve is monitored, and the automatic adjusting effect of the vertical cylinder for driving the mounting frame to move in the vertical direction is improved;

3. the control mechanism is used for respectively controlling the painting mechanism, the vertical driving mechanism, the linkage mechanism and the transverse driving mechanism, so that the control mechanism intelligently controls the painting mechanism to perform painting movement in two dimensions of the horizontal direction and the vertical direction, the two sides of a wall are automatically painted simultaneously, and the effects of reducing the labor intensity of operators and improving the painting efficiency are achieved.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent robot for painting a wall;

FIG. 2 is a first schematic structural diagram of a painting mechanism and a linkage mechanism in the intelligent robot for painting a wall;

FIG. 3 is a second schematic structural view of a painting mechanism and a linkage mechanism in the intelligent robot for painting a wall;

FIG. 4 is a schematic diagram of a painting mechanism in an intelligent robot for painting walls;

fig. 5 is a sectional view of a painting mechanism in an intelligent robot for painting a wall.

In the figure: 1. a base; 2. a mounting frame; 3. a control mechanism; 4. a rendering mechanism; 41. an inboard rendering assembly; 42. an outer render assembly; 43. a cartridge assembly; 44. a brush stick is brushed; 441. a helical groove; 442. a pressure sensor; 45. brushing the cotton sleeve; 46. a barrel; 47. a stirring paddle; 48. a delivery pump; 49. a hose; 5. a drive wheel mechanism; 51. a supporting seat; 52. a crawler belt; 6. a vertical drive mechanism; 61. a vertical plate; 611. a notch; 62. a sliding guide sleeve; 63. a vertical cylinder; 64. a light sensor; 7. a linkage mechanism; 71. a drive shaft; 72. a drive plate; 73. a first linkage plate; 74. a second linkage plate; 75. a first mounting plate; 76. a connecting plate; 77. a slide rod; 771. a sliding sleeve; 78. a second mounting plate; 79. a drive member; 791. a fixing plate; 792. a linkage cylinder; 8. and a transverse driving mechanism.

Detailed Description

The intelligent robot for painting a wall is further explained with reference to the attached drawings.

An intelligent robot for painting a wall is shown in fig. 1 and comprises a base 1, a mounting frame 2, a control mechanism 3, a painting mechanism 4, a linkage mechanism 7, a transverse driving mechanism 8, a driving wheel mechanism 5 for driving the base 1 to move, and a vertical driving mechanism 6 for driving the mounting frame 2 to move up and down in the vertical direction; the control mechanism 3 is electrically connected with the painting mechanism 4, the driving wheel mechanism 5, the vertical driving mechanism 6, the linkage mechanism 7 and the transverse driving mechanism 8 respectively.

As shown in fig. 1, the driving wheel mechanism 5 includes a support base 51 rotatably disposed at the bottom end of the base 1, two caterpillar tracks 52 symmetrically disposed at two sides of the support base 51, and a power source for controlling the transmission of the caterpillar tracks 52; the power source is a battery, a generator, etc., and is electrically connected to the control mechanism 3.

As shown in fig. 1, the vertical driving mechanism 6 includes a vertical plate 61 vertically fixed on the base 1, a sliding guide sleeve 62 slidably sleeved on the vertical plate 61, and a vertical cylinder 63 fixedly arranged on the base 1; the sliding guide sleeve 62 is fixedly connected with the mounting frame 2 and fixedly connected with a piston rod of the vertical cylinder 63, and the vertical cylinder 63 is electrically connected with the control mechanism 3 and drives the sliding guide sleeve 62 to slide in a reciprocating manner in the vertical direction.

As shown in fig. 1, in order to improve the driving accuracy of the vertical cylinder 63, a plurality of equally spaced notches 611 are formed in the vertical plate 61 along the length direction thereof, and at the same time, a light sensor 64 is disposed on the sliding guide sleeve 62, and the light sensor 64 is in signal connection with the control mechanism 3, so that the control mechanism 3 controls the driving stroke of the piston rod of the vertical cylinder 63; in order to observe the elevation height of the mounting frame 2, a graduated scale is fixedly arranged on the vertical plate 61.

As shown in fig. 2, the linkage mechanism 7 includes a driving shaft 71 rotatably disposed on the mounting frame 2, a driving plate 72 whose middle end is fixedly connected to the driving shaft 71, a first linkage plate 73 and a second linkage plate 74 rotatably connected to two ends of the driving plate 72, respectively, a first mounting plate 75 rotatably connected to the first linkage plate 73, a connecting plate 76 rotatably connected to the second linkage plate 74, two sliding rods 77 symmetrically and fixedly connected to two sides of the connecting plate 76, a second mounting plate 78 fixedly connected to one end of the two sliding rods 77 away from the connecting plate 76, and a driving member 79 for driving the driving shaft 71 to rotate on the mounting frame 2; the driving member 79 includes a fixing plate 791 fixedly connected to the driving shaft 71 and a linkage cylinder 792 rotatably connected to an end of the fixing plate 791 away from the driving shaft 71, and as shown in fig. 1, the linkage cylinder 792 is fixedly connected to the mounting frame 2 and electrically connected to the control mechanism 3.

