CN111957477A - Playground stand coating device capable of automatically climbing - Google Patents
Playground stand coating device capable of automatically climbing Download PDFInfo
- Publication number
- CN111957477A CN111957477A CN202010805304.0A CN202010805304A CN111957477A CN 111957477 A CN111957477 A CN 111957477A CN 202010805304 A CN202010805304 A CN 202010805304A CN 111957477 A CN111957477 A CN 111957477A
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- climbing
- spraying
- frame
- coating
- main body
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- 230000009194 climbing Effects 0.000 title claims abstract description 108
- 239000011248 coating agent Substances 0.000 title claims abstract description 66
- 238000000576 coating method Methods 0.000 title claims abstract description 66
- 238000005507 spraying Methods 0.000 claims abstract description 97
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 238000005096 rolling process Methods 0.000 claims abstract description 40
- 239000003973 paint Substances 0.000 claims abstract description 31
- 239000007921 spray Substances 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 28
- 230000001680 brushing effect Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 3
- 239000010410 layer Substances 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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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
-
- 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
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
- B05B9/0413—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with reciprocating pumps, e.g. membrane pump, piston pump, bellow pump
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a playground stand coating device capable of automatically climbing, and relates to the technical field of coating equipment. The playground stand coating device capable of automatically climbing comprises a device main body, wherein the device main body comprises a frame and a bottom plate arranged at the bottom of the frame, and the playground stand coating device further comprises: the travelling mechanism is arranged on the bottom plate and used for driving the device main body to horizontally move; the climbing mechanism is connected with the frame and is used for driving the main body of the device to climb along the steps; and the spraying mechanism is arranged on the device main body and is used for spraying paint. According to the invention, the front and rear spraying devices and the side spraying device are arranged, so that the coating on the horizontal surface and the vertical surface of the step of the stand can be sprayed and brushed at the same time, the coverage is more complete, and the efficiency is higher; by arranging the adjustable spray head and the telescopic rolling brush, the control of the flow of the coating and the adjustment of the coverage area of the rolling brush are realized, so that the spraying device can adapt to steps with different sizes and different spraying requirements.
Description
Technical Field
The invention relates to the technical field of painting equipment, in particular to a playground stand coating device capable of automatically climbing.
Background
When the stepped cement grandstand on the playground is built or renovated, the steps of the grandstand need to be coated with paint. In a comprehensive way, the coating brush coating of the stepped cement motion stand has the characteristics of large quantity, high maintenance cost, unfriendly working environment for maintenance personnel and the like.
At present, the step-type cement stand is generally brushed manually, and the manual brushing process is slow in progress and consumes a large amount of resources such as manpower and material resources. How to solve the technical problems is a technical problem to be solved in the technical field of brushing equipment at present.
Disclosure of Invention
In view of the above technical problems, embodiments of the present invention provide an automatic climbing coating device for a stadium stand, so as to solve the problems in the background art.
The invention provides the following technical scheme: the utility model provides a playground stand coating device that can climb automatically, includes the device main part, the device main part includes frame and establishes the bottom plate in the frame bottom, still includes:
the travelling mechanism is arranged on the bottom plate and used for driving the device main body to horizontally move;
the climbing mechanism is connected with the frame and is used for driving the main body of the device to climb along the steps;
and the spraying mechanism is arranged on the device main body and is used for spraying paint.
Preferably, the traveling mechanism comprises a driving wheel and a driven wheel, the driving wheel is used for driving the device body to move back and forth, and the driven wheel is used for steering and aligning the device body.
Preferably, the driving wheel comprises a driving motor, a driving chain wheel connected with the driving motor, a driven chain wheel connected with the driving chain wheel through a chain, and a differential connected with the driven chain wheel; and the two sides of the differential are respectively connected with a left driving wheel and a right driving wheel.
Preferably, include the supporting seat with the bottom plate rigid coupling from the driving wheel, articulate left supporting seat and the right supporting seat at supporting seat both ends, establish left side driven wheel and right side driven wheel on left supporting seat and right supporting seat respectively, connect the connecting rod between left supporting seat and right supporting seat, establish the extension spring between left supporting seat and connecting rod and between right supporting seat and the connecting rod.
Preferably, the spraying mechanism comprises a front spraying device, a rear spraying device, a side spraying device and a coating flow direction control mechanism, and the front spraying device and the rear spraying device have the same structure; the front spraying device and the rear spraying device are respectively arranged at the front end and the rear end of the device main body and used for spraying paint on a step horizontal plane, the side spraying device is arranged on the side face of the device main body and used for spraying paint on a step vertical face, and the paint flow direction control mechanism is installed on the device main body and used for switching the paint flow directions of the front spraying device and the rear spraying device.
