CN112191409A - Intelligence AGV spraying dolly - Google Patents
Intelligence AGV spraying dolly Download PDFInfo
- Publication number
- CN112191409A CN112191409A CN202011149475.9A CN202011149475A CN112191409A CN 112191409 A CN112191409 A CN 112191409A CN 202011149475 A CN202011149475 A CN 202011149475A CN 112191409 A CN112191409 A CN 112191409A
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- Prior art keywords
- chassis frame
- trolley
- chassis
- plunger pump
- spraying
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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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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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
- B05B13/0421—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 rotating spray heads
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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
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
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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
- 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
- B05B9/0409—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 the pumps being driven by a hydraulic or a pneumatic fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an intelligent AGV spraying trolley, which comprises a trolley chassis and a spraying device carried on the trolley chassis; the trolley chassis comprises a chassis frame, a driving wheel traveling mechanism, a universal driven wheel, a laser obstacle avoidance sensor and a controller; the spraying device comprises a mechanical arm, a paint bucket, a plunger pump and a spray gun, wherein a base of the mechanical arm is arranged on the chassis frame; the paint bucket and the plunger pump are respectively fixed on the chassis frame through a bracket; the paint bucket is communicated with a liquid inlet of the plunger pump through a first conveying pipeline; a liquid outlet of the plunger pump is communicated with a liquid inlet of the spray gun through a second conveying pipe orifice; the spray gun is arranged on a joint arm at the tail end of the mechanical arm; the mechanical arm is electrically connected with the controller. The invention provides an intelligent AGV spraying trolley, which carries a spraying device through an AGV trolley chassis and intelligently coats a steel box girder bottom plate and two side inclined bottom plates in a laser navigation mode, thereby liberating labor force.
Description
Technical Field
The invention relates to the technical field of automatic spraying equipment, in particular to an intelligent AGV spraying trolley.
Background
China is a big country for building the bridge industry, various cross-river and cross-sea bridges are continuously built, and the bridge industry plays a very important role in the development of national economy. The design life of the bridge can reach 100 years, wherein the anti-corrosion coating is an important ring for prolonging the service life of the bridge. The steel box girder bridge is an important type of bridge and is widely applied to bridge construction. At present, the anticorrosion coating of the steel box girder is mainly performed by manual coating, and a high-pressure airless sprayer is adopted, and a spray gun is manually held by hand to perform anticorrosion coating operation. Although some automatic equipment appears in recent years, the automatic equipment needs to be additionally provided with a track on the workshop ground, and the universality and the flexibility of the spraying system are limited due to different sizes of steel box girders.
The manual anticorrosion coating operation is adopted, the coating quality needs to be controlled by operators, the spraying quality is uneven, in addition, the coating environment is severe, the paint is volatile chemical substances, and occupational health hazards to workers are easily caused. Meanwhile, with the development of economy, more and more people are reluctant to engage in coating operation, and workers are difficult to find. The track type spraying system has the limitations that the independent design needs to be carried out on different bridges, the coating coverage area is small, and the cost investment is high.
The AGV is an unmanned automatic transport vehicle with a transport function, is powered by a battery, is provided with a non-contact guide device and an independent addressing system, can automatically run and stop along a specified route and position according to a preset program and position information given by a vehicle-mounted sensor, thereby completing a series of transport operation tasks, and has been widely applied to the aspects of intelligent factories, flexible manufacturing systems, logistics production and the like.
Most of existing AGVs guide a walking route by using an electromagnetic rail, laser and visual guidance, universal wheels or directional wheels are installed at the bottom of a car body, but the size of the AGV is large, bidirectional movement and backward movement cannot be realized, steering or movement is easy to interfere, and operation efficiency is affected.
