CN110644738A - Spraying robot - Google Patents
Spraying robot Download PDFInfo
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- CN110644738A CN110644738A CN201910975184.6A CN201910975184A CN110644738A CN 110644738 A CN110644738 A CN 110644738A CN 201910975184 A CN201910975184 A CN 201910975184A CN 110644738 A CN110644738 A CN 110644738A
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- 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
Abstract
The invention discloses a spraying robot, which comprises a spraying mechanism, wherein the spraying mechanism is used for spraying materials; the spraying mechanism comprises a spraying mechanism, a lifting mechanism and a spraying mechanism, wherein the spraying mechanism is arranged on the first lifting frame; and the control mechanism comprises a controller, and the first driver is electrically connected with the controller. This spraying robot, spraying mechanism can be under control mechanism's control automatic spraying, and elevating system can carry out the lifting operation under the control of controller to realize that spraying mechanism's position goes up and down, thereby can make spraying mechanism carry out the spraying operation to higher region, not only replaced manual spraying operation, mechanized operation has improved spraying efficiency moreover.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a spraying robot.
Background
With the continuous improvement of economy, technology and living standard, higher requirements such as safety, high efficiency and the like are put forward for building construction, and the quality and the quantity are required to be guaranteed. However, the construction industry is still a labor intensive industry requiring a large amount of manpower and material resources.
In the process of building an underground garage, the spray coating construction of the underground garage is usually carried out in a manual spray coating mode. However, the underground garage is usually buried underground deeply, air circulation is poor, and the underground garage is affected by moisture in soil, so that the problem of long-term moisture is easily caused, particularly in rainy season, the air humidity of the underground garage is basically kept above 85%, and in serious cases, the phenomena of water seepage, mildew and the like can occur on walls, ceilings and the like. Under the condition, if manual spraying operation is still relied on, the spraying efficiency is low, the construction environment is poor, and occupational diseases are easily caused; meanwhile, the underground garage has a large range and a large height difference, and is inconvenient to spray.
Disclosure of Invention
Based on this, there is a need to provide a painting robot; this spraying robot can realize automatic spraying, and the spraying range is wide, replaces manual operation, promotes spraying efficiency.
The technical scheme is as follows:
a spraying robot comprises a spraying mechanism, a control mechanism and a spraying mechanism, wherein the spraying mechanism is used for spraying materials; the spraying mechanism comprises a spraying mechanism, a lifting mechanism and a spraying mechanism, wherein the spraying mechanism is arranged on the first lifting frame; and the control mechanism comprises a controller, and the first driver is electrically connected with the controller.
Above-mentioned spraying robot, spraying mechanism can be under control mechanism's control automatic spraying, and elevating system can carry out lifting operation under the control of controller to realize that spraying mechanism's position goes up and down, thereby can make spraying mechanism carry out spraying operation to higher region, not only replaced manual spraying operation, mechanized operation has improved spraying efficiency moreover.
The technical solution is further explained below:
in one embodiment, the lifting mechanism further comprises a second lifting frame, a pull rope and a fixed pulley, wherein the first lifting frame is in sliding fit with the second lifting frame, the second lifting frame is in sliding fit with the supporting frame, the first driver can drive the second lifting frame to lift on the supporting frame, the fixed pulley is arranged on the second lifting frame, the pull rope is wound on the fixed pulley, one end of the pull rope is connected to the supporting frame, and the other end of the pull rope is connected to the first lifting frame;
or the lifting mechanism also comprises a scissor type lifting platform, one end of the scissor type lifting platform is arranged on the support frame, the first lifting frame is arranged at the other end of the scissor type lifting platform, and the first driver is used for driving the first lifting frame to lift; still be equipped with the arm on the first crane, the arm has two at least degrees of freedom of motion, and the arm is located to spraying mechanism.
In one embodiment, the lifting mechanism further comprises a butt joint mounting frame and a second driver, the butt joint mounting frame is in slip fit with the first lifting frame, the spraying mechanism is arranged on the butt joint mounting frame, and the second driver is electrically connected with the controller and can drive the butt joint mounting frame to lift on the first lifting frame.
In one embodiment, the butt joint installation frame is provided with a first slide rail and a rotatable first gear, the first lifting frame is provided with a first slide groove and a first rack, the first slide groove is in sliding fit with the first slide rail, the first rack is in meshed connection with the first gear, and the second driver is arranged on the butt joint installation frame and used for driving the first gear to rotate.
