CN113894671A - Multi-angle high-altitude polishing and paint spraying robot with falling self-rescue function - Google Patents
Multi-angle high-altitude polishing and paint spraying robot with falling self-rescue function Download PDFInfo
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- CN113894671A CN113894671A CN202111008724.7A CN202111008724A CN113894671A CN 113894671 A CN113894671 A CN 113894671A CN 202111008724 A CN202111008724 A CN 202111008724A CN 113894671 A CN113894671 A CN 113894671A
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- pipe
- angle high
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- 239000003973 paint Substances 0.000 title claims abstract description 82
- 238000005507 spraying Methods 0.000 title claims abstract description 49
- 238000005498 polishing Methods 0.000 title claims abstract description 35
- 230000000694 effects Effects 0.000 claims abstract description 14
- 238000010030 laminating Methods 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 24
- 239000004744 fabric Substances 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 13
- 239000007921 spray Substances 0.000 claims description 13
- 239000004922 lacquer Substances 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000004804 winding Methods 0.000 claims description 9
- 238000010422 painting Methods 0.000 claims description 8
- 238000005303 weighing Methods 0.000 claims description 4
- 239000000758 substrate Substances 0.000 claims description 3
- 238000005202 decontamination Methods 0.000 claims description 2
- 230000003588 decontaminative effect Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims 1
- 238000005201 scrubbing Methods 0.000 description 10
- 238000005086 pumping Methods 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 210000003437 trachea Anatomy 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/628—Arrangements for supporting spraying apparatus, e.g. suction cups of variable length
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/06—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by liquid or gas pressure only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a multi-angle high-altitude polishing paint spraying robot with a falling self-rescue function, which relates to the technical field of robots and comprises a base, a movable swing arm and an anti-falling self-rescue assembly, wherein crawler wheels are arranged below the base, a lifting support assembly is arranged above the base, a transverse placing rail is arranged above the lifting support assembly, fixed plates are welded on two sides of the transverse placing rail, a laminating assembly is arranged in front of the fixed plates, a movable seat is arranged on the outer side of the transverse placing rail, a placing base plate is fixed above the movable seat, a rotating motor is embedded in the middle of the placing base plate, a rotating shaft is arranged on the upper side of the rotating motor, and a positioning frame is fixed above the rotating shaft. This multi-angle high altitude paint spraying robot that polishes with function of saving oneself falls, its height-adjustable is applicable to the indoor high altitude of gymnasium and polishes to can adjust turning to of activity swing arm and installing frame, realize that the multi-angle is polished and is painted paint, use in a flexible way.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-angle high-altitude polishing and paint spraying robot with a falling self-rescue function.
Background
A robot is an automated machine with a high degree of flexibility. The robot can assist or even replace human beings to finish dangerous, heavy and complex work, improve the work efficiency and quality, serve human life and expand the range of activities and abilities of extended people. When the polishing and paint spraying operation is carried out at the high altitude in the gymnasium, a corresponding polishing and paint spraying robot can be configured.
Current painting robot of polishing can not nimble angle of adjustment when using to do not possess the function of saving oneself, only set up simple protective structure, easily drop the damage when meeting accident, for this, we propose the multi-angle high altitude painting robot of polishing that has the function of saving oneself that falls.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-angle high-altitude polishing and paint spraying robot with a falling self-rescue function, and solves the problems that the existing polishing and paint spraying robot provided in the background technology cannot flexibly adjust the angle during use, does not have the self-rescue function, only is provided with a simple protection structure, and is easy to fall and damage in an accident.
