CN113123566A

CN113123566A - Robot

Info

Publication number: CN113123566A
Application number: CN202010026017.XA
Authority: CN
Inventors: 陈伯扦; 李昂; 游专; 黄宇杰; 潘克玉; 郑丰; 谢志锋; 陈浩
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2021-07-16

Abstract

The present invention provides a robot, including: a frame body; the material mixing mechanism is arranged on the frame body and comprises a first material cavity and a second material cavity, the first material cavity and the second material cavity are communicated with the mixing cavity, so that the material in the first material cavity and the material in the second material cavity enter the mixing cavity and are mixed in the mixing cavity, and the mixing cavity is provided with a discharge hole for the mixed material to flow out; scrape material mechanism, scrape material mechanism and install on the support body, scrape the movably setting of at least part along predetermined work orbit of material mechanism, scrape material mechanism and have the scraper blade to scrape flat work to the material through the scraper blade, in order to solve the problem that epoxy terrace's among the prior art coating efficiency is low.

Description

Robot

Technical Field

The invention relates to the field of floor coating, in particular to a robot.

Background

The epoxy floor is a high-strength, wear-resistant and attractive floor, and has the advantages of no seam, solid texture, good chemical resistance, corrosion resistance, dust resistance, convenience in maintenance, low maintenance cost and the like.

At present, when laying the epoxy terrace, lay through manual control unloading equipment mostly, later the manual work is scraped the material action, and this kind of artifical participation working method appears scraping the inhomogeneous problem that leads to uneven ground of material easily to the artifical extravagant time of scraping the material has reduced the coating efficiency of epoxy terrace.

Disclosure of Invention

The invention mainly aims to provide a robot to solve the problem that the coating efficiency of an epoxy floor in the prior art is low.

In order to achieve the above object, the present invention provides a robot comprising: a frame body; the material mixing mechanism is arranged on the frame body and comprises a first material cavity and a second material cavity, the first material cavity and the second material cavity are communicated with the mixing cavity, so that the material in the first material cavity and the material in the second material cavity enter the mixing cavity and are mixed in the mixing cavity, and the mixing cavity is provided with a discharge hole for the mixed material to flow out; the scraping mechanism is arranged on the frame body, at least part of the scraping mechanism is movably arranged along a preset working track, and the scraping mechanism is provided with a scraper blade so as to scrape materials through the scraper blade.

Furthermore, a first feed port and a second feed port are arranged on the mixing cavity, the first feed port is communicated with the first material cavity, and the second feed port is communicated with the second material cavity; the mixing cavity is provided with a stirring part and a discharging part, the stirring part is communicated with the discharging part, and the stirring part extends along the vertical direction so that the materials flow into the discharging part after being stirred by the stirring part; the discharge gate is a plurality of, and a plurality of discharge gates all set up in the bottom of ejection of compact part.

Further, material mixing mechanism still includes: the stirring assembly is provided with a stirring rod, at least part of the stirring rod is positioned in the stirring part, and the stirring rod is rotatably arranged along a preset axis so as to stir the materials in the stirring part.

Further, the stirring subassembly still includes: the driving part is provided with a driving shaft connected with the stirring rod so as to drive the stirring rod to rotate through the driving shaft.

Furthermore, a plurality of scraping teeth are arranged on the working surface of the scraper and are uniformly arranged at intervals along the extension direction of the scraper; wherein, the scraping teeth are protruded out of the working surface of the scraping plate.

Furthermore, the scraping teeth are conical, and chamfers are arranged on the scraping plates; the scraping plate comprises a first end face and a second end face which are arranged oppositely, the first end face and the second end face are connected through a working face, the second end face is an end face of the scraping plate close to the large end of the scraping tooth, and the chamfer is arranged on the second end face and the working face.

Furthermore, the scraping teeth are provided with working end faces contacted with materials, the working ends at least comprise a first end face, a second end face and a third end face which are sequentially connected, the first ends of the first end face and the third end face are mutually connected, the second ends of the first end face and the second end face are connected through the second end face, and the second end face is an arc face or a plane.

Furthermore, the robot also comprises a driving arm, and the scraper is arranged at the driving end of the driving arm so as to drive the scraper to move through the driving arm; scrape material mechanism still includes: the buffer assembly is arranged between the scraper and the driving arm and provided with a buffer spring, the first end of the buffer spring is connected with the scraper, and the other end of the buffer spring is connected with the driving arm.

Further, the robot further includes: the laser radar is arranged at the top of the frame body; and the supporting wheel set is arranged at the bottom of the frame body and used for driving the frame body to move.

Further, the robot further includes: and the power device is connected with the material mixing mechanism and the scraping mechanism to provide driving force for the material mixing mechanism and the scraping mechanism.