Preferably, the rear spraying and brushing device comprises an adjustable spray head arranged on the frame, a fixed rolling brush arranged on the frame and a telescopic rolling brush in sliding connection with the frame; the telescopic rolling brush can slide left and right relative to the fixed rolling brush; the side spraying and brushing device comprises an adjustable spray head and a side rolling brush which are arranged on the frame.
Preferably, the coating flow direction control mechanism comprises a support frame fixedly connected with the bottom plate, a valve I and a valve II arranged on the support frame, a valve gear I and a valve gear II fixedly connected with a switch of the valve I and a switch of the valve II respectively, a stepping motor arranged on the support frame, and a corner control gear connected with the stepping motor; the gear I, the valve gear II and the corner control gear are meshed in sequence, and the opening states of the valve I and the valve II are opposite.
Preferably, the paint spraying device further comprises a paint container and a diaphragm pump which are arranged on the frame, and the paint container and the diaphragm pump are communicated with the front spraying device, the rear spraying device, the side spraying device and the paint flow direction control mechanism through conveying pipes and are used for conveying paint.
Preferably, the climbing mechanism comprises a climbing rack, a horizontal moving mechanism and a vertical lifting mechanism which are arranged on the climbing rack;
the horizontal moving mechanism comprises a motor II fixedly connected with the climbing rack and a screw rod connected with the motor II and connected to the climbing rack in a switching manner; the lead screw is provided with a lead screw nut fixedly connected with the frame, and the climbing mechanism horizontally moves relative to the device main body through the matching rotation of the lead screw and the lead screw nut;
the vertical lifting mechanism comprises a motor I arranged on the climbing rack, a transmission shaft I in matched transmission connection with the motor I through a gear, a transmission shaft II in matched transmission connection with the transmission shaft I through a worm gear, a climbing gear connected with the end part of the transmission shaft II, and an inner climbing rack and an outer climbing rack which are respectively in matched connection with the climbing gear; the inside climbing rack and the outside climbing rack move synchronously, and the vertical lifting of the device main body can be realized.
Preferably, the device also comprises a guide mechanism, wherein the guide mechanism comprises a side guide wheel and an upper guide wheel, the side guide wheel is arranged on the side surface of the frame, and the upper guide wheel is connected with the frame through a pressing device;
the pressing device comprises a fixed column fixedly connected with the frame, and a pressure spring and a sliding table which are sequentially sleeved on the fixed column, the sliding table is connected with the fixed column through a linear constraint bearing, and the upper guide wheel is arranged below the sliding table.
The playground stand coating device capable of automatically climbing provided by the embodiment of the invention has the following beneficial effects:
1. according to the invention, the front and rear spraying devices and the side spraying device are arranged, so that the coating on the horizontal surface and the vertical surface of the step of the stand can be sprayed and brushed at the same time, the coverage is more complete, and the efficiency is higher;
2. by arranging the adjustable spray head and the telescopic rolling brush, the control of the flow of the coating and the adjustment of the coverage area of the rolling brush are realized, so that the adjustable rolling brush can adapt to steps with different sizes and different spraying requirements;
3. by arranging the coating flow direction control mechanism, the switching of the spraying operation from the front end and the rear end of the device main body can be realized, the device main body is ensured to climb to the upper step without turning around, and the spraying operation can be realized from the rear end of the advancing direction of the device main body;
4. the playground stand coating device has an automatic climbing function, can automatically climb to the previous step for spraying after the spraying of one step is finished, avoids the burden of manual carrying, and is automatic and efficient;
5. according to the invention, the guide mechanism is arranged, and the guide wheels can be always attached to the horizontal plane and the vertical plane of the step, so that the stable operation of the device is ensured;
6. according to the invention, through the structural design of the driven wheel, the automatic alignment of the device main body after turning can be realized through the matching between the tension spring and the connecting rod.