In order to achieve the purpose, the invention is realized by the following technical scheme: the multi-angle high-altitude polishing paint spraying robot with the falling self-rescue function comprises a base, a movable swing arm and an anti-falling self-rescue assembly, wherein crawler wheels are arranged below the base, a lifting support assembly is arranged above the base, a transverse rail is arranged above the lifting support assembly, fixed plates are welded on two sides of the transverse rail, a laminating assembly is arranged in front of the fixed plates, a movable seat is arranged on the outer side of the transverse rail, a mounting base plate is fixed above the movable seat, a rotating motor is embedded in the middle of the mounting base plate, a rotating shaft is arranged on the upper side of the rotating motor, a positioning frame is fixed above the rotating shaft, locking positioning bolts are embedded in the upper side and the left side and the right side of the positioning frame, the movable swing arm is installed inside the positioning frame, a mounting frame is fixed at the front end of the movable swing arm, and a protective air bag is fixed outside the mounting frame, and the top of installing frame is embedded to have the camera, prevent weighing down the subassembly of saving oneself and install in the top both sides of settling the base plate, and prevent weighing down the subassembly of saving oneself and include servo motor, activity pivot, wind-up roll, haulage rope and fixed back handle, one side of servo motor is provided with the activity pivot, and one side of activity pivot is fixed with the wind-up roll, the haulage rope has been convoluteed in the outside of wind-up roll, the rear both sides of installing frame all are fixed with fixed back handle, and fixed back handle and haulage rope fixed connection.
Optionally, the lifting support assembly includes a cylinder, a piston rod, a support transverse plate and diagonal braces, the piston rod is arranged on the upper side of the cylinder, the support transverse plate is fixed above the piston rod, the diagonal braces are fixed on both sides of the upper side of the support transverse plate, two groups of diagonal braces are symmetrically distributed between the diagonal braces about a vertical central line of the installation transverse rail, and the installation transverse rail is parallel to the base.
Optionally, the laminating subassembly includes extension rod, negative pressure suction cup, vacuum pump and connection trachea, and the negative pressure suction cup is installed to the front end of extension rod, the vacuum pump is installed in the outside of fixed plate, be connected with between vacuum pump and the negative pressure suction cup and be connected the trachea.
Optionally, the movable swing arm is connected with the positioning frame through a locking positioning bolt by a bolt, and the positioning frame is fixedly connected with the rotating shaft.
Optionally, the protective air bags are distributed equidistantly and are of arc-shaped protruding structures.
Optionally, the polishing assembly is installed in the place ahead of installing frame, and the polishing assembly includes first motor, first miniature telescopic link, rust cleaning wheel, second motor, the miniature telescopic link of second and scrubbing rim plate cloth, first motor is embedded in the place ahead middle part of installing frame, and motor shaft one side of first motor is fixed with first miniature telescopic link, the top of first miniature telescopic link is fixed with the rust cleaning wheel, the second motor is embedded in the place ahead both sides of installing frame, and motor shaft one side of second motor is fixed with the miniature telescopic link of second, the top of the miniature telescopic link of second is fixed with scrubbing rim plate cloth.
Optionally, the central axis of the rust removing grinding wheel coincides with the central axis of the first micro telescopic rod, and the rust removing grinding wheel is parallel to the mounting frame.
Optionally, the subassembly that sprays paint is installed to the place ahead upside of installing frame, and the subassembly that sprays paint includes the interior lacquer chamber, spouts paint pipe and shower nozzle, the interior lacquer chamber is located the inside of installing frame, and the place ahead in interior lacquer chamber has the pipe of spraying paint through the pipe connection, the shower nozzle is installed in the place ahead of the pipe of spraying paint.
Optionally, the pay-off subassembly is installed to the middle part top of base, and the pay-off subassembly is including storing up paint bucket, booster pump and pumping pipe, booster pump is installed to the top of storing up paint bucket, and booster pump's top is connected with the pumping pipe, the end and the interior lacquer chamber of pumping pipe link to each other.
Optionally, the paint storage barrel is communicated with the inner paint cavity and the inner paint spraying pipe through a booster water pump and a pump water pipe, and the spray heads on the front side of the paint spraying pipe are distributed equidistantly.
The invention provides a multi-angle high-altitude polishing and paint spraying robot with a falling self-rescue function, which has the following beneficial effects:
this multi-angle high altitude paint spraying robot that polishes with function of saving oneself falls, its height-adjustable is applicable to the indoor high altitude of gymnasium and polishes to can adjust turning to of activity swing arm and installing frame, realize that the multi-angle is polished and is painted paint, use in a flexible way.
