CN110685425A - Interior wall processing robot - Google Patents
Interior wall processing robot Download PDFInfo
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- CN110685425A CN110685425A CN201910885596.0A CN201910885596A CN110685425A CN 110685425 A CN110685425 A CN 110685425A CN 201910885596 A CN201910885596 A CN 201910885596A CN 110685425 A CN110685425 A CN 110685425A
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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
- B05B13/005—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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/625—Arrangements for supporting spraying apparatus, e.g. suction cups designed to be placed on the ground
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/65—Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits
- B05B15/652—Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits whereby the jet can be oriented
Abstract
The invention discloses an inner wall processing robot, comprising: a base; the transverse telescopic table is arranged on the base and is constructed to be telescopic in length in the horizontal direction; the upright post is movably arranged on the transverse telescopic table along the telescopic direction of the transverse telescopic table, and the moving range of the upright post on the transverse telescopic table is increased and decreased along with the telescopic of the transverse telescopic table; the inner wall processor is arranged on the upright post; the transverse driving device is used for driving the upright post to transversely move along the length direction of the transverse telescopic table; and the vertical driving device is used for driving the inner wall processor to vertically move along the upright post. According to the invention, the transverse telescopic table is additionally arranged on the base, so that after the base of the robot is positioned at one time, the moving range of the inner wall processor can be expanded by means of the ultra-long stroke of the transverse telescopic table, the operation coverage of the inner wall processor is increased, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of construction equipment, in particular to an inner wall processing robot.
Background
At present, the inner wall emulsion paint spraying operation is mainly carried out by a worker holding a spray gun for spraying, the spraying quality is directly related to the operation level of an operator, the labor intensity of the spraying operation is high, chemical paint also causes certain damage to human bodies, and therefore automatic spraying equipment is needed for assisting in spraying of the paint. The existence of automatic painting equipment on the market has certain disadvantages, such as:
the invention patent with the Chinese patent application number of CN 109339409A discloses an indoor wall water-based environment-friendly paint spraying device convenient for high-altitude operation, and the left and right movement of a spray head is controlled by the movement of a trolley. However, the trolley is complex in positioning, the spray head cannot rotate, the efficiency of spraying is too low, and the adaptability is insufficient.
The invention patent with Chinese patent application number CN 109958263A discloses a spraying robot, and a chassis is pushed manually, which wastes manpower.
The utility model with the application number of CN 204754142U in the Chinese patent discloses an indoor wall paint spraying device, the spraying direction of height can not be adjusted, and the left and right movement of a spray head is controlled by the movement of a trolley. However, the trolley is complex in positioning, the spray head cannot rotate, the efficiency of spraying is too low, and the adaptability is insufficient.
The utility model discloses a disclose a special paint spraying equipment of interior wall body in the utility model patent of chinese patent application number CN 207211663U, the spraying goes up and down to lean on the cylinder, can't adapt to indoor operation non-compressed air source environment, and adaptability is not enough.
In conclusion, the transverse movement of the spray heads in all the patents is mostly realized by moving the chassis, and the moving coverage width of each time of paint spraying is less than 300 mm; after each spraying of one area, the chassis moves to the next area to be repositioned, and the more times the chassis moves, the lower the efficiency.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an inner wall processing robot, which aims to solve the problems of small coverage area, frequent chassis movement times and low working efficiency during inner wall processing.
An interior wall processing robot according to an embodiment of the present invention includes: a base; the transverse telescopic table is arranged on the base and is constructed to be telescopic in length in the horizontal direction; the upright post is movably arranged on the transverse telescopic table along the telescopic direction of the transverse telescopic table, and the moving range of the upright post on the transverse telescopic table is increased and decreased along with the telescopic of the transverse telescopic table; the inner wall processor is arranged on the upright post; the transverse driving device is used for driving the upright post to transversely move along the length direction of the transverse telescopic table; and the vertical driving device is used for driving the inner wall processor to vertically move along the upright post.
According to the inner wall processing robot provided by the embodiment of the invention, the transverse telescopic table is additionally arranged on the base, so that after the base of the robot is positioned at one time, the moving range of the inner wall processor can be expanded by means of the ultra-long stroke of the transverse telescopic table, the operation coverage of the inner wall processor is increased, and the working efficiency is greatly improved.
In some embodiments, the transverse telescoping table comprises at least two stages of telescoping arms, the telescoping arms comprising at least a primary arm and a secondary arm, the primary arm being connected to the base, the secondary arm being movably disposed on the primary arm; in addition, the inner wall processing robot further comprises a transverse guide device, the transverse guide device comprises a first guide piece arranged on each stage of the telescopic arm, and the transverse guide device further comprises a second guide piece arranged on the upright post and matched with the first guide piece.