Drawings
FIG. 1 is a schematic view of the overall construction of a coating apparatus according to the present invention;
FIG. 2 is a schematic view of a driving wheel according to the present invention;
FIG. 3 is a schematic view of a driven wheel according to the present invention;
FIG. 4 is a schematic structural view of a rear spraying mechanism according to the present invention;
FIG. 5 is a schematic view of the structure of the coating flow direction control mechanism according to the present invention;
FIG. 6 is a schematic structural view of a climbing mechanism according to the present invention;
FIG. 7 is a top view of a climbing rack mount according to the present invention;
FIG. 8 is a sectional view taken along line A-A of FIG. 7 in accordance with the present invention;
FIG. 9 is a schematic view of the structure of the guide mechanism of the present invention;
FIG. 10 is a schematic view showing the effect of the present invention in a state of being placed on a step;
wherein, in the figure: 1. the device comprises a frame, 2 parts of a bottom plate, 3 parts of a driving wheel, 4 parts of a driven wheel, 5 parts of a rear spraying brush device, 6 parts of a coating flow direction control mechanism, 7 parts of a climbing mechanism, 8 parts of a guide mechanism, 9 parts of a lead screw nut, 10 parts of an ultrasonic distance measuring instrument, 11 parts of a side rolling brush, 12 parts of a coating container, 12-1 parts of a coating container support, 13 parts of a diaphragm pump, 3-1 parts of a driving motor, 3-2 parts of a coupler, 3-3 parts of a driving chain wheel, 3-4 parts of a chain, 3-5 parts of a driven chain wheel, 3-6 parts of a differential mechanism, 3-7 parts of a bevel gear, 3-8 parts of a driving wheel transmission shaft, 3-9 parts of a left driving wheel, 3-10 parts of a right driving wheel, 4-1 parts of an intermediate support seat, 4-2 parts of, 4-5 parts of left driven wheel, 4-6 parts of right driven wheel, 4-7 parts of bearing, 4-8 parts of connecting rod, 4-9 parts of tension spring, 5-1 parts of adjustable spray head, 5-2 parts of telescopic rolling brush, 5-3 parts of fixed rolling brush, 5-4 parts of sliding rod, 5-5 parts of spray head bracket, 5-6 parts of conveying conduit plug, 6-1 parts of lower supporting plate, 6-2 parts of upper supporting plate, 6-3 parts of connecting bolt, 6-4 parts of supporting column, 6-51 parts of valve I, 6-52 parts of valve II, 6-6 parts of valve gear I, 6-7 parts of valve gear II, 6-8 parts of corner control gear, 6-9 parts of stepping motor, 6-10 parts of conveying conduit, 6-11 parts of screw, 7-1 parts of sliding shaft, 7-2 parts of guide sliding block, 7-3 parts of lead screw, 7-4 parts of motor I, 7-5 parts of driving gear, 7-6 parts of driven gear, 7-7 parts of transmission shaft I, 7-8 parts of worm, 7-9 parts of transmission shaft II, 7-10 parts of worm wheel, 7-12 parts of climbing gear, 7-13 parts of inside climbing rack, 7-14 parts of outside climbing rack, 7-15 parts of constraint bearing, 7-16 parts of climbing rack seat, 7-17 parts of pin shaft, 7-19 parts of horizontal bearing seat, 7-20 parts of motor II fixing seat, 7-21 parts of motor II, 7-22 parts of vertical bearing seat, 7-23 parts of connecting plate, 7-31 parts of climbing rack, 8-1 parts of side guide wheel support, 8-2 parts of side guide wheel, 8-3 parts of upper guide wheel, 8-4 parts of a sliding table, 8-5 parts of a linear constraint bearing, 8-6 parts of a fixed column and 8-7 parts of a pressure spring.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The utility model provides a playground stand coating device that can climb automatically, includes the device main part, the device main part includes frame and establishes the bottom plate in the frame bottom, still includes:
the travelling mechanism is arranged on the bottom plate 2 and used for driving the device main body to horizontally move;
the climbing mechanism is connected with the frame 1 and is used for driving the main body of the device to climb along the steps;
and the spraying mechanism is arranged on the device main body and is used for spraying paint.
The walking mechanism, the climbing mechanism and the spraying mechanism are controlled by a control system, the coordination of the mechanisms is realized by the control system, and the control system is a microprocessor or a PLC (programmable logic controller) or a singlechip.
Example 1, see fig. 1, 2 and 3.
The traveling mechanism comprises a driving wheel 3 and a driven wheel 4, the driving wheel 3 is used for driving the device body to move back and forth, and the driven wheel 4 is used for steering and aligning the device body.
The driving wheel 3 comprises a driving motor 3-1, a coupler 3-2, a driving chain wheel 3-3, a chain 3-4, a driven chain wheel 3-5, a differential 3-6, a bevel gear 3-7, a driving wheel transmission shaft 3-8, a left driving wheel 3-9 and a right driving wheel 3-10.
The driving motor 3-1 is connected with a driving chain wheel 3-3 through a coupler 3-2, the driving chain wheel 3-3 is connected with a driven chain wheel 3-5 through a chain 3-4, the driven chain wheel 3-5 is fixedly connected with a differential mechanism 3-6, bevel gears 3-7 at two ends of the differential mechanism 3-6 are respectively and fixedly connected with two driving wheel transmission shafts 3-8, the two driving wheel transmission shafts 3-8 are respectively and fixedly connected with a left driving wheel 3-9 and a right driving wheel 3-10, and the differential mechanism 3-6 is used for enabling a left wheel and a right wheel to rotate in a differential mode during turning, so that the turning of a main body of the device is achieved.
