CN113781862B - Plastering and spraying functional device for teaching and practical training - Google Patents
Plastering and spraying functional device for teaching and practical training Download PDFInfo
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- CN113781862B CN113781862B CN202111097107.9A CN202111097107A CN113781862B CN 113781862 B CN113781862 B CN 113781862B CN 202111097107 A CN202111097107 A CN 202111097107A CN 113781862 B CN113781862 B CN 113781862B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention belongs to the technical field of plastering, and particularly relates to a plastering and spraying functional device for teaching and practical training, which comprises a plastering and spraying execution end, a six-joint mechanical arm, a conveying pipe, a charging barrel and a walking platform, wherein the lower side of the walking platform is provided with a universal walking wheel, and the six-joint mechanical arm and the charging barrel are arranged on the upper side of the walking platform; the plastering and spraying execution end is arranged at the front end of the six-joint mechanical arm, a pump is arranged in the charging barrel, and the pump and the plastering and spraying execution end are connected through a conveying pipe; when the wall scraping device is used for scraping a wall, firstly paint is sprayed into a part of area of the wall through the spraying pipe, then the paint is scraped through the plastering plate, and then the next area is sprayed and scraped after the spraying is finished, namely, the wall scraping device is used for scraping area blocks, and the scraping and the spraying can be controlled to rotate and change positions, and simultaneously the scraping and the spraying are carried out independently, so that the design reason is to ensure that the wall corner can be sprayed and scraped.
Description
Technical Field
The invention belongs to the technical field of plastering, and particularly relates to a plastering and spraying functional device for teaching and practical training.
Background
In the building process of the inner wall of a building at present, the construction efficiency of manual plastering and spraying is low, mainly depends on the defects of an operator, and is gradually replaced by a robot of intelligent equipment; in the process of building a wall by using the existing intelligent equipment, the intelligent mechanical arm with multiple joints is gradually widely applied; the typical six-joint arm can realize the translation of a clamped object in a plane within a certain range, and has the spatial action required by plastering and spraying; however, the execution end of the plastering and spraying mechanism matched with the six-joint mechanical arm is still imperfect, the six-joint mechanical arm is not specially customized, and the following problems exist in the current execution:
first, plastering often falls off, causing waste of materials.
Secondly, because the material conveying pipe contains air bubbles, the material splashing condition can occur during material spraying, the equipment is easy to be dirtied to cause mechanical failure, and meanwhile, the raw materials are wasted.
Thirdly, when the mechanical arm is plastered, the flow resistance in the material conveying pipe is changed due to the adaptive bending of the material conveying pipe, so that the vibration impact of the material conveying pipe on the joints of the mechanical arm is caused, particularly two small joints on the front side of the mechanical arm.
The invention designs a plastering and spraying functional device for practical teaching, strives to be widely applied to the market after shaping, improves the practical training efficiency and solves the problems.
Disclosure of Invention
In order to achieve the purpose, the invention adopts the following technical scheme:
a plastering and spraying functional device for teaching and practical training comprises a plastering and spraying execution end, a six-joint mechanical arm, a conveying pipe, a charging barrel and a walking platform, wherein the lower side of the walking platform is provided with a universal walking wheel, and the six-joint mechanical arm and the charging barrel are arranged on the upper side of the walking platform; the plastering and spraying execution end is arranged at the front end of the six-joint mechanical arm, a pump is arranged in the charging barrel, and the pump and the plastering and spraying execution end are connected through a conveying pipeline.
The plastering and spraying execution end comprises a spraying mechanism, a plastering mechanism and a mounting plate, wherein the mounting plate is provided with a fixed pipe hole and is fixedly mounted at the front end of the six-joint mechanical arm; the spraying mechanism and the plastering mechanism are arranged on the mounting plate.
The plastering mechanism comprises a plastering plate, a first plate spring, a second plate spring and a fixing plate, wherein one end of the fixing plate is fixedly arranged on the mounting plate, one end of the plastering plate is hinged to the other end of the fixing plate, and the first plate spring is arranged between the plastering plate and the fixing plate; two groups of second plate springs are symmetrically arranged on the fixed plate, and the elastic strength of the second plate springs is greater than that of the first plate springs; the second plate spring plays a supporting role for the plastering plate during the side swinging plastering work.
The spraying mechanism comprises an injection pipe, a first motor, a swirler, a shielding plate, a connecting air pipe, a barrier strip, an annular shell and a flow stabilizing shell, wherein the injection pipe is fixedly arranged on the mounting plate through a fixing pipe hole; an annular shell is fixedly arranged on the outer side of the groove, and an annular cavity is formed between the annular shell and the outer wall surface of the groove; two exhaust pipes are symmetrically arranged on the outer side of the annular shell, and a filter cover is arranged on each exhaust pipe in a threaded fit and turn-knob mode; the outer wall surface of the annular shell is provided with a guide groove; the shielding plate is of an annular structure, a plurality of circles of first air holes are uniformly formed in the circumferential direction of the shielding plate, the shielding plate is rotatably arranged on the outer wall surface of the front end of the groove, and the first air holes formed in the shielding plate correspond to the second air holes formed in the wall surface of the front end of the groove one to one; the shifting rod penetrates through the guide groove and is positioned on the outer side of the annular shell, and the shifting rod slides along the guide groove in a reciprocating manner to drive the shielding plate to rotate in a reciprocating manner relative to the outer wall surface of the groove, so that the first air hole and the second air hole are opened and closed in a reciprocating manner; the first motor is fixedly arranged on the mounting plate and provides a power source for the sliding of the shifting rod; a plurality of connecting air pipes are uniformly and fixedly arranged on the inner wall surface of the front end of the groove in the circumferential direction and are communicated with corresponding second air holes on the wall surface of the groove; each connecting air pipe is fixedly provided with a steady flow shell.
