CN114046020A - Indoor spraying robot - Google Patents
Indoor spraying robot Download PDFInfo
- Publication number
- CN114046020A CN114046020A CN202111267046.6A CN202111267046A CN114046020A CN 114046020 A CN114046020 A CN 114046020A CN 202111267046 A CN202111267046 A CN 202111267046A CN 114046020 A CN114046020 A CN 114046020A
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- CN
- China
- Prior art keywords
- vertical
- lifting column
- spraying
- lifting
- indoor
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/65—Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits
- B05B15/652—Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits whereby the jet can be oriented
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Abstract
The invention provides an indoor spraying robot, which comprises a chassis and a vertical cabinet, wherein the chassis is provided with universal wheels and driving wheels, the vertical cabinet is arranged on the chassis, and the indoor spraying robot is characterized in that the vertical cabinet is provided with a lifting column, a translation mechanism moving up and down along the lifting column, and a spraying mechanism horizontally moving along the translation mechanism and provided with a spraying pipe, wherein: the lifting column is connected to the vertical machine cabinet through the first-level lifting mechanism, the translation mechanism is connected to the lifting column through the second-level lifting mechanism, and the spray pipe is connected to the translation mechanism through the rotary platform. The coating of the indoor operation surfaces of buildings such as wall surfaces or ceilings is realized, the labor intensity of workers in the spraying operation process is reduced to the maximum extent, and the harm of toxic and harmful materials to human bodies is avoided. Meanwhile, the spraying operation range of the indoor building with larger floor height can be further widened by adopting the first-stage lifting mechanism and the second-stage lifting mechanism and matching with the spray pipe with adjustable spray angle.
Description
Technical Field
The invention provides a robot, in particular to an indoor spraying robot, and belongs to the technical field of mechanical design and manufacture.
Background
In the building and decoration industry, the surfaces of indoor wall surfaces, ceilings and the like are often required to be coated so as to improve the aesthetic degree and the functionality. The existing interior surface coating is mainly manually brushed, sprayed or rolled, and either way requires manual operation by workers. Because a part of functional coating and pigment have strong irritation due to chemical characteristics, serious harm is easily brought to the health of workers in construction. If the protective device is worn, manual operation is affected, and therefore coating quality is reduced. In addition, the manual operation mode is not only low in efficiency, but also huge in workload, especially large indoor coating with larger space and higher layer height, and a special scaffold is required to be erected to finish high-level coating, so that the construction difficulty, the cost and the time investment are greatly increased. There is therefore a need for improvements in the prior art.
Disclosure of Invention
The invention provides an indoor spraying robot, aiming at solving the problems of low efficiency, large workload, high cost investment, great harm to the health of workers and the like caused by manually brushing, spraying or rolling the existing indoor coating.
The invention is completed by the following technical scheme: the utility model provides an indoor spraying robot, includes the chassis of establishing universal wheel and drive wheel on it, locates the vertical rack on the chassis, is equipped with the lift post on its characterized in that vertical rack to and along the translation mechanism of lift post upper and lower removal, and along the translation mechanism horizontal migration establish the spraying mechanism of spray tube on it, wherein: the lifting column is connected to the vertical machine cabinet through the first-level lifting mechanism, the translation mechanism is connected to the lifting column through the second-level lifting mechanism, and the spray pipe is connected to the translation mechanism through the rotary platform. So as to operate the first-level lifting mechanism to realize the lifting or descending of the lifting column, operate the second-level lifting mechanism to realize the lifting or descending of the translation mechanism, operate the translation mechanism to realize the horizontal movement of the spraying mechanism, and operate the rotating platform to enable the spraying pipe to swing by an angle, thereby realizing the spraying.
