CN114876162A

CN114876162A - Paint spray gun and coating robot

Info

Publication number: CN114876162A
Application number: CN202210374667.2A
Authority: CN
Inventors: 莫珠明; 高杰桥; 赵荣尊; 何锋; 严家权
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-08-09

Abstract

The invention discloses a paint spray gun and a coating robot, wherein the paint spray gun comprises a spray gun body, a gun needle piece and a driving assembly, a cavity is arranged in the spray gun body, and a feed inlet and a discharge outlet which are communicated with the cavity are arranged on the spray gun body; the gun needle piece is movably arranged in the cavity, a material passing gap is formed by the gun needle piece and the cavity wall of the cavity in a matched mode, and the gun needle piece moves to have a sealing position for closing the discharge hole and an opening position for opening the discharge hole; the driving assembly is in transmission connection with the gun needle piece so as to drive the gun needle piece to move between the sealing position and the opening position. The technical scheme of the invention is beneficial to improving the automation level of the putty coating process.

Description

Paint spray gun and coating robot

Technical Field

The invention relates to the technical field of building decoration construction, in particular to a paint spray gun and a coating robot.

Background

The putty is a decorative material for leveling the surface of a wall body, is thick paste paint and is an essential product before painting.

In the field of building decoration construction, putty coating is a common important process, at present, the putty coating process is mainly completed in a mode of manually scraping and coating on a wall, and because the working environment of a construction site is severe, the labor intensity of manual construction operation is high, the efficiency is low, the technical, experience and proficiency of construction workers are uneven and the like, the construction quality and consistency of the putty coating process are difficult to ensure, the construction workers are seriously aged, young people are rarely willing to engage in the building industry, and the putty coating process faces the problems of labor force loss, high construction cost and the like. In view of the above-identified problems, there is a need for improvements by those skilled in the art.

Disclosure of Invention

The invention mainly aims to provide a paint spray gun, which aims to solve the technical problem that the automation level of a putty coating process is low, and meanwhile, considering that putty belongs to thick paint containing more particles and is easily adhered to a sealing surface at a discharge part of the spray gun to abrade the sealing surface, so that the discharge hole of the spray gun has the problem of liquid leakage; in addition, the sealing part moves in a drawing mode in the groove depth direction of the guide groove, so that the whole peripheral wall of the sealing part can be separated from the groove wall of the guide groove in time at the moment when the sealing part starts to move, a discharge hole can be opened quickly, putty slurry can be sprayed out from the discharge hole in time, and the problem that time delay exists in putty spraying is solved; in addition, the coating spray gun of this application has still improved the material of sealing and the cell wall of guide way both (adopt metal material to make the cell wall of sealing and guide way promptly), so, be favorable to solving the sealing face of coating spray gun and receive the influence of putty and the fast technical problem of loss.

In order to achieve the purpose, the paint spray gun provided by the invention comprises a spray gun body, a gun needle piece and a driving assembly, wherein a cavity is arranged in the spray gun body, and a feed inlet and a discharge outlet which are communicated with the cavity are formed in the spray gun body; the gun needle piece is movably arranged in the cavity, a material passing gap is formed by the gun needle piece and the cavity wall of the cavity in a matched mode, and the gun needle piece moves to have a sealing position for closing the discharge hole and an opening position for opening the discharge hole; the driving assembly is in transmission connection with the gun needle piece so as to drive the gun needle piece to move between the sealing position and the opening position.

Optionally, the gun needle spare includes push rod portion and sealing, the sealing is located push rod portion, but push rod portion install with the pull in the cavity, push rod portion with the drive assembly transmission is connected, push rod portion pull removes in order to drive sealing removes and opens or closes the discharge gate.

Optionally, a guide groove is arranged between the cavity and the discharge hole, the cavity is communicated with the discharge hole through the guide groove, the guide groove is gradually reduced from the cavity to the discharge hole, and the sealing part is in sealing fit with part of groove wall of the guide groove at the sealing position

Optionally, the sealing portion is disposed in a spherical or quasi-spherical shape, and an arc surface which is in sealing fit with the curved surface of the sealing portion is arranged on a groove wall of the guide groove.

Optionally, the guide groove is disposed in a circular truncated cone shape.

Optionally, a part of the sealing portion, which is in sealing fit with the groove wall of the guide groove, is made of a metal material, and a part, which is on the groove wall of the guide groove, is in sealing fit with the sealing portion, is made of a metal material.

Optionally, the push rod part and the sealing part are integrally formed; or

The push rod part is provided with an embedded groove, and the sealing part is embedded in the embedded groove.

Optionally, the driving assembly comprises an automatic driving member and a transmission member, and the automatic driving member is connected with the push rod part through the transmission member.

Optionally, the cavity comprises a material passing channel and a transmission channel, one end of the material passing channel is communicated with the discharge port, the other end of the material passing channel is communicated with the transmission channel through a drawing through hole, the feed port is communicated with the material passing channel, one end of the push rod part extends into the transmission channel from the material passing channel through the drawing through hole, the sealing part is connected with a part of the push rod part, which is located in the material passing channel, and the part of the push rod part, which is located in the material passing channel, is matched with the inner wall of the material passing channel to form the material passing gap;

the transmission part extends into the transmission channel and is connected with the push rod part positioned in the transmission channel.

Optionally, the transmission part comprises a pull shaft, the pull shaft extends into the transmission channel from one side of the transmission channel far away from the material passing channel, the pull shaft is connected with the push rod part, an installation seat is convexly arranged on the peripheral wall of the pull shaft, and an elastic part installation cavity is formed by the cooperation of the peripheral wall of the pull shaft, the installation seat and the inner wall of the transmission channel;

the drive assembly comprises an elastic resetting piece arranged in the elastic piece mounting cavity, one end of the elastic resetting piece along the elastic stretching direction of the elastic resetting piece is connected with the mounting seat, the other end of the elastic resetting piece is connected with the inner wall of the transmission channel, and the push rod part is located at the opening position, the elastic resetting piece is elastically deformed so as to apply an elastic force to the push rod part, wherein the elastic force moves from the opening position to the sealing position.

Optionally, the resilient return comprises a spring; and/or

The automatic drive comprises a servo electric cylinder.

Optionally, the drive assembly includes a manual drive member movably mounted to the spray gun body, the manual drive member is in transmission connection with the pull shaft, and the manual drive member is configured to move to drive the push rod portion to move from the sealing position to the opening position.

Optionally, the outside of spray gun body is equipped with the inlet pipe, the one end of inlet pipe with the feed inlet intercommunication, the coating spray gun includes first adapter and second adapter, the other end of inlet pipe with the removable cooperation of one end of first adapter, the other end of first adapter with the removable cooperation of one end of second adapter, the other end of second adapter is configured to the removable cooperation with the conveying pipeline, first adapter with the common cooperation of second adapter is formed with the intercommunication the conveying pipeline with the feedstock channel of inlet pipe.

Optionally, the paint spray gun includes a fixed plate mechanism to which both the spray gun body and the drive assembly are removably mounted.

The invention also provides a coating robot which comprises a coating spray gun, wherein the coating spray gun comprises a spray gun body, a gun needle piece and a driving mechanism, a cavity is arranged in the spray gun body, and a feed inlet and a discharge outlet which are communicated with the cavity are formed in the spray gun body; the gun needle piece is movably arranged in the cavity, a material passing gap is formed by the gun needle piece and the cavity wall of the cavity in a matching mode, and the gun needle piece moves to have a sealing position for closing the discharge hole and an opening position for opening the discharge hole; the driving mechanism is in transmission connection with the gun needle piece so as to drive the gun needle piece to move between the sealing position and the opening position.

According to the paint spray gun in the technical scheme, the driving assembly controls the gun needle piece to move to open or close the discharge hole, so that when the feed hole of the spray gun body is connected with a pipeline for pumping putty, the discharge hole is controlled to be opened based on the driving assembly, and the paint spray gun can spray putty slurry onto a wall body.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of a coating robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the coating robot of FIG. 1 from another perspective;

FIG. 3 is a schematic structural view of the coating robot in FIG. 1 with a part of the structure omitted;

FIG. 4 is a schematic structural view of the coating robot in FIG. 3 with a part of the structure omitted;

FIG. 5 is a schematic view of the coating robot shown in FIG. 4 with a part of the structure omitted;

FIG. 6 is a schematic view of the structure of FIG. 5 from another perspective;

FIG. 7 is a schematic structural view of a bucket mechanism of the coating robot of FIG. 1;

FIG. 8 is an enlarged view of a portion of FIG. 7 at A;

FIG. 9 is a schematic view of the structure of the stirring member of FIG. 7;

FIG. 10 is an exploded view of FIG. 9;

FIG. 11 is a top view of FIG. 7 with portions omitted;

FIG. 12 is a schematic structural view of the coating material spray gun of the coating robot of FIG. 1 with a part of the structure omitted;

FIG. 13 is a schematic view of the structure of FIG. 12 from another perspective;

FIG. 14 is a schematic structural view of the spray gun body of FIG. 12;

FIG. 15 is a cross-sectional view taken along A-A of FIG. 14;

FIG. 16 is a partial schematic view of the internal structure of one embodiment of the spray gun body;

FIG. 17 is a partial schematic view of the internal structure of another embodiment of the spray gun body;

FIG. 18 is a schematic view of a portion of a pressure relief assembly;

FIG. 19 is a schematic view of the structure of FIG. 18 from another perspective;

FIG. 20 is a schematic view of the structure of FIG. 18 from a further angle;

FIG. 21 is a schematic view of a pressure relief spray gun;

FIG. 22 is a cross-sectional view taken along line B-B of FIG. 21;

FIG. 23 is a partial schematic view of the internal structure of one embodiment of a pressure relief spray gun;

FIG. 24 is a partial schematic view of the internal structure of another embodiment of a pressure relief spray gun;

FIG. 25 is a schematic diagram of the AGV configuration of FIG. 1;

fig. 26 is a partial schematic view of the structure of fig. 25.