In one embodiment, the spraying mechanism comprises at least two spraying heads and a first mounting seat, the spraying heads are arranged on the first mounting seat at intervals, and the first mounting seat is arranged on the first lifting frame.
In one embodiment, the spraying mechanism further comprises a first rotating shaft and a third driver electrically connected with the controller, the first rotating shaft is rotatably arranged on the first mounting seat, the third driver is arranged on the first mounting seat and used for driving the first rotating shaft to rotate along the first axis, and the material spraying heads are arranged on the first rotating shaft at intervals.
In one embodiment, the spraying mechanism further comprises a second mounting seat, the second mounting seat is provided with at least two second mounting seats, the second mounting seats are arranged corresponding to the spraying heads, the spraying heads are arranged on the corresponding second mounting seats, the second mounting seats are provided with first mounting holes, and the second mounting seats are sleeved on the first rotating shaft through the first mounting holes;
the position of the second mounting seat on the first rotating shaft is adjustable, and the position of the second mounting seat is adjusted to adjust the distance between the adjacent material spraying heads.
In one embodiment, the spraying mechanism further comprises a first mounting rod and a fourth driver electrically connected with the controller, one end of the first mounting rod is arranged on the first lifting frame, the first mounting base is rotatably arranged at the other end of the first mounting rod, and the fourth driver is arranged on the first mounting rod and is used for driving the first mounting base to rotate along the second axis.
In one embodiment, the spraying robot further comprises a traveling mechanism, the lifting mechanism is arranged on the traveling mechanism, the traveling mechanism comprises a third mounting seat, traveling wheels and a fifth driver electrically connected with the controller, the traveling wheels are provided with at least three and arranged on the third mounting seat, and the fifth driver is arranged on the third mounting seat and used for driving the traveling wheels to rotate.
In one embodiment, the travelling mechanism further comprises a floating spring, a fourth mounting seat and a bottom frame, two ends of the floating spring are respectively connected to the third mounting seat and the fourth mounting seat, the travelling wheel is rotatably arranged on the fourth mounting seat, and the third mounting seat and the supporting frame are respectively arranged on two opposite sides of the bottom frame;
the fifth driver is provided with at least three and is arranged corresponding to the travelling wheels.
In one embodiment, the traveling mechanism further comprises a navigator, and the navigator is electrically connected with the controller;
or the travelling mechanism further comprises a plurality of position detectors which are electrically connected with the controller.
In one embodiment, the control mechanism further comprises a control cabinet, a power supply and a converter, wherein the power supply, the converter and the controller are arranged in the control cabinet, and the converter, the power supply and the controller are electrically connected.
Drawings
FIG. 1 is a schematic view of the overall structure of a painting robot in an embodiment;
FIG. 2 is a schematic view of the overall structure of the lifting mechanism in the embodiment of FIG. 1;
FIG. 3 is a schematic cross-sectional view of the spray mechanism of the embodiment of FIG. 1;
FIG. 4 is a schematic view of a first perspective of the spray mechanism of the embodiment of FIG. 1;
FIG. 5 is a second perspective view of the spray mechanism of the embodiment of FIG. 1;
FIG. 6 is a schematic view of an arrangement structure of four road wheels in the embodiment of FIG. 1;
FIG. 7 is an assembled structural view of a road wheel in the embodiment of FIG. 6;
fig. 8 is a schematic view of the overall structure of the control mechanism in the embodiment of fig. 1.
Reference is made to the accompanying drawings in which:
100. a spraying mechanism; 110. a material spraying head; 120. a first mounting seat; 130. a first rotating shaft; 140. a third driver; 150. a second mounting seat; 160. an elastic pin; 170. a first mounting bar; 180. a fourth driver; 200. a lifting mechanism; 210. a support frame; 220. a first lifting frame; 230. a second lifting frame; 240. pulling a rope; 250. a fixed pulley; 260. butting the mounting frames; 270. a second driver; 310. a controller; 320. a power source; 330. a converter; 400. a traveling mechanism; 410. a chassis; 420. a third mounting seat; 430. a traveling wheel; 440. a floating spring; 450. a fourth mounting seat; 500. a protective cover.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings:
it will be understood that when an element is referred to herein as being "secured" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, a painting robot includes a painting mechanism 100, the painting mechanism 100 is used for painting materials; the lifting mechanism 200 comprises a support frame 210, a first lifting frame 220 and a first driver, the first driver is arranged on the support frame 210 and is used for driving the first lifting frame 220 to lift, and the spraying mechanism 100 is arranged on the first lifting frame 220; and a control mechanism, the control mechanism including a controller 310, the first driver being electrically connected to the controller 310.
