CN116480103A

CN116480103A - Spraying and wiping device and spraying and wiping robot

Info

Publication number: CN116480103A
Application number: CN202210049408.2A
Authority: CN
Inventors: 韩雪峤; 李建明; 乔垒; 李铁芳
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-01-17
Filing date: 2022-01-17
Publication date: 2023-07-25
Also published as: WO2023134283A1

Abstract

The application provides a spray-coating device and spray-coating robot relates to construction robot technical field. The spraying and plastering device comprises a plastering plate which is obliquely arranged along the up-down direction; the overflow trough is positioned at the rear side of the plastering plate and is used for collecting redundant slurry when the plastering plate performs plastering operation, and one end of the overflow trough in the length direction is provided with a discharge hole; the spray gun is movably arranged relative to the overflow trough, and the moving direction of the spray gun is the same as the length direction of the overflow trough; the scraping plate is movably arranged relative to the overflow trough, and the moving direction of the scraping plate is the same as the length direction of the overflow trough and is used for discharging slurry in the overflow trough from the discharge hole; the driving unit is arranged in the overflow trough and is in transmission connection with the spray gun; the spray gun and the scraping plate are in a connection state and a separation state. The spraying and plastering device can effectively simplify the structure while realizing spraying and plastering, does not occupy additional installation space, and does not influence the stability of a spraying and plastering robot adopting the spraying and plastering device.

Description

Spraying and wiping device and spraying and wiping robot

Technical Field

The application relates to the technical field of building robots, in particular to a spraying and wiping device and a spraying and wiping robot.

Background

At present, the construction industry in China is rapidly developed, and the market is wide. After the building main body is built, plastering is needed to be carried out on the inner wall of the building main body, and the plastering is generally carried out by adopting a manual plastering mode at present.

At present, although some products can realize a machine which can be independently trowelled in the market, the machine is a semi-automatic machine which needs complex manual assistance.

The spraying machine and the plastering machine can automatically realize spraying and automatic scraping, but due to the fact that two machines are required to perform combined operation, the combined operation is limited in that the commodity placing area of a common house is small, the combined operation of the two machines is difficult to construct in a narrow space, the transition is difficult, and the operation is mutually influenced. In addition, the cost for realizing guniting and strickling of the finished product of the double machine is relatively high.

Therefore, the development of the spraying and wiping integrated machine is particularly urgent, and the market prospect is quite considerable.

The spraying machine and the strickling machine are realized into an integrated machine, and one of the key difficult point technologies is that the length size of the whole machine is limited when the machine passes through a door during operation, and the maximum length size of the machine cannot exceed 1000mm. The overall length of the machine is the length of the chassis in the direction and the width of the actuator in that direction, whereas the chassis length is currently around 700 and the fuselage is already less stable, leaving the width of the actuator very limited.

Disclosure of Invention

The aim of the application is to provide a spraying device which can be used for solving the problem that the existing actuator cannot realize spraying and flash scraping at the same time.

Another object of the present application is to provide a spray robot comprising a spray device as described above, which has all the characteristics of the spray device.

Embodiments of the present application are implemented as follows:

embodiments of the present application provide a spray device comprising:

the plastering plate is obliquely arranged along the up-down direction and is used for plastering from bottom to top on the working surface;

the overflow trough is positioned at the rear side of the plastering plate and is used for collecting redundant slurry when the plastering plate performs plastering operation, and one end of the overflow trough in the length direction is provided with a discharge hole;

the spray gun is used for spraying slurry to the working surface, the spray gun is movably arranged relative to the overflow trough, and the moving direction of the spray gun is the same as the length direction of the overflow trough;

the scraping plate is movably arranged relative to the overflow trough, the moving direction of the scraping plate is the same as the length direction of the overflow trough, and at least part of the scraping plate extends into the overflow trough and is used for discharging the slurry in the overflow trough from the discharge port; and

The driving unit is arranged in the flash tank and is in transmission connection with the spray gun;

the spray gun and the scraping plate are in a connection state and a separation state, and the driving unit drives the spray gun and the scraping plate to move along the length direction of the flash tank together in the connection state; in the separated state, the driving unit drives the spray gun to move along the length direction of the flash tank independently.

The spray gun and the scraping plate can be connected or separated, so that the driving unit can independently drive the spray gun to transversely move or simultaneously drive the spray gun to transversely move together with the scraping plate, and two functions of spraying and scraping the flash are realized in a limited space of the flash tank, and the existing technical problem can be effectively improved.

In addition, the spraying device provided by the embodiment of the application can also have the following additional technical characteristics:

in an alternative embodiment of the present application, the spray gun is provided with a first locking member, the scraper is provided with a second locking member, and the spray gun and the scraper are in the connected state when the first locking member and the second locking member are mated;

the spraying device further comprises an unlocking mechanism, wherein the unlocking mechanism is used for driving the second locking piece to be separated from the first locking piece, so that the spray gun and the scraping plate are switched to the separation state.