The outer wall surface of the flow stabilizing shell is a smooth surface, the front end of the flow stabilizing shell is a protruding end, and the rear end of the flow stabilizing shell is a sharp-angled end; the protruding end of the flow stabilizing shell is an opening end; an annular baffle is fixedly arranged on the inner wall surface of the front end of the flow stabilizing shell; the steady flow shell is communicated with the corresponding connecting air pipe.
The material conveying pipe is divided into a first material pipe, a second material pipe and a third material pipe, and one end of the first material pipe is rotatably connected with the rear end of the injection pipe; one end of the third material pipe is connected with the pump, the two ends of the second material pipe are respectively connected with the other ends of the first material pipe and the second connecting pipe in a rotating mode through a rotating connecting pipe, and the two rotating connecting pipes are respectively installed on the six-joint mechanical arm through a connecting mechanism.
The connecting mechanism comprises a spherical hinge mechanism and a connecting rod, wherein one hinge mechanism is arranged on the six-joint mechanical arm, the lower end of the connecting rod is fixedly arranged on the hinge mechanism arranged on the six-joint mechanical arm, the upper end of the connecting rod is provided with the hinge mechanism, and the rotary connecting sleeve is fixedly arranged on the hinge mechanism at the upper side.
The spherical hinge mechanism comprises a spherical shell end, a spherical rod end, a fixed disc and springs, wherein the spherical hinge shell is connected with the spherical hinge rod in a spherical hinge mode, the fixed disc is fixedly mounted on the spherical hinge rod and the spherical hinge shell respectively, and the three springs are mounted between the two fixed discs in a circumferential direction uniformly.
For the upper side hinge mechanism, a spherical hinge rod is fixedly arranged at the upper end of the connecting rod, and a rotary connecting sleeve is fixedly arranged on a spherical hinge shell; for the hinge mechanism on the lower side, the spherical hinge shell is fixedly arranged at the upper end of the six-joint mechanical arm, and the spherical hinge rod is fixedly arranged at the upper end of the connecting rod.
Preferably, the front end of the plastering plate is provided with a bulge, and the bulge is provided with an inclined plane.
Preferably, the six-joint mechanical arm comprises a first mechanical execution block, a second mechanical execution block, a third mechanical execution block, a fourth mechanical execution block, a fifth mechanical execution block, a sixth mechanical execution block, a seventh mechanical execution block and an eighth mechanical execution block, wherein the eighth mechanical execution block is fixedly arranged on the walking platform, the seventh mechanical execution block is rotatably arranged on the eighth mechanical execution block, and a motor for driving the seventh mechanical execution block to rotate is arranged inside the eighth mechanical execution block; the sixth mechanical execution block is of a plate-shaped structure, the lower end of the sixth mechanical execution block is hinged to the side face of the seventh mechanical execution block, and a motor for driving the sixth mechanical execution block to swing is arranged in the seventh mechanical execution block; the fourth mechanical execution block is hinged to the upper end of the sixth mechanical execution block, and a motor for driving the sixth mechanical execution block to swing is arranged in the fourth mechanical execution block; the fifth mechanical execution block is fixedly arranged on the upper side of the fourth mechanical execution block, the third mechanical execution block is rotatably arranged on the front side of the fifth mechanical execution block, and the inner side of the fifth mechanical execution block is provided with a motor for driving the third mechanical execution block to rotate; the second mechanical execution block is fixedly arranged on the upper side of the third mechanical execution block, the first mechanical execution block is rotatably arranged on one side of the second mechanical execution block, and the inner side of the second mechanical execution block is provided with a motor for driving the first mechanical execution block to rotate; the mounting plate is rotatably mounted on the front side of the first mechanical execution block.
A spherical hinge shell in a spherical hinge mechanism positioned on the lower side in the two connecting mechanisms is fixedly arranged on the upper side of a fifth mechanical execution block; and a fixing pipe sleeve for fixing the third material pipe is fixedly arranged on one side of the sixth mechanical execution block.
As a preferred scheme, the first motor is fixedly installed on the installation plate through a fixed support, one end of a crank is fixedly installed on an output shaft of the first motor, one end of a swing rod is hinged to the other end of the crank, a fixed rotating shaft is rotatably installed on the annular shell, one end of a rocker is fixedly installed on the fixed rotating shaft, and the other end of the rocker is hinged to the other end of the swing rod; the shifting plate is provided with a sliding chute, one end of the shifting plate is fixedly arranged on the fixed rotating shaft, and the sliding chute on the shifting plate is in nested sliding fit with the shifting rod.