1. This multi-angle high altitude paint spraying robot that polishes with function of saving oneself falls is provided with lift supporting component, the diagonal brace that two symmetries set up can carry out steady support to settling the cross rail, be convenient for drive the lift of supporting the diaphragm through cylinder and piston rod, thereby be convenient for adjust the position height of settling the cross rail, so that adapt to the high altitude and polish, be convenient for drive base and the holistic removal of robot through the athey wheel, lateral shifting on settling the cross rail through the sliding seat can drive the locating frame, the position of activity swing arm and installing frame removes, make the subassembly of polishing, the operation scope with the subassembly that sprays paint is bigger.
2. This multi-angle high altitude paint spraying robot that polishes with function of saving oneself falls is provided with movable swing arm, this movable swing arm is hydraulic telescoping rod, but its use length of automatically regulated, it is fixed to be convenient for lock the inside activity swing arm of locating frame through the locking spacer, and be convenient for the dismantlement of this activity swing arm is changed, be convenient for drive the turning to of locating frame and activity swing arm through rotating electrical machines and rotation axis, thereby be convenient for drive the multi-angle of installing frame and rotate, it is comparatively nimble to use, can carry out flexible protection to the outside of installing frame through the protection gasbag that is the protruding column structure of arc, it is impaired to avoid this installing frame and building collision.
3. This multi-angle high altitude paint spraying robot that polishes with function of saving oneself that falls is provided with the laminating subassembly, can carry out the evacuation to negative sucker through vacuum pump and connecting trachea, make the negative sucker on extension rod top can vacuum adsorption on the inner wall of gymnasium high altitude, thereby the stability of horizontal rail is settled to the reinforcing, on the one hand, support fixedly in the bottom of settling the horizontal rail, on the one hand, adsorb fixedly in the both sides of settling the horizontal rail, carry out reverse inflation to negative sucker and can become flexible negative sucker's position and relocate when the position of settling the horizontal rail need be removed.
4. This multi-angle high altitude paint spraying robot that polishes with function of saving oneself falls is provided with the subassembly of polishing, can stretch out and draw back the front and back position of adjustment rust cleaning abrasive wheel and scrubbing wheel dish cloth respectively through first miniature telescopic link and the miniature telescopic link of second, the convenience is chooseed for use as required, can drive the rotation of rust cleaning abrasive wheel and scrubbing wheel dish cloth respectively through first motor and second motor, make the rust cleaning abrasive wheel can derust the high altitude inner wall of gymnasium and polish, can carry out the scrubbing through scrubbing wheel dish cloth and clean the high altitude inner wall of gymnasium.
5. This multi-angle high altitude paint spraying robot of polishing with function of saving oneself that falls is provided with the subassembly and the pay-off subassembly that spray paint, can send into the inside lacquer liquid of interior lacquer cavity with storing up the inside of lacquer bucket through booster water pump and pumping pipe, the pumping pipe is flexible bellows, its length is scalable, consequently can be adapted to the installing frame, the position change, then can carry out even automatic operation of spraying paint to the high altitude inner wall of gymnasium through the shower nozzle in spraying paint pipe the place ahead, the camera can monitor the video recording to the operation process.
6. This multi-angle high altitude paint spraying robot that polishes with function of saving oneself that falls is provided with prevents weighing down the subassembly of saving oneself, is convenient for drive the rolling of wind-up roll through servo motor and activity pivot to be convenient for drive the rolling of haulage rope, make the haulage rope pull or the tensioning to the fixed back handle at installing frame rear, fixed back handle and haulage rope fixed connection can in time be to the installing frame tractive, thereby avoid the installing frame the condition of the damage that falls to appear.
Drawings
FIG. 1 is a front view of the external structure of the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is a rear view of the mounting frame of the present invention;
FIG. 4 is a front view of the mounting frame of the present invention;
figure 5 is a schematic top view of a sanding assembly according to the present invention.