According to the spraying robot, the spraying mechanism 100 can automatically spray under the control of the control mechanism, the lifting mechanism 200 can be lifted under the control of the controller 310 to realize the lifting of the position of the spraying mechanism 100, so that the spraying mechanism 100 can spray a higher area, manual spraying operation is replaced, mechanical operation is performed, and spraying efficiency is improved.
The spraying mechanism 100 is a module capable of providing a spraying operation on a wall or an area to be sprayed, and can be realized by spraying or brushing; the lifting mechanism 200 can lift the lifting operation of the material spraying mechanism, some areas can not reach during spraying due to height limitation, the lifting mechanism 200 is arranged, the first lifting frame 220 can realize the lifting function through the driving action of the first driver, when the spraying area is higher, the first lifting frame 220 is lifted to carry out the spraying operation, when the spraying area is lower, the first lifting frame 220 is lowered to carry out the spraying operation, and the omnibearing dead-angle-free spraying operation of different areas such as a wall is realized, thereby ensuring that the whole automatic spraying can be finished without manual secondary repair, not only realizing the complete replacement of manual spraying, but also greatly improving the spraying efficiency, in addition, because the spraying quality of mechanical spraying is consistent, compared with the manual spraying mode which depends on manual experience and can be influenced by manual fatigue and the like, the spraying quality of the spraying operation finished by a spraying robot is higher, the painted wall surface is more uniform, and the description is omitted.
The control mechanism provides control operation for the whole spraying robot, and the first driver is electrically connected with the controller 310, so that the first driver can be driven and operated by receiving a control signal of the controller 310; the spraying mechanism 100 is also electrically connected to the controller 310, the spraying mechanism 100 realizes the spraying and painting operation on areas such as a wall by receiving the control signal of the controller 310, and the controller 310 may be a remote control end or may be integrally disposed with the spraying robot, which is not described herein again.
Referring to fig. 1 and 2, the lifting mechanism 200 further includes a second lifting frame 230, a pulling rope 240 and a fixed pulley 250, the first lifting frame 220 is slidably fitted to the second lifting frame 230, the second lifting frame 230 is slidably fitted to the supporting frame 210, the first driver can drive the second lifting frame 230 to lift on the supporting frame 210, the fixed pulley 250 is disposed on the second lifting frame 230, the pulling rope 240 is wound around the fixed pulley 250, one end of the pulling rope 240 is connected to the supporting frame 210, and the other end of the pulling rope 240 is connected to the first lifting frame 220.
Referring to fig. 2, the supporting frame 210 provides a mounting support for the second lifting frame 230, and when the first driver drives the second lifting frame 230, the second lifting frame 230 moves up and down on the supporting frame 210 to perform a lifting movement of the second lifting frame 230; the fixed pulley 250 is fixed at the upper end of the second lifting frame 230, one end of the pull rope 240 is fixed at the upper end of the support frame 210, the other end of the pull rope 240 is fixed at the lower end of the first lifting frame 220, when the second lifting frame 230 ascends, the fixed pulley 250 synchronously ascends to drag the pull rope 240 to ascend, and when the pull rope 240 ascends, the first lifting frame 220 at the other end of the pull rope 240 is driven to slide on the second lifting frame 230 to ascend, due to the effect of the fixed pulley 250, when the second lifting frame 230 ascends to a first height, the first lifting frame 220 ascends to two first heights, namely, through the structural arrangement, double-height ascending of the first lifting frame 220 can be realized, so that the lifting efficiency is; of course, when descending, the double-height descending will be automatically performed due to the gravity of the first crane 220, and will not be described herein.
Further, the pulling rope 240 may be a rope, and the pulling rope 240 may also be a belt, which can be selected by a person skilled in the art according to actual needs and will not be described herein.
In addition, the first lifting frame 220 can lift on the second lifting frame 230, and the second lifting frame 230 can lift on the support frame 210, both of which can be realized in a way of matching sliding rails and sliding grooves, or in a way of guiding holes of a guide rail, or in a way of sliding blocks of a guide rail of a screw rod; of course, other existing implementations may be adopted by those skilled in the art, and are not described in detail herein.