The first locking piece and the second locking piece can be mutually locked, and can be unlocked under the driving of the unlocking mechanism, so that the matching requirement of the spray gun and the scraping plate can be met.

In an alternative embodiment of the present application, the first locking member is a clamping block, the second locking member is a clamping pin, the clamping block has a clamping groove matched with the clamping pin, and the clamping pin is movably arranged on the scraping plate.

The clamping block and the clamping pin are simple in structure and small in occupied space, and can meet the locking and unlocking functions, reduce the requirement on space and more fully utilize the space.

In an alternative embodiment of the present application, the movement direction of the spray gun is taken as a first direction, a direction perpendicular to the first direction is taken as a second direction, the clamping groove includes a wide diameter section and a narrow diameter section distributed along the first direction, the unlocking mechanism includes a push rod capable of stretching along the second direction, the push rod can push the clamping pin to separate from the wide diameter section in the second direction, and when the spray gun moves, the push rod separates from the narrow diameter section or enters the wide diameter section;

the width of push rod is d1, the width of narrow diameter section is d2, the width of block round pin is d3, satisfies: d1 < d2 < d3.

Through design push rod width, narrow footpath section width and the width of block pin for the during operation of push rod, the narrow footpath section can restrict the lateral movement of block pin, and when the push rod promotes the block pin in the second direction, can make the block pin deviate from wide footpath section, and because the width of narrow footpath section is greater than the width of push rod, the push rod can not interfere the motion of block.

In an alternative embodiment of the present application, the spray device further comprises:

the guide rail is fixed at the rear side of the flash groove, and the spray gun and the scraping plate are both slidably arranged on the guide rail.

The guide rail can guide the movement of the spray gun and the scraping plate, and the guide rail is arranged at the rear side of the overflow chute, so that the space can be saved.

In an alternative embodiment of the present application, the driving unit includes a driving mechanism and a transmission mechanism, the driving mechanism set up in the one end of guide rail and be in the below of flash groove, the transmission mechanism includes a driving ring and a plurality of leading wheels, a plurality of leading wheels cloth in the flash groove rear side, the driving ring is around locating a plurality of leading wheels, the spray gun with driving ring fixed connection, driving mechanism's output with the leading wheel is connected.

The guide wheel can guide the rotating path of the driving ring, and the guide wheel and the driving ring are arranged at the rear side of the overflow trough together, so that the space at the rear side can be effectively utilized, and the driving ring can drive the spray gun to move, thereby meeting the operation requirement.

In an alternative embodiment of the present application, the plurality of guide wheels are divided into a driving wheel, a first driven wheel, a second driven wheel, a third driven wheel and a fourth driven wheel, the driving wheel is connected to the output end of the driving mechanism, the driving wheel is located at the rear side of the overflow trough and located at the lower side, the first driven wheel, the second driven wheel are located at one end of the guide rail and located at the rear side of the overflow trough, and the third driven wheel and the fourth driven wheel are located at the other end of the guide rail and located at the rear side of the overflow trough.

Through arranging a plurality of driven wheels and driving wheels, the movement stroke of the spray gun can be met, and the spray gun can be combined with a driving mechanism and reasonably arranged in a limited space.

In an alternative embodiment of the present application, the flash tank further comprises a support block connected to the top of the flash tank, and the portion of the driving ring above the guide rail is supported by the support block.

The part of the driving ring above the guide rail is supported, so that the influence of interference between the driving ring and the guide rail caused by sagging of the driving ring on the movement of the spray gun and the scraping plate can be avoided.

In an alternative embodiment of the present application, the driving ring is a chain, and the guide wheel is a sprocket;

or the driving ring is a driving belt, and the guide wheel is a belt wheel.

The chain and sprocket or the driving belt and the belt wheel can realize the driving and guiding.

In an optional embodiment of the present application, the spray device further includes a first in-place sensor and a second in-place sensor, where the first in-place sensor is disposed at one end of the flash tank in the length direction, and the second in-place sensor is disposed at the other end of the flash tank in the length direction, and the first in-place sensor and the second in-place sensor are respectively used for limiting the extreme positions of the spray gun in the lateral movement in the length direction of the flash tank.

By providing a first in-place sensor and a second in-place sensor, the movement range of the spray gun can be effectively limited, so that the spray gun can move within a required range, and can be connected with or disconnected from the scraping plate according to the position of the spray gun.

In an alternative embodiment of the present application, the nozzle of the spray gun is located above the flash tank.

When the spray gun works, the slurry overflowed from the spray opening can be received by the overflow groove, so that the environment and equipment are prevented from being polluted.

