CN114876163A

CN114876163A - Pumping coating system and coating robot

Info

Publication number: CN114876163A
Application number: CN202210374669.1A
Authority: CN
Inventors: 赵荣尊; 莫珠明; 高杰桥; 何锋; 严家权; 张永明
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 pumping coating system and a coating robot, wherein the pumping coating system comprises a charging basket mechanism, a coating mechanism and a pressure relief mechanism, wherein the charging basket mechanism is provided with a coating accommodating cavity; the coating mechanism comprises a pumping component and a coating pumping pipeline, wherein the feeding end of the coating pumping pipeline is communicated with the coating containing cavity, the discharging end of the coating pumping pipeline is configured to convey coating to a station to be coated, and the pumping component is arranged on the coating pumping pipeline to provide power for the flow of the coating from the coating containing cavity to the discharging end of the coating pumping pipeline; the pressure relief mechanism comprises a pressure relief assembly and a pressure relief pipeline, the feeding end of the pressure relief pipeline is communicated with the discharging end of the pumping assembly, the pressure relief assembly is arranged on the pressure relief pipeline, and the pressure relief assembly is configured to be used for opening the pressure relief pipeline when the coating in the coating pumping pipeline stops flowing. The technical scheme of the invention is beneficial to preventing the phenomena of bleeding, solidification and clotting of the putty slurry in the paint pumping pipeline.

Description

Pumping coating system and coating robot

Technical Field

The invention relates to the technical field of building decoration construction, in particular to a pumping coating system 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. An exemplary technology provides a putty coating robot, in the process of carrying out a putty coating procedure, power is provided for flowing of putty slurry through a pump mechanism structure, when the putty coating procedure is finished or suspended, the pump mechanism structure still can work continuously to ensure pressure in a putty pumping pipeline, the putty slurry is a mixture of putty and water, when the putty pumping pipeline is in valve port closing and pressure maintaining for a long time, slight abrasion exists at a valve port sealing part and the like to cause slight leakage, water can be secreted out from a valve port gap under the action of high pressure, putty with certain granularity cannot pass through to cause water loss in the putty slurry, the putty slurry can be extruded to be harder by high pressure, and finally conglomeration and caking are carried out. Accordingly, there is a need for improvements that will occur to those skilled in the art.

The above exemplary techniques are provided merely to facilitate an understanding of the present solution and are not meant to be an admission that they are prior art.

Disclosure of Invention

The invention mainly aims to provide a pumping coating system, which aims to solve the problems that putty slurry in a putty pumping pipeline is easy to generate bleeding solidification and clot, and in order to solve the problems, the scheme of the application adopts a spray gun type structure to carry out pressure relief on the putty pumping pipeline, but because the putty belongs to thick coating containing more particles, the putty is easy to adhere to a sealing surface at an outlet of a spray gun, so that the sealing surface is abraded, and the outlet of the spray gun is further subjected to 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, the pressure relief outlet of the pressure relief spray gun can be opened quickly, putty slurry can be sprayed out from the pressure relief outlet in time, and the time delay phenomenon in the pressure relief process is avoided; in addition, the pressure release spray gun of this application has still improved the material of the cell wall of sealing and guide way both (adopt metal material to make the cell wall of sealing and guide way promptly), so, be favorable to solving the sealed face of pressure release spray gun and receive the influence of putty and the fast technical problem of loss.

In order to achieve the purpose, the pumping coating system provided by the invention comprises a charging basket mechanism, a coating mechanism and a pressure relief mechanism, wherein the charging basket mechanism is provided with a coating containing cavity; the coating mechanism comprises a pumping component and a coating pumping pipeline, wherein the feeding end of the coating pumping pipeline is communicated with the coating containing cavity, the discharging end of the coating pumping pipeline is configured to convey coating to a station to be coated, and the pumping component is arranged on the coating pumping pipeline to provide power for the flow of the coating from the coating containing cavity to the discharging end of the coating pumping pipeline; the pressure relief mechanism comprises a pressure relief assembly and a pressure relief pipeline, the feeding end of the pressure relief pipeline is communicated with the discharging end of the pumping assembly, the pressure relief assembly is arranged on the pressure relief pipeline, and the pressure relief assembly is configured to be opened when coating in the coating pumping pipeline stops flowing.

Optionally, the pressure relief assembly comprises a pressure relief spray gun, a gun needle piece and a driving assembly, a pressure relief cavity is arranged in the pressure relief spray gun, a pressure relief inlet and a pressure relief outlet which are communicated with the pressure relief cavity are arranged on the pressure relief spray gun, and the pressure relief inlet is communicated with a discharge end of the pressure relief pipeline;

the gun needle piece is movably arranged in the pressure relief cavity, the needle gun piece is matched with the cavity wall of the pressure relief cavity to form an overpressure gap, and the gun needle piece moves to open or close the pressure relief outlet;

the driving assembly is in transmission connection with the gun needle piece so as to drive the gun needle piece to move to open or close the pressure relief outlet.

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 pressure release chamber, push rod portion with the drive assembly transmission is connected, push rod portion pull removes in order to drive the sealing opens or closes the pressure release export.

Optionally, a guide groove is arranged between the pressure relief cavity and the pressure relief outlet, the pressure relief cavity is communicated with the pressure relief outlet through the guide groove, the guide groove is arranged in a tapered manner from the pressure relief cavity to the pressure relief outlet, and the sealing portion is configured to be in sealing fit with a part of groove wall of the guide groove so as to close the pressure relief outlet.