Preferably, a sealing plate for shielding and sealing the guide groove is fixedly mounted on the shift lever.
Compared with the prior art, the invention has the advantages that:
1. when the wall scraping device is used for scraping a wall, coating is firstly sprayed into a part of area of the wall through the spraying pipe, then the coating is scraped through the plastering plate, and then the spraying and the scraping of the next area are carried out, namely the wall scraping device is used for scraping area blocks, the scraping and the spraying can be controlled to rotate and change positions, and the scraping and the spraying can be carried out independently.
2. The paint entering the jet pipe through the material conveying pipe possibly has bubbles and is concentrated on the middle position, and the bubbles concentrated in the middle can be disturbed through the cyclone, so that the bubbles are close to the inner wall surface of the jet pipe as much as possible; after the paint passing through the cyclone enters the groove, the space in the groove is changed from small to large and then becomes small, so that the air bubbles carried in the paint can be ensured to be attached to the front inner wall surface of the groove as much as possible; most of bubbles on the wall surface in the coating are discharged from the first air holes, and when the bubbles in the middle pass through the protruding end of the flow stabilizing shell, the bubbles are sucked under the action of negative pressure in the flow stabilizing shell and are discharged from the corresponding second air holes through the connecting air pipe; finally, discharging from an air outlet; through the design of the inner structure of the spray pipe, bubbles in the coating are lifted and discharged, so that the phenomenon that the material is splashed due to the bubbles in the material conveying pipe is prevented, the equipment is easily dirtied to cause mechanical failure, and meanwhile, raw materials are wasted.
3. According to the six-joint mechanical arm, the material conveying pipe is separated from the six-joint mechanical arm through the two designed connecting mechanisms, and the vibration impact of the material conveying pipe on the joints of the mechanical arm due to the change of flow resistance in the material conveying pipe caused by the six-joint mechanical arm in the working process is avoided. Meanwhile, due to the spherical hinge connection, when the six-joint mechanical arm swings, the conveying pipe can swing correspondingly, and plays a role in buffering under the action of the spring, so that the vibration impact of the conveying pipe on the joints of the mechanical arm is greatly reduced.
4. The invention sprays the paint on the wall surface by designing the spraying mechanism, and performs anti-splash treatment, so that the material waste is less.
Drawings
Fig. 1 is an external view of an integral part.
Fig. 2 is a schematic structural view of the whole component.
FIG. 3 is a schematic view of a six-joint robot arm
FIG. 4 is a schematic view of the feed delivery pipe.
Fig. 5 is a schematic view of the connection mechanism.
Fig. 6 is a schematic structural view of a plastering execution end.
Figure 7 is a schematic view of the plastering mechanism.
Fig. 8 is an external view of the spray mechanism.
Fig. 9 is a dial plate mounting schematic.
Fig. 10 is a schematic view of the structure of the spray mechanism.
FIG. 11 is a schematic view of a shutter structure.
Fig. 12 is a schematic view of a spray tube configuration.
Fig. 13 is a schematic view of a flow stabilizer housing construction.
Number designation in the figures: 1. a plastering and spraying execution end; 2. a six-joint mechanical arm; 3. a delivery pipe; 4. a charging barrel; 5. a walking platform; 6. mounting a plate; 7. a fixed tube hole; 8. a first mechanical execution block; 9. a second mechanical actuation block; 10. a third mechanical execution block; 11. a fourth mechanical execution block; 12. a fifth mechanical actuation block; 13. a sixth mechanical actuator block; 14. a seventh mechanical actuator block; 15. an eighth mechanical actuator block; 16. a first material pipe; 17. a connecting mechanism; 18. a second material pipe; 19. a third material pipe; 20. fixing the pipe sleeve; 21. a pump; 22. rotating the connecting sleeve; 23. a spherical hinge mechanism; 24. a connecting rod; 25. a spherical shell end; 26. a ball rod end; 27. fixing the disc; 28. a spring; 29. a spraying mechanism; 30. a plastering mechanism; 31. plastering the board; 32. a first plate spring; 33. a second plate spring; 34. a fixing plate; 35. a protrusion; 36. an injection pipe; 37. a first motor; 38. a deflector rod; 39. fixing and supporting; 40. a crank; 41. a swing rod; 42. a rocker; 43. fixing the rotating shaft; 44. pulling a plate; 45. a chute; 46. a swirler; 47. a shielding plate; 48. connecting an air pipe; 49. a sealing plate; 50. a first air hole; 51. a guide groove; 52. a filter cover; 53. an exhaust pipe; 54. a second air hole; 55. blocking strips; 56. an annular housing; 57. a flow stabilizing shell; 58. a baffle plate; 59. a sharp-angled end; 60. and a protruding end.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples or figures are illustrative of the present invention and are not intended to limit the scope of the present invention.