Embodiments of the present application provide a spray robot, comprising:

a chassis;

the lifting mechanism is arranged on the chassis;

the rotating mechanism is arranged at the output end of the lifting mechanism;

the recovery hopper is arranged on the chassis; and

the spray device according to any one of the preceding claims, the spray device being connected to an output of the rotating mechanism;

the spraying and plastering robot comprises an operation state and a slurry recovery state, wherein in the operation state, the spraying gun and the scraping plate are in a separation state, the lifting mechanism drives the spraying and plastering device to ascend, the driving unit drives the spraying gun to spray materials left and right on an operation surface, and the plastering plate scrapes the slurry on the operation surface; under the state of pulp recovery, the spray gun and the scraping plate are in a connection state, the lifting mechanism drives the spraying device to ascend to the upper side of the recovery hopper, the rotating mechanism drives the spraying device to incline towards the recovery hopper, and the driving unit drives the scraping plate to scrape the pulp in the overflow chute and enable the pulp to fall into the recovery hopper.

By using the spraying and wiping device, the spraying and wiping robot can realize spraying and trowelling work on a working surface, can realize scraping of overflows, does not need to occupy additional installation space, and can meet the space requirement and stability requirement of actual operation.

In an alternative embodiment of the present application, the recovery hopper is on the right side of the chassis, and the drive unit comprises a drive mechanism on the lower left side of the chute.

According to the position of retrieving the hopper, the space below the flash tank can have different sizes, and when retrieving the hopper and being located the chassis right side, the lower left space of flash tank is bigger for the lower right side, utilizes it to install actuating mechanism, can improve the utilization ratio in space, not only makes actuating mechanism can play the effect, does not need additionally to occupy external space yet.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a spray robot provided in an embodiment of the present application;

FIG. 2 is an exploded view of the spray device;

FIG. 3 is a front view of the spray gun and scraper together after the device conceals the scraper;

FIG. 4 is an isometric view of the spray gun separated from the scraper after the scraper is removed from the device;

FIG. 5 is an exploded view of FIG. 4;

FIG. 6 is a schematic diagram of an unlocking mechanism and a first limit sensor;

FIG. 7 is a schematic view of another view of FIG. 6;

FIG. 8 is a view of the rear side of FIG. 4;

FIG. 9 is an enlarged partial view of portion A of FIG. 8;

FIG. 10 is an enlarged partial view of portion B of FIG. 8;

FIG. 11 is a schematic view of the positions of the spray gun, scraper and chain;

FIG. 12 is a schematic view of a spray gun and a scraper;

FIG. 13 is a schematic view of another view of FIG. 12;

FIG. 14 is a schematic view of the engagement block, engagement pin and push rod;

fig. 15 is a schematic layout of the guide wheel and chain.

Icon: 1000-spraying and wiping robot; 1001-chassis; 1002-a lifting mechanism; 1003-a rotation mechanism; 1004-a recovery hopper; 1005-drive assembly; 100-spraying and wiping device; 10-a plastering plate; 11-plastering a base; 20-a discharge chute; 21-supporting blocks; 212-ridge; 22-limiting sheets; 23-a cross shield; 30-spraying gun; 31-a first locking member; 310-clamping groove; 311-wide diameter section; 312-narrow diameter section; 32-a first mounting plate; 321-first section; 322-second section; 33-a first slider; 40-scraping plate; 401-large daughter board; 402-small daughter board; 41-a second locking member; 42-a second mounting plate; 421-third stage; 422-fourth stage; 43-a second slider; a 50-drive unit; 51-a driving mechanism; 511-an electric motor; 512-speed reducer; 513-synchronous belt; 52-a transmission mechanism; 521-driving ring; 5211-flexible cover; 522-guide wheels; 5221-drive wheel; 5222-first driven wheel; 5223-second driven wheel; 5224-third driven wheel; 5225-fourth driven wheel; 55-bearing; 60-a guide rail; 71-a first in-place sensor; 72-a second in-place sensor; 80-unlocking mechanism; 81-pushing rod; 82-cylinder; 90-connecting seats; 901-a cross plate; 902-risers; 91-a mounting base; 92-bearing seats; 93-knob.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be noted that, the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the product is conventionally put in use, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Examples

Referring to fig. 1, an embodiment of the present application provides a spray robot 1000, including:

a chassis 1001;

a lifting mechanism 1002, the lifting mechanism 1002 being provided on the chassis 1001;

a rotation mechanism 1003, the rotation mechanism 1003 being provided at an output end of the lifting mechanism 1002;

a recovery hopper 1004, the recovery hopper 1004 being provided on the chassis 1001; and

the spraying device 100, the spraying device 100 is connected with the output end of the rotating mechanism 1003.

The chassis 1001 can refer to the chassis of an AGV trolley used by a general building robot, can automatically move and position, and is convenient to transfer in different places; the lifting mechanism 1002 is a mechanism capable of performing multi-stage lifting, for example, a mechanism composed of multi-stage lifting modules for lifting a general spraying robot up and down, such as a three-stage lifting mechanism; the rotating mechanism 1003 may be a mechanism such as a rotary cylinder, which can drive the spraying device 100 to rotate, and the recovery hopper 1004 may be used to receive the slurry scraped from the spraying device 100, so as to facilitate recycling and reduce pollution of the slurry to the construction environment.