Preferably, the first guide part comprises a guide rail arranged on each telescopic arm, the guide rails are arranged in parallel in multiple stages, the second guide part comprises multiple stages of guide sleeves arranged in one-to-one correspondence with the telescopic arms in different stages, and when the transverse telescopic table is shortened to the shortest, the guide sleeves in multiple stages are respectively sleeved on the guide rails in multiple stages.
Preferably, a plurality of the telescopic arms on the transverse telescopic table are symmetrically arranged relative to the base, the telescopic arms on each side are at least two stages, and the guide rail on the telescopic arm on one side is provided with another guide rail which is collinear on the telescopic arm on the same stage on the other side.
In some embodiments, the telescoping arm further comprises a tertiary arm movably disposed on the secondary arm, the lateral telescoping stage comprising: the telescopic driving piece is connected between the primary arm and the secondary arm so as to drive the secondary arm to move relative to the primary arm during telescoping; the telescopic linkage assembly is respectively connected with the first-stage arm, the second-stage arm and the third-stage arm, and the telescopic linkage assembly is structured to drive the third-stage arm to move in the same direction relative to the second-stage arm when the second-stage arm moves relative to the first-stage arm.
Preferably, the pantograph linkage assembly comprises: the first pulley frame is erected on the secondary arm; the first fixed pulley is arranged on the first pulley frame; the first rope body is matched with the first fixed pulley, and two ends of the first rope body are respectively connected with the first-stage arm and the third-stage arm.
In some embodiments, the lateral drive means comprises two sets of lateral drive cords, each set of lateral drive cords comprising: the second rope body is connected between the transverse telescopic table and the upright post; the rope retracting piece is arranged on the transverse telescopic table or the upright post and is used for paying out and retracting the second rope body; the two groups of transverse driving rope groups are arranged along the telescopic direction of the transverse telescopic table, and when one group of rope retracting pieces retract the second rope body, the other group of rope retracting pieces release the second rope body.
Preferably, the lateral driving device further comprises: the second pulley frame is erected on the transverse telescopic table; the second fixed pulley is arranged on the second pulley frame, and the second rope body is matched on the second fixed pulley; the two groups of second pulley frames are respectively positioned at two ends of the transverse telescopic table which extend to the longest; in addition, the rope winding piece comprises a winch arranged on the upright post.
In some embodiments, the interior wall treatment robot comprises: the vertical driving device is connected with the vertical column to drive the vertical column to vertically move; the mounting table is arranged on the longitudinal column in a horizontally movable manner, and the moving direction of the mounting table on the longitudinal column is vertical to the stretching direction of the transverse stretching table; the rotating assembly is arranged on the mounting table, the execution end of the inner wall processor is arranged on the rotating assembly, and the rotating assembly enables the execution end to have at least one rotational degree of freedom.
In some embodiments, the interior wall processor is a wall paint applicator or a wall sander.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic perspective view of an interior wall processing robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an extended transverse telescopic table of the inner wall processing robot according to the embodiment of the present invention;
FIG. 3 is a schematic view of a part of the extended structure of the transverse telescopic table of the inner wall processing robot according to the embodiment of the invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at II;
FIG. 5 is an enlarged view of a portion of FIG. 1 at I;
FIG. 6 is a schematic view of the internal structure of the telescoping linkage assembly according to the embodiment of the present invention;
FIG. 7 is a schematic view of a second partial structure of the extended transverse telescopic table of the inner wall processing robot according to the embodiment of the present invention;
fig. 8 is a partial structural schematic view of an interior wall processing robot according to an embodiment of the present invention.
Reference numerals:
an interior wall processing robot 100;
a base 10;
a transverse telescopic table 20; a telescopic arm 21; a primary arm 211; a secondary arm 212; a tertiary arm 213; a telescopic drive member 22; a connecting rod 221; a telescoping linkage assembly 23; a first pulley yoke 231; a first fixed pulley 232; a first rope 233; a first wire fastener 2331; a second wire fixing 2332; a third pulley yoke 234; a third fixed sheave 235; a third rope 236; a third wire fixing member 2361; a drive lever 237; a support platform 24;
a column 30;
an interior wall processor 40; an execution end 41;
a lateral driving device 50; a transverse drive rope set 51; a second rope 511; a rope retracting member 512; a hoist 5121; a third motor 5122; a second pulley frame 52; a second fixed sheave 53;
a lateral guide 70; the first guide 71; a guide rail 711; primary guide rails 7111; secondary guide 7112; a tertiary guide 7113; a second guide 72; a guide sleeve 721; a primary guide sleeve 7211; a secondary guide sleeve 7212; a tertiary guide sleeve 7213;
a vertical driving device 60;
a longitudinal post 80;
a mounting table 90;
a rotating assembly 1; a first motor 11; a first rotary platform 12; a second motor 13; a second rotary platform 14;
a control device 2.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
An interior wall processing robot 100 according to an embodiment of the present invention will be described with reference to the drawings.