Therefore, how to provide an intelligent AGV spraying trolley is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides an intelligent AGV spraying trolley, which solves one of the problems in the background art, and carries a spraying device on a chassis of the AGV trolley, and intelligently coats a bottom plate of a steel box girder and inclined bottom plates at two sides in a laser navigation manner, thereby releasing labor force.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent AGV spraying trolley comprises a trolley chassis and a spraying device carried on the trolley chassis;
the trolley chassis comprises a chassis frame, a driving wheel traveling mechanism, a universal driven wheel, a laser obstacle avoidance sensor and a controller;
a storage battery is fixed at one end of the upper surface of the chassis frame;
the driving wheel traveling mechanism is distributed on two sides of the interior of the chassis frame along a diagonal line and comprises a steering wheel, a pneumatic motor, a turntable and a steering assembly, the turntable is horizontally arranged and is connected to the chassis frame in a rotating mode and is in transmission connection with the steering assembly, the steering wheel and the pneumatic motor are both arranged below the turntable, and a rotating shaft of the steering wheel is fixedly connected with a driving shaft of the pneumatic motor;
the universal driven wheels are distributed on two sides of the interior of the chassis frame along the other diagonal line;
the laser obstacle avoidance sensors are respectively arranged at the front end and the rear end of the chassis frame;
the controller is arranged in the middle of the upper surface of the chassis frame and is electrically connected with the storage battery, the steering wheel, the steering assembly and the laser obstacle avoidance sensor;
the spraying device comprises a mechanical arm, a paint bucket, a plunger pump and a spray gun, wherein a base of the mechanical arm is arranged on the chassis frame; the paint bucket and the plunger pump are respectively fixed on the chassis frame through a bracket; the paint bucket is communicated with a liquid inlet of the plunger pump through a first conveying pipeline; a liquid outlet of the plunger pump is communicated with a liquid inlet of the spray gun through a second conveying pipe orifice; the spray gun is arranged on an end joint arm of the mechanical arm; the mechanical arm is electrically connected with the controller; the plunger pump is a pneumatic plunger pump and is connected with a pneumatic control switch.
According to the technical scheme, compared with the prior art, the invention discloses the intelligent AGV spraying trolley, the steering wheel and the driven wheel of the chassis of the trolley are arranged along the diagonal angle, so that the chassis frame is driven conveniently, and the steering and moving stability of the chassis frame is ensured; the steering wheel can rotate +/-90 degrees, so that the trolley can move along any direction, the laser obstacle avoidance sensors are mounted at the front end and the rear end of the chassis frame, the front obstacle can be effectively detected during bidirectional movement and backward movement, the vehicle body and peripheral equipment are effectively protected, and the safety factor is high.
The mechanical arm of the spraying device can rotate at multiple degrees of freedom, so that omnibearing spraying is realized, paint can be pumped out from the paint bucket by the plunger pump, and the paint is conveyed to the spray gun at high pressure and sprayed out from the spray gun.
Preferably, in above-mentioned intelligence AGV spraying dolly, still include the alarm, the alarm sets up on the chassis frame, respectively with the controller the battery electricity is connected.
Preferably, in above-mentioned intelligence AGV spraying dolly, chassis frame still is provided with safe subassembly all around, safe subassembly includes anticollision strip and pressure sensor, pressure sensor sets up in the anticollision strip, and with the controller electricity is connected.
The beneficial effects of adopting above-mentioned scheme are that, when the collision avoidance strip collides the back internal pressure sensor with personnel or keeps away the barrier and when receiving certain pressure and reaching preset pressure value, the controller makes the alarm send out the police dispatch newspaper to control the helm stop motion, effectively protected itself and peripheral equipment.
Preferably, in the above AGV painting trolley, the steering assembly includes: the steering mechanism comprises a driving mounting plate, a damping plate, a slewing bearing, a steering motor and a brake valve, wherein the driving mounting plate is fixedly connected to the chassis frame, the damping plate is connected with the lower surface of the driving mounting plate through an elastic part, the slewing bearing is rotatably connected below the damping plate, the upper surface of a turntable is fixedly connected with the lower surface of the slewing bearing, the lower surface of the turntable is fixedly connected with a mounting seat, and a steering wheel is mounted on the mounting seat through a rotating shaft and is in transmission connection with a pneumatic motor mounted on the mounting seat; the steering motor is fixedly connected with the lower surface of the turntable, and an output shaft of the steering motor vertically penetrates through the turntable and is connected with a steering gear meshed with the slewing bearing; the brake valve is installed on the installation seat and is connected and matched with the steering wheel.
Preferably, in above-mentioned intelligence AGV spraying dolly, the elastic component is damping spring, just be provided with all around the drive mounting panel with the direction sliding sleeve that the shock attenuation board is connected.