The second lifting frame 230 may be provided with a portion for docking with the first driver, for example, the first driver may be a hydraulic push rod, a steam push rod or an electric push rod, the bottom end of the first driver is fixed to the support frame 210, and the telescopic end of the first driver is connected to a docking plate provided on the second lifting frame 230, so as to implement a driving function.
In another embodiment, the lifting mechanism 200 further includes a scissor type lifting platform, one end of the scissor type lifting platform is disposed on the supporting frame 210, the first lifting frame 220 is disposed on the other end of the scissor type lifting platform, and the first driver is used for driving the first lifting frame 220 to lift; the first lifting frame 220 is further provided with a mechanical arm, the mechanical arm is provided with at least two freedom degrees of movement, and the spraying mechanism 100 is arranged on the mechanical arm.
This kind of mode, not through the mode realization that sets up second crane 230, but adopt scissors formula elevating platform to realize, first driver can drive scissors formula elevating platform and realize going up and down, and first crane 220 then fixes the top at scissors formula crane, first crane 220 also can be a part of scissors formula elevating platform this moment, set up the arm on the mesa, the arm can be six degree of freedom arms, like series connection arm or parallel connection arm, spraying mechanism 100 establishes the end at the arm, in order to realize the position adjustment to spraying mechanism 100, carry out the diversified spraying operation of multi-angle, no longer give unnecessary details here.
Specifically, the arm is six degrees of freedom series mechanical arms, and the arm includes arm mount pad, link unit and drive unit, and the arm mount pad is fixed on scissors formula elevating platform's mesa, and link unit and drive unit butt joint form series mechanical arm to provide six degrees of freedom's arm, technical personnel in the art can choose different degrees of freedom of motion or different arm specific structure for use according to actual need, can carry out the spraying in many aspects of the multi-angle in order to realize spraying mechanism 100, and it is no longer repeated here.
Referring to fig. 2, the lifting mechanism 200 further includes a docking bracket 260 and a second driver 270, the docking bracket 260 is slidably engaged with the first lifting frame 220, the spraying mechanism 100 is disposed on the docking bracket 260, and the second driver 270 is electrically connected to the controller 310 and can drive the docking bracket 260 to lift on the first lifting frame 220.
The docking mounting frame 260 is used for docking and mounting with a docking part of the spraying mechanism 100, and the second driver 270 is arranged on the first lifting frame 220 to drive the docking mounting frame 260 to lift; when the first lifting frame 220 is lifted to a preset height, the spraying mechanism 100 can perform spraying, and in the spraying process, further lifting operation of the spraying mechanism 100 is realized by further lifting and moving the butt joint mounting frame 260 on the first lifting frame 220, so that spraying operation of the spraying mechanism 100 on areas with different heights is realized; after the spraying of the area is completed, the first lifting frame 220 is further lifted or lowered, and when the lifting of the first lifting frame 220 is completed, the spraying operation of different heights of another area is realized by the lifting of the butt joint mounting frame 260 again, which is not described again here.
The second driver 270 is used for driving the docking mounting frame 260 to ascend and descend on the first lifting frame 220, and can be realized in a screw nut sliding block mode, a sliding rail sliding groove mode and the like, and details are not repeated here.
Referring to fig. 2, the docking bracket 260 has a first slide rail and a first rotatable gear, the first lifting frame 220 has a first slide groove and a first rack, the first slide groove is slidably engaged with the first slide rail, the first rack is engaged with the first gear, and the second driver 270 is disposed on the docking bracket 260 and is used for driving the first gear to rotate.
The butt joint mounting frame 260 is arranged in a table seat type structure, the spraying mechanism 100 is mounted on the butt joint mounting frame 260, and the butt joint mounting frame 260 is in sliding fit with the first sliding groove of the first lifting frame 220 through the first sliding rail; second driver 270 is fixed on butt joint mounting bracket 260, when second driver 270 drives first gear revolve, first gear and first rack toothing, because first gear will make first gear remove along the length direction of first rack when meshing with first rack, and first gear revolve sets up on butt joint mounting bracket 260, thereby drive butt joint mounting bracket 260 and remove along the length direction of first rack equally, the length direction of first rack is the same with the direction of lift of first crane 220, thereby realize the lift removal of butt joint mounting bracket 260 on first crane 220, no longer give unnecessary details here.