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 includes an automatic driving member and a transmission member, and the automatic driving member is in transmission connection with the push rod portion through the transmission member.

Optionally, the pressure relief cavity includes an overpressure channel and a connecting channel, one end of the overpressure channel is communicated with the pressure relief outlet, the other end of the overpressure channel is communicated with the connecting channel through a pull through hole, the pressure relief inlet is communicated with the overpressure channel, one end of the push rod part extends into the connecting channel from the overpressure channel through the pull through hole, the sealing part is connected with a part of the push rod part, which is located in the overpressure channel, and the part of the push rod part, which is located in the overpressure channel, is matched with the inner wall of the overpressure channel to form the overpressure gap;

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

Optionally, the transmission part comprises a pull shaft, the pull shaft is arranged in the connecting channel, the pull shaft is connected with the push rod part, an installation seat is convexly arranged on the outer peripheral wall of the pull shaft, and the outer peripheral wall of the pull shaft, the installation seat and the inner wall of the connecting channel are matched together to form an elastic part installation cavity;

the drive assembly is including locating the elasticity of elastic component installation cavity resets, elasticity reset along the flexible direction of self elasticity one end with the mount pad is connected, the other end with interface channel's inner wall connection, elasticity reset the piece be configured to push rod portion applys an elastic force, in order to drive push rod portion removes and closes the pressure release export.

Optionally, the driving medium includes the spray gun trigger, the spray gun trigger movably install in the pressure release spray gun, draw the axle with automatic drive spare all with the spray gun trigger transmission is connected, the spray gun trigger is configured to drive push rod portion removes, in order to open the pressure release export.

Optionally, a paint recovery port is arranged on the wall of the paint containing cavity, and the paint recovery port is communicated with the pressure relief outlet.

Optionally, the pumping coating system includes a pressure detector and a first controller, the pressure detector and the pressure relief mechanism are both electrically connected to the first controller, the pressure detector is configured to detect a pressure in the coating material receiving cavity or the coating material pumping pipeline and send an opening signal to the first controller when the detected pressure is greater than a preset pressure, and the first controller is configured to control the pressure relief mechanism to open the pressure relief pipeline when receiving the opening signal.

Optionally, the pressure relief mechanism is configured to close the pressure relief line when paint in the paint pumping line flows.

Optionally, the material barrel mechanism includes a barrel body and a stirring component, the coating material accommodating cavity is formed in the barrel body, the stirring component includes a stirring member, and the stirring member is movably disposed in the coating material accommodating cavity to stir the coating material stored in the coating material accommodating cavity.

Optionally, the stirring assembly includes a stirring motor, the stirring motor is disposed on the barrel body, and an output shaft of the stirring motor is connected to the stirring member to drive the stirring member to rotate in the paint accommodating cavity.

Optionally, the stirring piece includes dwang, connecting rod and bucket wall doctor-bar, the dwang is followed the direction of height of bucket body extends, the dwang with agitator motor's output shaft, the one end of connecting rod with the dwang links to each other, the other end of connecting rod is along being close to the perisporium direction of bucket body extends, the one end of bucket wall doctor-bar with the other end of connecting rod is connected, the other end of bucket wall doctor-bar is followed the direction of height of bucket body extends, the bucket wall doctor-bar dorsad one side of dwang be configured into with the perisporium butt of bucket body, with when the dwang rotates, the knife coating the perisporium of bucket body.

Optionally, the stirring member includes an angle adjusting structure, the connecting rod is connected with the tub wall wiper through the angle adjusting structure, and the angle adjusting structure is configured to adjust a connection angle between the tub wall wiper and the connecting rod.

Optionally, the stirring piece includes dwang and two at least stirring leaves, the one end of dwang with agitator motor's output shaft, two at least stirring leaves are in respectively interval setting in the length direction of dwang.

Optionally, the pumping coating system comprises a residue detector, an alarm mechanism and a second controller, and the residue detector and the alarm mechanism are both electrically connected with the second controller;

the excess material detector is configured to detect the storage amount of the coating in the coating containing cavity and send an alarm signal to the second controller when the storage amount of the coating is lower than a preset storage amount, and the second controller controls the alarm mechanism to start to alarm when receiving the alarm signal.

Optionally, the clout detector includes laser sensor, be equipped with clout detection mouth on the chamber roof wall of chamber is received to the coating, laser sensor locates the outside of chamber is received to the coating, laser sensor's sense terminal orientation clout detection mouth sets up.

Optionally, the laser sensor and the excess material detection port are arranged at intervals in the height direction of the charging basket mechanism, an anti-fouling pipe is arranged between the laser sensor and the excess material detection port, and the anti-fouling pipe is provided with a detection pipeline communicating the detection end of the laser sensor and the paint containing cavity.

Optionally, the anti-fouling pipe includes a first pipe section and a second pipe section, a paint cleaning opening is formed in a peripheral wall of the second pipe section, the first pipe section is openably and closably disposed in the paint cleaning opening, and when the second pipe section covers the paint cleaning opening, the first pipe section and the second pipe section are cooperatively formed with the detection pipe.

Optionally, a shut-off valve is provided on the paint pumping line, the shut-off valve being configured to open or close the paint pumping line.

Optionally, a paint filter is disposed within the paint pumping line, the paint filter configured to filter particles in paint.