The beneficial effects of adopting above-mentioned scheme are that, can make the helm along arbitrary direction motion, the structural design of damper plate makes two helm take place the unsteady of adaptability along with the undulation change on road surface, plays the cushioning effect.
Preferably, in the above AGV painting trolley, a first absolute value encoder is further disposed on the turntable, and a pinion of the first absolute value encoder is meshed with the slewing bearing; and a second absolute value encoder for monitoring brake displacement is arranged on the pneumatic motor, and the first absolute value encoder and the second absolute value encoder are electrically connected with the controller.
The beneficial effect of adopting above-mentioned scheme is, the angle of turning to and the brake distance of knowing the steering wheel accurately.
Preferably, in the above AGV spraying trolley, a stirring mechanism is arranged in the paint bucket, and the stirring mechanism comprises a stirring shaft and stirring blades connected to the stirring shaft; the top end of the stirring shaft extends out of the top cover of the paint bucket and is fixedly connected with a rotating shaft of a pneumatic motor, and the pneumatic motor is connected with the pneumatic control switch.
The beneficial effects of adopting above-mentioned scheme are that, can stir the paint vehicle in the paint kettle, make its misce bene, prevent to take place the deposit phenomenon.
Preferably, in the above AGV spraying trolley, the first conveying pipe and the second conveying pipe are hoses.
Preferably, in above-mentioned intelligence AGV spraying dolly, the top central point on dolly chassis puts and is provided with the electric box, be provided with the dc-to-ac converter in the electric box for carry out the conversion to the output power supply of battery.
Preferably, in above-mentioned intelligence AGV spraying dolly, be used for the installation the paint kettle with the support bottom of plunger pump is provided with the balancing weight, and the effect of balancing weight is the weight of battery on the chassis frame for balance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIGS. 1-2 are perspective views of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic view of the overall structure provided by the present invention;
FIG. 5 is a cross-sectional view of an AGV chassis of the present invention;
FIG. 6 is a schematic structural diagram of a driving wheel traveling mechanism according to the present invention;
fig. 7 is a side view of the driving wheel traveling mechanism of the present invention.
Wherein: 10-a chassis frame; 11-a storage battery; 12-a bumper strip;
20-driving wheel running mechanism; 21-a steering wheel; 22-a pneumatic motor; 23-a turntable; 24-a drive mounting plate; 25-a damping plate; 26-a slewing bearing; 27-a steering motor; 28-brake valve; 29-a guide sliding sleeve; 231-a first absolute value encoder; 30-universal driven wheel; 40-laser obstacle avoidance sensor; 50-a controller; 60-a mechanical arm; 61-end articulated arm; 70-a paint bucket; 80-plunger pump; 90-spray gun.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The embodiment of the invention discloses an intelligent AGV spraying trolley, which comprises a trolley chassis and a spraying device carried on the trolley chassis;
the trolley chassis comprises a chassis frame 10, a driving wheel travelling mechanism 20, a universal driven wheel 30, a laser obstacle avoidance sensor 40, a controller 50 and an alarm.
The chassis frame 10 is 2380mm long, 1820mm wide, 1457mm high, one end of the upper surface is fixed with the storage battery 11; the driving wheel traveling mechanism 20 is distributed on two sides of the interior of the chassis frame 10 along a diagonal line and comprises a steering wheel 21, a pneumatic motor 22, a turntable 23 and a steering assembly, the turntable 23 is horizontally arranged and is rotatably connected to the chassis frame 10 and is in transmission connection with the steering assembly, the steering wheel 21 and the pneumatic motor 22 are both arranged below the turntable 23, and a rotating shaft of the steering wheel 21 is fixedly connected with a driving shaft of the pneumatic motor 22; the universal driven wheels 30 are distributed on two sides of the inner part of the chassis frame 10 along the other diagonal line; the laser obstacle avoidance sensors 40 are respectively arranged on the shells at the front end and the rear end of the chassis frame 10 and are close to the driven wheel; the controller 50 is arranged in the middle of the upper surface of the chassis frame 10, and the controller 50 is electrically connected with the storage battery 11, the steering wheel 21, the steering assembly and the laser obstacle avoidance sensor 40; the alarm is arranged on the chassis frame 10 and is respectively and electrically connected with the controller 50 and the storage battery 11; this barrier sensor is kept away to laser 40 detectable radius 4 meters 0 ~ 270 degrees fan-shaped region, ensure the operation safety, and the brake stops when detecting to keep away the barrier object in 0.2 ~ 0.5 meters within range, when detecting to keep away the barrier object and get into safe warning region, the controller control steering wheel deceleration operation and make the alarm send the warning sound, when detecting to keep away the barrier object and get into AGV automatic shutdown in 0.2 ~ 0.5 meters within range, keep away the barrier object and remove back automatic recovery operation, because both ends have all installed the laser and kept away the barrier sensor, both can effectively detect the place ahead barrier when two-way motion and back.