The second driver 270 may output a rotational power, such as a servo motor; the non-rotary power can be output and converted to obtain rotary power which can drive the first gear to rotate.
The cooperation of first gear and first rack is one of them realization, under the circumstances that satisfies the requirement, also can adopt guiding hole and guide arm cooperation mode, realizes through tensile butt joint mounting bracket 260, can also adopt modes such as screw-nut slider to realize, and here is no longer repeated.
Referring to fig. 4 and 5, the spraying mechanism 100 includes at least two spraying heads 110 and first installation bases 120, the spraying heads 110 are disposed on the first installation bases 120 at intervals, and the first installation bases 120 are disposed on the first lifting frame 220.
The material spraying head 110 is used for spraying material (such as paint) towards the wall, and the first mounting seat 120 provides mounting support for the material spraying head 110. At least two material spraying heads 110 are arranged, and the adjacent material spraying heads 110 are arranged according to a preset distance, so that the spraying areas of the adjacent material spraying heads 110 can be just overlapped, the spraying thickness of the overlapped area is ensured to be consistent with other areas, and better spraying quality is obtained; meanwhile, compared with a single material spraying head 110, the spraying efficiency of the at least two material spraying heads 110 is greatly improved.
It should be noted that, in specific implementation, the spraying mechanism 100 further includes a material box and a material conveying pipe, the material box is used for containing materials (such as paint), two ends of the material conveying pipe are respectively communicated with the material box and the material spraying head 110 so as to be able to convey the materials in the material box to the material spraying head 110 for spraying, and a person skilled in the art can complete the arrangement according to the existing manner, and details are not described here.
In addition, the spraying mechanism 100 further includes at least two electromagnetic valves, which are disposed corresponding to the material spraying head 110 and are used for controlling the material spraying of the material spraying head 110 and electrically connected to the controller 310. So that each material spraying head 110 can be controlled independently, and the material spraying operation can be performed according to the control instruction of the controller 310, which is not described herein again.
Referring to fig. 3 to 5, the spraying mechanism 100 further includes a first rotating shaft 130 and a third driver 140 electrically connected to the controller 310, the first rotating shaft 130 is rotatably disposed on the first mounting base 120, the third driver 140 is disposed on the first mounting base 120 and is configured to drive the first rotating shaft 130 to rotate along the first axis, and the material spraying heads 110 are disposed on the first rotating shaft 130 at intervals.
The third driver 140 may be a servo motor capable of directly outputting a rotational power to drive the first rotating shaft 130 to rotate; the first rotating shaft 130 may also be driven by a matching component such as a speed reducer, as shown in fig. 3 to 5, a matching component such as a speed reducer is further provided, which is not described herein again.
Referring to fig. 3 to 5, the spraying mechanism 100 further includes at least two second mounting seats 150, the second mounting seats 150 are disposed corresponding to the material spraying heads 110, the material spraying heads 110 are disposed on the corresponding second mounting seats 150, the second mounting seats 150 are disposed with first mounting holes, and the second mounting seats 150 are sleeved on the first rotating shaft 130 through the first mounting holes.
The first mounting seat 120 is arranged in a U-shaped plate structure, and two ends of the first rotating shaft 130 are respectively and rotatably connected to two side plates of the U-shaped first mounting seat 120; second mount pad 150 is the slabby setting, and first pivot 130 is located through first mounting hole cover to second mount pad 150 to accomplish the installation of second mount pad 150, spout stub bar 110 and establish on second mount pad 150, thereby realized spouting stub bar 110's installation, no longer describe repeatedly.
Referring to fig. 3 and 5, the position of the second mounting seat 150 on the first rotating shaft 130 is adjustable, and the position of the second mounting seat 150 is adjusted to adjust the distance between the adjacent material spraying heads 110.
The position of the second mounting seat 150 can be adjusted on the first rotating shaft 130, and after the position of the second mounting seat 150 is adjusted, the distance between the adjacent material spraying heads 110 is also changed, so that the material spraying speed, the material discharging pressure and different material parameters of the actual material spraying heads 110 can be adjusted to meet different spraying requirements, and further description is omitted here
Specifically, it may be: the first rotating shaft 130 is provided with a plurality of adjusting holes which are arranged at intervals, and after the second mounting base 150 is sleeved on the first rotating shaft 130, the elastic pin 160 is arranged, and the elastic pin 160 is matched with the adjusting holes, so that the limiting and mounting of the second mounting base 150 are realized; when the elastic pin 160 is matched with different adjusting holes, the installation of the second mounting seat 150 at different positions on the first rotating shaft 130 is realized, that is, the position adjustment of the second mounting seat 150 is realized, so that the distance between the adjacent material spraying heads 110 is adjusted, and meanwhile, the installation of the material spraying heads 110 of different models can be compatible, which is not described herein again.