As shown in fig. 1, an interior wall processing robot according to an embodiment of the present invention includes: the device comprises a base 10, a transverse telescopic table 20, a stand column 30, an inner wall processor 40, a transverse driving device 50 and a vertical driving device 60.
A lateral expansion stage 20 is provided on the base 10, and the lateral expansion stage 20 is configured to be expandable and contractible in length in the horizontal direction. The column 30 is movably provided on the lateral telescopic stage 20 in the telescopic direction of the lateral telescopic stage 20, and the moving range of the column 30 on the lateral telescopic stage 20 is increased or decreased according to the extension or contraction of the lateral telescopic stage 20. That is, since the length of the transverse telescopic table 20 is telescopic, the moving stroke of the upright 30 on the transverse telescopic table 20 can be adjusted accordingly, for example, the stroke of the upright 30 is greatly increased when the transverse telescopic table 20 is extended; when the lateral expansion table 20 is shortened, the stroke of the upright 30 can be shortened correspondingly.
The inner wall processor 40 is provided on the pillar 30 and can be used for inner wall processing. The transverse driving device 50 is used for driving the upright 30 to transversely move along the length direction of the transverse telescopic table 20. The vertical driving device 60 is used for driving the inner wall processor 40 to vertically move along the upright post 30, so that the requirement that the inner wall processor 40 processes wall surfaces with different heights can be met.
It should be noted that, because the inner wall processor 40 is disposed on the upright 30, when the transverse moving stroke of the upright 30 increases along with the extension of the transverse telescopic table 20, the inner wall processor 40 can obtain an ultra-long stroke, so as to expand the moving range of the inner wall processor 40, and the vertical driving device 60 is matched to drive the inner wall processor 40 to vertically move along the upright 30, so that the operation coverage area of the inner wall processor 40 is greatly increased, thereby achieving the purpose of processing a complete wall surface range at a time, greatly enhancing the adaptability of the robot, and improving the operation capability of the robot.
According to the inner wall processing robot 100 of the embodiment of the invention, the transverse telescopic table 20 is additionally arranged on the base 10, so that after the base 10 of the robot is positioned at one time, the moving range of the inner wall processor 40 can be expanded by means of the ultra-long stroke of the transverse telescopic table 20, the operation coverage of the inner wall processor 40 is increased, and the working efficiency is greatly improved.
In some embodiments, as shown in fig. 2 and 3, the transverse telescoping table 20 includes at least two stages of telescoping arms 21, the telescoping arms 21 including at least a primary arm 211 and a secondary arm 212, the primary arm 211 being coupled to the base 10, the secondary arm 212 being movably disposed on the primary arm 211. Through the cooperation of the primary arm 211 and the secondary arm 212, the transverse expansion table 20 can be extended or shortened along the horizontal direction. In addition, as shown in fig. 4 and 5, the interior wall processing robot 100 further includes a lateral guide device 70, the lateral guide device 70 including a first guide 71 provided on each stage of the telescopic arm 21, the lateral guide device 70 further including a second guide 72 provided on the column 30 to be engaged with the first guide 71. Therefore, the first guide 71 and the second guide 72 are engaged with each other, so that the column 30 can stably move on each stage of the telescopic arm 21, thereby improving reliability therebetween.
Preferably, as shown in fig. 4 and 5, the first guide 71 includes a guide rail 711 provided on each telescopic arm 21, the guide rails 711 in multiple stages are arranged in parallel, the second guide 72 includes multiple guide sleeves 721 arranged in one-to-one correspondence to the telescopic arms 21 in each stage, the guide rail 711 is used as the first guide 71, the guide sleeve 721 is used as the second guide 72, and the guide rail 711 and the guide sleeve 721 are simple in structure and reliable in matching, so that cost is saved and stable guide support can be provided. When the lateral expansion table 20 is shortened to the shortest, the multistage guide sleeves 721 are respectively fitted over the multistage guide rails 711.
Preferably, the plurality of telescopic arms 21 on the transverse telescopic table 20 are symmetrically arranged relative to the base 10, and each telescopic arm 21 on each side is at least two-stage, that is, both sides of the transverse telescopic table 20 can be extended, so that the transverse telescopic table 20 can obtain a longer stroke; or, both sides of the transverse telescopic table 20 can be shortened, so that the stroke of the transverse telescopic table 20 is correspondingly shortened, and the wall surface processing condition in a small stroke is adapted. The guide rail 711 of the telescopic boom 21 on one side has another guide rail 711 collinear with the telescopic boom 21 on the same side on the other side, so that the two telescopic booms 21 are guided, and the telescopic booms 21 on the two sides can be reliably extended or shortened.