In the figure: 1. a base; 2. a crawler wheel; 3. a lifting support assembly; 301. a cylinder; 302. a piston rod; 303. supporting the transverse plate; 304. a diagonal brace; 4. arranging a transverse rail; 5. a fixing plate; 6. fitting the assembly; 601. an extension pole; 602. a negative pressure sucker; 603. a vacuum pump; 604. connecting an air pipe; 7. a movable seat; 8. arranging a substrate; 9. a rotating electric machine; 10. a rotating shaft; 11. a positioning frame; 12. locking the positioning bolt; 13. a movable swing arm; 14. installing a frame; 15. a protective air bag; 16. a camera; 17. the anti-falling self-rescue assembly; 1701. a servo motor; 1702. a movable rotating shaft; 1703. a wind-up roll; 1704. a hauling rope; 1705. fixing the rear handle; 18. polishing the assembly; 1801. a first motor; 1802. a first miniature telescopic rod; 1803. derusting and grinding wheels; 1804. a second motor; 1805. a second miniature telescopic rod; 1806. decontamination wheel disc cloth; 19. a paint spraying assembly; 1901. an inner paint cavity; 1902. a paint spray pipe; 1903. a spray head; 20. a feeding assembly; 2001. a paint storage barrel; 2002. a booster water pump; 2003. a water pumping pipe; .
Detailed Description
Referring to fig. 1 to 5, the present invention provides a technical solution: a multi-angle high-altitude polishing paint spraying robot with a falling self-rescue function comprises a base 1, a movable swing arm 13 and an anti-falling self-rescue assembly 17, wherein crawler wheels 2 are arranged below the base 1, a lifting support assembly 3 is arranged above the base 1, a transverse placing rail 4 is arranged above the lifting support assembly 3, fixed plates 5 are welded on two sides of the transverse placing rail 4, a laminating assembly 6 is arranged in front of the fixed plates 5, a movable seat 7 is arranged on the outer side of the transverse placing rail 4, a placing base plate 8 is fixed above the movable seat 7, a rotating motor 9 is embedded in the middle of the placing base plate 8, a rotating shaft 10 is arranged on the upper side of the rotating motor 9, a positioning frame 11 is fixed above the rotating shaft 10, locking positioning bolts 12 are embedded in the upper side and the left side and the right side of the positioning frame 11, the movable swing arm 13 is installed inside the positioning frame 11, and an installation frame 14 is fixed at the front end of the movable swing arm 13, the protective air bag 15 is fixed on the outer side of the mounting frame 14, the camera 16 is embedded above the mounting frame 14, the anti-falling self-rescue assembly 17 is mounted on two sides above the mounting substrate 8, the anti-falling self-rescue assembly 17 comprises a servo motor 1701, a movable rotating shaft 1702, a winding roller 1703, a traction rope 1704 and a fixed rear handle 1705, the movable rotating shaft 1702 is arranged on one side of the servo motor 1701, the winding roller 1703 is fixed on one side of the movable rotating shaft 1702, the traction rope 1704 is wound on the outer side of the winding roller 1703, the fixed rear handle 1705 is fixed on two sides behind the mounting frame 14, and the fixed rear handle 1705 is fixedly connected with the traction rope 1704;
the operation is as follows, the winding of the winding roller 1703 is convenient to drive through the servo motor 1701 and the movable rotating shaft 1702, the winding of the pulling rope 1704 is convenient to drive, the pulling rope 1704 pulls or tensions the fixed rear handle 1705 behind the mounting frame 14, the fixed rear handle 1705 is fixedly connected with the pulling rope 1704, the mounting frame 14 can be pulled in time, and the situation of falling damage of the mounting frame 14 is avoided.
Referring to fig. 1, the lifting support assembly 3 includes a cylinder 301, a piston rod 302, a horizontal support plate 303 and diagonal support rods 304, the piston rod 302 is disposed on the upper side of the cylinder 301, the horizontal support plate 303 is fixed above the piston rod 302, the diagonal support rods 304 are fixed on both sides above the horizontal support plate 303, two groups of diagonal support rods 304 are symmetrically distributed between the diagonal support rods 304 about a vertical center line of the transverse installation rail 4, and the transverse installation rail 4 is parallel to the base 1;
the concrete operation is as follows, two diagonal brace 304 that the symmetry set up can carry out steady support to settling the horizontal rail 4, are convenient for drive through cylinder 301 and piston rod 302 and support the lift of horizontal board 303 to be convenient for adjust the position height of settling horizontal rail 4, so that the adaptation high altitude is polished.