The spraying device comprises a mechanical arm 60, a paint bucket 70, a plunger pump 80 and a spray gun 90, wherein the base of the mechanical arm 60 is arranged on the chassis frame 10; the paint bucket 70 and the plunger pump 80 are respectively fixed on the chassis frame 10 through a bracket; the paint bucket 70 is communicated with a liquid inlet of the plunger pump 80 through a first conveying pipeline; a liquid outlet of the plunger pump 80 is communicated with a liquid inlet of the spray gun 90 through a second conveying pipe orifice; the spray gun 90 is mounted on the end joint arm 61 of the robot arm 60; the robotic arm 60 is electrically connected to the controller 50; the plunger pump 80 is a pneumatic plunger pump and is connected with a pneumatic control switch, and the pneumatic control switch is connected with an air pressure system.
The mechanical arm 60 of the spraying device can rotate with multiple degrees of freedom to realize omnibearing spraying, the paint can be pumped out from the paint bucket by the plunger pump 80, the paint is conveyed to the spray gun 90 at high pressure and is sprayed out from the spray gun 90, the plunger pump 80 is provided with a driving mechanism for driving, and the driving mechanism is electrically connected with the controller 50.
The mechanical arm 60 is a mature product in the prior art, and is a spraying mechanical arm of model Nagasaki SQ15-06EX produced by Nagasaki robot science and technology Limited in Suzhou; the plunger pump 80 is a paint supply pump of the type wagner 72-100.
Advantageously, safety components are further arranged around the chassis frame 10, the safety components can be one or a combination of an electronic obstacle avoidance device and a mechanical anti-collision device, the safety components in the embodiment include an anti-collision strip 12 and a pressure sensor, the pressure sensor is arranged in the anti-collision strip 12 and is electrically connected with a controller, when the pressure sensor inside the anti-collision strip after the anti-collision strip collides with a person or an obstacle avoidance object reaches a preset pressure value, the controller enables an alarm to give an alarm, controls the steering wheel to stop moving, effectively protects the self and peripheral devices, and the safety factor is high.
In one particular embodiment, as shown, the steering assembly includes: the steering mechanism comprises a driving mounting plate 24, a damping plate 25, a slewing bearing 26, a steering motor 27 and a brake valve 28, wherein the driving mounting plate 24 is fixedly connected to the chassis frame 10, the damping plate 25 is connected with the lower surface of the driving mounting plate 24 through an elastic part, the slewing bearing 26 is rotatably connected below the damping plate 25, the upper surface of a turntable 23 is fixedly connected with the lower surface of the slewing bearing 26, the lower surface of the turntable 23 is fixedly connected with a mounting seat, and a steering wheel 21 is mounted on the mounting seat through a rotating shaft and is in transmission connection with a pneumatic motor 22 mounted on the mounting seat; the steering motor 27 is fixedly connected with the lower surface of the turntable 23, an output shaft of the steering motor 27 vertically penetrates through the turntable 23 and is connected with a steering gear meshed with the slewing bearing 26, rotation within a range of +/-90 degrees is realized, a steering wheel can move along any direction, and the running speed is 0-0.5 m/s; the brake valve 28 is arranged on the mounting seat and is connected and matched with the steering wheel 21, and the braking distance is +/-50 mm.
Advantageously, the elastic element is a damping spring and the drive mounting plate 24 is provided on its periphery with a guide bush 29 connected to the damping plate 25.
In order to accurately know the steering angle and the braking distance of the steering wheel, the turntable 23 is also provided with a first absolute value encoder 231, and a pinion of the first absolute value encoder 231 is meshed with the slewing bearing 26; the pneumatic motor is provided with a second absolute value encoder for monitoring the brake displacement, and the first absolute value encoder 231 and the second absolute value encoder are electrically connected with the controller.