The vertical cabinet comprises a frame and a vertical cuboid with a cavity in the vertical cabinet, the upper and lower parts of the left and right sides of the vertical cabinet are provided with cabinet doors, the front side of the vertical cabinet is provided with an inward sunken vertical sliding groove with an open top and an open outer side, the left and right sides of the vertical sliding groove are respectively provided with a vertical sliding rail, and the height of the vertical sliding groove and the height of the vertical sliding rail are matched with the height of the vertical cabinet, so that a lifting column is inserted in the vertical sliding groove.
The left side and the right side of the lifting column are respectively provided with a sliding block matched with the vertical sliding rails on the left side and the right side in the vertical sliding groove, the rear side of the lifting column is provided with a rack, and the rack is connected with a one-level lifting mechanism.
The first-stage lifting mechanism comprises a driving gear meshed with a rack on the rear side of the lifting column, the driving gear is connected with an output shaft of the first transmission box through a horizontal transmission shaft, an input shaft of the first transmission box is connected with a first power machine fixed on the vertical cabinet frame, so that the driving gear is driven by the first power machine to rotate through the first transmission box and the horizontal transmission shaft, and the rack and the lifting column are driven to ascend or descend along the vertical sliding groove.
Establish the cavity in the translation mechanism includes, the top is open rectangular channel, this rectangular channel posterior lateral plate passes through connecting bolt and nut to be fixed on the lift post, rectangular channel cavity both ends are equipped with drive sprocket and driven sprocket respectively, drive sprocket, the last cover of driven sprocket establishes horizontal drive chain, be connected with spraying mechanism on the horizontal drive chain, drive sprocket's shaft is connected with electronic roller, so that under electronic roller drives, make drive sprocket's shaft rotate, and then drive sprocket, when driven sprocket pivoted, drive horizontal drive chain reciprocating motion, and then drive spraying mechanism horizontal reciprocating motion on translation mechanism.
The second-stage lifting mechanism comprises a driving chain wheel arranged at the bottom of the lifting column, a driven chain wheel arranged at the top of the lifting column and a lifting chain sleeved on the driving chain wheel and the driven chain wheel, wherein the driving chain wheel is fixed on an output shaft of a second transmission box at the bottom of the lifting column, an input shaft of the second transmission box is connected with a main shaft of a second power machine, and a Z-shaped connecting plate connected with the translation mechanism is arranged on the transmission chain, so that the lifting chain is driven by the second power machine to ascend or descend through the second transmission box, the driving chain wheel and the driven chain wheel, and the translation mechanism is driven by the Z-shaped connecting plate on the lifting chain to ascend or descend along the lifting column.
The spraying mechanism comprises an L-shaped support, a horizontal plate of the L-shaped support is fixed on a horizontal transmission chain through bolts and nuts, a rotating platform is fixed on a vertical plate of the L-shaped support and comprises a rotating disk driven by a motor and a transmission part, the rotating disk is connected with a suspended support frame, a pipe seat is arranged on the support frame, the rear end of a spraying pipe penetrates through the pipe seat to extend backwards and then is connected with a material pipe, the spraying pipe extends forwards, the front end of the spraying pipe is connected with a nozzle, the transmission part comprises a worm connected with a motor rotating shaft and a worm wheel meshed with the worm, and a rotating disk is fixed on a wheel shaft of the worm wheel so as to drive the worm and the worm wheel meshed with the worm to rotate the rotating disk through the motor, so that the support frame and the spraying pipe on the support frame are driven to swing for 180 degrees, and the spraying operation range is widened.
And a material pipe and a material pump which are communicated with the spray pipe on the spraying mechanism are arranged in the vertical cabinet on the chassis, the material pipe is connected with the material box, and the paint in the material box is sent to the spray pipe through the material pump and sprayed through the nozzle.