The reference numbers illustrate:

1. a body; 11. a main battery cabinet; 2. a charging basket mechanism; 21. a paint pumping line; 22. a barrel body; 221. a coating material receiving chamber; 222. a coating release port; 223. a residue detection port; 224. an anti-fouling pipe; 224a, a first tube segment; 224b, a second tube segment; 224c, a paint cleaning port; 224d, a detection pipeline; 23. a stirring assembly; 231. a stirring member; 231a, a rotating rod; 231b, a connecting rod; 231c, a tub wall wiper; 231d, an angle adjusting structure; 231e, stirring blades; 232. a stirring motor; 24. a flip sensor; 25. a stop valve; 26. a paint filter; 3. a coating mechanism; 31. a pumping assembly; 311. an oil pump motor; 312. an oil pump; 313. a hydraulic station; 314. a motor oil inlet pipe; 315. a hydraulic motor component; 316. a motor oil return pipe; 317. an oil return filter; 318. a paint pump plunger rod; 319. a paint pump component; 310. a high pressure filter; 32. a paint spray gun; 321. a spray gun body; 321a, a feed inlet; 321b and a discharge hole; 321c, a guide groove; 321d, a pull via; 322. a gun needle piece; 322a, a push rod part; 322b, a sealing part; 323. a drive assembly; 323a, a servo electric cylinder; 323b, pulling the shaft; 323c, a mounting seat; 323d, elastic reset piece; 323e, spray gun trigger; 323f, a trigger pin shaft; 324. a cavity; 324a, a material passing channel; 324b, a transmission channel; 325. a material passing gap; 326. an elastic member mounting cavity; 327. a feed pipe; 328. a first adapter; 329. a second adapter; 320. a fixed plate mechanism; 4. a pressure relief mechanism; 41. a pressure relief assembly; 411. a pressure relief spray gun; 411a, a pressure relief inlet; 411b, a pressure relief outlet; 411c, a pressure relief guide groove; 411d, sliding vias; 412. a pressure relief gun needle; 412a, a pressure relief push rod part; 412b, a pressure relief seal; 413. a pressure relief drive assembly; 413a, a steering engine; 413b, a pressure relief pull shaft; 413c, a pressure relief mount; 413d, a pressure relief elastic reset piece; 413e, pressure relief spray gun trigger; 413f, a pressure relief spray gun trigger pin shaft; 414. a pressure relief cavity; 414a, an overpressure channel; 414b, a connecting channel; 415. an overpressure gap; 416. a pressure relief elastic member mounting cavity; 42. a pressure relief pipeline; 43. a pressure relief return pipeline; 5. a lifting system; 51. a screw rod module; 52. a drag chain; 53. a lifting motor; 54. a coil assembly; 55. a mechanical arm; 56. a lifting support; 57. lifting the sliding table; 6. a pressure detector; 7. a remainder detector; 8. an AGV trolley; 81. an AGV chassis; 811. a bearing surface; 812. a bottom surface; 813. a wheel mounting position; 82. a front side wheel set; 821. a front side drive wheel; 822. a front driven wheel; 83. a floating structure; 84. a rear side drive wheel; 85. a rear driven wheel; 86. an anti-collision member; 87. auxiliary battery cabinet

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a coating robot.

In the embodiment of the present invention, as shown in fig. 1 to 26, the coating robot includes a body 1, a bucket mechanism 2, a coating mechanism 3, and a pressure relief mechanism 4, and further includes an elevator system 5, a control system, and an AGV (Automated Guided Vehicle) cart 8, and the like, which are described in detail below.

Specifically, the bucket mechanism 2 is provided with a coating material containing chamber 221 and a coating material pumping line 21, the coating material containing chamber 221 communicating with the feed end of the coating material pumping line 21. Wherein the coating material receiving cavity 221 is used for storing coating material (such as but not limited to putty, interface agent, emulsion paint, etc.), and specifically, the cavity bottom wall of the coating material receiving cavity 221 is provided with a coating material release port 222, and the coating material release port 222 is used for communicating with the feeding end of the coating material pumping pipeline 21.

Specifically, the paint mechanism 3 includes a pumping assembly 31 and a paint spray gun 32, the paint spray gun 32 being connected to a discharge end of the paint pumping line 21, the pumping assembly 31 being provided to the paint pumping line 21 to power the flow of paint from the paint receiving chamber 221 to the paint spray gun 32, the paint spray gun 32 having an open state in which paint flows out, and having a closed state in which paint is prevented from flowing out. Specifically, in the open state, the paint spray gun 32 is started, the paint pumping line 21 communicates with the outside via the paint spray gun 32, and at this time, under the action of the pumping assembly 31, the paint can flow from the paint containing chamber 221 to the paint spray gun 32 via the paint pumping line 21, and then is sprayed by the paint spray gun 32 onto the wall surface to be coated; in the closed state, the paint spray gun 32 is closed, and the paint pumping line 21 cannot communicate with the outside through the paint spray gun 32, and at this time, the paint cannot flow onto the paint spray gun 32 and is sprayed. Generally, to ensure that the paint flows onto the paint spray gun 32 to be sprayed at the instant of the start of the paint spray gun 32, the pumping assembly 31 is kept in operation at all times in this embodiment.

Specifically, storage bucket mechanism 2 installs on organism 1, is equipped with operating system 5 on organism 1, and its essential element has: the device comprises a screw rod module 51, a drag chain 52, a lifting motor 53, a coil pipe assembly 54, a mechanical arm 55, a lifting bracket 56, a lifting sliding table 57 and the like. Wherein the robotic arm 55 is connected to the paint spray gun 32. The lifting system 5 is connected to the frame of the machine body 1 by bolts, and has a main function of driving the robot arm 55 to lift and lower, and is combined with the stretching action of the robot arm 55, so that the coating operation can cover the upper and lower parts of the wall surface. The screw rod module 51 comprises a screw rod, a screw nut and other components which are combined to form a screw rod transmission assembly, and has the advantages of high transmission precision, stable operation, high mechanical efficiency and reliable work. The power of the screw rod comes from the lifting motor 53, the torque of the lifting motor 53 is increased through the speed reducer, and the torque is transmitted to the screw rod through the synchronous belt and the synchronous wheel, so that the screw rod is transmitted according to the requirement, and the lifting motion of the lifting sliding table 57 is realized. And the robot arm 55 is mounted on the elevating bracket 56 and then assembled to the elevating slide table 57 together, and the robot arm 55 is elevated along with the slide table. Preferably, the six-axis robot 55 is used as the robot 55, and the six-axis robot 55 can realize various complicated attitude control in space, so that the paint spray gun 32 can perform putty coating construction operation on various building walls such as a vertical wall, a ceiling, a beam, a bay window, a passageway and the like. Coil pipe assembly 54 is fixed at the lead screw module 51 back, and the pipeline of being convenient for coating pump sending pipeline 21 coils regularly here, then arranges arm 55 and coating spray gun 32 through tow chain 52, and tow chain 52 can also arrange the cable except arranging the pipeline, has ensured that pipeline, circuit walk a position standard and can cooperate and follow arm 55 elevating movement, avoid causing the pipeline to drag.

Specifically, the pressure relief mechanism 4 includes a pressure relief assembly 41 and a pressure relief pipeline 42, a feed end of the pressure relief pipeline 42 is communicated with a discharge end of the pumping assembly 31, the pressure relief assembly 41 is disposed on the pressure relief pipeline 42, and the pressure relief assembly 41 is configured to open the pressure relief pipeline 42 when the paint spray gun 32 is in a closed state. It is understood that when the paint spray gun 32 is closed, because the pumping assembly 31 continuously applies pressure to the paint in the application pipe, and at this time, if the paint in the application pipe (hereinafter, the paint is exemplified as putty) does not flow, the putty slurry continuously bleeds (bleeding: the putty slurry is a mixture of putty and water, when the paint spray gun 32 is in valve port closing pressure maintaining for a long time, and slight leakage is caused by slight abrasion and the like at the sealing part of the valve port, moisture is secreted out from the gap of the valve port under the action of high pressure, and putty with certain granularity cannot pass through, so that moisture in the putty slurry is lost, the putty slurry is squeezed by high pressure and becomes harder, and finally becomes agglomerated and caked), so that the paint pumping pipeline 21, the paint spray gun 32 and the like are caused, based on this, the invention sets the pressure relief pipeline 42 and the pressure relief assembly 41, so that when the paint spray gun 32 is closed (i.e. when the paint in the application pipe does not flow), the coating in the dressing pipe can flow out from the pressure relief pipeline 42, so that the putty can be always in a flowing state, and the phenomenon of bleeding and solidification of the putty is effectively prevented.

Specifically, referring to fig. 4 to 6, the pumping assembly 31 mainly includes an oil pump motor 311, an oil pump 312, a hydraulic station 313, a motor oil inlet pipe 314, a hydraulic motor component 315, a motor oil return pipe 316, an oil return filter 317, a paint pump plunger rod 318, a paint pump component 319, a high-pressure filter 310, and the like, and when the pumping assembly works, the oil pump motor 311 outputs power, the oil pump 312 is driven by a small pulley, a belt, and a large pulley to pump oil from the hydraulic station 313, hydraulic oil is pumped to an oil inlet cavity of the hydraulic motor component 315 through an outlet of the oil pump 312 and the motor oil inlet pipe 314, and then the hydraulic motor is driven to perform reciprocating linear motion in the cylinder, and meanwhile, hydraulic oil in the cylinder of the hydraulic motor component 315 is conveyed to the oil return filter 317 through the motor oil return pipe 316 to filter impurities and then flows back to the hydraulic station 313. The hydraulic motor drives the paint pump plunger rod 318 to reciprocate in the plunger cylinder, so that the paint pump component 319 can suck putty paste from the material barrel, and the putty paste is filtered by the high-pressure filter 310 (the high-pressure filter 310 can filter the pumped putty, so as to avoid blockage when impurities are conveyed to the paint spray gun 32), and then the filtered impurities are conveyed to the paint spray gun 32 through a pipeline for spraying operation. The hydraulic pumping system is also provided with an overflow pressure regulating assembly, and the pressure can be regulated according to construction requirements.