As shown in fig. 3, the sliding rods 77 are slidably disposed on the mounting frame 2 and the first mounting plate 75, respectively, and the sliding sleeves 771 are symmetrically and fixedly disposed on the first connecting plate 76, and the two sliding sleeves 771 are respectively sleeved on the two sliding rods 77; referring to fig. 1, the control mechanism 3 controls the linkage cylinder 792 to reciprocate, so as to facilitate the first mounting plate 75 and the second mounting plate 78 to move towards each other.

As shown in fig. 3, the transverse driving mechanism 8 is a multi-stage cylinder fixedly disposed on the first mounting plate 75 and the second mounting plate 78, and both the multi-stage cylinders are electrically connected to the control mechanism 3, as shown in fig. 1.

Referring to fig. 1 and 4, the painting mechanism 4 includes an inner painting component 41 and an outer painting component 42 respectively disposed on the piston rods of the two multi-stage cylinders, and a material barrel component 43 disposed on the mounting frame 2 for containing the powder slurry and conveying the powder slurry to the inner painting component 41 and the outer painting component 42; the control mechanism 3 causes the inside plastering assembly 41 and the outside plastering assembly 42 to reciprocate in the transverse direction by controlling the multi-stage cylinder.

Referring to fig. 4 and 5, the inner brushing assembly 41 and the outer brushing assembly 42 are the same and each include a brushing roller 44 rotatably disposed on the multi-stage cylinder and a brushing cotton cover 45 covering the circumferential surface of the brushing roller 44. The cartridge assembly 43 includes a cylinder 46, a paddle 47 disposed in the cylinder 46, a delivery pump 48 disposed at the bottom of the cylinder 46, and a hose 49 to which the delivery pump 48 is connected.

As shown in fig. 4 and 5, the circumferential surfaces of the two brush sticks 44 are provided with spiral grooves 441, and the ends of the hoses 49 away from the delivery pump 48 are respectively connected to the spiral grooves 441. Referring to fig. 1, a pressure sensor 442 is provided on the circumferential surface of the painting roller 44, and the pressure sensor 442 is connected to a linkage cylinder 792 in the linkage mechanism 7 through the control mechanism 3.

The working principle is as follows: the control mechanism 3 controls the driving wheel mechanism 5, so that the whole body achieves the effect of transportation and movement; according to the position and the requirement of the wall surface to be painted, the base 1 is fixed in a specific area, and meanwhile, the height position of the mounting frame 2 is adjusted through the vertical driving mechanism 6, so that the inner painting component and the outer painting component in the painting mechanism 4 are positioned on two sides of the wall surface; the charging barrel assembly 43 conveys powder slurry to the painting sticks 44 and the painting cotton sleeve 45, the control mechanism 3 further controls the linkage mechanism 7 to drive the two painting sticks 44 on the inner painting assembly and the outer painting assembly to be close to each other and to be abutted against the wall surface, the pressure sensor 442 senses the pressure of the painting sticks 44 acting on the wall surface, and the distance between the two painting sticks 44 is further adjusted through the linkage mechanism 7; when the wall surface is painted, the transverse driving mechanism 8 drives the painting sticks 44 in the inner painting component and the outer painting component to transversely roll on the wall surface, and the charging barrel component 43 continuously feeds materials to the inner painting component and the outer painting component, so that the painting purpose is achieved; after the wall surface is painted with powder on the same surface, the control mechanism 3 drives the linkage mechanism 7 to drive the painting sticks 44 on the inner painting component and the outer painting component to move back and forth, namely, to be separated from the surface of the wall surface, the vertical driving mechanism 6 drives the mounting frame 2 to move along the vertical direction again, so that the painting sticks 44 in the inner painting component and the outer painting component are located at the other height position for painting, the linkage mechanism 7 drives the painting sticks 44 in the inner painting component and the outer painting component to abut against the wall surface, and the horizontal driving mechanism 8 is located at the horizontal plane in the height direction again for painting; the painting mechanism 4, the vertical driving mechanism 6, the linkage mechanism 7 and the transverse driving mechanism 8 are controlled by the control mechanism 3 respectively in such a reciprocating way, so that the control mechanism 3 intelligently controls the painting mechanism 4 to perform painting movement in two dimensions of the horizontal direction and the vertical direction, and the aim of automatically painting two surfaces of a wall at the same time is achieved, thereby having the effects of reducing the labor intensity of operators and improving the painting efficiency; meanwhile, the inner side painting component 41 can be stopped according to the requirement, so that the outer side painting component 42 can be operated independently, and the intelligent painting process is carried out on the single surface of the wall.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. The utility model provides an intelligent robot for whitewashing wall which characterized in that: including base (1), mounting bracket (2), control mechanism (3) and whitewash mechanism (4) base (1) bottom is provided with drive wheel mechanism (5) that is used for driving base (1) and removes be provided with between base (1) and mounting bracket (2) and be used for driving mounting bracket (2) and be in vertical direction up-and-down motion's vertical drive mechanism (6), whitewash mechanism (4) including set up inboard painting subassembly (41), the outside on mounting bracket (2) respectively whitewash subassembly (42) and be used for splendid attire whitewash ground paste and carry powder slurry to feed cylinder subassembly (43) on inboard painting subassembly (41) and the outside painting subassembly (42) be provided with link gear (7) that are used for driving inboard painting subassembly (41) and outside painting subassembly (42) and move in opposite directions on mounting bracket (2) be provided with on link gear (7) and be used for driving inboard painting subassembly (41) and the outside and whitewash subassembly (4) (42) The control mechanism (3) is respectively connected with the driving wheel mechanism (5), the vertical driving mechanism (6), the linkage mechanism (7) and the transverse driving mechanism (8); link gear (7) including rotate drive shaft (71) that sets up on mounting bracket (2), drive plate (72) of middle-end and drive shaft (71) fixed connection, rotate respectively and connect in first linkage board (73) and second linkage board (74) at drive plate (72) both ends, rotate and connect in first mounting panel (75) on first linkage board (73), rotate and connect in connecting plate (76) on second linkage board (74), draw bar (77) with connecting plate (76) fixed connection, second mounting panel (78) be connected with draw bar (77) and be used for driving drive shaft (71) and be in pivoted driving piece (79) on mounting bracket (2), draw bar (77) slide respectively and wear to set up in on mounting bracket (2) and first mounting panel (75), first mounting panel (75) and second mounting panel (78) pass through horizontal drive mechanism (8) are respectively with inboard whitewash subassembly (41), An outboard plastering assembly (42) is attached.