The chassis is established to the rectangle platform, the universal wheel is established to four, and divide and locate four angles in rectangle platform bottom, every universal wheel passes through the shaft and installs on the universal frame, the universal frame passes through the bearing coupling on the chassis, the drive wheel is established to two, and divide and locate chassis middle part both sides, every drive wheel all links to each other with the motor of locating the chassis bottom correspondence through the inner of self shaft, so that drive the chassis through the drive wheel under the motor drives and remove, simultaneously because two drive wheels all are provided power by independent motor, consequently realize the chassis through the difference in rotational speed between two drive wheels and turn.
Two motors on the chassis, a material pump, a first power machine on the vertical cabinet frame, a second power machine on the lifting column, an electric roller of the translation mechanism and a motor on the rotating platform are electrically connected with the controller, and operations and controls such as chassis movement, steering, spraying material supply, lifting of the lifting column, lifting of the translation mechanism, horizontal movement of the spraying mechanism, swinging of the spray pipe and the like are carried out through the controller.
The upper part and the lower part of the lifting column are respectively provided with a high-position proximity switch and a low-position proximity switch which are matched and connected with a trigger switch on the translation mechanism, and the high-position proximity switch and the low-position proximity switch are electrically connected with the controller, so that after the position signals are sent to the controller through the high-position proximity switch and the low-position proximity switch to be processed, the second power machine is controlled to work or stop, and the upper limit position and the lower limit position of the translation mechanism are further limited.
The upper part and the lower part in the vertical sliding groove are respectively provided with a high-position proximity switch and a low-position proximity switch which are matched and connected with a trigger switch on the lifting column, and the high-position proximity switch and the low-position proximity switch are electrically connected with the controller, so that after the position signals are sent to the controller through the high-position proximity switch and the low-position proximity switch for processing, the first power machine is controlled to stop or start rotating, and the upper limit position and the lower limit position of the lifting column are limited.
And proximity switches matched with the trigger switch on the spraying mechanism are arranged at the two ends and the middle of the outer side of the long rectangular groove and are electrically connected with the controller, so that after the position signals are sent to the controller through the proximity switches to be processed, the electric roller is controlled to stop or start rotating, and the left, middle and right positions of the spraying mechanism are limited.
The front side of the support frame of the spraying mechanism is provided with a visual signal collector and a distance sensor which are consistent with the direction of the nozzle, and the visual signal collector and the distance sensor are electrically connected with the controller so as to control the horizontal position, the height and the angle of spraying after the spraying information and the distance information are processed by the controller.
The chassis is provided with a battery pack for supplying power to the controller, the motor, the material pump, the first power machine, the second power machine, the electric roller and the motor.
The invention has the following advantages and effects: by adopting the scheme, the coating can be carried out on the indoor operation surfaces of the buildings such as walls or ceilings, the labor intensity of workers in the spraying operation process is reduced to the maximum extent, and the harm of toxic and harmful materials to human bodies is avoided. Meanwhile, the spraying operation range of the indoor building with larger floor height can be further widened by adopting the first-stage lifting mechanism and the second-stage lifting mechanism and matching with the spray pipe with adjustable spray angle. Is an ideal spraying robot.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a view of the back and interior of FIG. 1 with the side panels removed;
FIG. 3 is a front view of the chassis;
FIG. 4 is a bottom view of the chassis;
FIG. 5 is a rear and top view of FIG. 1;
FIG. 6 is a front middle structural view of FIG. 1;