The invention also provides a coating robot, which comprises a pumping coating system, wherein the pumping coating system comprises a charging basket mechanism, a coating mechanism and a pressure relief mechanism, and the charging basket mechanism is provided with a coating containing cavity; the coating mechanism comprises a pumping component and a coating pumping pipeline, wherein the feeding end of the coating pumping pipeline is communicated with the coating containing cavity, the discharging end of the coating pumping pipeline is configured to convey coating to a station to be coated, and the pumping component is arranged on the coating pumping pipeline to provide power for the flow of the coating from the coating containing cavity to the discharging end of the coating pumping pipeline; the pressure relief mechanism comprises a pressure relief assembly and a pressure relief pipeline, the feeding end of the pressure relief pipeline is communicated with the discharging end of the pumping assembly, the pressure relief assembly is arranged on the pressure relief pipeline, and the pressure relief assembly is configured to be opened when coating in the coating pumping pipeline stops flowing.

According to the putty coating system, the pressure relief pipeline communicated with the discharge end of the pumping assembly is arranged, so that when putty slurry between the discharge end of the pumping assembly and the discharge end of the paint pumping pipeline does not flow, the putty slurry can flow to the pressure relief pipeline by opening the pressure relief pipeline, and therefore, even if a putty coating process is stopped or suspended, the putty slurry can still be in a flowing state, and the phenomena of bleeding solidification and clotting of the putty slurry are avoided.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of 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 view of the structure of a bucket mechanism of the coating robot in 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 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 paint guide groove; 321d, a pull via; 322. a paint gun needle; 322a, a paint push rod part; 322b, a paint seal; 323. a paint drive assembly; 323a, a servo electric cylinder; 323b, drawing the shaft by paint; 323c, a paint mounting base; 323d, elastic coating return piece; 323e, paint spray gun trigger; 323f, coating trigger pin shaft; 324. a cavity; 324a, a material passing channel; 324b, a transmission channel; 325. a material passing gap; 326. a coating elastic member mounting cavity; 327. a feed pipe; 328. a first adapter; 329. an adapter; 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 guide groove; 411d, sliding vias; 412. a gun needle piece; 412a, a pusher section; 412b, a seal part; 413. a drive assembly; 413a, a steering engine; 413b, a pull shaft; 413c, a mounting seat; 413d, an elastic reset piece; 413e, spray gun trigger; 413f, a spray gun trigger pin shaft; 414. a pressure relief cavity; 414a, an overpressure channel; 414b, a connecting channel; 415. an overpressure gap; 416. an 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 machine body 1, a bucket mechanism 2, a coating mechanism 3 and a pressure relief mechanism 4, and further includes a lifting system 5, a control system, 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 arm 55 is used as the robot arm 55, and the six-axis robot arm 55 can realize various complex 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 and a passageway. 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.

It can be understood that, the coating robot of the technical scheme of the invention, through setting up the paint pumping pipeline 21 communicated with paint containing cavity 221, and set up the spray gun 32 of the coating in the discharge end of the paint pumping pipeline 21, under the pressure of pumping assembly 31 in the coating pumping pipeline 21, the spray gun 32 of the coating can be to waiting to coat the work position (such as but not limited to the wall, etc.) the coating, so, has avoided the construction worker from needing to scrape the inconvenience of the coating on the wall, has reduced the worker's construction work labour intensity effectively and improved the automation level of the coating process; in addition, the coating robot of this application is still through setting up the pressure release pipeline 42 and the controllable pressure release mechanism 4 that opens or close of pressure release pipeline 42 with the discharge end intercommunication of pumping module 31, like this, when coating spray gun 32 is closed, alright make coating can flow out from coating pumping pipeline 21 based on opening pressure release pipeline 42, prevent effectively that putty from taking place bleeding and solidify the phenomenon, improve the use reliability and the safety in utilization of product.

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, when the pumping assembly works, the oil pump motor 311 outputs power, the oil pump 312 is driven to pump oil from the hydraulic station 313 through the transmission of a small pulley, a belt, and a large pulley, 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, 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 perform impurity filtering, 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 part 319 can suck putty paste from the material barrel, and the putty paste is conveyed to the tail end spray gun by the coating material pipe after being filtered by impurities through the high-pressure filter 310 (the high-pressure filter 310 can filter the pumped putty to avoid blockage when the impurities are conveyed to the paint spray gun 32) 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 paint gun needle 322, and a paint 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 paint gun needle 322 is movably mounted in the cavity 324, the paint 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 paint gun needle 322 moves to open the discharge hole 321b, and in the closed state, the paint gun needle 322 moves to close the discharge hole 321 b; the paint driving assembly 323 is drivingly connected to the paint gun needle 322 to move the paint gun needle 322 to open or close the discharge hole 321 b.

Specifically, the moveable mounting of the paint gun needle 322 in the cavity 324 refers to: in some embodiments of the present embodiment, the paint gun needle 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 within the cavity 324.

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

Specifically, during the construction process, when it is required to spray paint on the wall surface to be coated, the paint driving assembly 323 can be activated to drive the paint 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 spraying 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 paint drive assembly 323 may be closed to stop the driving of the paint gun needle 322, and in this embodiment, an elastic member may be adaptively installed on the paint spray gun 32 to drive the paint gun needle 322 to move to a position closing the discharge port 321b, thereby ensuring the reliability of the seal between the paint gun needle 322 and the discharge port 321 b. In other embodiments of this embodiment, the discharge port 321b may be closed by activating the paint drive assembly 323 to move the paint gun needle 322 within the cavity 324. The technical effect of moving the paint gun needle 322 and sealing the discharge hole 321b is achieved in any manner, and is not limited according to the actual requirement.