Referring to fig. 2, the spraying device 100 of the present application includes:

the plastering plate 10 is obliquely arranged along the up-down direction and is used for plastering from bottom to top on a working surface;

a overflow chute 20 positioned at the rear side of the plastering plate 10 for collecting surplus slurry when the plastering plate 10 performs plastering operation, one end of the overflow chute 20 in the length direction having a discharge port;

the spray gun 30 is used for spraying slurry on a working surface, the spray gun 30 is movably arranged relative to the overflow chute 20, and the moving direction of the spray gun 30 is the same as the length direction of the overflow chute 20;

the scraping plate 40 is movably arranged relative to the overflow chute 20, the moving direction of the scraping plate 40 is the same as the length direction of the overflow chute 20, and at least part of the scraping plate 40 extends into the overflow chute 20 and is used for discharging slurry in the overflow chute 20 from a discharge hole; and

the driving unit 50 is arranged on the overflow trough 20 and is in transmission connection with the spray gun 30;

the spray gun 30 and the scraper 40 have a connection state and a separation state therebetween, and in the connection state, the driving unit 50 drives the spray gun 30 to move along the length direction of the flash tank 20 together with the scraper 40; in the separated state, the driving unit 50 drives the spray gun 30 to move alone along the length direction of the burr groove 20.

The spraying robot 1000 includes a working state and a slurry recovery state, in the working state, the spraying gun 30 and the scraping plate 40 are in a separated state, the lifting mechanism 1002 drives the spraying device 100 to ascend, the driving unit 50 drives the spraying gun 30 to spray materials left and right on the working surface (wherein, the front-back change of the transverse movement of the spraying gun 30 can refer to the position indication of the spraying gun 30 in fig. 3 and 4), and the plastering plate 10 scrapes the slurry on the working surface; in the slurry recovery state, the spray gun 30 and the scraping plate 40 are in a connection state, the lifting mechanism 1002 drives the spraying device 100 to ascend to the upper side of the recovery hopper 1004, the rotating mechanism 1003 drives the spraying device 100 to incline towards the recovery hopper 1004, and the driving unit 50 drives the scraping plate 40 to scrape the slurry in the flash tank 20 and enable the slurry to fall into the recovery hopper 1004. Wherein the nozzle of the spray gun 30 is located above the chute 20. When the spray gun 30 works, the slurry overflowed from the spray opening can be received by the flash tank 20, so that the environment and equipment are prevented from being polluted.

Referring to fig. 2, the spraying device 100 includes a plastering base 11, a plastering plate 10 and a flash tank 20 are installed on the plastering base 11, the plastering base 11 is directly connected with an output end of a rotating mechanism 1003, in a working state, the plastering base 11 is gradually lifted, and meanwhile, left and right spraying guns 30 spray materials, and the plastering plate 10 can level the slurry on a working surface upwards. At this time, the slurry on the plastering plate 10 is gradually accumulated and overflows into the flash tank 20 from between the plastering plate and the working surface, and the slurry dropped during spraying by the spray gun 30 can also fall into the flash tank 20. After a period of time, the spray robot 1000 may be switched to a slurry recovery state, and the slurry in the flash tank 20 may be scraped off by the scraper 40, and the slurry may be recycled after falling into the recovery hopper 1004. Wherein, a driving component 1005 may be installed at the lower part of the recycling bin 1004, and the driving component 1005 is used for driving the recycling bin 1004 to protrude forward to receive the slurry to be recycled, and may drive the recycling bin 1004 to retract, so as to avoid affecting the normal operation of the spraying device 100.

The spray gun 30 and the scraping plate 40 can be connected or separated, so that the driving unit 50 can independently drive the spray gun 30 to transversely move or simultaneously drive the spray gun 30 and the scraping plate 40 to transversely move together, and two functions of spraying and scraping overflows are realized in the limited space of the overflow groove 20, and the existing technical problems can be effectively improved. By using the spraying and wiping device 100, the spraying and wiping robot 1000 can realize spraying and trowelling work on a working surface, can realize scraping off overflows, does not need to occupy additional installation space, and can meet the space requirement and stability requirement of actual operation.

Referring to fig. 1, the recovery hopper 1004 of the present application is positioned on the right side of the chassis 1001, and in conjunction with fig. 2-4 and 5, the drive unit 50 includes a drive mechanism 51 (shown in fig. 5), and the drive mechanism 51 is positioned on the lower left side of the overflow trough 20 (shown in fig. 2-4). Alternatively, the drive mechanism 51 may be positioned on the lower right side of the overflow trough 20 when the recovery hopper 1004 is on the left side of the chassis 1001. When the painting robot 1000 is in a working state, as shown in fig. 3 and 4, the spray gun 30 may be individually driven by the driving unit 50, moved from the left to the right in the view angle, and may be moved from the right to the left again, and by the back and forth movement, the back and forth painting of the working surface is achieved. At this time, the scraper 40 is kept stationary at the left side, and the slurry in the overflow chute 20 is prevented from being pushed out of the overflow chute 20, thereby polluting the machine body and the construction environment.