FIG. 7 is a front lower structural view of FIG. 1;
FIG. 8 is a fragmentary view of FIG. 7;
fig. 9 is a partial view of fig. 8.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides an indoor spraying robot, which comprises a chassis 1 provided with universal wheels 12 and driving wheels 11, a vertical cabinet 2 arranged on the chassis 1, wherein the vertical cabinet 2 is provided with a lifting column 3, a translation mechanism 5 moving up and down along the lifting column 3, and a spraying mechanism 6 horizontally moving along the translation mechanism 5 and provided with a spraying pipe 67, wherein: the lifting column 3 is connected to the vertical cabinet 2 through a primary lifting mechanism 9, the translation mechanism 5 is connected to the lifting column 3 through a secondary lifting mechanism 4, the spray pipe 67 is connected to the translation mechanism 5 through a rotary platform, so that the primary lifting mechanism 9 is operated to lift or lower the lifting column 3, the secondary lifting mechanism 4 is operated to lift or lower the translation mechanism 5, the translation mechanism 5 is operated to horizontally move the spraying mechanism 6, and the rotary platform is operated to enable the spray pipe 67 to swing by an angle, so that spraying is realized; wherein:
the chassis 1 is a rectangular platform, the universal wheels 12 are four and are respectively arranged at four corners at the bottom of the rectangular platform, each universal wheel 12 is arranged on a universal frame 15 through a wheel shaft, the universal frame 15 is matched and connected with the chassis 1 through a bearing, the two driving wheels 11 are respectively arranged at two sides of the middle of the chassis 1, each driving wheel 11 is connected with a corresponding motor 16 arranged at the bottom of the chassis 1 through the inner end of the wheel shaft, so that the chassis 1 is driven to move through the driving wheels 11 under the driving of the motor 16, and the chassis turning is realized through the rotation speed difference between the two driving wheels 11 as shown in figures 3 and 4 because the two driving wheels 11 are powered by the independent motors 16;
the vertical cabinet 2 is a vertical cuboid with a cavity inside and is formed by a frame and a panel on the frame, the upper part and the lower part of the left side and the right side of the vertical cabinet are respectively provided with a cabinet door 21, the front side of the vertical cabinet is provided with an inward-concave vertical chute 22 with an open top and an open outer side, the left side and the right side of the vertical chute 22 are respectively provided with a vertical slide rail 23, and the heights of the vertical chute 22 and the vertical slide rail 23 are matched with the height of the vertical cabinet 2, as shown in figure 1, so that a lifting column 3 is inserted in the vertical chute 22;
the height of the lifting column 3 is consistent with that of the vertical chute 22, the left and right sides of the lifting column 3 are respectively provided with a slide block 31 matched with the vertical slide rail 23 at the left and right sides in the vertical chute 22, the rear side of the lifting column 3 is provided with a rack 32, and the rack 32 is connected with the primary lifting mechanism 9, as shown in fig. 6 and 2;
the first-stage lifting mechanism 9 comprises a driving gear 91 meshed with the rack 32 at the rear side of the lifting column 3, the driving gear 91 is connected with an output shaft of a first transmission box 93 through a horizontal transmission shaft 92, an input shaft of the first transmission box 93 is connected with a first power machine 94 fixed on the frame of the vertical cabinet 2, and the first transmission box 93 is a conventional gear box, as shown in fig. 2 and 5, so that the driving gear 91 is driven to rotate by the first power machine 94 through the first transmission box 93 and the horizontal transmission shaft 92, and the rack 32 and the lifting column 3 are driven to ascend or descend along the vertical chute 22;
the translation mechanism 5 comprises a long rectangular groove 51 with a cavity arranged therein and an open top, the rear side plate of the long rectangular groove 51 is fixed on the Z-shaped connecting plate 46 on the lifting chain 43 of the second-stage lifting mechanism 4 on the lifting column 3 through a connecting bolt and a nut, the two ends of the cavity of the long rectangular groove 51 are respectively provided with a driving chain wheel 54 and a driven chain wheel 56, the driving chain wheel 54 and the driven chain wheel 56 are sleeved with a horizontal transmission chain 52, the horizontal transmission chain 52 is connected with an L-shaped bracket 61 of the spraying mechanism 6, the wheel axle of the driving chain wheel 54 is connected with an electric roller 53, as shown in fig. 1, 6, 7 and 8, so that the axle of the driving sprocket 54 is rotated by the electric roller 53, the driving chain wheel 54 and the driven chain wheel 56 are driven to rotate, and simultaneously, the horizontal transmission chain 52 is driven to reciprocate, so that the spraying mechanism 6 is driven to horizontally reciprocate on the translation mechanism 5;