Unless otherwise specified, in the present invention, if the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific length, orientation, configuration and operation in a specific orientation, therefore, the terms describing the orientation or positional relationship in the present invention are only used for illustrative purposes and are not to be construed as limiting the present patent, and those skilled in the art can understand the specific meaning of the terms in the specific context in conjunction with the drawings.
Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly and encompass, for example, being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 and 2, the device comprises a plastering and spraying execution end 1, a six-joint mechanical arm 2, a material conveying pipe 3, a material cylinder 4 and a walking platform 5, wherein the lower side of the walking platform 5 is provided with universal walking wheels, and the six-joint mechanical arm 2 and the material cylinder 4 are arranged on the upper side of the walking platform 5; the plastering and spraying execution end 1 is arranged at the front end of the six-joint mechanical arm 2, a pump 21 is arranged in the charging barrel 4, and the pump 21 and the plastering and spraying execution end 1 are connected through a material conveying pipe 3.
As shown in fig. 4 and 6, the plastering and spraying execution end 1 comprises a spraying mechanism 29, a plastering mechanism 30 and a mounting plate 6, wherein the mounting plate 6 is provided with a fixing pipe hole 7, and the mounting plate 6 is fixedly mounted at the front end of the six-joint mechanical arm 2; the painting means 29 and the plastering means 30 are mounted on the mounting plate 6.
As shown in fig. 7, the plastering mechanism 30 includes a plastering plate 31, a first plate spring 32, a second plate spring 33, and a fixing plate 34, wherein one end of the fixing plate 34 is fixedly mounted on the mounting plate 6, one end of the plastering plate 31 is hinged to the other end of the fixing plate 34, and the first plate spring 32 is mounted between the plastering plate 31 and the fixing plate 34; two groups of second plate springs 33 are symmetrically arranged on the fixing plate 34, and the elastic strength of the second plate springs 33 is greater than that of the first plate springs 32; the second plate spring 33 plays a supporting role for the plastering plate 31 during the side swing plastering work.
The first plate spring 32 plays a role in resetting the plastering plate 31, and in an initial state, the plastering plate 31 is maintained to be vertical to the wall surface through the first plate springs 32 on two sides, and when plastering is carried out, the plastering plate 31 can swing towards any one of the two sides for plastering; the effect of second leaf spring 33 is to providing the scraping force to plastering board 31 in the work process of plastering for plastering board 31 and wall have sufficient extrusion force, guarantee the effect of plastering.
When the wall scraping device is used for scraping a wall, firstly paint is sprayed into a part of area of the wall through the spraying pipe 36, then the paint is scraped through the plastering plate 31, and then the next area is sprayed and scraped, namely, the wall scraping device is used for scraping area blocks, the scraping and the spraying can be controlled to rotate and change positions, and the scraping and the spraying can be independently carried out, so that the wall corner can be sprayed and scraped.
As shown in fig. 8, the spraying mechanism 29 includes an injection pipe 36, a first motor 37, a swirler 46, a shielding plate 47, a connecting air pipe 48, a blocking strip 55, an annular outer shell 56, and a flow stabilizing shell 57, wherein as shown in fig. 6, the injection pipe 36 is fixedly mounted on the mounting plate 6 through the fixing pipe hole 7, as shown in fig. 10, the swirler 46 is mounted on the inner side of the rear end of the injection pipe 36, as shown in fig. 12, the front end of the injection pipe 36 has a groove with a V-shaped cross section, a plurality of circles of second air holes 54 communicated inside and outside are uniformly formed on the outer wall surface of the front end of the groove, and a plurality of annular blocking strips 55 which block the second air holes 54 and incline to the front end are uniformly mounted on the inner wall surface of the front end of the groove; an annular shell 56 is fixedly arranged on the outer side of the groove, and an annular cavity is formed between the annular shell 56 and the outer wall surface of the groove; two exhaust pipes 53 are symmetrically arranged on the outer side of the annular shell 56, and a filter cover 52 is arranged on each exhaust pipe 53 in a threaded fit and screwed mode; the outer wall surface of the annular shell 56 is provided with a guide groove 51; as shown in fig. 11, the shielding plate 47 is of an annular structure, and a plurality of circles of first air holes 50 are uniformly formed in the circumferential direction of the shielding plate 47, as shown in fig. 10, the shielding plate 47 is rotatably mounted on the outer wall surface at the front end of the groove, and the first air holes 50 formed in the shielding plate 47 correspond to the second air holes 54 formed in the wall surface at the front end of the groove one by one; as shown in fig. 11, a shift lever 38 is fixedly mounted on the shielding plate 47, the shift lever 38 passes through the guide slot 51 and is located outside the annular housing 56, and the shift lever 38 slides back and forth along the guide slot 51 to drive the shielding plate 47 to rotate back and forth relative to the outer wall surface of the groove, so that the first air hole 50 and the second air hole 54 open and close back and forth; as shown in fig. 8, the first motor 37 is fixedly installed on the mounting plate 6, and the first motor 37 provides a power source for sliding the shift lever 38; a plurality of connecting air pipes 48 are uniformly and fixedly arranged on the inner wall surface of the front end of the groove in the circumferential direction, and the connecting air pipes 48 are communicated with corresponding second air holes 54 on the wall surface of the groove; each connecting air pipe 48 is fixedly provided with a steady flow shell 57.