Of course, the position of the second mounting seat 150 on the first rotating shaft 130 is adjustable, and may also be implemented in other manners, such as an installation manner by setting a limiting step, an implementation manner by a clamping installation manner, and the like, which are not described herein again.
Referring to fig. 1, 2, 4 and 5, the spraying mechanism 100 further includes a first mounting rod 170 and a fourth driver 180 electrically connected to the controller 310, wherein one end of the first mounting rod 170 is disposed on the first lifting frame 220, the first mounting base 120 is rotatably disposed on the other end of the first mounting rod 170, and the fourth driver 180 is disposed on the first mounting rod 170 and is used for driving the first mounting base 120 to rotate along the second axis.
The first mounting rod 170 lengthens the distance between the spraying mechanism 100 and the lifting mechanism 200, so that the spraying mechanism can conveniently extend into a long and narrow area or corner position for spraying during spraying operation; the first mounting rod 170 may be a rod-shaped structure, a plate-shaped structure or a column-shaped structure, and will not be described in detail.
Specifically, referring to the perspective of fig. 5, the third driver 140 may drive the first rotating shaft 130 to rotate, so as to realize the rotation of the first rotating shaft 130 along the axial direction of the first rotating shaft 130, such as the pitching motion of the material spraying head 110 in the range of-45 ° to 90 ° on the longitudinal plane; and fourth driver 180 can drive first mount pad 120 and rotate to can realize that first mount pad 120 rotates in the direction along longitudinal axis, thereby realize spouting stub bar 110 360 all around rotations on the horizontal direction, through the setting of third driver 140 and fourth driver 180, realize spouting stub bar 110 diversified, multi-angle, multizone spraying operation, promote the spraying operation ability to complicated region.
The fourth driver 180 may be a servo motor, or may be another device capable of outputting rotational power to drive the first mounting base 120 to rotate, which is not described herein again.
Referring to fig. 1, 6 and 7, the painting robot further includes a traveling mechanism 400, the lifting mechanism 200 is disposed on the traveling mechanism 400, the traveling mechanism 400 includes a third mounting seat 420, traveling wheels 430 and a fifth driver electrically connected to the controller 310, the traveling wheels 430 are disposed on the third mounting seat 420, and the fifth driver is disposed on the third mounting seat 420 and is used for driving the traveling wheels 430 to rotate.
The walking mechanism 400 provides a walking module of the spraying robot, so that the spraying robot can walk autonomously to perform all-around spraying operation on a to-be-sprayed area such as a basement without manual movement transposition; the fifth driver is used for driving the road wheels 430 to rotate so as to realize the walking function.
Referring to fig. 6 and 7, the traveling mechanism 400 further includes a floating spring 440, a fourth mounting seat 450, and a bottom frame 410, two ends of the floating spring 440 are respectively connected to the third mounting seat 420 and the fourth mounting seat 450, the traveling wheel 430 is rotatably disposed on the fourth mounting seat 450, and the third mounting seat 420 and the supporting frame 210 are respectively disposed on two opposite sides of the bottom frame 410.
The walking wheel 430 is rotatably arranged on the fourth mounting seat 450, and the floating spring 440 is arranged between the fourth mounting seat 450 and the third mounting seat 420, so that the situation that the work of the whole spraying robot is affected by vibration generated when the terrain is complex is avoided, and the walking mechanism 400 forms a floating type moving system by the arrangement of the floating spring 440, so that the working capacity of the spraying robot under the complex environment terrain is better met.
The third mounting seat 420 may be fixed on the bottom chassis 410 by bolts or screws, and the bottom chassis 410 may also be a bottom plate, and is not limited to a frame, and here, only for convenience of description, and in the case of meeting the requirement, may be flexibly disposed, and is not described again.
Of course, the third mounting seat 420 may also be provided with a limiting shaft, the floating spring 440 is sleeved outside the limiting shaft, and two ends of the floating spring 440 are respectively fixed on the third mounting seat 420 and the fourth mounting seat 450; the actual arrangement can be performed by a person skilled in the art according to specific installation requirements and will not be described in detail here.