the second-stage lifting mechanism 4 comprises a driving sprocket 47 arranged at the bottom of the lifting column 3, a driven sprocket 41 arranged at the top of the lifting column 3, and a lifting chain 43 sleeved on the driving and driven sprockets 47 and 41, wherein the driving sprocket 47 is fixed on an output shaft of a second transmission case 45 at the bottom of the lifting column 3, an input shaft of the second transmission case 45 is connected with a main shaft of a second power machine 44, and a zigzag connecting plate 46 connected with the translation mechanism 5 is arranged on the transmission chain 43, as shown in fig. 6, so that the lifting chain 43 is driven to ascend or descend by the second power machine 44 through the second transmission case 45, the driving and driven sprockets 47 and 41, and the translation mechanism 5 is driven to ascend or descend along the lifting column 3 through the zigzag connecting plate 46 on the lifting chain 43;
the spraying mechanism 6 comprises an L-shaped bracket 61, the horizontal plate of the L-shaped bracket 61 is fixed on the horizontal transmission chain 52 through bolts and nuts, a rotating platform is fixed on the vertical plate of the L-shaped bracket 61 and comprises a rotating disc 62 driven by a motor 64 and a transmission piece 63, the rotating disc 62 is connected with a suspended supporting frame 66, a pipe seat 65 is arranged on the supporting frame 66, the rear end of a spray pipe 67 passes through the pipe seat 65 to extend backwards and then is connected with a material pipe 671, the spray pipe 67 extends forwards, the front end of the spray pipe is connected with a nozzle 672, as shown in figures 7 and 8, the transmission piece 63 comprises a worm 631 connected with the rotating shaft of the motor 64 and a worm wheel 632 meshed with the worm 631, a rotating disc 62 is fixed on the wheel shaft of the worm wheel 632, as shown in figure 9, so that the motor 64 drives the worm 631 and the meshed worm wheel 632 to rotate the rotating disc 62 to further drive the supporting frame 66 and the spray pipe 67 thereon to swing 180 degrees, the spraying operation range is widened; a material pipe 671 and a material pump 17 which are communicated with the spray pipe 67 on the spraying mechanism 6 are arranged in the vertical cabinet 2 on the base plate 1, the material pipe 671 is connected with the material box 18, and the paint in the material box 18 is sent to the spray pipe 67 through the spray nozzle 672 for spraying through the material pump 17.
Two motors 16 on the chassis 1, a material pump 17, a first power machine 94 on the frame of the vertical cabinet 2, a second power machine 44 on the lifting column 3, an electric roller 53 of the translation mechanism 5 and a motor 64 on the rotating platform are all electrically connected with the controller 8, and the operations and controls such as the movement, the steering, the spraying and feeding of the chassis 1, the lifting of the lifting column 3, the lifting of the translation mechanism 5, the horizontal movement of the spraying mechanism 6, the swinging of the spray pipe 67 and the like are carried out through the controller 8.
The upper and lower parts of the lifting column 3 are respectively provided with a high-position proximity switch 42 and a low-position proximity switch 48 which are matched with the trigger switch on the translation mechanism 5, and are electrically connected with the controller 8, as shown in fig. 6, so that after the position signal is processed by the high-position proximity switch and the low-position proximity switch, the second power machine 44 is controlled to stop rotating, and the upper and lower limit positions of the translation mechanism 5 are further limited.
The upper and lower parts in the vertical chute 22 are respectively provided with a high-position proximity switch and a low-position proximity switch (not shown) which are matched with the trigger switch on the lifting column 3, and are electrically connected with the controller 8, so that after the position signals are sent to the controller 8 through the high-position proximity switch and the low-position proximity switch for processing, the first power machine 94 is controlled to stop rotating, and the upper and lower limit positions of the lifting column 3 are further limited.