In some embodiments, as shown in fig. 2 and 3, the telescopic arm 21 further comprises a tertiary arm 213, the tertiary arm 213 being movably disposed on the secondary arm 212, the stroke of the transverse telescopic stage 20 being further increased by adding the tertiary arm 213. Certainly, the telescopic arm 21 is not limited to three-level telescopic, and according to the operation requirement of the robot, the telescopic arm 21 can be provided with four telescopic arms 21 to realize four-level telescopic, or more telescopic arms 21 can be arranged to realize multi-level telescopic, and the telescopic arm can be specifically adjusted according to the field conditions, so that the requirements of various conditions are met.
The lateral expansion stage 20 includes: as shown in fig. 6, a telescopic driver 22 and a telescopic linkage assembly 23. Telescoping drive 22 is coupled between primary arm 211 and secondary arm 212 to drive movement of secondary arm 212 relative to primary arm 211 during telescoping. And the telescopic linkage assembly 23 is connected with the first-stage arm 211, the second-stage arm 212 and the third-stage arm 213 respectively, and the telescopic linkage assembly 23 is constructed to drive the third-stage arm 213 to move in the same direction relative to the second-stage arm 212 when the second-stage arm 212 moves relative to the first-stage arm 211. That is, the telescopic driving member 22 and the telescopic link assembly 23 cooperate together to realize the relative movement of the primary arm 211, the secondary arm 212 and the tertiary arm 213, thereby realizing the tertiary telescoping.
In some embodiments, the telescopic driving member 22 is a cylinder, and one end of the cylinder is fixed on the primary arm 211 and the other end is fixed on the secondary arm 212, so that the secondary arm 212 is driven to extend from the primary arm 211 by extending the cylinder, or the secondary arm 212 is driven to retract into the primary arm 211 by shortening the cylinder to realize the resetting. Of course, the retraction driving member 22 is not limited thereto, and the retraction driving member 22 may be any one of an oil cylinder and an electric cylinder, and will not be described in detail here.
Preferably, as shown in fig. 6, the pantograph linkage assembly 23 includes: a first pulley frame 231, a first fixed pulley 232 and a first rope body 233. The first pulley yoke 231 is provided on the secondary arm 212; the first fixed pulley 232 is disposed on the first pulley frame 231; the first rope 233 is fitted over the first fixed sheave 232, and both ends of the first rope 233 are connected to the first-stage arm 211 and the third-stage arm 213, respectively. By adopting the mode, when the third-stage arm 213 extends outwards, the first rope 233 is driven to move outwards at the end close to the third-stage arm 213 and is fed back to the second-stage arm 212 through the first fixed pulley 232, so that the second-stage arm 212 is dragged to extend outwards relative to the first-stage arm 211.
Preferably, as shown in fig. 6, the telescoping linkage assembly 23 further includes a third pulley frame 234, a third fixed pulley 235, a third rope 236, and a driving rod 237. One end of the driving rod 237 is fixed on the secondary arm 212 and the other end is connected to the third pulley frame 234, the third fixed pulley 235 is arranged on the third pulley frame 234, one end of the third rope 236 is connected to the tertiary arm 213, and the other end passes through the tertiary arm 213 and the secondary arm 212 to be connected to the primary arm 211. That is, when the telescopic driving member 22 drives the secondary arm 212 to extend outward relative to the primary arm 211, the driving rod 237 moves synchronously with the secondary arm 212, and at this time, the third fixed pulley 235 at the end of the driving rod 237 pushes the third rope 236, so that one end of the third rope 236 near the primary arm 211 is extended and one end near the tertiary arm 213 is shortened, thereby driving the tertiary arm 213 to extend outward relative to the secondary arm 212, so as to realize the relative movement of the primary arm 211, the secondary arm 212, and the tertiary arm 213.
In some embodiments, as shown in fig. 6, the first rope 233 and the third rope 236 are both steel cables, which have high strength and are easy to install. Both ends of the first rope 233 are connected to the third-stage arm 213 and the first-stage arm 211 by first and second wire fasteners 2331 and 2332, respectively. One end of the third rope 236 is connected to the primary arm 211 by a third wire fastener 2361.