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 paint gun needle 322 to move to open or close the paint outlet 321b, and the paint gun has the advantages of simple structure, easy operation and the like, and because the structure of the paint gun needle has the advantage of longer length compared with the structure of the valve body, the realization difficulty of the transmission connection between the paint gun needle 322 and the paint driving assembly 323 is favorably reduced based on the advantage.

In some embodiments, referring to fig. 15 to 17, the paint gun needle 322 includes a paint pushing rod portion 322a and a paint sealing portion 322b, the paint sealing portion 322b is disposed on the paint pushing rod portion 322a, the paint pushing rod portion 322a is drawably mounted on the cavity 324, the paint pushing rod portion 322a is in transmission connection with the paint driving assembly 323, and the paint pushing rod portion 322a is drawn to move so as to drive the paint sealing portion 322b to open or close the discharge hole 321 b. It can be understood that the drawing connection between the paint 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 paint push rod portion 322a and the paint spray gun 32 may be realized by a rotational connection.

In some embodiments, referring to fig. 16 and 17, a paint 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 paint guiding groove 321c, the paint guiding groove 321c is tapered from the cavity 324 to the discharge hole 321b, and the paint sealing portion 322b is configured to be in sealing engagement with a portion of a groove wall of the paint guiding groove 321c to close the discharge hole 321 b. Specifically, the depth direction of the paint guide groove 321c is the direction of the drawing movement of the paint push rod portion 322 a. It can be understood that, because of the error of the process assembly or the wear of the components themselves, the paint push rod portion 322a and the paint sealing portion 322b may be shifted during the moving process, and thus the paint 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 paint guide groove 321c between the cavity 324 and the discharge hole 321b, and makes the paint guide groove 321c taper in the direction from the cavity 324 to the discharge hole 321b, so that when the paint sealing portion 322b starts from the cavity 324 and moves in the direction close to the discharge hole 321b, even if the paint sealing portion 322b shifts during the moving process, the paint sealing portion 322b may smoothly move to the position where the periphery of the paint sealing portion 322b contacts the groove wall of the paint guide groove 321c (i.e. the paint sealing portion 322b and the paint guide groove 322b contact the groove wall of the paint guide groove 321c under the guiding and the deviation rectifying function of the groove wall of the paint sealing portion 321 c) The position of sealing fit with the groove wall of the groove 321 c), it can be seen that the scheme of the application can effectively ensure the reliability of sealing the discharge port 321b at the paint sealing part 322 b. Of course, the design of the present application is not limited thereto, and in other embodiments, the paint 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 paint sealing portion 322b is spherical or spheroidal, and the wall of the paint guide slot 321c has an arcuate surface that sealingly engages the curved surface of the sealing portion. It is understood that the spherical or spheroidal paint seal portion 322b, the curved surface of which is in linear contact with the groove wall of the paint guide groove 321c, is in a linear contact relationship with the paint seal portion 322b and the paint guide groove 321c when the paint seal portion 322b is not moved to a position of sealing engagement with the groove wall of the paint guide groove 321c, so that the linear contact between the paint seal portion 322b and the paint guide groove 321c is advantageous to reduce the moving friction force generated between the paint seal portion 322b and the groove wall of the paint guide groove 321 c; when the paint sealing part 322b moves to the position matched with the groove wall of the paint guide groove 321c in a sealing manner, the paint sealing part 322b is in linear contact with the groove wall of the paint guide groove 321c, so that putty materials are prevented from being embedded into the contact part of the paint sealing part 322b and the groove wall of the paint guide groove 321c, the sealing reliability of the paint sealing part 322b to the discharge port 321b is ensured, the service lives of the paint sealing part 322b and the paint guide groove 321c can be prolonged, in addition, the discharge port 321b can be opened at the moment when the paint sealing part 322b moves away from the discharge port 321b due to the mode of linearly sealing the discharge port 321b between the paint sealing part 322b and the groove wall of the paint guide groove 321c, 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 paint 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 paint guide groove 321c is disposed in a circular truncated cone shape. It can be understood that such an arrangement is beneficial to improving the reliability of the matching of the paint guide groove 321c and the spherical or spheroidal paint sealing portion 322b, and meanwhile, the circular truncated cone shape is a regular shape, which is also convenient for the technological forming of the paint guide groove 321 c. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the paint guide groove 321c may be designed in other shapes, for example, but not limited to, the paint 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, the portion of the paint sealing portion 322b that is in sealing engagement with the groove wall of the paint guiding groove 321c is made of a metal material, and the portion of the groove wall of the paint guiding groove 321c that is in sealing engagement with the paint sealing portion 322b 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 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 paint guide groove 321c and other parts, the putty slurry has larger abrasion to the groove walls of the paint sealing part 322b and the paint guide groove 321c, but the non-metal material is easily abraded, and the service life of the paint sealing part 322b and the paint guide groove 321c cannot be ensured. Preferably, the groove walls of the paint sealing portion 322b and the paint 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 paint plunger portion 322a and the paint 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, both the paint rod portion 322a and the paint sealing portion 322b may be separately disposed, for example, but not limited to, in some embodiments, the paint rod portion 322a is provided with a paint embedding groove, and the paint sealing portion 322b is embedded in the paint embedding groove. The manner in which the paint gun needle 322 is made is not limited, depending on the actual requirements.