Referring to fig. 2, the attaching assembly 6 includes an extension rod 601, a negative pressure suction cup 602, a vacuum pump 603 and a connecting air pipe 604, wherein the negative pressure suction cup 602 is installed at the front end of the extension rod 601, the vacuum pump 603 is installed at the outer side of the fixing plate 5, and the connecting air pipe 604 is connected between the vacuum pump 603 and the negative pressure suction cup 602;
the operation is as follows, can carry out the evacuation to vacuum chuck 602 through vacuum pump 603 and connecting trachea 604 for vacuum chuck 602 on extension rod 601 top can vacuum adsorption on the high empty inner wall in gymnasium, thereby the stability of horizontal rail 4 is settled in the reinforcing, on the one hand supports fixedly to settling the bottom of horizontal rail 4, on the one hand adsorbs fixedly to settling the both sides of horizontal rail 4, carry out reverse inflation to vacuum chuck 602 and can become flexible vacuum chuck 602's position and relocate when needing to remove the position of settling horizontal rail 4.
Referring to fig. 3, the movable swing arm 13 is connected to the positioning frame 11 through a bolt formed between the locking positioning bolt 12, and the positioning frame 11 is fixedly connected to the rotating shaft 10; the protective air bags 15 are distributed at equal intervals, and the protective air bags 15 are in arc-shaped convex structures;
the movable swing arm 13 in the positioning frame 11 is conveniently locked and fixed through the locking positioning bolt 12, the movable swing arm 13 is conveniently detached and replaced, the positioning frame 11 and the movable swing arm 13 are conveniently driven to turn through the rotating motor 9 and the rotating shaft 10, and therefore the mounting frame 14 is conveniently driven to rotate at multiple angles; the protection air bag 15 with the arc-shaped convex structure can flexibly protect the outer side of the mounting frame 14, and the mounting frame 14 is prevented from being damaged due to collision with a building.
Referring to fig. 4 and 5, a polishing assembly 18 is installed in front of the installation frame 14, and the polishing assembly 18 includes a first motor 1801, a first micro telescopic rod 1802, a rust removal polishing wheel 1803, a second motor 1804, a second micro telescopic rod 1805 and a dirt removal wheel disc cloth 1806, the first motor 1801 is embedded in the middle of the front of the installation frame 14, a first micro telescopic rod 1802 is fixed on one side of a motor shaft of the first motor 1801, the rust removal polishing wheel 1803 is fixed on the top end of the first micro telescopic rod 1802, the second motor 1804 is embedded in two sides of the front of the installation frame 14, a second micro telescopic rod 1805 is fixed on one side of the motor shaft of the second motor 1804, and the dirt removal wheel disc 1806 is fixed on the top end of the second micro telescopic rod 1805; the central axis of the rust removing polishing wheel 1803 is superposed with the central axis of the first micro telescopic rod 1802, and the rust removing polishing wheel 1803 is parallel to the mounting frame 14;
the operation is as follows, can stretch out and draw back the front and back position of adjustment rust cleaning abrasive wheel 1803 and scrubbing rim plate cloth 1806 respectively through first miniature telescopic link 1802 and the miniature telescopic link 1805 of second, the convenience chooses for use as required, can drive the rotation of rust cleaning abrasive wheel 1803 and scrubbing rim plate cloth 1806 respectively through first motor 1801 and second motor 1804, make the rust cleaning abrasive wheel 1803 can remove the rust to polish to the high altitude inner wall of gymnasium, can carry out the scrubbing through scrubbing rim plate cloth 1806 and clean to the high altitude inner wall of gymnasium.