A visual signal collector 68 (camera) and a distance sensor 69 which are consistent with the direction of the nozzle 672 are arranged at the front side of the support frame 66 of the spraying mechanism 6, and are electrically connected with the controller 8, so that the spraying horizontal position, the spraying height and the spraying angle can be controlled after the spraying information and the distance information are processed by the controller 8.
The chassis 1 is provided with a battery pack 13 for supplying power to the controller 8, the motor 16, the material pump 17, the first power machine 94, the second power machine 44, the electric roller 53 and the motor 64.
The control system 8 is a conventional device.
Claims (9)
1. The utility model provides an indoor spraying robot, includes the chassis of establishing universal wheel and drive wheel on it, locates the vertical rack on the chassis, is equipped with the lift post on its characterized in that vertical rack to and along the translation mechanism of lift post upper and lower removal, and along the translation mechanism horizontal migration establish the spraying mechanism of spray tube on it, wherein: the lifting column is connected to the vertical machine cabinet through the first-level lifting mechanism, the translation mechanism is connected to the lifting column through the second-level lifting mechanism, and the spray pipe is connected to the translation mechanism through the rotary platform.
2. The indoor spraying robot as claimed in claim 1, wherein the vertical cabinet is a vertical cuboid with a cavity therein, the vertical cuboid is composed of a frame and a panel on the frame, cabinet doors are respectively arranged on the upper and lower parts of the left and right sides of the vertical cabinet, a vertical sliding groove which is recessed inwards and has an open top and an open outer side is arranged on the front side of the vertical cabinet, vertical sliding rails are respectively arranged on the left and right sides of the vertical sliding groove, and the heights of the vertical sliding groove and the vertical sliding rails are adapted to the height of the vertical cabinet.
3. The indoor spraying robot of claim 1, wherein the left and right sides of the lifting column are respectively provided with a slide block which is matched with the vertical slide rails on the left and right sides in the vertical chute, the rear side of the lifting column is provided with a rack, and the rack is connected with the primary lifting mechanism;
the first-stage lifting mechanism comprises a driving gear meshed with a rack on the rear side of the lifting column, the driving gear is connected with an output shaft of the first transmission box through a horizontal transmission shaft, and an input shaft of the first transmission box is connected with a first power machine fixed on the vertical cabinet frame.
4. The indoor painting robot of claim 1, wherein the translation mechanism comprises an elongated rectangular groove having a cavity therein and an open top, a rear side plate of the elongated rectangular groove is fixed on the lifting column through a connecting bolt and a nut, a driving sprocket and a driven sprocket are respectively arranged at two ends of the cavity of the elongated rectangular groove, a horizontal transmission chain is sleeved on the driving sprocket and the driven sprocket, the horizontal transmission chain is connected with the painting mechanism, and a wheel shaft of the driving sprocket is connected with the electric roller;
the second-stage lifting mechanism comprises a driving chain wheel arranged at the bottom of the lifting column, a driven chain wheel arranged at the top of the lifting column and a lifting chain sleeved on the driving chain wheel and the driven chain wheel, wherein the driving chain wheel is fixed on an output shaft of a second transmission box at the bottom of the lifting column, an input shaft of the second transmission box is connected with a main shaft of a second power machine, and a Z-shaped connecting plate connected with the translation mechanism is arranged on the transmission chain.
5. The indoor painting robot according to claim 1, wherein the painting mechanism includes an L-shaped bracket, a horizontal plate of the L-shaped bracket is fixed to a horizontal driving chain by bolts and nuts, a vertical plate of the L-shaped bracket is fixed to a rotary platform including a rotary disk driven by a motor and a driving member, the rotary disk is connected to a suspended support frame, a pipe seat is provided on the support frame, a rear end of the spray pipe passes through the pipe seat and extends backward to be connected to the feed pipe, the spray pipe extends forward, and a nozzle is connected to a front end of the spray pipe.