The driven wheel comprises a middle supporting seat 4-1, a pin 4-2, a left supporting seat 4-3, a right supporting seat 4-4, a left driven wheel 4-5, a right driven wheel 4-6, a bearing 4-7, a connecting rod 4-8 and a tension spring 4-9.
The middle supporting seat 4-1 is fixedly connected with the frame 1, two ends of the middle supporting seat 4-1 are hinged with the left supporting seat 4-3 and the right supporting seat 4-4 through pins 4-2, the left supporting seat 4-3 and the right supporting seat 4-4 are respectively connected with the left driven wheel 4-5 and the right driven wheel 4-6, and bearings 4-7 are respectively arranged between the left driven wheel 4-5 and the right driven wheel 4-6 and the left and right supporting seats;
a connecting rod 4-8 is connected between the left supporting seat 4-3 and the right supporting seat 4-4, and four symmetrically distributed tension springs 4-9 are respectively connected with the front side and the rear side of the left supporting seat 4-3 and the front side and the rear side of the right supporting seat 4-4 and the middle supporting seat 4-1 for providing symmetrical tension, so that after the turning action of the device main body is completed, the wheel can automatically recover to the direction before turning under the tension of the four tension springs 4-9.
Preferably, a photoelectric sensor is further arranged at the driven wheel or the driving wheel and used for measuring the horizontal moving distance of the device body, so that the control of the single-layer brushing distance can be automatically completed according to different brushing distance requirements.
Example 2, see fig. 1, 4, 5 and 9.
The spraying mechanism comprises a front spraying device, a rear spraying device 5, a side spraying device and a coating flow direction control mechanism, and the front spraying device and the rear spraying device 5 have the same structure; the front spraying device and the rear spraying device are respectively arranged at the front end and the rear end of the device main body and used for spraying paint on a step horizontal plane, the side spraying device is arranged on the side face of the device main body and used for spraying paint on a step vertical face, and the paint flow direction control mechanism is installed on the device main body and used for switching the paint flow directions of the front spraying device and the rear spraying device.
The rear spraying brush device comprises an adjustable spray head 5-1, a fixed rolling brush 5-3, a telescopic rolling brush 5-2, a sliding rod 5-4, a spray head bracket 5-5 and a conveying conduit plug 5-6;
the adjustable spray head 5-1 is arranged on the frame 1 through a spray head bracket 5-5, the adjustable spray head 5-1 can adjust the flow of the coating, the fixed rolling brush 5-3 is arranged on the frame 1, and the telescopic rolling brush 5-2 is connected with the frame 1 in a sliding way through a sliding rod 5-4; the telescopic rolling brush 5-2 can slide left and right relative to the fixed rolling brush 5-3;
specifically, the lower portion of the frame 1 is provided with a sliding groove, a sliding rod 5-4 of a telescopic rolling brush 5-2 can slide in the sliding groove and then is fixed by screws, the maximum coverage area which can be brushed can be adjusted by adjusting the position of the telescopic rolling brush 5-3, and the telescopic rolling brush 5-3 is matched with the fixed rolling brush 5-3, so that requirements of different sizes of grandstand steps and different degrees of brushing can be met.
Preferably, the installation position of the adjustable spray head 5-1 is relative to the installation position of the telescopic rolling brush 5-2, the adjustable spray head 5-1 is positioned at the inner side of the vehicle frame 1, and the telescopic rolling brush 5-2 is positioned at the outer side of the vehicle frame 1.
The side spraying and brushing device comprises adjustable spray heads 5-1 arranged on the vehicle frame 1 and side rolling brushes 11, wherein the two groups of side rolling brushes 11 are arranged on two sides of the vehicle frame 1.
The coating flow direction control mechanism 6 comprises a lower supporting plate 6-1, an upper supporting plate 6-2, connecting bolts 6-3, supporting columns 6-4, valves I6-51, valves II 6-52, valve gears I6-6, valve gears II 6-7, corner control gears 6-8, stepping motors 6-9, conveying conduits 6-10 and screws 6-11, wherein the lower supporting plate 6-1 and the upper supporting plate 6-2 are connected in a matched mode through the supporting columns 6-4 and the bolts 6-3 to form a supporting frame.