The paint entering the jet pipe 36 through the feed delivery pipe 3 may have bubbles and is concentrated on the middle position, and the bubbles concentrated in the middle can be disturbed through the cyclone 46, so that the bubbles are as close to the inner wall surface of the jet pipe 36 as possible; in the invention, the front end of the injection pipe 36 is provided with a groove, and after the coating passing through the swirler 46 enters the groove, the space in the groove is changed from small to large and then becomes small, so that bubbles carried in the coating can be ensured to be attached to the front inner wall surface of the groove as far as possible; according to the invention, the annular barrier strip 55 is designed, so that the coating entering the groove can be prevented from entering the second air hole 54 and further entering a cavity between the annular shell 56 and the outer wall surface of the groove; in the invention, the shielding plate 47 is driven by the first motor 37 to rotate in a reciprocating manner, so that the first air hole 50 and the second air hole 54 are opened and closed in a reciprocating manner, bubbles of the coating can be discharged from the first air hole 50 and the second air hole 54 when the shielding plate is opened, and the coating can be prevented from flowing out from the first air hole 50 and the second air hole 54 after the shielding plate is closed. The opening and closing of the first air hole 50 and the second air hole 54 can guide the air bubbles out on one hand and can reduce the overflow of the raw materials on the other hand.
As shown in fig. 13, the outer wall surface of the flow stabilizing shell 57 is a smooth surface, the front end of the flow stabilizing shell 57 is a protruding end 60, and the rear end is a pointed end 59; the protruding end 60 of the flow stabilizing shell 57 is an open end; an annular baffle plate 58 is fixedly arranged on the inner wall surface at the front end of the flow stabilizing shell 57; the steady flow shell 57 is communicated with the corresponding connecting air pipe 48.
The sharp-angled end 59 of the present invention can ensure that the coating material smoothly passes through the flow stabilizing shell 57, and the air bubbles at the outer side in the coating material are discharged from the first air hole 50, while the air bubbles at the middle part pass through the protruding end 60 of the flow stabilizing shell 57, and the air bubbles are sucked under the action of the negative pressure in the flow stabilizing shell 57 and are discharged from the corresponding second air hole 54 through the connecting air pipe 48; the function of the annular baffle 58 is to prevent paint from entering the flow stabilizer housing 57 to some extent.
In the invention, gas entering the cavity between the annular shell 56 and the outer wall surface of the groove can be discharged from the exhaust pipes 53, and when the two exhaust pipes 53 are used for cleaning the injection pipe 36, clean water can be poured from one of the exhaust ports and discharged from the other exhaust port after cleaning.
As shown in fig. 4, the feed delivery pipe 3 is divided into three parts, namely a first material pipe 16, a second material pipe 18 and a third material pipe 19, wherein one end of the first material pipe 16 is rotatably connected with the rear end of the injection pipe 36; one end of the third material pipe 19 is connected with the pump 21, two ends of the second material pipe 18 are respectively connected with the other ends of the first material pipe 16 and the second connecting pipe in a rotating way through a rotating connecting pipe, and the two rotating connecting pipes are respectively arranged on the six-joint mechanical arm 2 through a connecting mechanism 17.
As shown in fig. 5, the connecting mechanism 17 includes a spherical hinge mechanism 23 and a connecting rod 24, one of the hinge mechanisms is mounted on the six-joint robot arm 2, the lower end of the connecting rod 24 is fixedly mounted on the hinge mechanism mounted on the six-joint robot arm 2, the upper end of the connecting rod 24 is mounted with a hinge mechanism, and the rotary connecting sleeve 22 is fixedly mounted on the hinge mechanism on the upper side.
As shown in fig. 5, the spherical hinge mechanism 23 includes a spherical shell end 25, a ball rod end 26, a fixing plate 27, and springs 28, wherein the spherical hinge shell is connected with the spherical hinge rod in a spherical hinge manner, the fixing plates 27 are respectively fixedly installed on the spherical hinge rod and the spherical hinge shell, and three springs 28 are evenly installed between two fixing plates 27 in the circumferential direction.
As shown in fig. 2, for the upper hinge mechanism, the spherical hinge rod is fixedly installed at the upper end of the connecting rod 24, and the rotary connecting sleeve 22 is fixedly installed on the spherical hinge shell; for the lower hinge mechanism, a spherical hinge housing is fixedly installed at the upper end of the six-joint mechanical arm 2, and a spherical hinge rod is fixedly installed at the upper end of the connecting rod 24.