In some embodiments, as shown in fig. 3 and 7, the transverse drive means 50 comprise two transverse drive rope sets 51, each transverse drive rope set 51 comprising: a second rope body 511 and a rope-collecting piece 512, wherein the second rope body 511 is connected between the transverse expansion platform 20 and the upright post 30; the rope-retracting member 512 is provided on the transverse expansion platform 20 or the upright post 30, and the rope-retracting member 512 is used for paying out and retracting the second rope body 511. For example, one end of the second rope 511 is connected to the transverse expansion platform 20 and the other end is connected to the upright post 30, when the rope-retracting member 512 is disposed on the upright post 30, the rope-retracting member 512 retracts the second rope 511, the length of the second rope 511 is shortened, and the upright post 30 can move along the direction of shortening the length of the rope along with the rope-retracting member 512, so as to drive the upright post 30 to move along the transverse expansion platform 20. Similarly, the rope-retracting element 512 may be disposed on the transverse expansion platform 20, the rope-retracting element 512 retracts the second rope 511, the length of the second rope 511 is shortened, and at this time, the second rope 511 may drag the upright post 30 to move along the direction of shortening the length of the rope, and may also serve to drive the upright post 30 to move along the transverse expansion platform 20.
As shown in fig. 7, the two sets of transverse driving rope sets 51 are arranged along the extending and retracting direction of the transverse extending and retracting table 20, and when the rope retracting member 512 of one set retracts the second rope body 511, the rope retracting member 512 of the other set releases the second rope body 511. For example, two sets of transverse driving rope sets 51 are respectively arranged at the left and right sides of the transverse telescopic table 20, when the rope-retracting member 512 at the left side retracts the second rope body 511 and the rope-retracting member 512 at the right side pays out the second rope body 51, the upright post 30 moves leftwards on the transverse telescopic table 20; when the right rope-retracting member 512 retracts the second rope 511 and the left rope-retracting member 512 pays out the second rope 51, the upright post 30 moves rightwards on the transverse expansion table 20. In this way, the upright 30 is driven to move in different directions, and the structure is simple and the operation is more convenient.
Preferably, as shown in fig. 3 and 7, the lateral driving device 50 further includes: a second pulley frame 52 and a second fixed pulley 53. The second pulley frame 52 is arranged on the transverse telescopic table 20, the second fixed pulley 53 is arranged on the second pulley frame 52, the second rope body 511 is matched on the second fixed pulley 53, and the second rope body 511 rotates on the second fixed pulley 53 in the retracting or releasing process in the mode, so that the second rope body 511 acts more smoothly, the friction loss can be reduced, and the work of the second rope body 511 is facilitated. Wherein, two sets of second pulley racks 52 are respectively located at two ends of the transverse telescopic table 20 extending to the longest, so as to ensure that the upright 30 can move to the two ends of the transverse telescopic table 20 at the longest, and ensure that the upright 30 has the largest stroke.
In addition, as shown in fig. 7, the rope take-up 512 includes a hoist 5121 provided on the column 30 so as to serve the purpose of taking in or paying out the second rope 511 by the normal and reverse rotations of the hoist 5121.
In some embodiments, as shown in fig. 1, 2, 8, the interior wall treatment robot 100 further comprises: longitudinal column 80, mounting table 90, rotating assembly 1. The longitudinal column 80 is provided on the upright column 30, and the vertical driving means 60 is connected to the longitudinal column 80 to drive the longitudinal column 80 to move vertically. The mounting table 90 is horizontally movably disposed on the longitudinal column 80, and a moving direction of the mounting table 90 on the longitudinal column 80 is perpendicular to a stretching direction of the transverse stretching table 20, for example, when the transverse stretching table 20 stretches in a left-right direction, the mounting table 90 moves back and forth along the longitudinal column 80, thereby achieving a longitudinal movement. The rotating assembly 1 is arranged on the mounting table 90, the execution end 41 of the inner wall processor 40 is arranged on the rotating assembly 1, the rotating assembly 1 enables the execution end 41 to have at least one degree of rotational freedom, namely, the inner wall processor 40 can realize a plurality of pose adjustments by arranging a plurality of degrees of freedom on the rotating assembly 1, so that the inner wall processor can adapt to wall surface processing under different working conditions, and the adaptability is greatly improved.
In some embodiments, the longitudinal post 80 is a linear slide that drives the movement of the mounting table 90. The longitudinal posts 80 are not limited thereto and may be other linear modules, which will not be described in detail herein.
In some embodiments, the vertical drive 60 is a lift assembly, such as a lead screw nut lift mechanism, and will not be described in detail herein.