It should be noted that not all the walking wheels 430 need to be floating, only two walking wheels may be provided as needed, and one or two of the walking wheels may be provided according to a common wheel structure, which is not described herein again.
Referring to fig. 6 and 7, the fifth driver has at least three and is disposed corresponding to the road wheels 430.
In fig. 6 and 7, four traveling wheels 430 are provided, and four fifth drivers are provided in one-to-one correspondence with the traveling wheels 430. By the arrangement, each walking wheel 430 can be driven independently, the fifth driver receives a control command of the controller 310 to drive different walking wheels 430 differently, and further realize the omnidirectional rotation of the walking mechanism 400, so that the spraying robot walks more flexibly.
In one embodiment, the traveling mechanism 400 further includes a navigator electrically connected to the controller 310. The navigator plays a role in navigating and positioning the traveling mechanism 400, and can be a navigator and the like which can realize autonomous positioning and can realize communication interaction with the controller 310, so that path planning during spraying operation of the spraying robot is coordinately realized; the navigator may also be a map file capable of directly importing an existing painting area to perform communication interaction with the controller 310 after reading the map file, which is not described herein again.
In another embodiment, the traveling mechanism 400 further includes a plurality of position detectors, and the position detectors are electrically connected to the controller 310.
The position detector may be a plurality of sensors capable of sensing the surrounding environment and autonomously establishing a map, and is distributed at different positions of the spraying robot, such as on the support frame 210 or the chassis 410; the position detector can also be an infrared detector and the like, so that information interaction is carried out with the controller 310 by detecting the position information of the position detector and the position information of the periphery, and specification basis of walking and spraying paths is provided; the position detector may also be a device capable of scanning terrain to acquire current spatial live in real time; of course, the system can also be a machine vision system to provide the basis for the walking and spraying path planning of the spraying robot.
The setting of the navigator or the position detector can also realize the identification and avoidance of the barrier in a control mode so as to carry out autonomous deviation rectification and path planning aiming at different buildings and different application scenes and realize more intelligent spraying operation.
Referring to fig. 1 and 8, the control mechanism further includes a control cabinet, a power source 320 and a converter 330, the power source 320, the converter 330 and the controller 310 are disposed in the control cabinet, and the converter 330, the power source 320 and the controller 310 are electrically connected to each other.
The power source 320 may be a high capacity rechargeable battery to provide long endurance and solve the problem of continuous power supply during large-scale spraying operations; of course, the battery can be detachably arranged so as to be convenient to replace; it may also be provided with a fast charging or quick change.
The converter 330 is used for converting the electric energy provided by the battery into electric energy, such as voltage, current, etc., which can be supplied to the spraying mechanism 100 and the lifting mechanism 200; the converter 330 may be a power inverter and will not be described in detail herein.
The control cabinet is used as a cabinet body for installing and protecting the power supply 320 and the converter 330, and the controller 310 can also be installed in the control cabinet together, so that the maintenance is convenient and the safety is also facilitated.
As needed, a person skilled in the art may specifically arrange the connection relationship among the converter 330, the power source 320 and the controller 310, for example, a power inverter may be electrically connected to the controller 310, and the power inverter is electrically connected to the power source 320 to convert the electric energy provided by the power source 320 and provide the electric energy to the controller 310 and the drivers of the spraying mechanism 100 and the lifting mechanism 200, and the description is omitted here.
Of course, please refer to fig. 1, the spraying robot may further be provided with a protection cover 500, and both the control cabinet and the material box may be arranged in the protection cover 500 to perform a protection function; the protection cover 500 is fixed to the bottom frame 410 and will not be described in detail.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A painting robot, comprising:
the spraying mechanism is used for spraying materials;
the lifting mechanism comprises a support frame, a first lifting frame and a first driver, the first driver is arranged on the support frame and used for driving the first lifting frame to lift, and the spraying mechanism is arranged on the first lifting frame; and
the control mechanism comprises a controller, and the first driver is electrically connected with the controller.