6. The indoor spraying robot of claim 1, wherein a material pipe and a material pump communicated with a spray pipe on the spraying mechanism are arranged in the vertical cabinet on the base plate, and the material pipe is connected with a material box.
7. The indoor painting robot according to claim 1, wherein the base plate is provided with a rectangular platform, the number of the universal wheels is four, and the universal wheels are respectively provided at four corners of the bottom of the rectangular platform, each of the universal wheels is mounted on a universal frame through a wheel shaft, the universal frame is coupled to the base plate through a bearing, the number of the driving wheels is two, and the driving wheels are respectively provided at two sides of the middle of the base plate, and each of the driving wheels is connected to a corresponding motor provided at the bottom of the base plate through an inner end of the wheel shaft.
8. The indoor spraying robot of claim 1, wherein two motors on the chassis, the material pump, the first power machine on the vertical cabinet frame, the second power machine on the lifting column, the electric roller of the translation mechanism, and the motor on the rotary platform are electrically connected with the controller.
9. The indoor painting robot of claim 1, wherein a high-order proximity switch and a low-order proximity switch, which are coupled to a trigger switch of the translation mechanism, are provided at upper and lower portions of the elevating column, respectively, and electrically connected to the controller;
the upper part and the lower part in the vertical sliding chute are respectively provided with a high-position proximity switch and a low-position proximity switch which are matched and connected with a trigger switch on the lifting column, and are electrically connected with the controller;
proximity switches matched with the trigger switch on the spraying mechanism are arranged at the two ends and the middle of the outer side of the long rectangular groove and are electrically connected with the controller;
a visual signal collector and a distance sensor which are consistent with the direction of the nozzle are arranged on the front side of the support frame of the spraying mechanism and are electrically connected with the controller;
the chassis is provided with a battery pack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111267046.6A CN114046020A (en) | 2021-10-28 | 2021-10-28 | Indoor spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111267046.6A CN114046020A (en) | 2021-10-28 | 2021-10-28 | Indoor spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114046020A true CN114046020A (en) | 2022-02-15 |
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ID=80206763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111267046.6A Pending CN114046020A (en) | 2021-10-28 | 2021-10-28 | Indoor spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114046020A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114832989A (en) * | 2022-05-21 | 2022-08-02 | 深圳市平成机械有限公司 | Vertical suspension type spraying conveying assembly line with uniform surface spraying |
| CN115178414A (en) * | 2022-07-19 | 2022-10-14 | 西安外事学院 | Building material waterproof layer coating device |
| CN116188480A (en) * | 2023-04-23 | 2023-05-30 | 安徽同湃特机器人科技有限公司 | Calculation method of AGV traveling path point during ceiling operation of spraying robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210002808U (en) * | 2019-05-21 | 2020-01-31 | 广东博智林机器人有限公司 | Spray gun assembly and spraying robot |
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| CN210002808U (en) * | 2019-05-21 | 2020-01-31 | 广东博智林机器人有限公司 | Spray gun assembly and spraying robot |
| CN210342589U (en) * | 2019-05-30 | 2020-04-17 | 成都纺织高等专科学校 | Two-stage lifting mechanism |
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| CN114832989A (en) * | 2022-05-21 | 2022-08-02 | 深圳市平成机械有限公司 | Vertical suspension type spraying conveying assembly line with uniform surface spraying |
| CN115178414A (en) * | 2022-07-19 | 2022-10-14 | 西安外事学院 | Building material waterproof layer coating device |
| CN116188480A (en) * | 2023-04-23 | 2023-05-30 | 安徽同湃特机器人科技有限公司 | Calculation method of AGV traveling path point during ceiling operation of spraying robot |
| CN116188480B (en) * | 2023-04-23 | 2023-07-18 | 安徽同湃特机器人科技有限公司 | Calculation method of AGV traveling path point during ceiling operation of spraying robot |
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