According to the invention, the material conveying pipe 3 and the six-joint mechanical arm 2 are separated through the two designed connecting mechanisms 17, so that the vibration impact of the material conveying pipe 3 on the mechanical arm joint caused by the change of the flow resistance in the material conveying pipe 3 can be avoided because of the change of the six-joint mechanical arm 2 in the working process, and on the other hand, the bending curvature radius of the material conveying pipe 3 is larger, and the change of the curvature radius caused by the mechanical wall is smaller, so that the change of the flow resistance of the coating in the material conveying pipe 3 is smaller. Meanwhile, due to the spherical hinge connection, when the six-joint mechanical arm 2 swings, the material conveying pipe 3 can swing correspondingly and plays a role in buffering under the action of the spring 28, so that the vibration impact of the material conveying pipe 3 on the joints of the mechanical arm is greatly reduced.
Under normal conditions, the spherical hinge shell and the spherical hinge rod are in a vertical state under the action of the spring 28, and the spring 28 is compressed to play a buffering role after being stressed.
As shown in fig. 7, the front end of the plastering plate 31 has a protrusion 35, and the protrusion 35 has a slope. The design of arch 35 and inclined plane guarantees that plastering plate 31 can keep the state of tie with the wall when the slope is scraped and is smeared, guarantees the knife coating effect.
As shown in fig. 3, the six-joint mechanical arm 2 includes a first mechanical execution block 8, a second mechanical execution block 9, a third mechanical execution block 10, a fourth mechanical execution block 11, a fifth mechanical execution block 12, a sixth mechanical execution block 13, a seventh mechanical execution block 14, and an eighth mechanical execution block 15, wherein the eighth mechanical execution block 15 is fixedly installed on the walking platform 5, the seventh mechanical execution block 14 is rotatably installed on the upper side of the eighth mechanical execution block 15, and a motor for driving the seventh mechanical execution block 14 to rotate is arranged inside the eighth mechanical execution block 15; the sixth mechanical execution block 13 is a plate-shaped structure, the lower end of the sixth mechanical execution block 13 is hinged to the side surface of the seventh mechanical execution block 14, and a motor for driving the sixth mechanical execution block 13 to swing is arranged in the seventh mechanical execution block 14; the fourth mechanical execution block 11 is hinged to the upper end of the sixth mechanical execution block 13, and a motor for driving the sixth mechanical execution block 13 to swing is arranged in the fourth mechanical execution block 11; the fifth mechanical execution block 12 is fixedly arranged at the upper side of the fourth mechanical execution block 11, the third mechanical execution block 10 is rotatably arranged at the front side of the fifth mechanical execution block 12, and the inner side of the fifth mechanical execution block 12 is provided with a motor for driving the third mechanical execution block 10 to rotate; the second mechanical execution block 9 is fixedly arranged at the upper side of the third mechanical execution block 10, the first mechanical execution block 8 is rotatably arranged at one side of the second mechanical execution block 9, and a motor for driving the first mechanical execution block 8 to rotate is arranged at the inner side of the second mechanical execution block 9; the mounting plate 6 is rotatably mounted on the front side of the first mechanical actuator block 8.
According to the invention, the six-joint mechanical arm 2 is composed of the first mechanical execution block 8, the second mechanical execution block 9, the third mechanical execution block 10, the fourth mechanical execution block 11, the fifth mechanical execution block 12, the sixth mechanical execution block 13, the seventh mechanical execution block 14, the eighth mechanical execution block 15 and an internal motor, so that after the walking platform 5 is placed at a position close to a wall, the plastering mechanism 30 in the plastering and smearing execution end installed on the first mechanical execution block 8 can execute plastering actions on the wall surface, and the plastering and smearing execution end only performs translational motion on the wall surface.
As shown in fig. 2 and 4, the spherical hinge shell of the spherical hinge mechanism 23 at the lower side of the two connecting mechanisms 17 is fixedly arranged at the upper side of the fifth mechanical actuating block 12; a fixing pipe sleeve 20 for fixing the third material pipe 19 is fixedly installed at one side of the sixth mechanical execution block 13.
As shown in fig. 8 and 9, the first motor 37 is fixedly mounted on the mounting plate 6 through a fixed support 39, one end of a crank 40 is fixedly mounted on an output shaft of the first motor 37, one end of a swing rod 41 is hinged to the other end of the crank 40, a fixed rotating shaft 43 is rotatably mounted on the annular housing 56, one end of a rocker 42 is fixedly mounted on the fixed rotating shaft 43, and the other end of the rocker 42 is hinged to the other end of the swing rod 41; the shifting plate 44 is provided with a sliding groove 45, one end of the shifting plate 44 is fixedly arranged on the fixed rotating shaft 43, and the sliding groove 45 on the shifting plate 44 is nested and in sliding fit with the shifting rod 38.
According to the invention, the first motor 37 works to drive the crank 40 to rotate, the crank 40 rotates to drive the swing rod 41 to swing, the swing rod 41 swings to drive the swing rod 42 to swing in a reciprocating manner, the swing rod 42 swings in a reciprocating manner to drive the fixed rotating shaft 43 to rotate in a reciprocating manner, the fixed rotating shaft 43 rotates in a reciprocating manner to drive the shifting plate 44 to swing in a reciprocating manner, the shifting plate 44 swings in a reciprocating manner to shift the shifting rod 38 through the sliding groove 45 to swing in a reciprocating manner, and the shifting rod 38 swings in a reciprocating manner to drive the shielding plate 47 to rotate in a reciprocating manner.