According to the technical scheme, the robot comprises a frame body, a material mixing mechanism and a scraping mechanism, wherein the material mixing mechanism is installed on the frame body, the material mixing mechanism comprises a first material cavity and a second material cavity, the first material cavity and the second material cavity are communicated with the mixing cavity, so that materials in the first material cavity and materials in the second material cavity enter the mixing cavity and are mixed in the mixing cavity, the mixing cavity is provided with a discharge hole through which mixed materials flow out, the scraping mechanism is installed on the frame body, at least part of the scraping mechanism is movably arranged along a preset working track, and the scraping mechanism is provided with a scraping plate so as to scrape the materials through the scraping plate. The robot provided by the invention can automatically mix two materials, does not need manual participation when coating the ground, and improves the coating efficiency of the epoxy terrace.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a robot according to the invention;

FIG. 2 shows a schematic structural view of an embodiment of a mixing chamber of the robot according to FIG. 1;

FIG. 3 shows a schematic structural view of an embodiment of a screed of the robot according to FIG. 1;

fig. 4 shows a front view of a blade of a robot according to the invention.

Wherein the figures include the following reference numerals:

1. a frame body; 2. a material mixing mechanism; 20. a first material cavity; 21. a second material chamber; 22. a mixing chamber; 3. a scraping mechanism; 30. a squeegee; 220. a first feed port; 221. a second feed port; 222. a stirring section; 223. a discharge part; 224. a discharge port; 23. a stirring assembly; 230. a stirring rod; 231. a drive member; 232. a drive shaft; 301. scraping teeth; 4. a drive arm; 31. a buffer assembly; 310. a buffer spring; 5. a laser radar; 6. a support wheel set; 7. a power plant; 61. a steering wheel; 62. a universal wheel; 70. a controller; 71. a battery box; 72. an electric cabinet.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The present invention provides a robot, please refer to fig. 1 to 4, including: a frame body 1; the material mixing mechanism 2 is installed on the frame body 1, the material mixing mechanism 2 comprises a first material cavity 20 and a second material cavity 21, the first material cavity 20 and the second material cavity 21 are both communicated with the mixing cavity 22, so that a material in the first material cavity 20 and a material in the second material cavity 21 enter the mixing cavity 22 and are mixed in the mixing cavity 22, and the mixing cavity 22 is provided with a discharge hole 224 for the mixed material to flow out; the scraping mechanism 3 is arranged on the frame body 1, at least part of the scraping mechanism 3 is movably arranged along a preset working track, and the scraping mechanism 3 is provided with a scraping plate 30 so as to scrape materials through the scraping plate 30.

The robot comprises a frame body 1, a material mixing mechanism 2 and a scraping mechanism 3, wherein the material mixing mechanism 2 is installed on the frame body 1, the material mixing mechanism 2 comprises a first material cavity 20 and a second material cavity 21, the first material cavity 20 and the second material cavity 21 are both communicated with a mixing cavity 22, so that materials in the first material cavity 20 and materials in the second material cavity 21 enter the mixing cavity 22 and are mixed in the mixing cavity 22, the mixing cavity 22 is provided with a discharge hole 224 through which the mixed materials flow out, the scraping mechanism 3 is installed on the frame body 1, at least part of the scraping mechanism 3 is movably arranged along a preset working track, and the scraping mechanism 3 is provided with a scraping plate 30 so as to scrape the materials through the scraping plate 30. The robot provided by the invention can automatically mix two materials, does not need manual participation when coating the ground, and improves the coating efficiency of the epoxy terrace.

When the automatic scraping machine works specifically, the scraper 30 clings to the ground, two raw materials in the first material cavity 20 and the second material cavity 21 are conveyed into the mixing cavity 22 according to a fixed proportion through the dosing pump and are stirred in the mixing cavity 22, then the mixed materials flow to the ground through the discharge hole 224, the materials are scraped to be smooth through the reciprocating scraping of the scraper 30, the first material and the second material are stored independently, and the robot can be maintained and cleaned conveniently, wherein the first material cavity 20 is arranged in the first material barrel, the second material cavity 21 is arranged in the second material barrel, and the first material barrel and the second material barrel are supported through an angle steel welding support.

Specifically, a first feed opening 220 and a second feed opening 221 are arranged on the mixing cavity 22, the first feed opening 220 is communicated with the first material cavity 20, and the second feed opening 221 is communicated with the second material cavity 21; the mixing cavity 22 is provided with a stirring part 222 and a discharging part 223, the stirring part 222 is communicated with the discharging part 223, and the stirring part 222 extends in the vertical direction so that the materials flow into the discharging part 223 after being stirred by the stirring part 222; the discharge ports 224 are plural, and the plural discharge ports 224 are all arranged at the bottom of the discharge part 223. Preferably, discharge gate 224 is the discharge opening, and the diameter of discharge opening is 1mm to 5mm to the material that makes after the misce bene can smoothly flow out ground by discharge gate 224, realizes accurate cloth, makes the material coated thickness even, makes the ground construction quality after the coating more excellent.