In some embodiments, the paint drive assembly 323 includes an automatic paint drive and a paint drive, the automatic paint drive being coupled to the paint pusher portion 322a via the paint drive. It can be understood that the movement of the coating material push rod portion 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 coating driving part comprises a servo electric cylinder 323a, the output end of the servo electric cylinder 323a is in transmission connection with the coating driving part, and it is easy to understand that the servo electric cylinder 323a is an automatic driving structure which is widely applied 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 paint push rod portion 322a, for example, but not limited to, the paint automatic driving member includes a steering gear 413a, and an output end of the steering gear 413a is in transmission connection with the paint transmission member.

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 paint push rod portion 322a is extended from the material passing channel 324a into the transmission channel 324b through the drawing through hole 321d, the paint sealing portion 322b is connected to a portion of the paint push rod portion 322a located in the material passing channel 324a, and the portion of the paint 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 paint driver portion extends into the drive channel 324b and is connected to a paint pusher portion 322a located within the drive channel 324 b. It can be understood that the drawing through hole 321d is in sliding fit with the paint push rod portion 322a, when the paint push rod portion 322a is inserted into the drawing through hole 321d, the paint push rod portion 322a can only slide in the axial direction of the drawing through hole 321d, so that the reliability of the paint push rod portion 322a in the moving direction inside the cavity 324 is effectively ensured, in addition, when the paint push rod portion 322a is partially located in the drawing through hole 321d, the paint can be effectively prevented from flowing into the transmission channel 324b from the material passing channel 324a, the interference of the paint on the connection part of the paint transmission member and the paint push rod portion 322a is avoided, the stability of the fit between the paint transmission member and the paint push rod portion 322a is favorably ensured, and the reliability of the product operation is improved.

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

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

It can be understood that, after the automatic paint driving assembly stops driving the paint push rod portion 322a, the paint mounting seat 323c, the paint pull shaft 323b and the paint push rod portion 322a can be effectively moved in a direction approaching the paint guide groove 321c until the paint sealing portion 322b is in sealing engagement with the groove wall of the paint guide groove 321c based on the elastic force of the elastic paint returning member 323d on the paint 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 application of external force.

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

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

In some embodiments, the paint driving assembly 323 includes a paint manual driving member movably mounted to the spray gun body 321, the paint manual driving member being drivingly connected to the paint pulling shaft 323b, the paint manual driving member being configured to move the paint pushing rod portion 322a to open the discharge port 321 b. It is understood that the construction worker can manually drive the paint push rod part 322a to move by the paint 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 manner of driving the movement of the paint push rod portion 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 paint gun trigger 323e and a paint trigger pin 323f, the paint gun trigger 323e is rotatably mounted on the paint gun body 321, the paint trigger pin 323f is movably mounted on the paint gun body 321, one end of the paint trigger pin 323f extends into the transmission passage 324b to be connected to the paint mounting seat 323c, the other end of the paint trigger pin 323f is disposed outside the paint gun body 321, and the paint gun trigger 323e is rotatably abutted against the other end of the paint trigger pin 323f to move one end of the paint trigger pin 323f in a direction away from the discharge hole 321 b. In actual operation, a construction worker can press the paint spray gun trigger 323e to rotate the paint spray gun trigger 323e, and when the paint spray gun trigger 323e rotates to abut against the other end of the paint trigger pin 323f, the construction worker can drive one end of the paint trigger pin 323f, the paint mounting seat 323c, the paint pull shaft 323b, the paint push rod portion 322a and the paint sealing portion 322b to move towards a direction away from the discharge port 321b, so that the discharge port 321b is opened, and then the 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. 18 to 24, the pressure relief assembly 41 includes a pressure relief spray gun 411, a gun needle 412 and a 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 gun needle 412 is movably arranged in the pressure relief cavity 414, the needle gun part is matched with the cavity wall of the pressure relief cavity 414 to form an overpressure gap 415, and in a closed state, the gun needle 412 moves to open the pressure relief outlet 411 b; the driving assembly 413 is drivingly connected to the gun needle 412 to drive the gun needle 412 to move to open or close the pressure relief outlet 411 b.

Specifically, the movable mounting of the gun needle 412 in the pressure relief cavity 414 means: in some embodiments of the present embodiment, the 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 driving assembly 413 may be driven by an electric cylinder, a steering engine 413a, or the like, to achieve a technical effect of driving the movement of the gun needle 412, which is not limited in this respect.

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 driving assembly 413 can be started to drive the 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, in this embodiment, the manner of driving the gun needle 412 to move to open the pressure relief outlet 411b realizes the opening effect of controlling the pressure relief pipeline 42, and has the advantages of simple structure, and because the structure of the gun needle has the advantage of longer length compared with the valve body structure, on the basis of this advantage, it is favorable to reducing the difficulty in implementing the transmission connection between the gun needle 412 and the driving component 413.

In some embodiments, referring to fig. 23 and 24, the gun needle 412 includes a pushing rod portion 412a and a sealing portion 412b, the sealing portion 412b is disposed on the pushing rod portion 412a, the pushing rod portion 412a is drawably mounted in the pressure relief cavity 414, the pushing rod portion 412a is in transmission connection with the driving component 413, and the pushing rod portion 412a is drawn to move to drive the sealing portion 412b to open or close the pressure relief outlet 411 b. It can be understood that the drawing connection mode between the 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 push rod part 412a and the pressure relief spray gun 411 may also be realized in a rotating connection manner.