In some embodiments, as shown in fig. 8, the rotating assembly 1 includes a first motor 11, a first rotating platform 12, a second motor 13, and a second rotating platform 14. The first motor 11 is arranged on the mounting table 90, a motor shaft of the first motor 11 is connected with the first rotating platform 12 and drives the first rotating platform 12 to rotate, the second rotating platform 14 and the second motor 13 are both arranged on the first rotating platform 12, and a motor shaft of the second motor 13 is connected with the second rotating platform 14 and drives the second rotating platform 14 to rotate; wherein, the execution end 41 of the inner wall processor 40 is arranged on the second rotary platform 14, and the rotating shaft of the first rotary platform 12 and the rotating shaft of the second rotary platform 14 are perpendicular to each other. For example, when the first motor 11 drives the first rotary platform 12 to rotate, the inner wall processor 40 is driven to turn back and forth; when the second motor 13 rotates the second rotary platform 14, the inner wall processor 40 is driven to rotate on the horizontal plane. That is, the rotating assembly 1 has two degrees of rotational freedom to accommodate the two degrees of freedom rotation of the interior wall processor 40. It should be noted that the structure of the rotating assembly 1 is not limited to this, and other structures are also possible, and will not be described in detail here.
In some embodiments, the interior wall processor 40 is a wall surface sprayer or wall surface sander to enable painting of the wall surface, or sanding of the wall surface.
In some embodiments, as shown in fig. 1 and 2, a walking device (not shown) is provided on the base 10, so as to realize walking of the base 10.
In some embodiments, as shown in fig. 1 and 2, the lateral expansion platform 20 is provided with a support platform 24 at both ends thereof for supporting the extended lateral expansion platform 20 to ensure the stability of the lateral expansion platform 20.
In some embodiments, as shown in fig. 1 and 2, the control device 2 is disposed on the upright 30, and the control device 2 cooperates with each other through the respective parts to complete the wall surface processing operation.
An embodiment of the interior wall processing robot 100 of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1 to 8, an inner wall processing robot 100 includes a base 10, a horizontal telescopic table 20, a column 30, an inner wall processor 40, a horizontal driving device 50, a vertical driving device 60, a horizontal guiding device 70, a longitudinal column 80, a mounting table 90, a rotating assembly 1, and a control device 2.
The base 10 is provided with a transverse telescopic table 20 which can transversely move, a vertical driving device 60 and a longitudinal column 80 form a three-dimensional motion platform, the end-end execution mechanism inner wall processor 40 is a spraying device and is arranged on the longitudinal column 80, the inner wall processor 40 can also rotate and turn, and the three-dimensional motion platform drives the inner wall processor 40 to perform spraying operation.
Specifically, the transverse telescopic table 20 comprises a primary arm 211, a secondary arm 212, a tertiary arm 213 and a transverse driving device 50, the three-section telescopic arm 21 can extend and contract, a guide rail 711 is arranged on the telescopic arm 21, a guide sleeve 721 is arranged on the upright 30, and the upright 30 connected with the guide rail 711 and the guide sleeve 721 can move on the three-section telescopic arm 21.
Among them, as shown in fig. 4 and 5, the guide rail 711 includes two spaced-apart primary guide rails 7111, two spaced-apart secondary guide rails 7112, and two spaced-apart tertiary guide rails 7113. The guide sleeve 721 includes two spaced primary 7211, two spaced secondary 7212, and two spaced tertiary 7213 guide sleeves. Two first-stage guide rails 7111 are arranged on the first-stage arm 211, two second-stage guide rails 7112 are arranged on the second-stage arm 212, two third-stage guide rails 7113 are arranged on the third-stage arm 213, the first-stage guide rail 7111 on the first-stage arm 211 corresponds to the first-stage guide sleeve 7211 on the upright 30, the second-stage guide rail 7112 on the second-stage arm 212 corresponds to the second-stage guide sleeve 7212 on the upright 30, the third-stage guide rail 7113 on the third-stage arm 213 corresponds to the third-stage guide sleeve 7213 on the upright 30, the first-stage guide rail 7111 is matched with the first-stage guide sleeve 7211 when, the primary guide rail 7111 is disengaged from the primary guide sleeve 7211, the secondary guide rail 7112 is engaged with the secondary guide sleeve 7212, and when the upright 30 moves to the tertiary arm 213, the guide rail secondary guide rail 7112 is separated from the secondary guide sleeve 7212, the tertiary guide rail 7113 is matched with the tertiary guide sleeve 7213, the upright 30 is moved on the three telescopic arms 21 by means of corresponding guides 711 and guides 721 on the different telescopic arms 21.