2. The painting robot of claim 1, wherein the lifting mechanism further comprises a second lifting frame, a pull rope and a fixed pulley, the first lifting frame is slidably fitted to the second lifting frame, the second lifting frame is slidably fitted to the support frame, the first driver can drive the second lifting frame to lift on the support frame, the fixed pulley is arranged on the second lifting frame, the pull rope is wound on the fixed pulley, one end of the pull rope is connected to the support frame, and the other end of the pull rope is connected to the first lifting frame;
or the lifting mechanism further comprises a scissor type lifting platform, one end of the scissor type lifting platform is arranged on the supporting frame, the first lifting frame is arranged at the other end of the scissor type lifting platform, and the first driver is used for driving the first lifting frame to lift; still be equipped with the arm on the first crane, the arm has two at least degrees of freedom of motion, spraying mechanism locates the arm.
3. The painting robot of claim 2, wherein the lifting mechanism further comprises a docking bracket slidably engaged with the first lifting frame, and a second actuator electrically connected to the controller and capable of driving the docking bracket to lift on the first lifting frame.
4. The spraying robot of claim 3, wherein the docking bracket is provided with a first slide rail and a first rotatable gear, the first crane is provided with a first slide groove and a first rack, the first slide groove is slidably matched with the first slide rail, the first rack is engaged with the first gear, and the second driver is arranged on the docking bracket and is used for driving the first gear to rotate.
5. The coating robot of any one of claims 1-4, wherein the coating mechanism comprises at least two material spraying heads and a first mounting seat, the material spraying heads are arranged on the first mounting seat at intervals, and the first mounting seat is arranged on the first lifting frame.
6. The robot of claim 5, wherein the spraying mechanism further comprises a first shaft and a third driver electrically connected to the controller, the first shaft is rotatably disposed on the first mounting base, the third driver is disposed on the first mounting base and is configured to drive the first shaft to rotate along a first axis, and the material spraying heads are disposed on the first shaft at intervals.
7. The coating robot according to claim 6, wherein the coating mechanism further comprises a second mounting seat, the second mounting seat is provided with at least two second mounting seats, the second mounting seats are arranged corresponding to the material spraying heads, the material spraying heads are arranged on the corresponding second mounting seats, the second mounting seats are provided with first mounting holes, and the second mounting seats are sleeved on the first rotating shaft through the first mounting holes;
the position of the second mounting seat on the first rotating shaft is adjustable, and the position of the second mounting seat is adjusted to adjust the distance between the adjacent material spraying heads.
8. The painting robot of claim 5, wherein the painting mechanism further includes a first mounting rod and a fourth driver electrically connected to the controller, one end of the first mounting rod is disposed on the first crane, the first mounting base is rotatably disposed at the other end of the first mounting rod, and the fourth driver is disposed on the first mounting rod and is configured to drive the first mounting base to rotate along the second axis.
9. The painting robot of claim 5, further comprising a traveling mechanism, wherein the lifting mechanism is disposed on the traveling mechanism, the traveling mechanism includes a third mounting seat, traveling wheels and a fifth driver electrically connected to the controller, the traveling wheels are disposed on the third mounting seat and at least three, and the fifth driver is disposed on the third mounting seat and used for driving the traveling wheels to rotate.
10. The painting robot of claim 9, wherein the traveling mechanism further comprises a floating spring, a fourth mounting seat and a bottom frame, two ends of the floating spring are respectively connected to the third mounting seat and the fourth mounting seat, the traveling wheel is rotatably disposed on the fourth mounting seat, and the third mounting seat and the supporting frame are respectively disposed on two opposite sides of the bottom frame;
the fifth driver is provided with at least three parts and is arranged corresponding to the traveling wheels.
11. The spray coating robot of claim 9 wherein said travel mechanism further comprises a navigator, said navigator being electrically connected to said controller;
or the travelling mechanism further comprises a plurality of position detectors, and the position detectors are electrically connected with the controller.
12. The spray coating robot of claim 9 wherein said control mechanism further comprises a control cabinet, a power source and a converter, said power source, said converter and said controller being disposed in said control cabinet, said converter, said power source and said controller being electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975184.6A CN110644738A (en) | 2019-10-14 | 2019-10-14 | Spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975184.6A CN110644738A (en) | 2019-10-14 | 2019-10-14 | Spraying robot |
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| Publication Number | Publication Date |
|---|---|
| CN110644738A true CN110644738A (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910975184.6A Pending CN110644738A (en) | 2019-10-14 | 2019-10-14 | Spraying robot |
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| Country | Link |
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| CN (1) | CN110644738A (en) |
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| CN115647303A (en) * | 2022-12-19 | 2023-01-31 | 济南二机床集团有限公司 | Automatic spraying equipment for roller casting mold |
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Application publication date: 20200103 |