The support frame is fixedly arranged on the bottom plate 2 of the device main body through bolts, valves I6-51 and valves II 6-52 are arranged on the support frame, and the opening states of the valves I6-51 and the valves II 6-52 are opposite, namely, one valve is in a communication state, and the other valve is in a closed state;
the switches of the valves I6-51 and the valves II 6-52 are respectively fixedly connected with the valve gears I6-6 and the valve gears II 6-7, the valve gears I6-6 are meshed with the valve gears II 6-7, the gears II 6-7 are meshed with the corner control gear 6-8, the corner control gear 6-8 is fixedly connected with the stepping motor 6-9, the stepping motor 6-9 is fixed on the support frame through the screws 6-11, and the corner control gear 6-8 can enable the valve gears I and the valve gears II to simultaneously rotate in the forward direction or the reverse direction under the driving of the stepping motor 6-9, so that the opening states of the valves I6-51 and the valves II 6-52 are respectively changed.
The function of the coating flow direction control mechanism is to enable only one of the front spraying mechanism and the rear spraying mechanism to be in a coating flow state all the time, and on the other hand, the switching of the coating flow state of the front spraying mechanism and the coating flow state of the rear spraying mechanism can be realized according to different grandstand levels and different advancing directions of the device main body.
The invention also comprises a paint container 12 and a diaphragm pump 13 which are arranged on the vehicle frame 1, wherein the paint container 12 is arranged on the vehicle frame 1 through a paint container support 12-1, the paint container 12 is used for storing paint, and the diaphragm pump is used for supplying and conveying the paint; wherein, the paint container 12 and the diaphragm pump 13 are communicated with a front spraying device, a rear spraying device, a side spraying device and a paint flow direction control mechanism through conveying conduits for conveying paint.
Example 3, see fig. 1, 6, 7, 8 and 10.
The climbing mechanism comprises a climbing rack 7-31, a horizontal moving mechanism and a vertical lifting mechanism which are arranged on the climbing rack 7-31.
The horizontal moving mechanism comprises a motor II 7-21 fixedly connected with the climbing rack 7-31 through a motor II fixing seat, and a screw 7-3 connected with the motor II 7-21 and connected to the climbing rack 7-31 in a switching manner, wherein a screw nut 9 fixedly connected with the frame 1 is arranged on the screw 7-3, and the climbing mechanism is horizontally moved relative to the device main body through the matching of the screw and the screw nut;
preferably, a sliding shaft 7-1 is fixedly connected to the climbing frame 7-31, the sliding shaft 7-1 is slidably connected to a guide slider 7-2, a connecting plate 7-23 is fixedly connected to the guide slider 7-2, the connecting plate 7-23 is fixedly connected to a device body, and the connecting plate 7-23 plays a role of suspending and supporting the device body.
The vertical lifting mechanism comprises a motor I7-4 arranged on a climbing rack 7-31, a transmission shaft I7-7 in matched transmission connection with the motor I7-4 through a gear, a transmission shaft II 7-9 in matched transmission connection with the transmission shaft I7-7 through a worm gear, a climbing gear 7-12 connected with the end part of the transmission shaft II 7-9, an inner climbing rack 7-13 and an outer climbing rack 7-14 which are respectively in matched connection with the climbing gear 7-12, and the vertical lifting of the device main body can be realized through synchronous movement of the inner climbing rack 7-13 and the outer climbing rack 7-14.
Specifically, a motor I7-4 is connected with a driving gear 7-5, the driving gear 7-5 is meshed with a driven gear 7-6 to rotate, the driven gear 7-6 is fixedly arranged on a transmission shaft I7-7, two worms 7-8 are arranged at two ends of the transmission shaft I7-7, the worms 7-8 drive worm gears 7-10 to rotate, the worm gears 7-10 are fixedly arranged on transmission shafts II 7-9, two ends of the transmission shafts II 7-9 are respectively and fixedly provided with climbing gears 7-12, the climbing gears respectively drive an inner climbing rack 7-13 and an outer climbing rack 7-14 to synchronously ascend or descend, the climbing rack is restrained by a restraining bearing 7-15, and the restraining bearing 7-15 is installed on a climbing rack seat 7-16 through a pin shaft 7-17.
Preferably, an ultrasonic ranging apparatus 10 is installed on the side surface of the frame near the lower position for ranging to realize the automatic completion of the climbing action.
Example 4, see fig. 9 and 10.
The invention also comprises a guide mechanism 8, wherein the guide mechanism 8 comprises a side guide wheel 8-2 and an upper guide wheel 8-3, the side guide wheel 8-2 is arranged on the side surface of the frame 1 through a side guide wheel support 8-1, and the upper guide wheel 8-3 is connected with the frame 1 through a pressing device;
the pressing device comprises a fixed column 8-6 fixedly connected with the frame 1, and a pressure spring 8-7 and a sliding table 8-4 which are sequentially sleeved on the fixed column 8-6; the sliding table 8-4 is connected with the fixed column 8-6 through a linear constraint bearing 8-5, the upper guide wheel 8-3 is arranged below the sliding table 8-4, and the pressing device is used for providing downward pressing force.