The space below the flash tank 20 may have different sizes according to the position of the recovery hopper 1004, and when the recovery hopper 1004 is located on the right side of the chassis 1001, the space S below the left side of the flash tank 20 is larger than the space T below the right side, and the driving mechanism 51 is installed by using the space S, so that the space utilization rate can be improved, the driving mechanism 51 can function, and the external space is not required to be additionally occupied. It will be appreciated that the plastering base 11 can refer to the base of the plastering mechanism of the existing actuator, the size of the plastering base cannot be too large, and the internal space is small, because the plastering base 11 needs to pass through the space such as a porch when working indoors, the whole length of the plastering base 11 is greatly limited, the installation requirement cannot be met simply by expanding the space, and the left space is larger than the right space, so that the driving mechanism 51 can be arranged by utilizing the space, the existing structure is effectively utilized, the difficulty of transformation is reduced, and the cost is saved. As is apparent from fig. 3, the driving unit 50 occupies only a small space downward compared to the flash tank 20, and does not occupy space in the longitudinal direction of the flash tank 20, while the space S corresponds to the lower part, and in this limited space, the driving member installation requirement of the traverse driving of the spray gun 30 is satisfied. As can be seen from fig. 4, the shape of the scraper 40 is adapted to the contour of the inside of the flash tank 20, and when the spray gun 30 is connected to the scraper 40, the scraper 40 can move from left to right with the spray gun 30 to scrape the slurry in the flash tank 20.

Referring to fig. 5 and 8, the spray device 100 further includes:

a guide rail 60 fixed to the rear side of the overflow chute 20, and both the lance 30 and the scraper 40 are slidably provided on the guide rail 60.

The guide rail 60 can guide the movement of the spray gun 30 and the scraper 40, and the guide rail 60 is provided at the rear side of the overflow chute 20, thereby saving space. In this embodiment, only one guide rail 60 is adopted, so that the consistency of the moving directions of the spray gun 30 and the scraping plate 40 can be ensured, alternatively, a rail can be respectively provided for the spray gun 30 and the scraping plate 40 as the guide rail 60, and the first sliding block 33 and the second sliding block 43 below need to be respectively installed on one guide rail 60 and distributed up and down, and the two guide rails 60 are arranged side by side up and down, so that interference is avoided. And the positions of the corresponding clamping blocks and the corresponding clamping pins are also adapted to adjustment, so that the matching requirement is met.

The existing equipment and materials can be selected and modified by the skilled person as long as the installation space allows.

Referring to fig. 8 to 10, the driving unit 50 includes a driving mechanism 51 and a transmission mechanism 52, the driving mechanism 51 is disposed at one end of the guide rail 60 and is located below the overflow chute 20, the transmission mechanism 52 includes a driving ring 521 and a plurality of guide wheels 522, the guide wheels 522 are disposed at the rear side of the overflow chute 20, the driving ring 521 is wound around the guide wheels 522, the spray gun 30 is fixedly connected with the driving ring 521, and the output end of the driving mechanism 51 is connected with the guide wheels 522. The driving mechanism 51 of the present embodiment adopts a motor 511 and a speed reducer 512, both of which are fixed to the lower side of the overflow chute 20 and to the side wall of the overflow chute 20, so as to ensure the stability of connection, and the output end of the speed reducer 512 is connected to a driving wheel 5221. Further, as shown in fig. 4, the output end of the motor 511 is below the flash tank 20 and faces the front side, and is in driving engagement with the input end of the speed reducer 512 through the timing belt 513. Referring to fig. 5, the output end of the speed reducer 512 is below the flash tank 20 and faces to the rear, so that the space occupied in the front-rear direction can be reduced.

The guide wheel 522 can guide the rotation path of the driving ring 521, and is arranged at the rear side of the overflow chute 20 together with the driving ring 521, so that the rear space can be effectively utilized, and the driving ring 521 can drive the spray gun 30 to move, thereby meeting the operation requirement. In addition, since the guide rail 60, the guide wheel 522 and the driving ring 521 are disposed in the rear space of the overflow tank 20, the slurry can be blocked by the overflow tank 20 during the spraying operation, thereby preventing the components in the rear space from being contaminated. The top of the flash tank 20 is provided with a cross shielding plate 23, and the cross shielding plate 23 can protect structures such as a chain, a supporting block 21, a guide rail 60 and the like below in the vertical direction, so that slurry is prevented from penetrating.