2. The intelligent robot for painting a wall according to claim 1, wherein: the driving piece (79) comprises a fixing plate (791) fixedly connected with the driving shaft (71) and a linkage cylinder (792) rotatably connected to the fixing plate (791) and far away from one end of the driving shaft (71), and the linkage cylinder (792) is fixedly connected with the mounting frame (2) and electrically connected with the control mechanism (3).

3. The intelligent robot for painting a wall according to claim 1, wherein: the inner side painting component (41) and the outer side painting component (42) comprise painting sticks (44) which are rotatably arranged on the transverse driving mechanism (8) and painting cotton sleeves (45) which are sleeved on the circumferential surfaces of the painting sticks (44), spiral grooves (441) are formed in the circumferential surfaces of the painting sticks (44), and the material barrel components (43) are respectively connected with the spiral grooves (441).

4. The intelligent robot for painting a wall according to claim 3, wherein: and a pressure sensor (442) is arranged on the circumferential surface of the brushing rod (44), and the pressure sensor (442) is connected with the linkage mechanism (7) through a control mechanism (3).

5. The intelligent robot for painting a wall according to claim 3, wherein: the charging barrel assembly (43) comprises a barrel body (46), a stirring paddle (47) arranged in the barrel body (46), a delivery pump (48) arranged at the bottom of the barrel body (46) and a hose (49) connected with the delivery pump (48), wherein one end, far away from the delivery pump (48), of the hose (49) is respectively connected with the two spiral grooves (441).

6. The intelligent robot for painting a wall according to claim 1, wherein: horizontal actuating mechanism (8) are the multistage cylinder of fixed setting on first mounting panel (75) and second mounting panel (78) respectively, two multistage cylinder's piston rod respectively with inboard subassembly (41) of painting and outside subassembly (42) of painting are connected, and two multistage cylinder all with control mechanism (3) electricity is connected.

7. An intelligent robot for painting a wall according to any one of claims 1 to 6, wherein: perpendicular actuating mechanism (6) including perpendicular fixed vertical plate (61), the slip guide pin bushing (62) of locating on vertical plate (61) and fixed perpendicular cylinder (63) of setting on base (1) of sliding sleeve that set up on base (1), slip guide pin bushing (62) and mounting bracket (2) fixed connection and with the piston rod fixed connection of perpendicular cylinder (63), perpendicular cylinder (63) with control mechanism (3) electricity is connected.

8. The intelligent robot for painting a wall of claim 7, wherein: the vertical plate (61) is provided with a plurality of equidistantly arranged notches (611) along the length direction, the sliding guide sleeve (62) is provided with a light sensor (64), and the light sensor (64) is in signal connection with the control mechanism (3).

9. An intelligent robot for painting a wall according to any one of claims 1 to 6, wherein: the driving wheel mechanism (5) comprises a supporting seat (51) rotatably connected with the base (1), a crawler belt (52) arranged on two sides of the supporting seat (51) and a power source for controlling transmission of the crawler belt (52), and the power source is electrically connected with the control mechanism (3).