In some embodiments, referring to fig. 23 and fig. 24, a 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 guide slot 411c, the guide slot 411c is tapered from the pressure relief cavity 414 to the pressure relief outlet 411b, and the sealing portion 412b is configured to be in sealing engagement with a portion of a groove wall of the guide slot 411c to close the pressure relief outlet 411 b. Specifically, the groove depth direction of the guide groove 411c is the direction of the drawing movement of the push rod 412 a. It can be understood that, due to the error of process assembly or the wear of the components themselves, the push rod part 412a and the sealing part 412b may be shifted during the moving process, so that the 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 present application provides the guide slot 411c between the pressure relief cavity 414 and the pressure relief outlet 411b, and the guide slot 411c is tapered in the direction from the pressure relief cavity 414 to the pressure relief outlet 411b, so that, when the sealing part 412b moves from the pressure relief cavity 414 in the direction close to the pressure relief outlet 411b, even if the sealing part 412b shifts during the moving process, the sealing part 412b may smoothly move to the position where the periphery of the sealing part 412b contacts the groove wall of the guide slot 411c (i.e. the position where the sealing part 412b is in sealing engagement with the groove wall of the guide slot 411 c), it can be seen that the scheme of this application can guarantee effectively the reliability of the sealed of pressure relief export 411b at sealing part 412 b. Of course, the design of the present invention is not limited thereto, and in other embodiments, the 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 sealing portion 412b is spherical or spheroidal, and the wall of the guiding slot 411c has an arc surface for sealing engagement with the curved surface of the sealing portion 412 b. It is understood that the spherical or spheroidal sealing portion 412b, the curved surface of which is in linear contact with the groove wall of the guide groove 411c, is in a linear contact relationship with the guide groove 411c, and when the sealing portion 412b is not moved to a position of sealing engagement with the groove wall of the guide groove 411c, the linear contact between the sealing portion 412b and the guide groove 411c is advantageous to reduce the moving friction force generated between the sealing portion 412b and the groove wall of the guide groove 411 c; when the sealing part 412b moves to the position matched with the groove wall of the guide groove 411c in a sealing mode, the sealing part 412b is in linear contact with the groove wall of the guide groove 411c, putty materials are favorably prevented from being embedded into the contact position of the sealing part 412b and the groove wall of the guide groove 411c, the sealing reliability of the sealing part 412b to the pressure relief outlet 411b is guaranteed, the service lives of the sealing part 412b and the guide groove 411c can be prolonged, in addition, the mode that the pressure relief outlet 411b is sealed linearly between the sealing part 412b and the groove wall of the guide groove 411c enables the pressure relief outlet 411b to be opened at the moment when the sealing part 412b moves in the direction far away from the pressure relief outlet 411b, and the phenomenon that the paint spray gun 32 sprays paint in a delayed mode 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 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 guide slot 411c 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 slot 411c and the spherical or spheroidal sealing portion 412b, and meanwhile, the truncated cone shape is a regular shape, which is also convenient for the process molding of the guide slot 411 c. It should be noted that the design of the present application is not limited thereto, and in other embodiments, the guide slot 411c may be designed in other shapes, for example, but not limited thereto, the 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 sealing portion 412b, which is in sealing engagement with the groove wall of the guiding groove 411c, is made of a metal material, and a portion of the groove wall of the guiding groove 411c, which is in sealing engagement with the 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 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 411c and other parts, the wall of the sealing part 412b and the wall of the guide groove 411c are greatly abraded, but the non-metal material is easily abraded, and the service life of the sealing part 412b and the guide groove 411c cannot be ensured. Preferably, groove walls of the sealing part 412b and the guide groove 411c are both made of a metal material.

In some embodiments, referring to fig. 23 and 24, the pushrod portion 412a and the sealing portion 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 application is not limited thereto, and in other embodiments, the push rod portion 412a is provided with an insertion groove, and the sealing portion 412b is inserted in the 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 manner in which the gun needle 412 is made is not limited, depending on the actual requirements.

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

Specifically, the automatic driving piece includes steering wheel 413a, and the output of steering wheel 413a is connected with the transmission piece 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, 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 push rod portion 412a, for example, but not limited to, the 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 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 push rod part 412a is extended into the connecting channel 414b from the overpressure channel 414a through the sliding through hole 411d, the sealing part 412b is connected with the part of the push rod part 412a located in the overpressure channel 414a, and the part of the push rod part 412a located in the overpressure channel 414a is matched with the inner wall of the overpressure channel 414a to form an overpressure gap 415; the transmission member portion extends into the connecting passage 414b and is connected to the push rod portion 412a located in the connecting passage 414 b. It can be understood that the sliding through hole 411d is in sliding fit with the pushing rod portion 412a, when the pushing rod portion 412a is inserted into the sliding through hole 411d, the pushing rod portion 412a can only slide in the axial direction of the sliding through hole 411d, so that the reliability of the moving direction of the pushing rod portion 412a inside the cavity 324 is effectively ensured, in addition, when the pushing rod portion 412a is partially located in the sliding through hole 411d, the coating can be effectively prevented from flowing into the connecting channel 414b from the overpressure channel 414a, the interference of the coating on the transmission member and the connection part of the transmission member and the pushing rod portion 412a is avoided, the stability of the fit between the transmission member and the pushing rod portion 412a is favorably ensured, and the reliability of product operation is improved.

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

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

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

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

Specifically, the mounting seat 413c is disposed around the outer peripheral wall of the pull shaft 413b, so as to effectively increase the force-bearing area between the elastic reset piece 413d and the mounting seat 413 c.