Referring to fig. 1 and 4, a paint spraying assembly 19 is installed on the upper front side of the installation frame 14, and the paint spraying assembly 19 includes an inner paint cavity 1901, a paint spraying pipe 1902 and a spray head 1903, the inner paint cavity 1901 is located inside the installation frame 14, the paint spraying pipe 1902 is connected in front of the inner paint cavity 1901 through a pipeline, and the spray head 1903 is installed in front of the paint spraying pipe 1902; a feeding component 20 is arranged above the middle part of the base 1, the feeding component 20 comprises a paint storage barrel 2001, a booster water pump 2002 and a water pumping pipe 2003, the booster water pump 2002 is arranged above the paint storage barrel 2001, the water pumping pipe 2003 is connected above the booster water pump 2002, and the tail end of the water pumping pipe 2003 is connected with the inner paint cavity 1901; the paint storage barrel 2001 is communicated with the inner paint cavity 1901 and the interior of the paint spraying pipe 1902 through a booster water pump 2002 and a pump water pipe 2003, and the spray heads 1903 on the front side of the paint spraying pipe 1902 are distributed at equal intervals;
specifically, the paint liquid in the paint storage barrel 2001 can be fed into the inner paint cavity 1901 through the booster water pump 2002 and the pump water pipe 2003, and then the high-altitude inner wall of the gym can be automatically painted uniformly through the spray head 1903 in front of the paint spraying pipe 1902.
To sum up, the multi-angle high-altitude polishing paint spraying robot with the falling self-rescue function has the advantages that when the robot is used, the base 1 can be moved to an operation position in a gymnasium through the crawler wheels 2, then the supporting transverse plate 303 can be driven to lift through the air cylinder 301 and the piston rod 302, so that the position height of the horizontal rail 4 is adjusted, at the moment, the horizontal rail 4 can be stably supported through the two symmetrically-arranged inclined support rods 304, then the negative pressure suction cups 602 are vacuumized through the vacuum pump 603 and the connecting air pipes 604, so that the negative pressure suction cups 602 at the top ends of the extension rods 601 can be vacuum-adsorbed on the high-altitude inner wall of the gymnasium, and the stability of the horizontal rail 4 is enhanced;
then, the transverse movement of the movable seat 7 on the transverse mounting rail 4 can drive the positioning frame 11, the movable swing arm 13 and the mounting frame 14 to move, so that the working range of the polishing assembly 18 and the painting assembly 19 is larger, and the rotating motor 9 and the rotating shaft 10 can be used for conveniently driving the positioning frame 11 and the movable swing arm 13 to turn, so that the mounting frame 14 can be driven to rotate at multiple angles;
when the device is used, the front and back positions of the rust removal polishing wheel 1803 can be adjusted by stretching the first micro telescopic rod 1802, the rust removal polishing wheel 1803 is driven by the first motor 1801 and the second motor 1804, so that the rust removal polishing wheel 1803 can perform rust removal polishing on the high-altitude inner wall of a gymnasium, the position of the rust removal polishing wheel 1803 can be retracted, the front and back positions of the dirt removal wheel disc cloth 1806 are adjusted by stretching the second micro telescopic rod 1805, the dirt removal wheel disc cloth 1806 is driven to rotate by the second motor 1804, and the dirt removal wheel disc cloth 1806 can perform dirt removal wiping on the high-altitude inner wall of the gymnasium;
after polishing and wiping are completed, paint liquid in a paint storage barrel 2001 can be sent into an inner paint cavity 1901 through a booster water pump 2002 and a pump water pipe 2003, then the high-altitude inner wall of a gymnasium can be uniformly and automatically painted through a spray head 1903 in front of a paint spraying pipe 1902, in the process, a camera 16 can monitor and record the operation process, and in the using process, the outer side of an installation frame 14 can be flexibly protected through a protection air bag 15 in an arc-shaped convex structure, so that the installation frame 14 is prevented from being damaged due to collision with a building;
when the mounting frame 14 falls as the junction of mounting frame 14 and activity swing arm 13 becomes flexible and leads to the mounting frame 14 to fall, servo motor 1701 and activity pivot 1702 can drive the rolling of wind-up roll 1703 to drive the rolling of haulage rope 1704, make haulage rope 1704 to the fixed back handle 1705 tensioning in mounting frame 14 rear, in time to mounting frame 14 tractive, thereby avoid the mounting frame 14 the condition that the damage that falls appears, accomplish the whole use of having the multi-angle high altitude machine that polishes paint spraying robot of saving oneself function like this.