Referring to fig. 9, 10 and 15, the plurality of guide wheels 522 are divided into a driving wheel 5221, a first driven wheel 5222, a second driven wheel 5223, a third driven wheel 5224 and a fourth driven wheel 5225, the driving wheel 5221 is connected to an output end of the driving mechanism 51, the driving wheel 5221 is located at a rear side and a lower side of the overflow trough 20, the first driven wheel 5222 and the second driven wheel 5223 are located at one end of the guide rail 60 and at a rear side of the overflow trough 20, and the third driven wheel 5224 and the fourth driven wheel 5225 are located at the other end of the guide rail 60 and at a rear side of the overflow trough 20. In fig. 10 and 15, the second driven wheel 5223 is located between and above the motor 511 and the speed reducer 512, so that the chain can be guided to prevent interference with the motor 511 and the speed reducer 512, and the free space is utilized in the vertical direction.

By arranging a plurality of driven wheels and driving wheels 5221, the movement stroke of the spray gun 30 can be satisfied, and the spray gun can be reasonably arranged in a limited space by combining with the driving mechanism 51. The first in-place sensor 71 and the cylinder 82 are both disposed on the same connecting seat 90 and sequentially disposed on the transverse plate 901 of the connecting seat 90, so that the movement direction of the spray gun 30 can be complied, when the spray gun 30 passes the first in-place sensor 71, the first in-place sensor is detected, and when the spray gun 30 drives the scraper 40 to move to be detected by the first in-place sensor 71, the piston rod of the cylinder 82 can be just clamped into the clamping groove 310 of the clamping block.

The riser 902 of the connecting seat 90 may be provided with bearings 55 for the first driven wheel 5222 and the second driven wheel 5223, and the riser 902 of the connecting seat 90 may be connected to the flash tank 20. Thus, the mounting requirement is met, the structure can be simplified, and each component is not required to be provided with a connecting component independently. In addition, as shown in fig. 10, the right side wall of the connecting seat 90 is matched with the inner side surface of the right side wall of the flash tank 20, and is integrally located on the upper side of the motor 511 and the speed reducer 512, so that the requirements of installation and fixation of the components can be met, meanwhile, a limited space can be utilized as far as possible, occupation of the space behind the plastering base 11 is reduced, the space of the plastering base 11, which is located on the rear side of the flash tank 20, is extremely limited, the lateral movement of the spray gun 30 is allowed, the spray gun 30 and the scraping plate 40 can be unlocked and locked, and the design difficulty is extremely high. As shown in fig. 9, the third driven wheel 5224 and the fourth driven wheel 5225 are mounted on the left back of the flash tank 20 through the bearing block 92, and the second in-place sensor 72 can be directly mounted on the bearing block 92 without additional configuration of a connecting member. With the above-described designs, the installation and use of the components can be accomplished in a limited space, so that the spray gun 30 does not need to be additionally provided with a traversing power mechanism and a transmission mechanism 52.

Referring to fig. 5, the flash tank 20 further includes a supporting block 21, the supporting block 21 is connected to the top of the flash tank 20, and the portion of the driving ring 521 above the guide rail 60 is supported by the supporting block 21. By supporting the portion of the driving ring 521 above the guide rail 60, the sagging of the driving ring 521, which causes interference with the guide rail 60, can be prevented from affecting the movement of the spray gun 30 and the scraper 40. The number of the supporting blocks 21 in this embodiment is plural and distributed at intervals, so that the driving ring 521 is supported by sections, and the driving ring 521 is prevented from sagging to interfere with the guide rail 60 as much as possible. Of course, the stopper piece 22 may be provided on the flash tank 20, and the stopper piece 22 may be located below the portion of the driving ring 521 located below the guide rail 60, so that the portion of the driving ring 521 located below the guide rail 60 may be prevented from sagging and interfering with other mechanisms.

The driving ring 521 is a chain, and the guide wheel 522 is a sprocket;

alternatively, the driving ring 521 is a driving belt, and the guide wheel 522 is a belt wheel.

The embodiment adopts the matching of the chain and the chain wheel, and the dimension of the chain in the width direction is smaller than that of the belt wheel and the driving belt, so that the occupation of space can be further reduced. Of course, the pulley and belt arrangement works as well when the installation space is sufficient and is not therefore to be construed restrictively as necessarily not being the case with the sprocket and chain arrangement. In addition, the supporting block 21 is provided with the convex ridge 212 which can be matched with a roller of the chain, so that rolling friction is formed between the chain and the supporting block 21, resistance is reduced, and smooth rotation of the chain is ensured. A flexible cover 5211 can be arranged outside the chain, as shown in fig. 5, and the chain is covered, so that the falling of lubricating oil on the chain or fragments generated by friction is avoided, the guide rail 60 is avoided to a certain extent, and the sliding of the spray gun 30 and the scraping plate 40 is prevented.