In some embodiments, referring to FIG. 21, the transmission member includes a gun trigger 413e, the gun trigger 413e is movably mounted to the pressure relief gun 411, the pull shaft 413b and the automatic driving member are both drivingly connected to the gun trigger 413e, and the gun trigger 413e is configured to move the push rod portion 412a to open the pressure relief outlet 411 b. It will be appreciated that during use, automatic actuation of the spray gun trigger 413e may be achieved by an automatic drive, and that the pressure relief outlet 411b may also be opened by a construction worker manually moving the spray gun trigger 413 e. In combination with the above, it should be understood that, the mode that this application drive push rod portion 412a removed has automatic and two manual drive methods, when automatic drive spare broke down, it carries out the manual operation such as pressure release (manual pressure release is the same with paint spray gun 32) of stirring spray gun trigger 413e manually also, be convenient for maintain the maintenance, modern automation construction requirements has both been satisfied, when also having avoided automatic control mechanism trouble, unable in time pressure release and be not convenient for maintain the problem of maintenance (high-pressure danger), and press for a long time to suppress and 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 transmission member includes a trigger pin, the spray gun trigger 413e is rotatably installed on the pressure relief spray gun 411, the trigger pin is movably installed on the pressure relief spray gun 411, one end of the trigger pin extends into the transmission channel 324b to be connected with the installation seat 413c, the other end of the trigger pin is installed outside the pressure relief spray gun 411, and the spray gun trigger 413e can be rotatably abutted to the other end of the trigger pin, so that one end of the trigger pin moves in a direction away from the pressure relief outlet 411 b. In actual operation, a constructor can press the spray gun trigger 413e to rotate the spray gun trigger 413e, and when the spray gun trigger 413e rotates to abut against the other end of the trigger pin shaft, the one end of the trigger pin shaft, the mounting seat 413c, the pull shaft 413b, the push rod part 412a and the sealing part 412b can be driven to move towards the direction far away from the pressure relief outlet 411b, so that 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 fig. 22, the internal structures of the paint spray gun 32 and the pressure relief spray gun 411 are similar, so that the same, similar or similar structures are used as much as possible on the same coating machine, so as to reduce the development difficulty of developers for the paint spray gun 32 and the pressure relief spray gun 411, facilitate the assembly of the paint spray gun 32 and the pressure relief spray gun 411 by using the same parts and the same assembly process, and the maintenance by using the same maintenance process, and most parts of the paint spray gun 32 and the pressure relief spray gun 411 are the same and are easy 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 member 231 is rotatably disposed in the paint accommodating chamber 221, and in other embodiments of the present embodiment, the stirring member 231 is slidably disposed in the paint accommodating chamber 221 along an up-down direction, a left-right direction, or along other directions, and all of the above embodiments can achieve the technical effect that the stirring member 231 is movable in the paint accommodating chamber 221, and the specific implementation is not limited herein.

Can understand, 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 solidification, the bonding phenomenon from appearing in the putty thick liquids of leaving in bucket body 22.

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 second controller, both the residue detector 7 and the alarm mechanism being electrically connected to the second controller;

the remaining material detector 7 is configured to detect a paint storage amount in the paint containing chamber 221 and send an alarm signal to the second controller when the paint storage amount is lower than a preset storage amount, and the second controller controls the alarm mechanism to be activated to alarm when receiving the alarm signal. It should be noted that the second 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 does not need to intentionally remove the anti-fouling pipe 224 from the machine body 1 as a whole, and only needs to move the first pipe section 224a to perform the cleaning operation, and after the cleaning operation, only needs to move the first pipe section 224a to reset the first pipe section 224a to the position where the paint cleaning port 224c is closed, so that the process 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 pump coating system, comprising:

a bucket mechanism having a coating material receiving cavity;

the coating mechanism comprises a pumping component and a coating pumping pipeline, wherein the feeding end of the coating pumping pipeline is communicated with the coating containing cavity, the discharging end of the coating pumping pipeline is configured to convey coating to a station to be coated, and the pumping component is arranged on the coating pumping pipeline to provide power for the flow of the coating from the coating containing cavity to the discharging end of the coating pumping pipeline; and

pressure relief mechanism, pressure relief mechanism includes pressure relief subassembly and pressure release pipeline, the feed end of pressure release pipeline with pumping components's discharge end intercommunication, pressure relief subassembly is located the pressure release pipeline, pressure relief subassembly is configured to be in when the coating in the coating pumping pipeline stops flowing, open the pressure release pipeline.

2. The pump coating system according to claim 1, wherein the pressure relief assembly comprises a pressure relief spray gun, a gun needle member and a driving assembly, a pressure relief cavity is arranged in the pressure relief spray gun, a pressure relief inlet and a pressure relief outlet which are communicated with the pressure relief cavity are arranged on the pressure relief spray gun, and the pressure relief inlet is communicated with a discharge end of the pressure relief pipeline;

3. The pump coating system according to claim 2, wherein the gun needle comprises a push rod part and a sealing part, the sealing part is arranged on the push rod part, the push rod part is drawably arranged on the pressure relief cavity, the push rod part is in transmission connection with the driving assembly, and the push rod part is drawn and moved to drive the sealing part to open or close the pressure relief outlet.

4. The pump coating system according to claim 3, wherein a guide groove is provided between the pressure relief chamber and the pressure relief vent, the pressure relief chamber communicates with the pressure relief vent through the guide groove, the guide groove is tapered in a direction from the pressure relief chamber to the pressure relief vent, and the sealing portion is configured to be in sealing engagement with a part of a groove wall of the guide groove to close the pressure relief vent.

5. The pumped coating system of claim 4, wherein said sealing portion is spherically or spheroidal in shape, and wherein the walls of said guide channel have arcuate surfaces that sealingly engage the curved surfaces of said sealing portion.