In some embodiments, referring to fig. 12-17, the paint spray gun 32 includes a spray gun body 321, a gun needle 322, and a drive assembly 323; a cavity 324 is arranged in the spray gun body 321, a feed port 321a and a discharge port 321b which are communicated with the cavity 324 are arranged on the spray gun body 321, and the feed port 321a is communicated with the discharge end of the coating pumping pipeline 21; the gun needle 322 is movably mounted in the cavity 324, the gun needle 322 is matched with the cavity wall of the cavity 324 to form a material passing gap 325, in the open state, the gun needle 322 moves to open the discharge hole 321b, and in the closed state, the gun needle 322 moves to close the discharge hole 321 b; the driving assembly 323 is in transmission connection with the gun needle 322 to drive the gun needle 322 to move to open or close the discharge hole 321 b.

Specifically, the movable mounting of the gun needle 322 in the cavity 324 means: in some embodiments of the present embodiment, the bayonet 322 may be mounted in the cavity 324 in any one of a pull connection, a slide connection, or a swivel connection, to achieve the technical effect of being movable in the cavity 324.

Specifically, in some embodiments of the present embodiment, the driving assembly 323 can achieve the technical effect of driving the gun needle 322 to move by means of electric cylinder driving, steering engine 413a driving, and the like, which is not limited thereto.

Specifically, during the construction process, when it is required to spray paint on the wall surface to be coated, the driving assembly 323 can be activated to drive the gun needle 322 to move in the cavity 324 and open the outlet 321b, so that the paint in the paint pumping pipeline 21 flows to the outside of the paint spray gun 32 through the inlet 321a, the cavity 324 and the outlet 321b in sequence under the pressure of the pumping assembly 31. When it is not necessary to spray paint to the work station to be constructed, in some embodiments of the present embodiment, the driving assembly 323 may be closed to stop the driving of the gun needle 322, and in this embodiment, an elastic member may be adaptively installed on the paint spray gun 32 to drive the gun needle 322 to move to a position closing the discharge port 321b, thereby ensuring the reliability of the seal between the gun needle 322 and the discharge port 321 b. In other embodiments of this embodiment, the outlet 321b may be closed by activating the driving assembly 323 to drive the gun needle 322 to move in the cavity 324. The technical effect of moving the gun needle 322 and sealing the discharge port 321b is achieved in any manner, which depends on the actual requirement and is not limited.

It can be understood that, in the embodiment, the technical effects of controlling the spraying of the paint in the paint pumping pipeline 21 and controlling the stopping of the flow of the paint in the paint pumping pipeline 21 are achieved by driving the gun needle 322 to move so as to open or close the gun needle and the discharge hole 321b, and the gun needle has the advantages of simple structure, easy operation and the like, and because the structure of the gun needle is longer than that of the valve body structure, the realization difficulty of the transmission connection between the gun needle 322 and the driving assembly 323 is favorably reduced.

In some embodiments, referring to fig. 15 to 17, the gun needle 322 includes a pushing rod portion 322a and a sealing portion 322b, the sealing portion 322b is disposed on the pushing rod portion 322a, the pushing rod portion 322a is drawably mounted on the cavity 324, the pushing rod portion 322a is in transmission connection with the driving assembly 323, and the pushing rod portion 322a draws to move to drive the sealing portion 322b to open or close the discharge hole 321 b. It can be understood that the pull connection between the push rod portion 322a and the paint spray gun 32 is a mature movable connection at present, and has the advantages of low implementation difficulty, high connection reliability and the like. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the movable connection between the push rod portion 322a and the paint spray gun 32 may be realized in a rotating connection manner.

In some embodiments, referring to fig. 16 and fig. 17, a guiding groove 321c is disposed between the cavity 324 and the discharge hole 321b, the cavity 324 is communicated with the discharge hole 321b through the guiding groove 321c, the guiding groove 321c is tapered from the cavity 324 to the discharge hole 321b, and the sealing portion 322b is configured to be in sealing fit with a portion of a groove wall of the guiding groove 321c to close the discharge hole 321 b. Specifically, the groove depth direction of the guide groove 321c is the direction of the drawing movement of the push rod portion 322 a. It can be understood that, due to the error of process assembly or the wear of the components themselves, the push rod portion 322a and the sealing portion 322b may be shifted during the moving process, and thus the sealing portion 322b may not be aligned with the discharge hole 321b accurately to seal the discharge hole 321b, for the above reasons, the present application arranges the guide groove 321c between the cavity 324 and the discharge hole 321b, and makes the guide groove 321c taper in the direction from the cavity 324 to the discharge hole 321b, so that when the sealing portion 322b moves from the cavity 324 in the direction close to the discharge hole 321b, even if the sealing portion 322b shifts during the moving process, the sealing portion 322b may smoothly move to the position where the periphery of the sealing portion 322b contacts the groove wall of the guide groove 321c (i.e. the position where the sealing portion 322b is in sealing fit with the groove wall of the guide groove 321 c) under the guiding and correcting effects of the groove wall of the guide groove 321c, therefore, the scheme of the application can effectively ensure the reliability of the sealing of the discharge hole 321b at the sealing part 322 b. Of course, the design of the present application is not limited thereto, and in other embodiments, the sealing portion 322b may be directly matched with the periphery of the discharge hole 321b in a sealing manner.

In some embodiments, referring to fig. 16 and 17, the sealing portion 322b is spherical or spheroidal, and the wall of the guiding groove 321c has an arc surface for sealing engagement with the curved surface of the sealing portion. It is understood that the spherical or spheroidal sealing portion 322b, the curved surface of which is in linear contact with the groove wall of the guiding groove 321c, is beneficial to reducing the moving friction force generated between the sealing portion 322b and the groove wall of the guiding groove 321c when the sealing portion 322b is not moved to the position of sealing engagement with the groove wall of the guiding groove 321 c; when the sealing part 322b moves to the position matched with the groove wall of the guide groove 321c in a sealing manner, the sealing part 322b is in linear contact with the groove wall of the guide groove 321c, so that putty materials are prevented from being embedded into the contact part of the sealing part 322b and the groove wall of the guide groove 321c, the sealing reliability of the sealing part 322b to the discharge port 321b is guaranteed, the service lives of the sealing part 322b and the guide groove 321c can be prolonged, in addition, the discharge port 321b can be opened at the moment when the sealing part 322b moves along the direction far away from the discharge port 321b by the mode of linearly sealing the discharge port 321b between the sealing part 322b and the groove wall of the guide groove 321c, and the phenomenon that the coating spray gun 32 sprays coating in a delayed manner is effectively avoided. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the sealing portion 322b may have other shapes, such as but not limited to a rectangle or a square.

In some embodiments, referring to fig. 16 and 17, the guide groove 321c is disposed in a circular truncated cone shape. It can be understood that, such an arrangement is beneficial to improve the reliability of the fit between the guide groove 321c and the spherical or spheroidal sealing portion 322b, and meanwhile, the truncated cone shape is a regular shape, which is also convenient for the process forming of the guide groove 321 c. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the guide groove 321c may be designed in other shapes, for example, but not limited to, the guide groove 321c is formed by combining two groove bodies of a square shape and a truncated cone shape.

In some embodiments, referring to fig. 16 and 17, a portion of the sealing portion 322b in sealing engagement with the groove wall of the guiding groove 321c is made of a metal material, and a portion of the groove wall of the guiding groove 321c in sealing engagement with the sealing portion 322b is made of a metal material. It can be understood that, because the putty is different from media such as water, hydraulic oil, etc., the putty is thick paste paint, contains a large amount of heavy calcium carbonate and talcum powder, and has larger granularity, under the condition of high pressure, when the putty slurry flows through the cavity 324, the guide groove 321c, etc., the putty slurry has larger abrasion to the groove walls of the sealing part 322b and the guide groove 321c, but the non-metal material is easily abraded, and the service life of the sealing part 322b and the guide groove 321c cannot be ensured. Preferably, groove walls of the sealing portion 322b and the guide groove 321c are both made of a metal material.

Optionally, the metal material includes, but is not limited to, iron, copper, or stainless steel.

In some embodiments, referring to fig. 16 and 17, the push rod portion 322a and the sealing portion 322b are integrally formed. It can be understood that the integrated gun needle structure has the advantages of high precision, no need of component assembly process and the like. Of course, the design of the present application is not limited thereto, and in other embodiments, the push rod portion 322a and the sealing portion 322b may also be separately disposed, for example, but not limited to, in some embodiments, the push rod portion 322a is provided with an embedded groove, and the sealing portion 322b is embedded in the embedded groove. The manner of forming the needle 322 is not limited, depending on the actual requirements.

In some embodiments, the drive assembly 323 includes an automatic drive and a transmission, the automatic drive being coupled to the pusher portion 322a via the transmission. It can be understood that the movement of the push rod part 322a, i.e. the opening or closing of the discharge hole 321b, is realized by an automatic driving method, which can effectively improve the automation level of the product.

Specifically, the automatic driving member includes a servo electric cylinder 323a, and an output end of the servo electric cylinder 323a is in transmission connection with the transmission member, and it is easy to understand that the servo electric cylinder 323a is an automatic driving structure which is widely used at present, and has the advantages of mature structure, reliable use, sensitive responsiveness, and the like. Since the operation of the servo electric cylinder 323a is well known, it will not be described herein. It should be noted that in other embodiments, other automatic driving structures may be adopted to drive the push rod portion 322a, for example, but not limited to, the automatic driving component includes a steering engine 413a, and an output end of the steering engine 413a is in transmission connection with the transmission component.