Referring to fig. 5 to 7 and fig. 9, the spraying device 100 of the present application further includes a first in-place sensor 71 and a second in-place sensor 72, where the first in-place sensor 71 is disposed at one end of the overflow trough 20 in the length direction, the second in-place sensor 72 is disposed at the other end of the overflow trough 20 in the length direction, and the first in-place sensor 71 and the second in-place sensor 72 are respectively used for limiting the extreme position of the spray gun 30 in the lateral movement of the overflow trough 20 in the length direction. The first in-place sensor 71 and the second in-place sensor 72 may be detection members such as photoelectric switches and travel switches. By providing the first in-place sensor 71 and the second in-place sensor 72, the movement range of the spray gun 30 can be effectively defined so that the spray gun 30 can move within a desired range and can be connected to or disconnected from the scraper 40 according to the position of the spray gun 30. In detail, when the following first mounting plate 32 moves to the left in fig. 5 along with the first slider 33, the second in-place sensor 72 can recognize the first mounting plate 32 and feed back a signal to the controller of the spraying robot 1000, the controller can control the motor 511 to rotate reversely so that the chain drives the spray gun 30 to move rightwards, and when the first in-place sensor 71 moves to the right, the first in-place sensor 71 can recognize that the spray gun 30 is in place, at this time, the controller can either make the motor 511 rotate positively to enable the spray gun 30 to move leftwards according to the requirement of continuous operation or control the piston rod of the cylinder 82 to retract according to the requirement of scraping off the flash, so that the following second locking piece 41 is clamped into the first locking piece 31, and the spray gun 30 is connected and locked with the scraping plate 40. Thus, when the spray gun 30 is driven by the motor 511 again, the scraper 40 is driven to move leftwards, and the position can be detected by the second in-place sensor 72, so that the scraper 40 can be determined to move in place.

In detail, as shown in fig. 11 to 13, the spray gun 30 is provided with a first locking piece 31, the scraper 40 is provided with a second locking piece 41, and the spray gun 30 and the scraper 40 are in a connected state when the first locking piece 31 and the second locking piece 41 are engaged; the spraying device 100 further comprises an unlocking mechanism 80 (as shown in fig. 5 to 7), and the unlocking mechanism 80 is used for driving the second locking piece 41 to disengage from the first locking piece 31 so as to switch the spray gun 30 and the scraping plate 40 to a separated state. The first locking piece 31 and the second locking piece 41 can be mutually locked, and can be unlocked under the driving of the unlocking mechanism 80, so that the matching requirement of the spray gun 30 and the scraping plate 40 can be met. As shown in fig. 13, the scraping plate 40 in this embodiment is formed by overlapping a plurality of sub-plates, the large sub-plate 401 can completely fit the outline of the groove wall and the groove bottom of the overflow groove 20, the small sub-plate 402 can strengthen the structural strength of the large sub-plate 401, ensure the stability of scraping slurry when scraping overflows, and prevent the slurry from being scraped to the left end of the overflow groove 20 when the scraping plate 40 moves back due to deformation.

In detail, in the present embodiment, the first locking member 31 is a locking block, the second locking member 41 is a locking pin, the locking block has a locking groove 310 matched with the locking pin, and the locking pin is movably arranged on the scraper 40 and can only enter and exit from the locking groove 310 in the axial direction, and cannot escape from the locking groove 310 in the traverse direction of the spray gun 30, so that the reliability of the connection state is ensured. In addition, the clamping groove 310 is matched with the outline of the clamping pin, so that the situation that the scraping plate 40 moves with hysteresis due to a gap between the clamping groove 310 and the clamping pin when the spraying gun 30 drives the scraping plate 40 to transversely move can be avoided. Specifically, the nozzle of the spray gun 30 is connected to the first slider 33 through the first mounting plate 32, the mounting seat 91 for connecting a chain is further provided at the lower end of the first mounting plate 32, the scraper 40 is connected to the second slider 43 through the second mounting plate 42, the first slider 33 and the second slider 43 are slidably disposed on the guide rail 60, the engaging block is connected to the first slider 33, and the engaging pin is connected to the second slider 43.

The clamping block and the clamping pin are simple in structure and small in occupied space, and can meet the locking and unlocking functions, reduce the requirement on space and more fully utilize the space. Alternatively, the engagement pin may be other prismatic, shaped, or the like, besides being designed into a cylinder, so long as the engagement pin can ensure that the gun 30 does not have hysteresis when driving the scraper 40 to move when engaged with the engagement groove 310.

With further reference to fig. 8 and fig. 12 and 13, the first mounting plate 32 has a first section 321 and a second section 322, the second mounting plate 42 has a third section 421 and a fourth section 422, the first section 321 may be connected to the first slider 33, the second section 322 may be connected to the spray gun 30 (as shown in fig. 13, the upwardly bent portion of the second section 322 may be connected to a bent plate on the spray gun 30 through a knob 93, so that the spray gun 30 may be replaced by disassembling the knob 93 alone, so as to facilitate maintenance), while the second section 322 is connected to the spray gun 30 after being bent forward compared with the first section 321, the third section 421 may be connected to the second slider 43, and the fourth section 422 is connected to the scraper 40 after being bent forward (as shown in fig. 13, the fourth section 422 also uses the knob 93 to be connected to the scraper 40, so as to facilitate periodic replacement of the scraper 40, and ensure the reliability of the scrapes), so that the spray gun 30 and the scraper 40 may work in front of the spray gun 20, and the first slider, the second slider 43 may be replaced, so as to facilitate maintenance, and repair of the first slider 43, and repair may be completed. As shown in fig. 8, neither the lance 30 nor the scraper 40 interfere with the space behind the flash tank 20. In this way, the projection of each component and mechanism installed on the flash tank 20 in the vertical direction does not exceed the rear side wall of the plastering base 11, so that the whole plastering device 100 does not interfere with other mechanisms of the plastering robot 1000, and the normal lifting or rotating actions of the plastering device 100 are not affected, and in the existing space, the driving of the spray gun 30 and the hanging plate by single power is realized.