When the device normally works, the guide wheels can be always attached to the horizontal plane and the vertical plane of the step, and the stable operation of the device is ensured.
The application method of the automatic climbing playground stand coating device of the invention is as follows (refer to fig. 10):
(1) the coating device is placed on the lowest step of a playground stand, and the height difference between an inner side climbing rack and an outer side climbing rack is adjusted according to the height difference between the two layers, so that the bottom end of the outer side climbing rack is close to the surface of the upper step but is not in contact with the upper step, and the bottom end of the inner side climbing rack is close to the surface of the step where the coating device is located but is not in contact with the surface;
(2) adjusting the position of the device main body and adjusting the guide mechanism to enable the side guide wheel and the upper guide wheel of the guide mechanism to be respectively attached to the vertical surface and the horizontal surface of the step, enabling the side rolling brush to be in contact with the vertical surface of the step, enabling the fixed rolling brush to be in contact with the horizontal surface of the step, and then adjusting the adjustable spray head and the telescopic rolling brush to be in a proper state;
(3) when the spraying device works, the coating device advances along the step surface through the traveling mechanism, the advancing direction is taken as the front end of the device main body, and the spraying mechanisms at the rear end and the side surface of the device main body are in a working state, so that the wheels can be prevented from being in contact with the sprayed step surface, and the spraying quality is ensured;
(4) when the photoelectric sensor detects that the advancing distance of the device body reaches the preset length, the device body is switched from a spraying mode to a climbing mode: the first step is the horizontal movement of the climbing mechanism relative to the device main body, the second step is the vertical lifting of the device main body, the third step is the horizontal movement of the device main body relative to the climbing mechanism, the fourth step is the vertical descending of the device main body, and the fifth step is the ascending of the climbing rack and the horizontal movement of the climbing mechanism;
the first step is as follows: the device main body is fixed, the motor II drives the screw rod to rotate in the positive direction, the climbing mechanism moves horizontally relative to the device main body along the screw rod and the sliding shaft in the direction of the upper step under the action of the screw rod nut, and after the climbing mechanism reaches the designated position of the upper step, the horizontal movement is finished;
the second step is that: the motor I drives the driving gear to rotate in a forward direction, the driven gear is further driven to rotate, the climbing gear is driven to rotate through the worm gear, the inner climbing rack and the outer climbing rack are driven by the climbing gear to synchronously descend, so that the height difference of the racks on two sides is kept unchanged all the time, when the bottom end of the climbing rack is in contact with a step surface, the main body of the device starts to vertically lift upwards, the positioning work of vertical lifting of the main body of the device is completed by the aid of an ultrasonic distance measuring instrument, and when the main body of the device is vertically lifted to a specified position, the vertical lifting;
the third step: at the moment, the climbing mechanism is fixed, the motor II drives the screw rod to rotate reversely, the horizontal movement of the device main body is completed by matching with the connecting plate, and finally the whole device reaches the designated position of the upper step;
the fourth step: at the moment, the machine main body is fixed in the horizontal direction, the motor I drives the driving gear to rotate reversely, so that the climbing gear drives the inner climbing rack and the outer climbing rack to ascend synchronously, and after the machine main body vertically descends to the upper step surface, the vertical descending is finished;
the fifth step: on the basis of the fourth step, the inner side climbing rack and the outer side climbing rack continue to ascend, after the inner side climbing rack and the outer side climbing rack ascend to reach the designated height, the motor II drives the screw rod to rotate in the positive direction, and under the action of the screw rod nut, the climbing mechanism moves horizontally relative to the device main body along the screw rod and the sliding shaft in the direction of one layer of steps above the screw rod and the sliding shaft and reaches the designated position;
(5) the coating device provided by the invention is switched to a spraying mode again after climbing to the previous step, at the moment, the main body of the device does not need to turn around, and the spraying operation can be carried out from the rear end of the advancing direction of the main body of the device by switching the flow direction of the coating; and repeating the steps until the steps on the uppermost layer of the stand are completely sprayed.
It should be noted that the driving motor 3-1, the motor i 7-4, the motor ii 7-21, the stepping motor 6-9 and the diaphragm pump 13 are connected to a control system, and are controlled by the control system to operate, and the photoelectric sensor and the ultrasonic distance measuring instrument 10 are connected to the control system, and are used for transmitting the acquired signals to the control system.