The transverse telescopic table 20 comprises a primary arm 211, an electric cylinder is arranged on the primary arm 211, a connecting rod 221 is connected onto the electric cylinder, the secondary arm 212 is driven by the connecting rod 221 to stretch out, a driving rod 237 is arranged on the secondary arm 212, the driving rod 237 is driven by the third pulley frame 234, a third fixed pulley 235, a third rope 236 and a third steel wire firmware 2361 to form a pulley device synchronous driving tertiary arm 213, synchronous stretching of the three-section telescopic arm 21 is realized, the electric cylinder drives the secondary arm 212 to retract through the connecting rod 221, the first pulley frame 231, the first fixed pulley 232, the first rope 233, the first steel wire firmware 2331 and the second steel wire firmware 2332 are used for forming the pulley device synchronous driving tertiary arm 213, and synchronous retraction of the three-section telescopic arm 21 is realized.
The transverse driving device 50 comprises two transverse driving rope groups 51, a second pulley frame 52 and a second fixed pulley 53, and each transverse driving rope group 51 comprises: a second rope body 511 and a rope collecting piece 512, wherein each group of transverse driving rope group 51 is provided with a second pulley frame 52 and a second fixed pulley 53 correspondingly; the rope winding member 512 is a winding engine 5121, and the winding engine 5121 is connected to a third motor 5122. One end of the second rope 511 is connected to the pillar 30 and the other end is connected to the hoist 5121, when the left hoist 5121 retracts the second rope 511, the right hoist 5121 releases the second rope 511, the pillar 30 moves leftward, and when the left hoist 5121 releases the second rope 511, the right hoist 5121 retracts the second rope 511, and the pillar 30 moves rightward.
The invention is used for spraying wall surface, and the spraying component comprises: interior wall handler 40, mounting table 90, and rotating assembly 1. The rotating assembly 1 includes a first motor 11, a first rotating platform 12, a second motor 13, and a second rotating platform 14. Interior wall treater 40 is the shower nozzle and installs on second rotary platform 14, drives second rotary platform 14 through second motor 13 and rotates, and second rotary platform 14 installs on first rotary platform 12, drives first rotary platform 12 through first motor 11 and rotates, and interior wall treater 40 passes through mount table 90 and installs on vertical post 80, realizes the longitudinal movement of shower nozzle.
The invention comprises a spraying system, a lifting component, a transverse telescopic table 20, a longitudinal column 80, a supporting platform 24, a movable base 10 and a control device 2, wherein the spraying operation of the wall surface is completed through the cooperation of all parts;
in order to achieve the purpose, the invention adopts the technical scheme that: the base 10 can horizontal migration, carries on the three-dimensional motion platform that lifting unit and horizontal flexible platform 20 still had vertical post 80 to constitute above-mentioned, when carrying out the spraying operation, the nozzle is installed on the spraying component of the vertical post 80 in above-mentioned motion platform, and the nozzle passes through feeding system blowout coating, and motion platform drives the shower nozzle and realizes the gesture transform in space range to accomplish the spraying operation.
Wherein, interior wall treatment robot 100 gets into the construction area, can scan and the automatic movement the roofing condition, thereby can plan out spray assembly's spraying route, after the robot got into the spraying position, horizontal flexible platform 20 stretches out, the horizontal range that spray assembly can remove reaches the maximum stroke this moment, support platform 24 immediately and stretch out the landing leg and prop ground, in order to guarantee the spraying operation process, equipment does not topple, horizontal flexible platform 20 controls spray assembly's lateral shifting, lift assembly controls spray assembly's vertical migration, vertical column 80 controls spray assembly's longitudinal movement, spray assembly can also rotate and overturn, it is more nimble convenient during shower nozzle spraying like this.
In conclusion, the transverse telescopic table 20 and the longitudinal column 80 are added on the movable base 10, so that the width of the coverage range of the equipment for one-time paint spraying reaches 3000mm, the moving times of the base 10 are greatly reduced, the working efficiency is improved, and the spray head moves on the guide rail platform for spraying, so that the paint spraying stability is higher than that of the base 10 for walking and spraying.
Other configurations and operations of the interior wall processing robot 100 according to the embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An interior wall treatment robot, comprising:
a base;
the transverse telescopic table is arranged on the base and is constructed to be telescopic in length in the horizontal direction;
the upright post is movably arranged on the transverse telescopic table along the telescopic direction of the transverse telescopic table, and the moving range of the upright post on the transverse telescopic table is increased and decreased along with the telescopic of the transverse telescopic table;
the inner wall processor is arranged on the upright post;
the transverse driving device is used for driving the upright post to transversely move along the length direction of the transverse telescopic table;
and the vertical driving device is used for driving the inner wall processor to vertically move along the upright post.
2. The interior wall processing robot according to claim 1, wherein the transverse telescoping table comprises at least two stages of telescoping arms, the telescoping arms comprising at least a primary arm and a secondary arm, the primary arm being connected to the base, the secondary arm being movably disposed on the primary arm; in addition, the air conditioner is provided with a fan,
interior wall treatment robot still includes horizontal guider, horizontal guider is including establishing at each grade first guide on the telescopic boom, horizontal guider is still including establishing on the stand with the second guide that first guide cooperateed.