In some embodiments, referring to fig. 15, the cavity 324 includes a material passing channel 324a and a transmission channel 324b, one end of the material passing channel 324a is communicated with the material outlet 321b, the other end of the material passing channel 324a is communicated with the transmission channel 324b through a drawing through hole 321d, the material inlet 321a is communicated with the material passing channel 324a, one end of the push rod portion 322a is extended from the material passing channel 324a into the transmission channel 324b through the drawing through hole 321d, the sealing portion 322b is connected to a portion of the push rod portion 322a located in the material passing channel 324a, and a portion of the push rod portion 322a located in the material passing channel 324a is matched with an inner wall of the material passing channel 324a to form a material passing gap 325; the driving member portion extends into the driving passage 324b and is connected to the push rod portion 322a located in the driving passage 324 b. It can be understood that the drawing through hole 321d is in sliding fit with the pushing rod portion 322a, when the pushing rod portion 322a is inserted into the drawing through hole 321d, the pushing rod portion 322a can only slide in the axial direction of the drawing through hole 321d, so that the reliability of the moving direction of the pushing rod portion 322a inside the cavity 324 is effectively ensured, in addition, when the pushing rod portion 322a is partially located in the drawing through hole 321d, the coating can be effectively prevented from flowing into the transmission channel 324b from the material passing channel 324a, the interference of the coating on the transmission member and the connection part of the transmission member and the pushing rod portion 322a is avoided, the stability of the matching between the transmission member and the pushing rod portion 322a is favorably ensured, and the reliability of the product operation is improved.

In some embodiments, referring to fig. 15, the transmission member includes a pulling shaft 323b, the pulling shaft 323b extends into the transmission channel 324b from a side of the transmission channel 324b away from the material passing channel 324a, the pulling shaft 323b is connected to the pushing rod portion 322a, an outer peripheral wall of the pulling shaft 323b is convexly provided with a mounting seat 323c, and an elastic member mounting cavity 326 is formed by cooperation of the outer peripheral wall of the pulling shaft 323b, the mounting seat 323c and an inner wall of the transmission channel 324 b;

the driving assembly 323 includes an elastic restoring member 323d disposed in the elastic member mounting cavity 326, one end of the elastic restoring member 323d along its elastic expansion direction is connected to the mounting seat 323c, and the other end is connected to the inner wall of the transmission passage 324b, and the elastic restoring member 323d is configured to apply an elastic force to the push rod portion 322a to drive the push rod portion 322a to move to close the discharge hole 321 b.

It can be understood that, after the automatic driving assembly stops driving the push rod portion 322a, the mounting seat 323c, the pull shaft 323b and the push rod portion 322a can be effectively moved in a direction approaching the guide groove 321c until the sealing portion 322b is in sealing engagement with the groove wall of the guide groove 321c based on the elastic force of the elastic restoring member 323d to the mounting seat 323c, so that the paint sprayer can be maintained in a state where the discharge port 321b is sealed at all times without the action of external force.

Specifically, the elastic restoring member 323d is a spring sleeved on the outer circumferential wall of the pull shaft 323 b. Of course, in other embodiments, the elastic restoring member 323d may be made of elastic material such as rubber.

Specifically, the mounting seat 323c is disposed around the outer peripheral wall of the pull shaft 323b, so as to effectively increase the force-bearing area between the elastic reset member 323d and the mounting seat 323 c.

In some embodiments, the driving assembly 323 includes a manual driving member movably mounted to the gun body 321, the manual driving member being in driving connection with the pull shaft 323b, the manual driving member being configured to move the push rod portion 322a to open the discharge port 321 b. It is understood that the construction worker can manually drive the push rod part 322a to move by the manual driving part so that the discharge hole 321b is opened, and then perform the putty applying process. In combination with the above, it should be understood that the driving manner of the push rod 322a in the present application includes two driving manners, namely, an automatic driving manner and a manual driving manner, and when one driving manner fails, the putty coating process can be performed based on the other driving manner, so that the situation that the paint spray gun 32 cannot be used in some use scenes is avoided, and the use reliability of the paint spray gun 32 is effectively ensured.

Specifically, referring to fig. 14 and 15, the manual driving member includes a spray gun trigger 323e and a trigger pin 323f, the spray gun trigger 323e is rotatably mounted on the spray gun body 321, the trigger pin 323f is movably mounted on the spray gun body 321, one end of the trigger pin 323f extends into the transmission channel 324b and is connected to the mounting seat 323c, the other end of the trigger pin 323f is disposed outside the spray gun body 321, and the spray gun trigger 323e is rotatably abutted against the other end of the trigger pin 323f, so that one end of the trigger pin 323f moves in a direction away from the discharge hole 321 b. In actual operation, a constructor can press the spray gun trigger 323e to rotate, and when the spray gun trigger 323e rotates to abut against the other end of the trigger pin 323f, the constructor can drive one end of the trigger pin 323f, the mounting seat 323c, the pull shaft 323b, the push rod part 322a and the sealing part 322b to move in a direction away from the discharge hole 321b, so that the discharge hole 321b is opened, and then a putty coating process is performed.

In some embodiments, referring to fig. 14, a feed pipe 327 is disposed outside the spray gun body 321, one end of the feed pipe 327 communicates with the feed port 321a, the coating robot includes a first adapter 328 and a second adapter 329, the other end of the feed pipe 327 detachably mates with one end of the first adapter 328, the other end of the first adapter 328 detachably mates with one end of the second adapter 329, the other end of the second adapter 329 detachably mates with the discharge end of the paint pumping pipeline 21, and the first adapter 328 and the second adapter 329 cooperatively form a feed channel communicating the discharge end of the paint pumping pipeline 21 and the feed pipe 327. It can be understood that in the actual use process, the paint spray gun 32 needs to be disassembled for maintenance frequently, and the disassembling process of the paint spray gun 32 involves disassembling and assembling the feed pipe 327 and the pipe of the paint pumping pipeline 21, if the first adapter 328 and the second adapter 329 are not used for switching, the feed pipe 327 is directly connected with the pipe of the paint pumping pipeline 21, and in the case of high disassembling frequency, the abrasion of the connection between the feed pipe 327 and the pipe of the paint pumping pipeline 21 is accelerated, so that the feed pipe 327 and the pipe of the paint pumping pipeline 21 are both replaced, the maintenance cost is high, and after the first adapter 328 and the second adapter 329 are added, the normal disassembling only needs to separate the first adapter 328 and the second adapter 329, even if the connection between the first adapter 328 and the second adapter 329 is damaged, that is, the first adapter 328 and the second adapter 329 need only be removed and replaced, which is a much lower cost than the relatively expensive tubes of the paint spray gun 32 and the paint pumping line 21, and which is more convenient and less time consuming to remove and replace than the tubes of the feed tube 327 and the paint pumping line 21.

In some embodiments, first adapter 328 is provided with a first thread and second adapter 329 is provided with a second thread, the first thread mating with the second thread. It is understood that the first adapter 328 and the second adapter 329 are connected by a screw thread, and the structure is simple, the connection is reliable, and the assembly and disassembly are convenient. Of course, in other embodiments, the first adapter 328 and the second adapter 329 may be connected by interference plug-in, clamping, or the like, which is not limited herein.

In some embodiments, referring to fig. 12, the paint spray gun 32 includes a mounting plate mechanism 320, and the spray gun body 321 and the drive assembly 323 are removably mounted to the mounting plate mechanism 320. it will be appreciated that the mounting plate mechanism 320 is configured to integrally mount the spray gun body 321 and the drive assembly 323 such that they move in unison with the movement of the robotic arm 55.

In some embodiments, referring to fig. 18 to 24, the pressure relief assembly 41 includes a pressure relief spray gun 411, a pressure relief gun needle 412 and a pressure relief driving assembly 413, a pressure relief cavity 414 is disposed in the pressure relief spray gun 411, a pressure relief inlet 411a and a pressure relief outlet 411b communicated with the pressure relief cavity 414 are disposed on the pressure relief spray gun 411, and the pressure relief inlet 411a is communicated with a discharge end of the pressure relief pipeline 42; the pressure relief needle 412 is movably arranged in the pressure relief cavity 414, the pressure relief needle and the wall of the pressure relief cavity 414 are matched to form an overpressure gap 415, and in a closed state, the pressure relief needle 412 moves to open the pressure relief outlet 411 b; the pressure relief driving assembly 413 is in transmission connection with the pressure relief gun needle 412 to drive the pressure relief gun needle 412 to move to open or close the pressure relief outlet 411 b.

Specifically, the movable mounting of the pressure relief bayonet 412 in the pressure relief cavity 414 means: in some embodiments of the present embodiment, the pressure relief bayonet 412 may be mounted in the pressure relief cavity 414 in any one of a pull connection, a sliding connection, or a rotating connection, to achieve the technical effect of being movable within the pressure relief cavity 414 itself.

Specifically, in some embodiments of the present embodiment, the pressure relief driving assembly 413 may be driven by an electric cylinder, a steering engine 413a, or the like, so as to achieve a technical effect of driving the pressure relief gun needle 412 to move, which is not limited thereto.

Specifically, during the construction process, when the paint sprayer is closed (i.e., when the discharge port 321b is sealed), the flow of the paint in the paint pumping pipeline 21 is stopped, and in order to avoid the phenomenon of bleeding and solidification of the paint in the paint pumping pipeline 21 under the action of pressure, the pressure relief driving assembly 413 can be started to drive the pressure relief gun needle 412 to move and open the pressure relief outlet 411b, so that the paint in the paint pipe of the paint pumping pipeline 21 can flow to the pressure relief outlet 411b through the pressure relief pipeline 42, and thus, the fluidity of the paint in the paint pumping pipeline 21 or the paint in the paint containing cavity 221 is ensured, and the phenomenon of bleeding and solidification of the paint in the paint pumping pipeline 21 or the paint in the paint containing cavity 221 is favorably prevented.