In order to stir the paint in the paint bucket 70, to uniformly mix the paint and prevent the paint from depositing, a stirring mechanism is arranged in the paint bucket 70, and comprises a stirring shaft and stirring blades connected to the stirring shaft; the top end of the stirring shaft extends out of the top cover of the paint bucket 70 and is fixedly connected with a rotating shaft of a pneumatic motor, and the pneumatic motor is connected with a pneumatic control switch.
In order to further optimize the technical scheme, an electric box is arranged in the center of the top of the trolley chassis, and an inverter is arranged in the electric box and used for converting an output power supply of the storage battery.
In order to further optimize the above technical scheme, a counterweight is arranged at the bottom of the bracket for mounting the paint bucket 70 and the plunger pump 80, and the counterweight is used for balancing the weight of the storage battery on the chassis frame.
In order to further optimize the technical scheme, the first conveying pipeline and the second conveying pipeline are both hoses.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent AGV spraying trolley is characterized by comprising a trolley chassis and a spraying device carried on the trolley chassis;
the trolley chassis comprises a chassis frame (10), a driving wheel walking mechanism (20), a universal driven wheel (30), a laser obstacle avoidance sensor (40) and a controller (50);
a storage battery (11) is fixed at one end of the upper surface of the chassis frame (10);
the driving wheel traveling mechanism (20) is distributed on two sides of the interior of the chassis frame (10) along a diagonal line and comprises a steering wheel (21), a pneumatic motor (22), a turntable (23) and a steering assembly, the turntable (23) is horizontally arranged, is rotatably connected to the chassis frame (10) and is in transmission connection with the steering assembly, the steering wheel (21) and the pneumatic motor (22) are both arranged below the turntable (23), and a rotating shaft of the steering wheel (21) is fixedly connected with a driving shaft of the pneumatic motor (22);
the universal driven wheels (30) are distributed on two sides of the interior of the chassis frame (10) along the other diagonal line;
the laser obstacle avoidance sensors (40) are respectively arranged at the front end and the rear end of the chassis frame (10);
the controller (50) is arranged in the middle of the upper surface of the chassis frame (10), and the controller (50) is electrically connected with the storage battery (11), the steering wheel (21), the steering assembly and the laser obstacle avoidance sensor (40);
the spraying device comprises a mechanical arm (60), a paint bucket (70), a plunger pump (80) and a spray gun (90), wherein the base of the mechanical arm (60) is installed on the chassis frame (10); the paint bucket (70) and the plunger pump (80) are respectively fixed on the chassis frame (10) through a bracket; the paint bucket (70) is communicated with a liquid inlet of the plunger pump (80) through a first conveying pipeline; a liquid outlet of the plunger pump (80) is communicated with a liquid inlet of the spray gun (90) through a second conveying pipe orifice; the lance (90) is mounted on an end articulated arm (61) of the robotic arm (60); the mechanical arm (60) is electrically connected with the controller (50); the plunger pump (80) is a pneumatic plunger pump and is connected with a pneumatic control switch.
2. An intelligent AGV spraying dolly according to claim 1 further comprising an alarm, said alarm being disposed on said chassis frame (10) and being electrically connected to said controller (50) and said battery (11), respectively.
3. An intelligent AGV painting trolley according to claim 1, characterized in that the chassis frame (10) is further provided with safety components around it, said safety components include bumper strips (12) and pressure sensors, said pressure sensors are disposed in said bumper strips (12) and electrically connected to said controller.
4. The intelligent AGV coating cart of claim 1, wherein said steering assembly comprises: the steering mechanism comprises a driving mounting plate (24), a damping plate (25), a slewing bearing (26), a steering motor (27) and a brake valve (28), wherein the driving mounting plate (24) is fixedly connected to a chassis frame (10), the damping plate (25) is connected with the lower surface of the driving mounting plate (24) through an elastic part, the slewing bearing (26) is rotatably connected below the damping plate (25), the upper surface of a turntable (23) is fixedly connected with the lower surface of the slewing bearing (26), the lower surface of the turntable (23) is fixedly connected with a mounting seat, and a steering wheel (21) is mounted on the mounting seat through a rotating shaft and is in transmission connection with a pneumatic motor (22) mounted on the mounting seat; the steering motor (27) is fixedly connected with the lower surface of the rotating disc (23), and an output shaft of the steering motor (27) vertically penetrates through the rotating disc (23) and is connected with a steering gear meshed with the slewing bearing (26); and the brake valve (28) is arranged on the mounting seat and is connected and matched with the steering wheel (21).