3. The interior wall processing robot according to claim 2, wherein the first guide member includes a guide rail provided on each of the telescopic arms, and the plurality of stages of guide rails are arranged in parallel, and the second guide member includes a plurality of stages of guide sleeves provided in one-to-one correspondence with the respective stages of telescopic arms, and the plurality of stages of guide sleeves are respectively fitted over the plurality of stages of guide rails when the transverse telescopic stage is shortened to the shortest.
4. An interior wall treatment robot as claimed in claim 3, wherein a plurality of said telescopic booms on said transverse telescopic table are symmetrically arranged with respect to said base, said telescopic booms on each side being at least two stages, said guide rail on said telescopic boom on one side having another said guide rail on said telescopic boom on the same stage on the other side being collinear.
5. The interior wall treatment robot of claim 2, wherein the telescoping arm further comprises a tertiary arm movably disposed on the secondary arm, the transverse telescoping stage comprising:
the telescopic driving piece is connected between the primary arm and the secondary arm so as to drive the secondary arm to move relative to the primary arm during telescoping;
the telescopic linkage assembly is respectively connected with the first-stage arm, the second-stage arm and the third-stage arm, and the telescopic linkage assembly is structured to drive the third-stage arm to move in the same direction relative to the second-stage arm when the second-stage arm moves relative to the first-stage arm.
6. The interior wall treatment robot of claim 5, wherein the pantograph linkage assembly comprises:
the first pulley frame is erected on the secondary arm;
the first fixed pulley is arranged on the first pulley frame;
the first rope body is matched with the first fixed pulley, and two ends of the first rope body are respectively connected with the first-stage arm and the third-stage arm.
7. The interior wall treatment robot according to claim 1, wherein the lateral drive means comprises two sets of lateral drive ropes, each set of lateral drive ropes comprising:
the second rope body is connected between the transverse telescopic table and the upright post;
the rope retracting piece is arranged on the transverse telescopic table or the upright post and is used for paying out and retracting the second rope body; wherein the content of the first and second substances,
the two groups of transverse driving rope groups are arranged along the telescopic direction of the transverse telescopic table, and when one group of rope retracting pieces retract the second rope body, the other group of rope retracting pieces release the second rope body.
8. The interior wall treatment robot according to claim 7, wherein the lateral driving device further comprises:
the second pulley frame is erected on the transverse telescopic table;
the second fixed pulley is arranged on the second pulley frame, and the second rope body is matched on the second fixed pulley; wherein the content of the first and second substances,
the two groups of second pulley frames are respectively positioned at two ends of the transverse telescopic table which extend to the longest; in addition, the first and second substrates are,
the rope-collecting piece comprises a winch arranged on the upright post.
9. The interior wall treatment robot according to claim 1, further comprising:
the vertical driving device is connected with the vertical column to drive the vertical column to vertically move;
the mounting table is arranged on the longitudinal column in a horizontally movable manner, and the moving direction of the mounting table on the longitudinal column is vertical to the stretching direction of the transverse stretching table;
the rotating assembly is arranged on the mounting table, the execution end of the inner wall processor is arranged on the rotating assembly, and the rotating assembly enables the execution end to have at least one rotational degree of freedom.
10. An interior wall treatment robot according to any of claims 1-9, wherein the interior wall treatment device is a wall surface sprayer or a wall surface sander.
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| CN201910885596.0A CN110685425B (en) | 2019-09-19 | 2019-09-19 | Interior wall processing robot |
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| CN201910885596.0A CN110685425B (en) | 2019-09-19 | 2019-09-19 | Interior wall processing robot |
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| CN111890153A (en) * | 2020-08-05 | 2020-11-06 | 程诗栋 | Building outer wall equipment of polishing |
| CN113787837A (en) * | 2021-09-13 | 2021-12-14 | 苏州邦得新材料科技有限公司 | Printing device for metal decorative plate and printing method thereof |
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| CN114770260A (en) * | 2021-01-22 | 2022-07-22 | 广东博智林机器人有限公司 | Wall grinding device and wall grinding robot |
| CN115026637A (en) * | 2022-07-05 | 2022-09-09 | 重庆筑甲机器人科技有限公司 | Wall surface automatic leveling system based on three-dimensional modeling |
| CN115070534A (en) * | 2021-03-10 | 2022-09-20 | 广东博智林机器人有限公司 | A grinding device and polishing robot for climbing barrier is kept away to interior pole setting of frame |
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