Specifically, in some embodiments of the present embodiment, a paint recovery port is provided on the wall of the paint containing cavity 221, and the paint recovery port communicates with the pressure relief outlet 411 b. Specifically, a pressure relief return line 43 is provided between the paint recovery port and the pressure relief outlet 411 b. It can be understood that the paint flowing out of the pressure relief outlet 411b can flow back into the paint containing cavity 221 through the pressure relief return pipe 43 and the paint recovery port, and the paint can be recycled while the fluidity of the paint is ensured.

Specifically, in other embodiments of this embodiment, the pressure relief outlet 411b may be connected to other storage buckets, and after the paint flows into the storage bucket, the paint in the storage bucket may be disposed of based on actual demand, such as, but not limited to, pouring the paint in the storage bucket back into the paint receiving cavity 221.

It can be understood that this embodiment has realized the effect of opening of control pressure release pipeline 42 through the mode that drive pressure release rifle needle 412 removed in order to open pressure release export 411b, has advantages such as simple structure, and because the structure of rifle needle compares in the valve body structure, has the longer advantage of length, based on this advantage, is favorable to reducing the realization degree of difficulty of transmission connection between pressure release rifle needle 412 and the pressure release drive assembly 413.

In some embodiments, referring to fig. 23 and fig. 24, the pressure-releasing bayonet 412 includes a pressure-releasing plunger 412a and a pressure-releasing sealing part 412b, the pressure-releasing sealing part 412b is disposed on the pressure-releasing plunger 412a, the pressure-releasing plunger 412a is installed in the pressure-releasing cavity 414 in a drawing manner, the pressure-releasing plunger 412a is in transmission connection with the pressure-releasing driving component 413, and the pressure-releasing plunger 412a is drawn to drive the pressure-releasing sealing part 412b to open or close the pressure-releasing outlet 411 b. It can be understood that the drawing connection mode between the pressure relief push rod part 412a and the pressure relief spray gun 411 is a mature movable connection mode at present, and has the advantages of low implementation difficulty, high connection reliability and the like. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the movable connection between the pressure relief push rod part 412a and the pressure relief spray gun 411 may be realized in a rotating connection manner.

In some embodiments, referring to fig. 23 and fig. 24, a pressure relief guide slot 411c is disposed between the pressure relief cavity 414 and the pressure relief outlet 411b, the pressure relief cavity 414 communicates with the pressure relief outlet 411b through the pressure relief guide slot 411c, the pressure relief guide slot 411c is tapered from the pressure relief cavity 414 to the pressure relief outlet 411b, and the pressure relief sealing portion 412b is configured to be in sealing engagement with a portion of a groove wall of the pressure relief guide slot 411c to close the pressure relief outlet 411 b. Specifically, the depth direction of the pressure release guide groove 411c is the direction of the drawing movement of the pressure release lever 412 a. It can be understood that, because of the error of the process assembly or the wear of the components themselves, the pressure relief push rod part 412a and the pressure relief sealing part 412b may be shifted during the moving process, so that the pressure relief sealing part 412b may not be aligned with the pressure relief outlet 411b accurately to seal the pressure relief outlet 411b, and for the above reasons, the pressure relief guiding groove 411c is disposed between the pressure relief cavity 414 and the pressure relief outlet 411b, and the pressure relief guiding groove 411c is tapered in the direction from the pressure relief cavity 414 to the pressure relief outlet 411b, so that, when the pressure relief sealing part 412b moves from the pressure relief cavity 414 in the direction close to the pressure relief outlet 411b, even if the pressure relief sealing part 412b shifts during the moving process, the pressure relief sealing part 412b may be guided by the groove wall of the pressure relief guiding groove 411c, and shifted to the position where the groove wall of the pressure relief guiding groove 411c is contacted by the periphery of the pressure relief sealing part 412b smoothly (i.e., even if the pressure relief sealing part 412b shifts during the moving process, the pressure relief sealing part is shifted smoothly (i.e., the pressure relief sealing groove 411c is shifted and the position is shifted smoothly The sealing part 412b is in sealing fit with the groove wall of the pressure relief guide groove 411 c), it can be seen that the reliability of the sealing of the pressure relief sealing part 412b to the pressure relief outlet 411b can be effectively ensured by the scheme of the application. Of course, the design of the present invention is not limited thereto, and in other embodiments, the pressure relief sealing portion 412b may be directly and hermetically engaged with the periphery of the pressure relief outlet 411 b.

In some embodiments, referring to fig. 23 and 24, the pressure relief seal 412b is disposed in a spherical or spheroidal shape, and the wall of the pressure relief guide slot 411c has an arc surface for sealing engagement with the curved surface of the pressure relief seal 412 b. It can be understood that the spherical or spheroidal pressure relief seal 412b, the curved surface of which is in linear contact with the groove wall of the pressure relief guide groove 411c, is in favor of reducing the moving friction force generated between the pressure relief seal 412b and the groove wall of the pressure relief guide groove 411c when the pressure relief seal 412b is not moved to the position of sealing fit with the groove wall of the pressure relief guide groove 411 c; when the relief seal 412b moves to a position where it is sealingly engaged with the groove wall of the relief guide groove 411c, the linear contact between the decompression sealing portion 412b and the groove wall of the decompression guide groove 411c is advantageous to prevent the putty material from being embedded into the contact portion between the decompression sealing portion 412b and the groove wall of the decompression guide groove 411c, while ensuring the sealing reliability of the pressure relief seal 412b against the pressure relief outlet 411b, the life span of the pressure relief sealing part 412b and the pressure relief guide groove 411c can be extended, and in addition, the pressure relief outlet 411b is linearly sealed between the pressure relief sealing part 412b and the groove wall of the pressure relief guide groove 411c, when the pressure relief sealing part 412b moves in the direction away from the pressure relief outlet 411b, the pressure relief outlet 411b can be opened at the moment when the pressure relief sealing part begins to move, and the phenomenon that the paint spray gun 32 sprays paint in a delayed manner is effectively avoided. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the pressure relief sealing portion 412b may have other shapes, such as but not limited to a rectangle or a square.

In some embodiments, referring to fig. 23 and 24, the pressure relief guide slot 411c is disposed in a truncated cone shape. It can be understood that, with such an arrangement, the reliability of the cooperation between the pressure relief guide slot 411c and the spherical or spheroidal pressure relief sealing portion 412b is improved, and meanwhile, the circular truncated cone shape is a regular shape, which is also convenient for the process molding of the pressure relief guide slot 411 c. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the pressure relief guide slot 411c may have other shapes, for example, but not limited thereto, the pressure relief guide slot 411c may be formed by combining two types of slot bodies, i.e., a square slot body and a truncated cone slot body.

In some embodiments, referring to fig. 23 and 24, a portion of the pressure relief sealing portion 412b, which is in sealing engagement with the groove wall of the pressure relief guide groove 411c, is made of a metal material, and a portion of the groove wall of the pressure relief guide groove 411c, which is in sealing engagement with the pressure relief sealing portion 412b, is made of a metal material. It can be understood that, because the putty is different from media such as water and hydraulic oil, the putty is thick paste coating, contains a large amount of heavy calcium carbonate and talcum powder, and has a large granularity, under the high pressure condition, when the putty slurry flows through the cavity 324, the pressure relief guide groove 411c and the like, the groove walls of the pressure relief sealing part 412b and the pressure relief guide groove 411c are greatly abraded, but the non-metal material is easily abraded, and the service life of the pressure relief sealing part 412b and the pressure relief guide groove 411c cannot be ensured. Preferably, groove walls of the pressure relief sealing part 412b and the pressure relief guide groove 411c are made of a metal material.

In some embodiments, referring to fig. 23 and 24, the pressure relief plunger 412a and the pressure relief seal 412b are integrally formed. It can be understood that the integrated gun needle structure has the advantages of high precision, no need of component assembly process and the like. Of course, the design of the present invention is not limited thereto, and in other embodiments, the pressure relief push rod portion 412a is provided with a pressure relief insertion groove, and the pressure relief sealing portion 412b is inserted in the pressure relief insertion groove. It is not difficult to understand, split type rifle needle structure, its part detachable processing has advantages such as production is simple, the die sinking cost is lower. The pressure relief gun needle 412 is made in any manner, depending on the actual requirements, and is not limited thereto.

In some embodiments, the pressure relief driving assembly 413 includes an automatic pressure relief driving element and a pressure relief transmission element, and the automatic pressure relief driving element is in transmission connection with the pressure relief push rod portion 412a through the pressure relief transmission element. It can be understood that the movement of the pressure relief push rod part 412a, i.e. the opening or closing of the pressure relief outlet 411b, is realized in an automatic driving manner, which can effectively improve the automation level of the product.

Specifically, pressure release automatic drive spare includes steering wheel 413a, and steering wheel 413 a's output is connected with the transmission of pressure release transmission spare transmission, and it is difficult to understand, steering wheel 413a is the comparatively extensive automatic drive structure of application at present, has advantages such as the structure is ripe, use reliably, the responsiveness is sensitive. Since the operation of the steering engine 413a is well known, it is not described herein. It should be noted that, in other embodiments, other automatic driving structures may be adopted to drive the pressure relief push rod portion 412a, for example, but not limited to, the pressure relief automatic driving member includes an electric servo cylinder 323a, and an output end of the electric servo cylinder 323a is in transmission connection with the pressure relief transmission member.