6. The pump coating system of claim 5, wherein said guide slot is frustoconical.

7. The pumped coating system of claim 4, wherein the portion of said sealing portion that sealingly engages the walls of said guide slot is a metallic material, and the portion of said guide slot wall that sealingly engages said sealing portion is a metallic material.

8. The pump coating system of claim 3, wherein the push rod portion and the sealing portion are integrally formed; or

9. The pump coating system of claim 3, wherein the drive assembly comprises an automatic drive member and a transmission member, the automatic drive member being drivingly connected to the push rod portion via the transmission member.

10. The pump coating system according to claim 9, wherein the pressure relief cavity includes an overpressure channel and a connecting channel, one end of the overpressure channel communicates with the pressure relief outlet, the other end of the overpressure channel communicates with the connecting channel through a drawing through hole, the pressure relief inlet communicates with the overpressure channel, one end of the push rod portion extends into the connecting channel from the overpressure channel through the drawing through hole, the sealing portion is connected to a portion of the push rod portion located in the overpressure channel, and the portion of the push rod portion located in the overpressure channel cooperates with an inner wall of the overpressure channel to form the overpressure gap;

11. The pump coating system according to claim 10, wherein the transmission member comprises a pull shaft, the pull shaft is disposed in the connection channel, the pull shaft is connected to the push rod portion, a mounting seat is protruded from an outer peripheral wall of the pull shaft, and an elastic member mounting cavity is formed by cooperation of the outer peripheral wall of the pull shaft, the mounting seat and an inner wall of the connection channel;

12. The pump coating system of claim 11, wherein the transmission comprises a spray gun trigger movably mounted to the pressure relief spray gun, the pull shaft and the automatic drive member are each drivingly connected to the spray gun trigger, and the spray gun trigger is configured to move the push rod portion to open the pressure relief outlet.

13. The pumped coating system of claim 2, wherein a paint recovery port is provided in a wall of said paint receiving chamber, said paint recovery port being in communication with said pressure relief outlet.

14. The pump coating system according to claim 1, wherein the pump coating system comprises a pressure detector and a first controller, the pressure detector and the pressure relief mechanism are electrically connected to the first controller, the pressure detector is configured to detect a pressure inside the paint containing chamber or the paint pumping line and send an opening signal to the first controller when the detected pressure is greater than a preset pressure, and the first controller is configured to control the pressure relief mechanism to open the pressure relief line when receiving the opening signal.

15. The pump coating system of claim 1, wherein the pressure relief mechanism is configured to close the pressure relief line when paint in the paint pumping line flows.

16. The pumped coating system of any one of claims 1 to 15, wherein said bucket mechanism includes a bucket body in which said paint receiving chamber is formed, and an agitation assembly including an agitation member movably provided in said paint receiving chamber to agitate paint stored in said paint receiving chamber.

17. The pumped coating system of claim 16, wherein said agitator assembly includes an agitator motor, said agitator motor being disposed in said tank body, an output shaft of said agitator motor being connected to said agitator member for driving said agitator member in rotation within said paint receiving chamber.

18. The pumped coating system of claim 17, wherein the stirring member includes a rotating rod extending in a height direction of the tub body, a connecting rod connected to an output shaft of the stirring motor, and a tub wall wiper having one end connected to the rotating rod and the other end extending in a direction close to the peripheral wall of the tub body, one end connected to the other end of the connecting rod, and the other end extending in the height direction of the tub body, and a side of the tub wall wiper facing away from the rotating rod is configured to abut against the peripheral wall of the tub body to wipe the peripheral wall of the tub body when the rotating rod rotates.

19. The pumped coating system of claim 18, wherein the stirring member includes an angle adjustment structure, the connecting bar being connected to the tub wall wiper via the angle adjustment structure, the angle adjustment structure being configured to allow the connection angle between the tub wall wiper and the connecting bar to be adjusted.

20. The pumped coating system of claim 17, wherein the stirring member includes a rotating rod having one end connected to the output shaft of the stirring motor and at least two stirring blades spaced apart in the length direction of the rotating rod, respectively.

21. The pumped coating system of claim 1, wherein said pumped coating system includes a slug detector, an alarm mechanism, and a second controller, said slug detector and said alarm mechanism each being electrically connected to said second controller;

22. The pump coating system according to claim 21, wherein the residue detector comprises a laser sensor, a residue detection port is provided on a top wall of the coating material receiving chamber, the laser sensor is provided outside the coating material receiving chamber, and a detection end of the laser sensor is provided toward the residue detection port.

23. The pump coating system according to claim 22, wherein the laser sensor and the residue detection port are provided at a distance in a height direction of the bowl mechanism, and an antifouling pipe is provided between the laser sensor and the residue detection port, the antifouling pipe being formed with a detection pipe communicating a detection end of the laser sensor and the paint containing chamber.

24. The pump coating system according to claim 23, wherein the anti-fouling tube comprises a first tube section and a second tube section, a paint cleaning opening is formed in a peripheral wall of the second tube section, the first tube section is openably and closably provided in the paint cleaning opening, and the first tube section and the second tube section cooperate to form the detection tube when the second tube section is covered in the paint cleaning opening.

25. The pump coating system of claim 1, wherein a shut-off valve is provided on the paint pumping line, the shut-off valve being configured to open or close the paint pumping line.

26. The pump coating system according to claim 1, wherein a paint filter is disposed within the paint pumping line, the paint filter configured to filter particles in paint.

27. A coating robot comprising a pump coating system according to any one of claims 1 to 26.