It should be noted that, for a stand with a partition wall, the step surface covered by the present invention at a distance from the partition wall cannot be painted by using the apparatus, and considering that the number of partition walls is generally small and the area covered by the apparatus is small, the step surface which cannot be painted by using the present invention can be painted by manually supplementing the painting.
The working principle of the playground stand coating device capable of automatically climbing provided by the invention is as follows:
the spraying principle is as follows: two sets of brush mechanisms are symmetrically arranged on the front and back sides and the side surfaces of the device main body, the device works when the device advances in different directions, the coating mode adopts the first uniform spraying mode, the second secondary uniform rolling brush mode can better guarantee the uniformity of the coating, the flow size of the coating can be adjusted by the adjustable spray head, the maximum horizontal coverage area can be adjusted by the telescopic rolling brush, and the device can adapt to a larger working range.
Climbing principle: drive the lead screw rotation through motor II and in order to realize the relative horizontal migration between climbing mechanism and the device main part, drive the driving gear through motor I and rotate, and then drive driven gear and rotate, drive the gear that climbs through the worm gear and rotate, it rises with the outside rack that climbs to drive the inboard rack that climbs by the gear that climbs, in order to realize the vertical lift of device main part, through the removal combination of level and two perpendicular directions, and cooperate ultrasonic sensor to carry out assistance-localization real-time, thereby make the device follow the automatic upper story step that climbs of one deck step.
The guiding principle is as follows: the device is characterized in that more than two groups of guide mechanisms are arranged on the inner side of the main body of the device, namely on one side close to the vertical surface of the step, the guide mechanisms comprise side guide wheels and upper guide wheels, and meanwhile, the pressing mechanisms comprise sliding tables and springs and are used for pressing the step surface by the guide wheels.
The principle of controlling the flow direction of the coating: two valves are arranged, the connection and the closure of the coating conveying of the front and the rear sides of the control device are respectively controlled, the opening and closing switches of the two valves are relatively 90 degrees, namely one valve is in a connection state, the other valve is in a closure state, the two valves are respectively fixedly connected with a valve gear I and a valve gear II, the valve gear I and the valve gear II are in a meshing state, the valve gear II is meshed with a corner control gear, the corner control gear is controlled by a stepping motor to rotate forwards or reversely for 180 degrees, so that the valve gear I and the valve gear II are simultaneously rotated forwards or reversely for 90 degrees, and the connection state of the two valves is switched.
The playground stand coating device capable of automatically climbing provided by the embodiment of the invention has the following beneficial effects: according to the invention, the front and rear spraying devices and the side spraying device are arranged, so that the coating on the horizontal surface and the vertical surface of the step of the stand can be sprayed and brushed at the same time, the coverage is more complete, and the efficiency is higher; by arranging the adjustable spray head and the telescopic rolling brush, the control of the flow of the coating and the adjustment of the coverage area of the rolling brush are realized, so that the adjustable rolling brush can adapt to steps with different sizes and different spraying requirements; by arranging the coating flow direction control mechanism, the switching of the spraying operation from the front end and the rear end of the device main body can be realized, the device main body is ensured to climb to the upper step without turning around, and the spraying operation can be realized from the rear end of the advancing direction of the device main body; the playground stand coating device has an automatic climbing function, can automatically climb to the previous step for spraying after the spraying of one step is finished, avoids the burden of manual carrying, and is automatic and efficient; according to the invention, the guide mechanism is arranged, and the guide wheels can be always attached to the horizontal plane and the vertical plane of the step, so that the stable operation of the device is ensured; according to the invention, through the structural design of the driven wheel, the automatic alignment of the device main body after turning can be realized through the matching between the tension spring and the connecting rod.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the mechanisms can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
It should be understood that the technical solutions and concepts of the present invention may be equally replaced or changed by those skilled in the art, and all such changes or substitutions should fall within the protection scope of the appended claims.
Claims (10)
1. The utility model provides a stadium stand coating device that can climb automatically, includes the device main part, the device main part includes the frame and establishes the bottom plate in the frame bottom, its characterized in that still includes:
the travelling mechanism is arranged on the bottom plate and used for driving the device main body to horizontally move;
the climbing mechanism is connected with the frame and is used for driving the main body of the device to climb along the steps;
and the spraying mechanism is arranged on the device main body and is used for spraying paint.
2. The automatic climbing coating device for stadium stands according to claim 1, wherein the traveling mechanism comprises a driving wheel and a driven wheel, the driving wheel is used for driving the device body to move back and forth, and the driven wheel is used for steering and centering the device body.