In some embodiments, referring to fig. 22, the pressure relief cavity 414 includes an overpressure channel 414a and a connecting channel 414b, one end of the overpressure channel 414a is communicated with the pressure relief outlet 411b, the other end of the overpressure channel 414a is communicated with the connecting channel 414b through a sliding through hole 411d, the pressure relief inlet 411a is communicated with the overpressure channel 414a, one end of the pressure relief push rod portion 412a is extended from the overpressure channel 414a into the connecting channel 414b through the sliding through hole 411d, the pressure relief sealing portion 412b is connected to a portion of the pressure relief push rod portion 412a located in the overpressure channel 414a, and the portion of the pressure relief push rod portion 412a located in the overpressure channel 414a is matched with an inner wall of the overpressure channel 414a to form an overpressure gap 415; the pressure relief transmission member partially extends into the connection passage 414b and is connected to the pressure relief push rod portion 412a located in the connection passage 414 b. It can be understood that, slip via hole 411d and pressure release push rod portion 412a sliding fit, when pressure release push rod portion 412a inserts in slip via hole 411d, pressure release push rod portion 412a can only slide in the axial direction of slip via hole 411d, so, the reliability of pressure release push rod portion 412a at the inside moving direction of cavity 324 has been guaranteed effectively, in addition, when pressure release push rod portion 412a part was located in slip via hole 411d, can avoid effectively that the coating from overflowing to connecting channel 414b in overpressure channel 414a, avoided the coating to the pressure release driving medium, the interference is caused to pressure release driving medium and pressure release push rod portion 412a connection site, be favorable to guaranteeing the stability of the cooperation between pressure release driving medium and pressure release push rod portion 412a, improve the reliability of product operation.

In some embodiments, referring to fig. 22, the pressure relief transmission member includes a pressure relief pulling shaft 413b, the pressure relief pulling shaft 413b is disposed in the connecting channel 414b, the pressure relief pulling shaft 413b is connected to the pressure relief pushing rod portion 412a, an outer peripheral wall of the pressure relief pulling shaft 413b is convexly provided with a pressure relief mounting seat 413c, and an outer peripheral wall of the pressure relief pulling shaft 413b, the pressure relief mounting seat 413c and an inner wall of the connecting channel 414b are cooperatively formed to form a pressure relief elastic member mounting cavity 416;

the driving assembly includes a pressure-releasing elastic restoring element 413d disposed in the pressure-releasing elastic element mounting cavity 416, one end of the pressure-releasing elastic restoring element 413d along the elastic expansion direction of itself is connected to the pressure-releasing mounting seat 413c, the other end is connected to the inner wall of the connecting channel 414b, and the pressure-releasing elastic restoring element 413d is configured to apply an elastic force to the pressure-releasing push rod part 412a to drive the pressure-releasing push rod part 412a to move to close the pressure-releasing outlet 411 b.

It can be understood that, after the pressure relief automatic driving assembly stops driving the pressure relief push rod portion 412a, based on the elastic force of the pressure relief elastic reset piece 413d to the pressure relief installation seat 413c, the pressure relief pull shaft 413b and the pressure relief push rod portion 412a can be effectively moved in the direction approaching the pressure relief guide groove 411c until the pressure relief sealing portion 412b is in sealing fit with the groove wall of the pressure relief guide groove 411c, so that the pressure relief sprayer can be maintained in the state that the pressure relief outlet 411b is sealed at all times without the action of external force.

Specifically, the pressure relief elastic restoring element 413d is a spring sleeved on the outer peripheral wall of the pressure relief pulling shaft 413 b. Of course, in other embodiments, the pressure relief elastic restoring element 413d may also be made of elastic material such as rubber.

Specifically, the pressure relief mounting seat 413c is disposed around the outer peripheral wall of the pressure relief pulling shaft 413b, so as to effectively increase the force-receiving area between the pressure relief elastic restoring member 413d and the pressure relief mounting seat 413 c.

In some embodiments, referring to fig. 21, the pressure relief transmission comprises a pressure relief spray gun trigger 413e, the pressure relief spray gun trigger 413e is movably mounted to the pressure relief spray gun 411, the pressure relief pull shaft 413b and the automatic driving member are both in transmission connection with the pressure relief spray gun trigger 413e, and the pressure relief spray gun trigger 413e is configured to move the pressure relief push rod part 412a to open the pressure relief outlet 411 b. It can be understood that, in the using process, the automatic driving of the pressure relief spray gun trigger 413e can be realized through the pressure relief automatic driving part, and the pressure relief outlet 411b can also be opened in a way that a construction worker manually moves the pressure relief spray gun trigger 413 e. In combination with the above, it should be understood that, the mode that this application drive pressure release push rod portion 412a removed has automatic and two manual drive methods, when pressure release automatic drive spare broke down, it carries out operations such as pressure release (manual pressure release is the same with paint spray gun 32) to also carry out manual stirring pressure release spray gun trigger 413e, the maintenance of being convenient for, the modern automation construction requirement has both been satisfied, when automatic control mechanism trouble has also been avoided, unable in time pressure release and the maintenance of being not convenient for (high-pressure danger) problem, and press for a long time to suppress easily cause putty at the inside caking of pressure release spray gun 411, cause the jam.

Specifically, please refer to fig. 21 and 22, the pressure relief transmission part includes a pressure relief trigger pin, the pressure relief spray gun trigger 413e is rotatably installed on the pressure relief spray gun 411, the pressure relief trigger pin is movably installed on the pressure relief spray gun 411, one end of the pressure relief trigger pin extends into the transmission channel 324b and is connected with the pressure relief installation seat 413c, the other end of the pressure relief trigger pin is arranged outside the pressure relief spray gun 411, the other end of the pressure relief spray gun trigger 413e can be rotatably abutted to the other end of the pressure relief trigger pin, so that one end of the pressure relief trigger pin moves along the direction far away from the pressure relief outlet 411 b. In actual operation, a construction worker can press the pressure relief spray gun trigger 413e to rotate the pressure relief spray gun trigger 413e, when the pressure relief spray gun trigger 413e rotates to abut against the other end of the pressure relief trigger pin shaft, the pressure relief mounting seat 413c, the pressure relief pull shaft 413b, the pressure relief push rod part 412a and the pressure relief sealing part 412b can be driven to move towards the direction far away from the pressure relief outlet 411b, and therefore the pressure relief outlet 411b is opened.

In some embodiments, referring to fig. 18 and 20, the coating robot includes a pressure detector 6 and a first controller, the pressure detector 6 and the pressure relief mechanism 4 are electrically connected to the first controller, the pressure detector 6 is configured to detect a pressure in the paint pumping line 21 or in the pressure relief line 42 and send an opening signal to the first controller when the detected pressure is greater than or equal to a preset pressure, and the first controller is configured to control the pressure relief mechanism 4 to open the pressure relief line 42 when receiving the opening signal.

Specifically, in some embodiments of the present embodiment, the pressure detector 6 may be disposed on the pressure relief line 42, and in other embodiments of the present embodiment, the pressure detector 6 may be disposed on the paint pumping line 21, which is not limited thereto. Specifically, the pressure detector 6 may be any one of a pressure sensor and a gravity sensor.

It can be understood that the scheme of this application detects the pressure in the pipeline based on pressure detector 6 to obtain, analysis and processing based on first controller to the data that detect after pressure detection, so that when the pressure in coating pumping pipeline 21 or in pressure release pipeline 42 is greater than preset pressure value, automatic opening pressure release pipeline 42 carries out the pressure release, improved the automation level of product operation effectively.

In some embodiments, the pressure relief mechanism 4 is configured to close the pressure relief line 42 when the paint spray gun 32 is in an open state. Specifically, when the paint spray gun 32 is in an open state, that is, the paint spray gun 32 is performing a spraying operation, the paint pumping line 21 needs a large pressure to ensure that the paint flows onto the paint spray gun 32 to be sprayed out, and at this time, the pressure relief line 42 is in a closed state, so that partial pressure in the paint pumping line 21 can be prevented from being dropped.

Specifically, when the pressure detector 6 and the first controller described above are employed in the present embodiment, the pressure detector 6 may send a closing signal to the first controller when detecting that the pressure in the paint pumping line 21 or the pressure relief line 42 is less than the preset pressure, and the first controller is configured to control the pressure relief mechanism 4 to close the pressure relief line 42 when receiving the closing signal.

It should be noted that, as shown in fig. 15 and 22, the internal structures of the paint spray gun 32 and the pressure relief spray gun 411 are similar, so that the development difficulty of the paint spray gun 32 and the pressure relief spray gun 411 by developers is reduced by considering that the same, similar or similar structures are adopted on the same coating machine as much as possible, the assembling process of the paint spray gun 32 and the pressure relief spray gun 411 is convenient, the maintenance process is convenient, and most parts of the paint spray gun 32 and the pressure relief spray gun 411 are the same and are convenient to purchase. It should be understood by those skilled in the art that although the internal configuration of both the paint spray gun 32 and the pressure relief spray gun 411 are similar, the effect of both on the application robot is not the same and those skilled in the art should not treat both as simple equivalents.

In some embodiments, referring to fig. 7, the bucket mechanism 2 includes a bucket body 22 and a stirring assembly 23, the paint containing cavity 221 is formed in the bucket body 22, the stirring assembly 23 includes a stirring member 231, and the stirring member 231 is movably disposed in the paint containing cavity 221 to stir the paint stored in the paint containing cavity 221.

Specifically, in some embodiments of the present embodiment, the stirring part 231 is rotatably disposed in the paint containing cavity 221, and in other embodiments of the present embodiment, the stirring part 231 is slidably disposed in the paint containing cavity 221 along the up-down direction, the left-right direction, or along other directions, and all of the above-mentioned embodiments can achieve the technical effect that the stirring part 231 is movable in the paint containing cavity 221, and the specific implementation manner is not limited herein.

It can be understood that, add behind the putty thick liquids in bucket body 22, if the putty thick liquids are in the state of stewing for a long time, the putty thick liquids solidify easily, bond, based on this, this application is through setting up mobilizable stirring piece 231 in bucket body 22 to stir the putty thick liquids of leaving in bucket body 22, prevent effectively that the putty thick liquids of leaving in bucket body 22 from appearing solidifying, bonding phenomenon.