5. An intelligent AGV spraying trolley according to claim 4, wherein said elastic member is a shock absorbing spring, and a guide sliding sleeve (29) connected to said shock absorbing plate (25) is provided around said driving mounting plate (24).
6. An intelligent AGV coating cart according to claim 1, wherein said turntable (23) is further provided with a first absolute value encoder (231), and a pinion of said first absolute value encoder (231) is engaged with said rotary support (26); the pneumatic motor is provided with a second absolute value encoder for monitoring brake displacement, and the first absolute value encoder (231) and the second absolute value encoder are electrically connected with the controller.
7. The AGV spraying trolley according to claim 1, wherein a stirring mechanism is disposed inside the paint bucket (70), and the stirring mechanism includes a stirring shaft and stirring blades connected to the stirring shaft; the top end of the stirring shaft extends out of the top cover of the paint bucket (70) and is fixedly connected with a rotating shaft of a pneumatic motor, and the pneumatic motor is connected with the pneumatic control switch.
8. The AGV spraying trolley of claim 1, wherein said first transport pipe and said second transport pipe are both hoses.
9. The AGV coating cart of claim 1, wherein an electrical box is provided in a central top portion of said cart chassis, said electrical box having an inverter disposed therein.
10. An intelligent AGV spraying dolly according to claim 1 wherein the bottom of the bracket for mounting the paint bucket (70) and the plunger pump (80) is provided with a counterweight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011149475.9A CN112191409A (en) | 2020-10-23 | 2020-10-23 | Intelligence AGV spraying dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011149475.9A CN112191409A (en) | 2020-10-23 | 2020-10-23 | Intelligence AGV spraying dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112191409A true CN112191409A (en) | 2021-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011149475.9A Pending CN112191409A (en) | 2020-10-23 | 2020-10-23 | Intelligence AGV spraying dolly |
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| Country | Link |
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| CN (1) | CN112191409A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945259A (en) * | 2021-01-27 | 2021-06-11 | 中国铁建电气化局集团有限公司 | Multifunctional intelligent measuring trolley and operation method |
| CN112974060A (en) * | 2021-04-27 | 2021-06-18 | 河南科技学院 | Electric paint spraying intelligent trolley for crane box girder |
| CN113231255A (en) * | 2021-05-17 | 2021-08-10 | 安徽驭风风电设备有限公司 | Production of wind-powered electricity generation blade is with rubber coating processingequipment with adjustable of high accuracy |
| CN113352333A (en) * | 2021-05-10 | 2021-09-07 | 浙江艾特普科技有限公司 | Mobile multifunctional intelligent industrial robot and working method |
| CN115501995A (en) * | 2022-09-30 | 2022-12-23 | 深圳工法智能科技有限公司 | Intelligent movement formula paint finishing |
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2020
- 2020-10-23 CN CN202011149475.9A patent/CN112191409A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945259A (en) * | 2021-01-27 | 2021-06-11 | 中国铁建电气化局集团有限公司 | Multifunctional intelligent measuring trolley and operation method |
| CN112945259B (en) * | 2021-01-27 | 2024-01-12 | 中国铁建电气化局集团有限公司 | Multifunctional intelligent measuring trolley and operation method |
| CN112974060A (en) * | 2021-04-27 | 2021-06-18 | 河南科技学院 | Electric paint spraying intelligent trolley for crane box girder |
| CN113352333A (en) * | 2021-05-10 | 2021-09-07 | 浙江艾特普科技有限公司 | Mobile multifunctional intelligent industrial robot and working method |
| CN113231255A (en) * | 2021-05-17 | 2021-08-10 | 安徽驭风风电设备有限公司 | Production of wind-powered electricity generation blade is with rubber coating processingequipment with adjustable of high accuracy |
| CN115501995A (en) * | 2022-09-30 | 2022-12-23 | 深圳工法智能科技有限公司 | Intelligent movement formula paint finishing |
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