Claims (10)
1. Multi-angle high altitude polishing paint spraying robot with function of saving oneself falls, its characterized in that, including base (1), activity swing arm (13) and prevent weighing down subassembly (17) of saving oneself, the below of base (1) is provided with athey wheel (2), and the top of base (1) installs lift supporting component (3), settle the top of lift supporting component (3) has and settles horizontal rail (4), and the both sides welding of settling horizontal rail (4) has fixed plate (5), laminating subassembly (6) is installed in the place ahead of fixed plate (5), the outside of settling horizontal rail (4) is provided with movable seat (7), and the top of movable seat (7) is fixed with settles base plate (8), the middle part of settling base plate (8) is embedded to have rotating electrical machines (9), and the upside of rotating electrical machines (9) is provided with rotation axis (10), the top of rotation axis (10) is fixed with locating frame (11), and the upside and the left and right sides of the positioning frame (11) are embedded with locking positioning bolts (12), the movable swing arm (13) is installed in the positioning frame (11), the front end of the movable swing arm (13) is fixed with a mounting frame (14), the outer side of the mounting frame (14) is fixed with a protective air bag (15), a camera (16) is embedded above the mounting frame (14), the anti-falling self-rescue assembly (17) is installed on the two sides above the installation substrate (8), the anti-falling self-rescue assembly (17) comprises a servo motor (1701), a movable rotating shaft (1702), a winding roller (1703), a traction rope (1704) and a fixed rear handle (1705), one side of the servo motor (1701) is provided with the movable rotating shaft (1702), the winding roller (1703) is fixed on one side of the movable rotating shaft (1702), the traction rope (1704) is wound on the outer side of the winding roller (1703), and the fixed rear handles (1705) are fixed on the two sides of the rear side of the mounting frame (14), and the fixed rear handle (1705) is fixedly connected with the traction rope (1704).
2. The multi-angle high-altitude grinding and paint spraying robot with the falling self-rescue function is characterized in that the lifting support assembly (3) comprises a cylinder (301), a piston rod (302), a support transverse plate (303) and inclined support rods (304), the piston rod (302) is arranged on the upper side of the cylinder (301), the support transverse plate (303) is fixed above the piston rod (302), the inclined support rods (304) are fixed on two sides of the upper side of the support transverse plate (303), two groups of inclined support rods (304) are symmetrically distributed between the inclined support rods (304) about a vertical central line for arranging the transverse rails (4), and the arrangement transverse rails (4) are parallel to the base (1).
3. The multi-angle high-altitude grinding and paint spraying robot with the falling self-rescue function is characterized in that the attaching assembly (6) comprises an extension rod (601), a negative pressure sucker (602), a vacuum pump (603) and a connecting air pipe (604), the negative pressure sucker (602) is installed at the front end of the extension rod (601), the vacuum pump (603) is installed on the outer side of the fixing plate (5), and the connecting air pipe (604) is connected between the vacuum pump (603) and the negative pressure sucker (602).
4. The multi-angle high-altitude grinding and painting robot with the falling self-rescue function as claimed in claim 1, wherein the movable swing arm (13) is in bolted connection with the positioning frame (11) through a locking positioning bolt (12), and the positioning frame (11) is fixedly connected with the rotating shaft (10).
5. The multi-angle high-altitude polishing and paint spraying robot with the falling self-rescue function as claimed in claim 1, wherein the protective air bags (15) are distributed at equal intervals, and the protective air bags (15) are of arc-shaped convex structures.