In some embodiments, referring to fig. 7, the stirring assembly 23 includes a stirring motor 232, the stirring motor 232 is disposed on the barrel body 22, and an output shaft of the stirring motor 232 is connected to the stirring member 231 to drive the stirring member 231 to rotate in the paint accommodating chamber 221. It can be understood that the motor is adopted to drive the stirring member 231 to rotate, which is a mature driving implementation mode and has the advantages of convenient connection, simple implementation, reliable driving and the like. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the stirring member 231 may be driven to rotate manually, which is not limited thereto.

In some embodiments, referring to fig. 7, the barrel body 22 has a barrel cover, the barrel cover is provided with a flip sensor 24, the flip sensor 24 is configured to send a signal to the first controller when detecting that a worker opens the barrel cover, the first controller identifies that the signal sends an instruction to the stirring motor 232, the stirring motor 232 stops working, the stirring member 231 also stops rotating, and personal injury caused by a human body entering a stirring area after the flip is detected is avoided.

In some embodiments, referring to fig. 9, the stirring member 231 includes a rotating rod 231a, a connecting rod 231b and a tub wall wiper 231c, the rotating rod 231a extends along a height direction of the tub body 22, the rotating rod 231a is connected to an output shaft of the stirring motor 232, one end of the connecting rod 231b is connected to the rotating rod 231a, the other end of the connecting rod 231b extends along a direction close to a peripheral wall of the tub body 22, one end of the tub wall wiper 231c is connected to the other end of the connecting rod 231b, the other end of the tub wall wiper 231c extends along the height direction of the tub body 22, and a side of the tub wall wiper 231c opposite to the rotating rod 231a is configured to abut against the peripheral wall of the tub body 22 to wipe the peripheral wall of the tub body 22 when the rotating rod 231a rotates. It should be understood that, when the stirring motor 232 is started, the rotating rod 231a rotates around the vertical shaft, and then the barrel wall wiper 231c at the end of the connecting rod 231b and the connecting rod 231b is driven to start rotating, in the rotating process, because one side of the barrel wall wiper 231c can abut against the peripheral wall of the barrel body 22, the peripheral wall of the barrel body 22 can be wiped, which is beneficial to preventing putty from being bonded on the barrel wall to form lumps, and affecting the quality of putty slurry (the flowing of the paint in the paint pumping pipeline 21 can be affected by the solidification and bonding) and the cleaning of the bucket after the operation.

Specifically, the circumferential wall of the tub body 22 is cylindrically disposed so that the tub wall wiper 231c wipes the entire circumferential wall of the tub during rotation.

Specifically, the tub wall wiper 231c is made of a flexible material (such as, but not limited to, rubber, etc.) and is disposed so as to avoid the tub wall wiper 231c from scratching the peripheral wall of the tub body 22.

In some embodiments, referring to fig. 9, the stirring member 231 includes an angle adjusting structure 231d, the connecting rod 231b is connected to the barrel wall wiper 231c through the angle adjusting structure 231d, and the angle adjusting structure 231d is configured to adjust the connection angle between the barrel wall wiper 231c and the connecting rod 231 b. It is understood that this is provided so that a constructor can adjust the proximity and the attaching area between the tub wall doctor 231c and the tub body 22 based on the actual use environment.

In some embodiments, referring to fig. 9, the stirring member 231 includes a rotating rod 231a and at least two stirring blades 231e, one end of the rotating rod 231a is connected to an output shaft of the stirring motor 232, and the at least two stirring blades 231e are respectively disposed at intervals in a length direction of the rotating rod 231 a. It can be appreciated that the provision of at least two agitating blades 231e facilitates multi-position agitation of the agitating member 231 within the tub body 22. Of course, the design of the present application is not limited thereto, and in other embodiments, only one stirring blade 231e may be provided.

Preferably, in the embodiment of the present application, the stirring blade 231e is of a plate-like design. So, with the area of contact between improvement stirring leaf 231e and the putty thick liquids for stirring piece 231 can carry out fully the blending to putty thick liquids in bucket body 22, is favorable to avoiding the putty thick liquids in bucket body 22 to appear the phenomenon of caking, caking.

In some embodiments, referring to fig. 8, the coating robot includes a residue detector 7, an alarm mechanism, and a pressure relief controller, both the residue detector 7 and the alarm mechanism being electrically connected to the pressure relief controller;

the surplus material detector 7 is configured to detect a paint storage amount in the paint storage cavity 221, and send an alarm signal to the pressure release controller when the paint storage amount is lower than a preset storage amount, and the pressure release controller controls the alarm mechanism to start to alarm when receiving the alarm signal. It should be noted that the pressure relief controller and the first controller may be the same controller.

Specifically, in some embodiments of the present embodiment, the alarm mechanism may alarm in a manner of a light alarm, and accordingly, in this embodiment, the alarm mechanism includes an alarm lamp, and in other embodiments of the present embodiment, the alarm mechanism may alarm in a manner of an audible alarm, and accordingly, in this embodiment, the alarm mechanism includes a buzzer. In still other embodiments of the present invention, the alarm mode of the alarm mechanism may be a combination of a light alarm and a sound alarm.

It will be appreciated that this arrangement helps inform the operator to proceed with the refill when there is too little paint remaining in the paint receiving cavity 221.

Further, in some embodiments, the coating robot includes a display device (e.g., without limitation, a display screen) for displaying paint residue information to facilitate real-time viewing of the readings by a worker.

In some embodiments, referring to fig. 8, the residue detector 7 includes a laser sensor, a residue detection port 223 is formed on a top wall of the coating material receiving cavity 221, the laser sensor is disposed outside the coating material receiving cavity 221, and a detection end of the laser sensor is disposed toward the residue detection port 223. Specifically, the laser sensor emits laser beams into the barrel, the laser beams are reflected back to the laser sensor after being irradiated to the liquid level of the putty paste, so that the liquid level height of the putty paste can be detected, and data such as volume, weight and the like of the putty are obtained through conversion of an internal program. It can be understood that the technical means of detecting the coating allowance by adopting the laser sensor has the advantages of convenient implementation, reliable detection and the like. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the remaining material detector 7 includes a gravity sensor disposed in the paint accommodating cavity 221, and the gravity sensor detects the gravity information of the putty paint and converts the information into data such as volume and weight of the putty paint through an internal program.

In some embodiments, referring to fig. 8, the laser sensor and the residue detection port 223 are spaced in the height direction of the bucket mechanism 2, an anti-fouling pipe 224 is disposed between the laser sensor and the residue detection port 223, and the anti-fouling pipe 224 is formed with a detection pipe communicating the detection end of the laser sensor and the paint receiving cavity 221. It can be understood that because putty thick liquids are stirred in bucket body 22, detect mouthful 223 both intervals through making laser sensor and clout and set up, be favorable to avoiding the putty of stirring to spill to glue on laser sensor, simultaneously, adaptively ground sets up antifouling pipe 224 between laser sensor and clout detect mouthful 223 both, also can further avoid the putty to spill to laser sensor on, and then improves laser sensor's safety in utilization.

In some embodiments, referring to fig. 8, the anti-fouling pipe 224 includes a first pipe segment 224a and a second pipe segment 224b, the peripheral wall of the second pipe segment 224b is provided with a paint cleaning opening 224c, the first pipe segment 224a is openably and closably provided in the paint cleaning opening 224c, and when the second pipe segment 224b is covered in the paint cleaning opening 224c, the first pipe segment 224a and the second pipe segment 224b are cooperatively formed with a detection pipe 224 d.

Specifically, in some embodiments of the present embodiment, the first pipe segment 224a is slidably engaged with the second pipe segment 224b, and the first pipe segment 224a slides relative to the second pipe segment 224b to open or close the paint purge port 224 c; in other embodiments of the present embodiment, the first and

second tube segments

224a and 224b are hingedly engaged, and the first tube segment 224a is rotated to open or close the paint purge port 224 c; in still other embodiments of the present embodiment, the first and

second tube segments

224a and 224b are removably coupled, the first tube segment 224a is removed from the second tube segment 224b to open the paint purge port 224c, and the first tube segment 224a is attached to the second tube segment 224b to close the paint purge port 224 c.

It can be understood that, since the putty paste is stirred in the bucket body 22, during the stirring process, the putty paste may be thrown onto the inner wall of the anti-fouling pipe 224 (i.e. the inner wall of the detection pipeline 224 d), which may affect the laser sensor to irradiate the detection light into the bucket body 22, thereby reducing the accuracy of the detection result of the laser sensor, and based on this, by arranging the anti-fouling pipe 224 into the first pipe section 224a and the second pipe section 224b, and making the first pipe section 224a openably arranged at the paint cleaning opening 224c of the second pipe section 224b, when the first pipe section 224a opens the paint cleaning opening 224c, the worker can clean the putty residues adhered on the inner wall of the second pipe section 224b based on the paint cleaning opening 224c on the second pipe section 224b, thus, the smoothness of the detection pipeline 224d in the anti-fouling pipe 224 is advantageously ensured, and further, the accuracy of the detection result of the laser sensor is ensured. In addition, when cleaning the anti-fouling pipe 224, the worker only needs to move the first pipe section 224a to reset the first pipe section 224a to the position where the paint cleaning opening 224c is closed, without intentionally detaching the anti-fouling pipe 224 as a whole from the machine body 1, and after cleaning, the worker only needs to move the first pipe section 224a, which is easy to operate and simple in steps.

In some embodiments, referring to fig. 7, a stop valve 25 is disposed on the paint pumping line 21, and the stop valve 25 is configured to open or close the paint pumping line 21. Specifically, when the pipes of the paint pumping line 21 need to be cleaned or maintained, the operation can be affected by closing the stop valve 25, preventing the slurry or water inside the tub body 22 from flowing out.

Specifically, the shut-off valve 25 is provided between the paint release port 222 and the paint pumping line 21.