As shown in fig. 2, the material mixing mechanism 2 further includes: the stirring assembly 23, the stirring assembly 23 has a stirring rod 230, at least a part of the stirring rod 230 is located in the stirring part 222, and the stirring rod 230 is rotatably disposed along a predetermined axis to stir the material in the stirring part 222. In order to mix the two materials more uniformly, it is preferable that the mixing ratio of the first material and the second material is 1:1 to 1: 5. The first material and the second material cannot be solidified when being stored separately, but the materials obtained by mixing the first material and the second material according to a fixed proportion can be solidified after being stirred, so that the floor is formed after being laid.

In the implementation process, the stirring assembly 23 further includes: a driving part 231, the driving part 231 having a driving shaft 232 connected with the stirring rod 230 to rotate the stirring rod 230 via the driving shaft 232. Preferably, the stirring rod 230 is helical.

As shown in fig. 3 and 4, a plurality of scraping teeth 301 are arranged on the working surface of the scraper 30, and the scraping teeth 301 are uniformly arranged at intervals along the extending direction of the scraper 30; wherein, the scraping teeth 301 are protruded out of the working surface of the scraping plate 30. The scraping teeth 301 are arranged to ensure the coating thickness to be uniform, and preferably, the thickness of the scraping teeth 301 is 1 to 3mm, so that the working surface of the scraper 30 is spaced from the ground, and the coating thickness of the material is adjusted by controlling the thickness of the scraping teeth 301. The scraper 30 is preferably made of polytetrafluoroethylene materials through integral processing, the polytetrafluoroethylene is not easy to be bonded with epoxy floor paint, the abrasion resistance is good, the friction resistance is small, and the scraper made of the polytetrafluoroethylene has the advantages of long service life, easiness in cleaning and the like.

In the embodiment provided by the invention, the scraping teeth 301 are conical, and the scraping plate 30 is provided with a chamfer; the scraping plate 30 comprises a first end face and a second end face which are oppositely arranged, the first end face and the second end face are connected through a working face, the second end face is an end face of the scraping plate 30 close to the large end of the scraping tooth 301, and the chamfer is arranged on the second end face and the working face. By the arrangement, in the moving process of the scraper 30, after materials flow through the scraping teeth 301, the materials on two sides of the scraping teeth 301 can be mutually fused, and scratches after scraping are reduced. By arranging the chamfer on the scraper 30, the resistance between the material and the scraper 30 is easily reduced, and the action of the scraper 30 is smoother.

In another embodiment provided by the present invention, the scraping tooth 301 has a working end surface contacting with the material, the working end includes at least a first end surface, a second end surface and a third end surface connected in sequence, the first ends of the first end surface and the third end surface are connected to each other, the second ends of the first end surface and the second end surface are connected through the second end surface, and the second end surface is an arc surface or a plane. It should be noted here that the shape of the scraping teeth 301 is not limited to the shape provided in the present invention, as long as the side surfaces of the scraping teeth 301 are streamlined.

In the invention, the size of the scraper is 300mm by 30mm as an example, the size of the chamfer is 3mm, and the thickness of the scraper is 5 mm.

Scraper blade 30 is when using, hugs closely the scraper blade on construction ground, emptys the material in the place ahead of scraper blade 30, and control scraper blade is hugged closely ground and is removed, makes the material scrape the clearance between the tooth 301 evenly and flow through by two adjacent ground, can reduce the scratch on the terrace paint, can also remove the in-process at scraper blade 30 simultaneously, reduces the resistance of scraper blade, improves work efficiency.

In order to control the movement of the scraper 30, the robot further comprises a driving arm 4, wherein the scraper 30 is arranged at the driving end of the driving arm 4, so that the driving arm 4 drives the scraper 30 to move; scraper constructs 3 and still includes: the buffer assembly 31 is arranged between the scraper 30 and the driving arm 4, the buffer assembly 31 is provided with a buffer spring 310, a first end of the buffer spring 310 is connected with the scraper 30, and the other end of the buffer spring 310 is connected with the driving arm 4. The scraper blade is arranged in such a way that the scraper blade is tightly attached to the ground in the working process, and the height fluctuation of the ground can be compensated through the buffer spring 310, so that the thickness of the coated ground is more uniform.

In order to provide more accurate navigation positioning information for the robot, the robot further comprises: the laser radar 5 is arranged at the top of the frame body 1, so that the laser radar 5 is prevented from being shielded, and the laser radar 5 can scan the surrounding environment at 360 degrees; support wheelset 6, support wheelset 6 installs in the bottom of support body 1 for drive support body 1 removes. The support wheel set 6 comprises two steering wheels 61 and two universal wheels 62, preferably, the two steering wheels 61 are respectively installed on one set of opposite diagonal angles on the frame body 1, the two universal wheels 62 are respectively installed on the other set of diagonal angles, so that the movement and the steering of the robot can be controlled through the steering wheels 61, and the auxiliary support can be performed through the universal wheels 62.