As shown in fig. 11, a seal plate 49 for sealing the guide groove 51 is fixed to the shift lever 38.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
The implementation mode is as follows: when the equipment designed by the invention is used for scraping a wall, firstly, the coating is sprayed into a part of area of the wall body through the spraying pipe 36, then the coating is scraped through the plastering plate 31, and then the spraying and scraping of the next area are carried out after the coating is finished; when the corner is scraped, the mounting plate 6 is adjusted to rotate, so that the injection pipe 36 moves to one side of the corner, and after injection, scraping is performed through the plastering plate 31.
The paint entering the jet pipe 36 through the feed delivery pipe 3 may have bubbles and is concentrated on the middle position, and the bubbles concentrated in the middle can be disturbed through the cyclone 46, so that the bubbles are as close to the inner wall surface of the jet pipe 36 as possible; after the paint passing through the cyclone 46 enters the groove, the space in the groove is changed from small to large and then becomes small, so that the air bubbles carried in the paint can be ensured to be attached to the front inner wall surface of the groove as much as possible; most of the bubbles on the wall surface in the coating will be discharged from the first air holes 50, and when the bubbles in the middle pass through the protruding end 60 of the flow stabilizing shell 57, the bubbles will be sucked in under the action of the negative pressure in the flow stabilizing shell 57 and discharged from the corresponding second air holes 54 through the connecting air pipe 48; finally, discharging from an air outlet; through the design of the internal structure of the injection pipe 36, bubbles in the coating are lifted and discharged, so that the phenomenon that the material is splashed due to the bubbles in the material conveying pipe 3 during material spraying is prevented, the equipment is easily dirtied, mechanical faults are caused, and raw materials are wasted.
Claims (5)
1. The utility model provides a plaster and spray functional device for real standard of teaching which characterized in that: the plastering and spraying device comprises a plastering and spraying execution end, a six-joint mechanical arm, a conveying pipe, a charging barrel and a walking platform, wherein a universal walking wheel is arranged at the lower side of the walking platform, and the six-joint mechanical arm and the charging barrel are arranged at the upper side of the walking platform; the plastering and spraying execution end is arranged at the front end of the six-joint mechanical arm, a pump is arranged in the charging barrel, and the pump and the plastering and spraying execution end are connected through a conveying pipe;
the plastering and spraying execution end comprises a spraying mechanism, a plastering mechanism and a mounting plate, wherein the mounting plate is provided with a fixed pipe hole and is fixedly mounted at the front end of the six-joint mechanical arm; the spraying mechanism and the plastering mechanism are arranged on the mounting plate;
the plastering mechanism comprises a plastering plate, a first plate spring, a second plate spring and a fixing plate, wherein one end of the fixing plate is fixedly arranged on the mounting plate, one end of the plastering plate is hinged to the other end of the fixing plate, and the first plate spring is arranged between the plastering plate and the fixing plate; two groups of second plate springs are symmetrically arranged on the fixed plate, and the elastic strength of the second plate springs is greater than that of the first plate springs; the second plate spring plays a supporting role for the plastering plate during the side swinging plastering work;
the spraying mechanism comprises an injection pipe, a first motor, a swirler, a shielding plate, a connecting air pipe, a barrier strip, an annular shell and a flow stabilizing shell, wherein the injection pipe is fixedly arranged on the mounting plate through a fixing pipe hole; an annular shell is fixedly arranged on the outer side of the groove, and an annular cavity is formed between the annular shell and the outer wall surface of the groove; two exhaust pipes are symmetrically arranged on the outer side of the annular shell, and a filter cover is arranged on each exhaust pipe in a threaded fit and turn-knob mode; the outer wall surface of the annular shell is provided with a guide groove; the shielding plate is of an annular structure, a plurality of circles of first air holes are uniformly formed in the circumferential direction of the shielding plate, the shielding plate is rotatably arranged on the outer wall surface of the front end of the groove, and the first air holes formed in the shielding plate correspond to the second air holes formed in the wall surface of the front end of the groove one to one; the shifting rod penetrates through the guide groove and is positioned on the outer side of the annular shell, and the shifting rod slides along the guide groove in a reciprocating manner to drive the shielding plate to rotate in a reciprocating manner relative to the outer wall surface of the groove, so that the first air hole and the second air hole are opened and closed in a reciprocating manner; the first motor is fixedly arranged on the mounting plate and provides a power source for the sliding of the deflector rod; a plurality of connecting air pipes are uniformly and fixedly arranged on the inner wall surface of the front end of the groove in the circumferential direction and are communicated with corresponding second air holes in the wall surface of the groove; each connecting air pipe is fixedly provided with a steady flow shell;
the outer wall surface of the flow stabilizing shell is a smooth surface, the front end of the flow stabilizing shell is a protruding end, and the rear end of the flow stabilizing shell is a sharp-angled end; the protruding end of the flow stabilizing shell is an opening end; an annular baffle is fixedly arranged on the inner wall surface of the front end of the flow stabilizing shell; the flow stabilizing shell is communicated with the corresponding connecting air pipe;