In some embodiments, referring to fig. 7, a paint filter 26 is disposed in the paint pumping line 21, and the paint filter 26 is configured to filter particles in the paint. Specifically, the coating filter element 26 can filter impurities such as sand, large agglomerates and powder lumps in the putty slurry, ensure the quality of putty sucked by the pumping assembly 31, and avoid the faults such as damage and blockage of the pumping assembly 31 caused by the impurities entering the pumping assembly 31.

In some embodiments, referring to fig. 1, 2, 25 and 26, the coating robot includes an AGV cart 8, and the bucket mechanism 2 is mounted to the AGV cart 8. It can be understood that the AGV trolley 8 is adopted to drive the machine body 1 to move, and the AGV trolley has the advantages of high safety, high automation level and the like.

In some embodiments, referring to fig. 25, the AGV cart 8 includes an AGV chassis 81, the AGV chassis 81 has a carrying surface 811 and a bottom surface 812 opposite to each other, and the body 1 is mounted on the carrying surface 811; the bottom surface 812 is provided with three wheel mounting locations 813, and the three wheel mounting locations 813 are arranged in a triangular shape on the bottom surface 812. Specifically, the wheel mounting locations 813 are used for wheel mounting. It can be understood that the AGV chassis 81 is supported by a three-point supporting mode to walk, and the AGV chassis has the advantages of being high in balance, convenient to steer and the like. Of course, in other embodiments, the bottom surface 812 may also be provided with four wheel mounting locations 813, which is not limited thereto.

In some embodiments, referring to FIG. 25, the AGV cart 8 includes a front side wheel set 82 and a floating structure 83, the front area of the floor 812 is provided with a wheel mount 813, the front side wheel set 82 is mounted to the wheel mount 813 in the front area by the floating structure 83, and the floating structure 83 is configured to allow the front side wheel set 82 to be movable in the height direction of the AGV chassis 81. It can be understood that, the front wheel group 82 runs into the road surface and is uneven, when the wheel body falls into the pit or on suppressing the stone, the wheel body can be along with floating structure 83 perk or fall onto the pit, and whether perk or be absorbed into the pit, AGV chassis 81 front portion atress all falls on floating structure 83's wheel installation position 813, AGV chassis 81 is whole to be three point atress all the time, great slope can not take place, and whole organism 1 all is installed on AGV chassis 81, consequently whole organism 1 also can remain steady, can not take place great slope and tumble even, stability is good.

In some embodiments, referring to fig. 25 and 26, the AGV cart 8 includes a rear drive wheel 84 and a rear driven wheel 85, two wheel mounting locations 813 are provided in a rear region of the floor 812, and the rear drive wheel 84 and the rear driven wheel 85 are in one-to-one correspondence with the two wheel mounting locations 813 provided in the rear region; the front wheel group 82 includes a front driving wheel 821 and a front driven wheel 822, the front driving wheel 821 and the rear driving wheel 84 are diagonally disposed, and the front driven wheel 822 and the rear driven wheel 85 are diagonally disposed.

Specifically, the drive wheels include, but are not limited to, steering wheels, and the driven wheels include, but are not limited to, universal wheels, and the like.

It can be understood that the front side and the rear side of the AGV chassis 81 are provided with steering wheels, the steering wheels have a walking function and a rotating function, the front side and the rear side of the AGV chassis 81 are provided with universal wheels, and the universal wheels have a rotating function, so that the AGV chassis 81 has an omnidirectional moving function, can move (translate and rotate) in any direction in a plane, and has good flexibility. In addition, the structural mode that the driving wheel diagonal angle set up is adopted, the phenomenon that the AGV chassis 81 inclines to the same side and even tips over is favorably avoided, and the stability is good.

In some embodiments, referring to FIG. 25, the peripheral edge of the AGV chassis 81 is embossed with bumpers 86. The bumper 86 is used to prevent the AGV chassis 81 from being subjected to gouging wear. In particular, the bumper 86 may be provided with a corresponding sensor and send a signal to the control system to trigger an alarm in the event of a collision.

In some embodiments, the AGV cart 8 has a laser navigation function, and accordingly, the AGV cart 8 is provided with a navigation laser sensor, which can emit a laser beam and receive an echo to acquire a system of target three-dimensional information, so as to realize automatic navigation and accurate positioning of the robot.

In some embodiments, the AGV cart 8 employs a BIM technique to realize three-dimensional modeling of a building, analyze and simulate the motion and the traveling path of a robot, and further avoid collision and interference between the robot and the building during construction, the BIM technique is combined with a laser navigation technique, and a robot motion program and a construction point position are set, so that the robot performs automatic movement and construction operation according to a programmed program, and the navigation precision is high.

In summary, in some embodiments, the control system of the coating robot mainly includes a complete machine controller, a router, a communication module, a servo driver, a relay, a contactor, a navigation radar, a battery, a robot arm 55 controller, and related cables. A main battery cabinet 11 is arranged on the machine body 1, an auxiliary battery cabinet 87 is arranged on the AGV trolley 8, and the arrangement of a control system on the whole machine is shown in the figures 1 and 2. The control system is a 'control brain' of the coating robot, realizes the automatic and intelligent actions of each part of the execution mechanism of the coating robot, the mechanical arm 55, the AGV trolley 8 and the like, and can ensure that the robot can carry out automatic navigation walking and automatic construction operation. The control system adopts a double-battery structure of a main battery and an auxiliary battery, the main battery is responsible for specially supplying power to the pumping assembly 31 with larger power consumption, the auxiliary battery supplies power to other electric components, and the main battery and the auxiliary battery respectively perform their own functions and respectively supply power under the condition of sufficient electric quantity. When the electric quantity of one battery (the battery supplied to the pumping assembly 31) is used up or reaches a preset value (for example, 10% of electric quantity is left), the controller sends an instruction to call the electric quantity of the other battery to supply power to the pumping assembly 31, so that the two batteries are connected in parallel and work orderly and efficiently without mutual interference.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A paint spray gun, comprising:

the spray gun comprises a spray gun body, wherein a cavity is arranged in the spray gun body, and a feed inlet and a discharge outlet which are communicated with the cavity are formed in the spray gun body;

the gun needle piece is movably arranged on the cavity, a material passing gap is formed by the gun needle piece and the cavity wall of the cavity in a matched mode, and the gun needle piece moves to have a sealing position for closing the discharge hole and an opening position for opening the discharge hole; and

and the driving assembly is in transmission connection with the gun needle piece so as to drive the gun needle piece to move between the sealing position and the opening position.

2. The paint spray gun of claim 1 wherein said gun needle includes a push rod portion and a sealing portion, said sealing portion being disposed on said push rod portion, said push rod portion being drawably mounted to said housing, said push rod portion being drivingly connected to said drive assembly, said push rod portion being drawably movable to move said sealing portion to open or close said discharge opening.

3. The paint spray gun of claim 2 wherein a guide channel is provided between said chamber and said discharge port, said chamber communicating with said discharge port through said guide channel, said guide channel tapering from said chamber to said discharge port, said sealing portion sealingly engaging a portion of a wall of said guide channel in said sealing position.

4. A paint spray gun according to claim 3 in which the sealing portion is of spherical or spheroidal configuration, the wall of the guide channel having an arcuate face which sealingly engages the curved surface of the sealing portion.

5. The paint spray gun of claim 4 wherein said guide slot is frustoconical.

6. The paint spray gun of claim 4 wherein the portion of said sealing portion in sealing engagement with the wall of said guide slot is of a metallic material and the portion of said guide slot wall in sealing engagement with said sealing portion is of a metallic material.

7. The paint spray gun of claim 2 wherein said push rod portion and said sealing portion are integrally formed; or

8. A paint spray gun according to any one of claims 2 to 7 in which the drive assembly includes an automatic drive member and a transmission member by which the automatic drive member is connected to the push rod portion.

9. The paint spray gun of claim 8 wherein said chamber includes a material passing passage and a driving passage, one end of said material passing passage is in communication with said discharge port, the other end of said material passing passage is in communication with said driving passage through a drawing through hole, said feed port is in communication with said material passing passage, one end of said plunger portion is in communication with said driving passage through said drawing through hole, said sealing portion is connected to a portion of said plunger portion located in said material passing passage, and a portion of said plunger portion located in said material passing passage is in engagement with an inner wall of said material passing passage to form said material passing gap;

10. The paint spray gun of claim 9 wherein said drive member includes a pull shaft extending into said drive passage from a side of said drive passage remote from said feed passage, said pull shaft being connected to said push rod portion, an outer peripheral wall of said pull shaft having a mounting seat, said outer peripheral wall of said pull shaft, said mounting seat and an inner wall of said drive passage cooperating to form an elastic member mounting cavity;

11. The paint spray gun of claim 10 wherein said resilient return member comprises a spring; and/or

The automatic drive comprises a servo electric cylinder.

12. The paint spray gun of claim 10 wherein said drive assembly includes a manual drive member movably mounted to said spray gun body, said manual drive member drivingly connected to said pull shaft, said manual drive member configured to move said push rod portion from said sealing position toward said open position.

13. The paint spray gun of claim 1, wherein an inlet pipe is disposed outside the spray gun body, one end of the inlet pipe is communicated with the feed inlet, the paint spray gun comprises a first adapter and a second adapter, the other end of the inlet pipe is detachably matched with one end of the first adapter, the other end of the first adapter is detachably matched with one end of the second adapter, the other end of the second adapter is configured to be detachably matched with the feed delivery pipe, and the first adapter and the second adapter are jointly matched to form a feed channel communicated with the feed delivery pipe and the inlet pipe.

14. The paint spray gun of claim 1 wherein said paint spray gun includes a fixed plate mechanism to which said spray gun body and said drive assembly are both removably mounted.

15. An application robot, characterized in that it comprises a paint spray gun according to any one of claims 1 to 14.