6. The multi-angle high altitude paint grinding and spraying robot with the falling self-rescue function as claimed in claim 1, wherein a grinding component (18) is installed in front of the mounting frame (14), the grinding component (18) comprises a first motor (1801), a first micro telescopic rod (1802), a rust removing grinding wheel (1803), a second motor (1804), a second micro telescopic rod (1805) and a dirt removing wheel disk cloth (1806), the first motor (1801) is embedded in the middle of the front of the mounting frame (14), the first micro telescopic rod (1802) is fixed on one side of a motor shaft of the first motor (1801), the rust removing grinding wheel (1803) is fixed on the top end of the first micro telescopic rod (1802), the second motor (1804) is embedded on two sides of the front of the mounting frame (14), and the second micro telescopic rod (1805) is fixed on one side of the motor shaft of the second motor (1804), and a decontamination wheel disc cloth (1806) is fixed at the top end of the second miniature telescopic rod (1805).
7. The multi-angle high-altitude sanding painting robot with the falling self-rescue function as claimed in claim 6, wherein the central axis of the rust removing sanding wheel (1803) is coincident with the central axis of the first micro telescopic rod (1802), and the rust removing sanding wheel (1803) and the mounting frame (14) are parallel to each other.
8. The multi-angle high altitude paint spraying robot that polishes with function of saving oneself falls as claimed in claim 1, characterized in that, the subassembly (19) of spraying paint is installed to the place ahead upside of installing frame (14), and the subassembly (19) of spraying paint includes interior lacquer chamber (1901), pipe (1902) and shower nozzle (1903) of spraying paint, interior lacquer chamber (1901) is located the inside of installing frame (14), and there is pipe (1902) of spraying paint in the place ahead of interior lacquer chamber (1901) through the pipe connection, shower nozzle (1903) are installed to the place ahead of pipe (1902) of spraying paint.
9. The multi-angle high-altitude grinding and paint spraying robot with the falling self-rescue function is characterized in that a feeding assembly (20) is mounted above the middle of the base (1), the feeding assembly (20) comprises a paint storage barrel (2001), a booster water pump (2002) and a water pump pipe (2003), the booster water pump (2002) is mounted above the paint storage barrel (2001), the water pump pipe (2003) is connected above the booster water pump (2002), and the tail end of the water pump pipe (2003) is connected with the inner paint cavity (1901).
10. The multi-angle high-altitude sanding painting robot with the falling self-rescue function as claimed in claim 9, wherein the paint storage barrel (2001) is communicated with the inner paint cavity (1901) and the interior of the painting pipe (1902) through a booster water pump (2002) and a water pump pipe (2003), and the spray heads (1903) on the front side of the painting pipe (1902) are distributed at equal intervals.
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| CN202111008724.7A CN113894671B (en) | 2021-08-31 | 2021-08-31 | Multi-angle high-altitude polishing and paint spraying robot with falling self-rescue function |
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| CN202111008724.7A CN113894671B (en) | 2021-08-31 | 2021-08-31 | Multi-angle high-altitude polishing and paint spraying robot with falling self-rescue function |
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| CN113894671B CN113894671B (en) | 2024-04-12 |
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| CN109625108A (en) * | 2018-12-16 | 2019-04-16 | 东莞理工学院 | A kind of robot with multi-angle rotary for capableing of adjustment speed |
| US20190134769A1 (en) * | 2018-05-04 | 2019-05-09 | Yi Yu | Wall Polisher for Building Decoration |
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| WO2008017900A1 (en) * | 2006-08-11 | 2008-02-14 | Giorgio Ernesto Omiccioli | Automatic sanding device |
| CN205083400U (en) * | 2015-11-02 | 2016-03-16 | 张凯 | Drag and draw washing of formula wall, polishing, spraying all -in -one |
| CN207858481U (en) * | 2018-02-01 | 2018-09-14 | 郑湘江 | A kind of construction and decoration surface of wall grinding process device |
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| US20190134769A1 (en) * | 2018-05-04 | 2019-05-09 | Yi Yu | Wall Polisher for Building Decoration |
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| Publication number | Publication date |
|---|---|
| CN113894671B (en) | 2024-04-12 |
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