Specifically, the robot further includes: and the power device 7 are connected with the material mixing mechanism 2 and the scraping mechanism 3 to provide driving force for the material mixing mechanism 2 and the scraping mechanism 3. Wherein, power device 7 includes controller 70, battery box 71 and electric cabinet 72, and electric cabinet 72 sets up in the below of material mixing mechanism 2, and battery box 71 sets up in the below of electric cabinet 72, and controller 70 sets up the one end of keeping away from the robot arm at the robot, sets up the focus that makes the robot like this and reduces, improves the anti ability of empting and the climbing ability of robot.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising:

a frame body (1);

the material mixing mechanism (2) is installed on the frame body (1), the material mixing mechanism (2) comprises a first material cavity (20) and a second material cavity (21), the first material cavity (20) and the second material cavity (21) are communicated with the mixing cavity (22) so that materials located in the first material cavity (20) and materials located in the second material cavity (21) enter the mixing cavity (22) and are mixed in the mixing cavity (22), and the mixing cavity (22) is provided with a discharge hole (224) for mixed materials to flow out;

the scraper mechanism (3), the scraper mechanism (3) is installed on the support body (1), at least part of the scraper mechanism (3) is movably arranged along a preset working track, and the scraper mechanism (3) is provided with a scraper (30) so as to scrape materials through the scraper (30).

2. The robot according to claim 1, characterized in that a first feed opening (220) and a second feed opening (221) are arranged on the mixing chamber (22), the first feed opening (220) is communicated with the first material chamber (20), and the second feed opening (221) is communicated with the second material chamber (21);

the mixing cavity (22) is provided with a stirring part (222) and a discharging part (223), the stirring part (222) is communicated with the discharging part (223), and the stirring part (222) extends in the vertical direction so that materials flow into the discharging part (223) after being stirred by the stirring part (222);

the discharge holes (224) are multiple, and the discharge holes (224) are all arranged at the bottom of the discharge part (223).

3. The robot according to claim 2, characterized in that the material mixing mechanism (2) further comprises:

a stirring assembly (23), the stirring assembly (23) having a stirring rod (230), at least a portion of the stirring rod (230) being located within the stirring portion (222), the stirring rod (230) being rotatably disposed along a predetermined axis to stir the material within the stirring portion (222).

4. Robot according to claim 3, characterized in that said stirring assembly (23) further comprises:

a driving part (231), wherein the driving part (231) is provided with a driving shaft (232) connected with the stirring rod (230) so as to drive the stirring rod (230) to rotate through the driving shaft (232).

5. The robot according to claim 1, characterized in that a plurality of scraping teeth (301) are provided on the working surface of the scraper (30), the plurality of scraping teeth (301) being evenly spaced along the extension direction of the scraper (30);

the scraping teeth (301) protrude out of the working surface of the scraper (30).

6. Robot according to claim 5, characterized in that the scraping teeth (301) are conical, the scraping blade (30) being provided with a chamfer;

the scraper (30) comprises a first end face and a second end face which are oppositely arranged, the first end face and the second end face are connected through the working face, the second end face is an end face of the scraper (30) close to the large end of the scraping tooth (301), and the chamfer is arranged on the second end face and the working face.

7. The robot as recited in claim 5, characterized in that the scraping teeth (301) have working end faces in contact with the material, the working ends comprise at least a first end face, a second end face and a third end face which are connected in sequence, the first ends of the first end face and the third end face are connected with each other, the second ends of the first end face and the second end face are connected through the second end face, and the second end face is an arc face or a plane.

8. The robot according to claim 1, characterized in that the robot further comprises a driving arm (4), the scraper (30) being mounted at a driving end of the driving arm (4) to move the scraper (30) by the driving arm (4); the scraping mechanism (3) further comprises:

the buffer assembly (31), the buffer assembly (31) sets up between the scraper blade (30) and the drive arm (4), buffer assembly (31) have buffer spring (310), buffer spring (310) first end with scraper blade (30) are connected, buffer spring (310) the other end with drive arm (4) are connected.

9. A robot as claimed in any of claims 1 to 8, further comprising:

the laser radar (5), the laser radar (5) is installed on the top of the frame body (1);

the support wheel set (6), install support wheel set (6) the bottom of support body (1) is used for driving support body (1) removes.

10. A robot as claimed in any of claims 1 to 8, further comprising:

the power device (7), power device (7) with material mixing mechanism (2) with scrape material mechanism (3) and all connect, for material mixing mechanism (2) with scrape the material mechanism (3) and provide drive power.