3. The automatic climbing playground stand coating device according to claim 2, wherein the driving wheel comprises a driving motor, a driving sprocket connected with the driving motor, a driven sprocket connected with the driving sprocket through a chain, and a differential connected with the driven sprocket; and the two sides of the differential are respectively connected with a left driving wheel and a right driving wheel.
4. The automatic climbing coating device for stadium stands according to claim 2, wherein the driven wheel comprises a support base fixedly connected to the base plate, a left support base and a right support base hinged to both ends of the support base, a left driven wheel and a right driven wheel respectively disposed on the left support base and the right support base, a connecting rod connected between the left support base and the right support base, and tension springs disposed between the left support base and the connecting rod and between the right support base and the connecting rod.
5. The automatically climbing playground stand coating device according to claim 1, wherein the spraying mechanism comprises a front spraying device, a rear spraying device, a side spraying device and a coating flow direction control mechanism, and the front spraying device and the rear spraying device are identical in structure; the front spraying device and the rear spraying device are respectively arranged at the front end and the rear end of the device main body and used for spraying paint on a step horizontal plane, the side spraying device is arranged on the side face of the device main body and used for spraying paint on a step vertical face, and the paint flow direction control mechanism is installed on the device main body and used for switching the paint flow directions of the front spraying device and the rear spraying device.
6. The automatic climbing playground stand coating device according to claim 5, wherein the rear spraying device comprises an adjustable spraying head arranged on the frame, a fixed rolling brush arranged on the frame, and a telescopic rolling brush connected with the frame in a sliding manner; the telescopic rolling brush can slide left and right relative to the fixed rolling brush; the side spraying and brushing device comprises an adjustable spray head and a side rolling brush which are arranged on the frame.
7. The automatic climbing coating device for stadium stands according to claim 5, wherein the coating flow direction control mechanism comprises a support frame fixedly connected with the bottom plate, a valve I and a valve II arranged on the support frame, a valve gear I and a valve gear II fixedly connected with a switch of the valve I and a switch of the valve II respectively, a stepping motor arranged on the support frame, and a rotation angle control gear connected with the stepping motor; the gear I, the valve gear II and the corner control gear are meshed in sequence, and the opening states of the valve I and the valve II are opposite.
8. The automatic climbing coating device for stadium stands according to claim 5, further comprising a coating container and a diaphragm pump provided on the frame, wherein the coating container and the diaphragm pump are connected to the front spraying device, the rear spraying device, the side spraying device and the coating flow direction control mechanism through a conveying conduit for conveying the coating.
9. The automatically climbing playground stand coating device according to claim 1, wherein the climbing mechanism comprises a climbing frame, a horizontal moving mechanism and a vertical lifting mechanism arranged on the climbing frame;
the horizontal moving mechanism comprises a motor II fixedly connected with the climbing rack and a screw rod connected with the motor II and connected to the climbing rack in a switching manner; the lead screw is provided with a lead screw nut fixedly connected with the frame, and the climbing mechanism horizontally moves relative to the device main body through the matching rotation of the lead screw and the lead screw nut;
the vertical lifting mechanism comprises a motor I arranged on the climbing rack, a transmission shaft I in matched transmission connection with the motor I through a gear, a transmission shaft II in matched transmission connection with the transmission shaft I through a worm gear, a climbing gear connected with the end part of the transmission shaft II, and an inner climbing rack and an outer climbing rack which are respectively in matched connection with the climbing gear; the inside climbing rack and the outside climbing rack move synchronously, and the vertical lifting of the device main body can be realized.
10. The automatic climbing playground stand coating device according to claim 1, further comprising a guide mechanism, wherein the guide mechanism comprises a lateral guide wheel and an upper guide wheel, the lateral guide wheel is mounted on the lateral surface of the frame, and the upper guide wheel is connected with the frame through a pressing device;
the pressing device comprises a fixed column fixedly connected with the frame, and a pressure spring and a sliding table which are sequentially sleeved on the fixed column; the sliding table is connected with the fixed column through a linear constraint bearing, and the upper guide wheel is arranged below the sliding table.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010805304.0A CN111957477B (en) | 2020-08-12 | 2020-08-12 | Playground stand coating device capable of automatically climbing |
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| CN202010805304.0A CN111957477B (en) | 2020-08-12 | 2020-08-12 | Playground stand coating device capable of automatically climbing |
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| CN111957477B CN111957477B (en) | 2021-05-18 |
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| CN202201081U (en) * | 2011-05-20 | 2012-04-25 | 华北电力大学（保定） | Automatic obstacle-surmounting rod-climbing cleaning robot |
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| CN111957477B (en) | 2021-05-18 |
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