the material conveying pipe is divided into a first material pipe, a second material pipe and a third material pipe, and one end of the first material pipe is rotatably connected with the rear end of the injection pipe; one end of a third material pipe is connected with the pump, two ends of a second material pipe are respectively and rotatably connected with the other ends of the first material pipe and the second connecting pipe through a rotary connecting pipe, and the two rotary connecting pipes are respectively arranged on the six-joint mechanical arm through a connecting mechanism;
the connecting mechanism comprises a spherical hinge mechanism and a connecting rod, wherein one hinge mechanism is arranged on the six-joint mechanical arm, the lower end of the connecting rod is fixedly arranged on the hinge mechanism arranged on the six-joint mechanical arm, the upper end of the connecting rod is provided with a hinge mechanism, and the rotary connecting sleeve is fixedly arranged on the hinge mechanism on the upper side;
the spherical hinge mechanism comprises a spherical shell end, a spherical rod end, fixed disks and springs, wherein the spherical hinge shell is connected with the spherical hinge rod in a spherical hinge way, the fixed disks are fixedly arranged on the spherical hinge rod and the spherical hinge shell respectively, and the three springs are uniformly arranged between the two fixed disks in the circumferential direction;
for the upper side hinge mechanism, the spherical hinge rod is fixedly arranged at the upper end of the connecting rod, and the rotary connecting sleeve is fixedly arranged on the spherical hinge shell; for the hinge mechanism on the lower side, the spherical hinge shell is fixedly arranged at the upper end of the six-joint mechanical arm, and the spherical hinge rod is fixedly arranged at the upper end of the connecting rod.
2. The device with plastering and spraying functions for teaching and practical training of claim 1, which is characterized in that: the front end of the plastering plate is provided with a bulge, and the bulge is provided with an inclined plane.
3. The plastering and spraying functional device for teaching and training according to claim 1, which is characterized in that: the six-joint mechanical arm comprises a first mechanical execution block, a second mechanical execution block, a third mechanical execution block, a fourth mechanical execution block, a fifth mechanical execution block, a sixth mechanical execution block, a seventh mechanical execution block and an eighth mechanical execution block, wherein the eighth mechanical execution block is fixedly arranged on the walking platform, the seventh mechanical execution block is rotatably arranged on the upper side of the eighth mechanical execution block, and a motor for driving the seventh mechanical execution block to rotate is arranged on the inner side of the eighth mechanical execution block; the sixth mechanical execution block is of a plate-shaped structure, the lower end of the sixth mechanical execution block is hinged to the side face of the seventh mechanical execution block, and a motor for driving the sixth mechanical execution block to swing is arranged in the seventh mechanical execution block; the fourth mechanical execution block is hinged to the upper end of the sixth mechanical execution block, and a motor for driving the sixth mechanical execution block to swing is arranged in the fourth mechanical execution block; the fifth mechanical execution block is fixedly arranged on the upper side of the fourth mechanical execution block, the third mechanical execution block is rotatably arranged on the front side of the fifth mechanical execution block, and the inner side of the fifth mechanical execution block is provided with a motor for driving the third mechanical execution block to rotate; the second mechanical execution block is fixedly arranged on the upper side of the third mechanical execution block, the first mechanical execution block is rotatably arranged on one side of the second mechanical execution block, and the inner side of the second mechanical execution block is provided with a motor for driving the first mechanical execution block to rotate; the mounting plate is rotatably mounted on the front side of the first mechanical execution block;
a spherical hinge shell in a spherical hinge mechanism positioned on the lower side in the two connecting mechanisms is fixedly arranged on the upper side of a fifth mechanical execution block; and a fixing pipe sleeve for fixing the third material pipe is fixedly arranged on one side of the sixth mechanical execution block.
4. The device with plastering and spraying functions for teaching and practical training of claim 1, which is characterized in that: the first motor is fixedly arranged on the mounting plate through a fixed support, one end of the crank is fixedly arranged on an output shaft of the first motor, one end of the swing rod is hinged to the other end of the crank, the fixed rotating shaft is rotatably arranged on the annular shell, one end of the rocker is fixedly arranged on the fixed rotating shaft, and the other end of the rocker is hinged to the other end of the swing rod; the shifting plate is provided with a sliding chute, one end of the shifting plate is fixedly arranged on the fixed rotating shaft, and the sliding chute on the shifting plate is in nested sliding fit with the shifting rod.
5. The device with plastering and spraying functions for teaching and practical training of claim 1, which is characterized in that: and a sealing plate which plays a role of shielding and sealing the guide groove is fixedly arranged on the shifting lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111097107.9A CN113781862B (en) | 2021-09-18 | 2021-09-18 | Plastering and spraying functional device for teaching and practical training |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111097107.9A CN113781862B (en) | 2021-09-18 | 2021-09-18 | Plastering and spraying functional device for teaching and practical training |
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| CN113781862A CN113781862A (en) | 2021-12-10 |
| CN113781862B true CN113781862B (en) | 2023-03-31 |
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