With the movement direction of the spray gun 30 being a first direction X (shown in fig. 12) and the direction perpendicular to the first direction being a second direction Y (shown in fig. 12), referring to fig. 14, the clamping groove 310 includes a wide diameter section 311 and a narrow diameter section 312 distributed along the first direction, the unlocking mechanism 80 includes a push rod 81 capable of stretching along the second direction, the push rod 81 can push the clamping pin to separate from the wide diameter section 311 in the second direction, and when the spray gun 30 moves, the push rod 81 separates from the wide diameter section 311 or enters the wide diameter section 311 from the narrow diameter section 312.

Referring to fig. 14, the width of the push rod 81 is d1, the width of the narrow diameter section 312 is d2, and the width of the engagement pin is d3, so as to satisfy the following conditions: d1 < d2 < d3.

By designing the width of the push rod 81, the width of the narrow diameter section 312 and the width of the locking pin, when the push rod 81 does not work, the narrow diameter section 312 can limit the transverse movement of the locking pin, when the push rod 81 pushes the locking pin in the second direction, the locking pin can be separated from the wide diameter section 311 in the axial direction (i.e. the Y direction of FIG. 12), and because the width of the narrow diameter section 312 is larger than the width of the push rod 81, the push rod 81 cannot interfere with the movement of the locking block, the spray gun 30 can move to the left side of FIG. 14 directly when the spray gun moves transversely, and the scraping plate 40 cannot be driven because the locking pin is separated from the locking groove 310.

In detail, one end of the locking pin is provided with a spring (mounted in the second slider 43), the unlocking mechanism 80 drives the push rod 81 by using the air cylinder 82, when the air cylinder 82 pushes the push rod 81 to move, the locking pin moves in the axial direction, so that the spring is compressed, the locking pin is separated from the wide diameter section 311, at this time, the push rod 81 keeps pressing the locking pin, when the driving mechanism 51 drives the spray gun 30 to move to the left in fig. 14, the movement of the locking block is not affected because the locking pin is separated from the wide diameter section 311, the movement of the spray gun 30 is not affected, and the push rod 81 also does not affect the leftward movement of the locking block because the size of the push rod 81 is smaller than that of the narrow diameter section 312. When the spray gun 30 moves from left to right to the first in-place sensor 71, the push rod 81 gradually enters the wide-diameter section 311 from the narrow-diameter section 312, and the spray gun 30 can move leftwards under the control of the controller after being in place due to no interference. When the slurry needs to be scraped, the spray gun 30 moves to a position triggering the first in-place sensor 71, at this time, the air cylinder 82 drives the push rod 81 reversely, so that the push rod 81 is retracted, the restoring force of the spring enables the clamping pin to reenter the wide-diameter section 311 to be matched with the clamping block, and when the driving mechanism 51 drives the spray gun 30 to move again, the clamping block can drag the clamping pin to move together, so that the spray gun 30 can drive the scraping plate 40 to move together.

Alternatively, the spring of the engaging pin may be designed not to rebound after one pressing (refer to the principle of a conventional fan shift button), the engaging pin may be kept at a position separated from the wide-diameter section 311, at this time, the air cylinder 82 may drive the push rod 81 to retract, separate from the wide-diameter section 311, and then the driving mechanism 51 may drive the spray gun 30 to move independently. Thus, the narrow diameter section 312 can be removed from the slot 310, and the wide diameter section 311 is in the shape of a hole, which makes it easier to process the structure during production. When the clamping block needs to be matched with the clamping pin to drive the scraping plate 40 to move, the spray gun 30 moves to the position of the first in-place sensor 71, after the spray gun 30 is detected to be in place, the air cylinder 82 pushes the push rod 81 to extend again, the clamping pin is pressed once and then withdrawn again, at the moment, the spring can be reset, the clamping pin is ejected out and clamped into the clamping groove 310, and then the movement of the spray gun 30 can be transmitted to the scraping plate 40.

Besides, besides the scheme of matching the illustrated clamping pin with the clamping block, there are many structures to realize clamping and separating, for example, structures such as a jan type coupler can be adopted to complete connection of the spray gun 30 and the scraper 40, and the cylinder 82 can be correspondingly modified, so that the driving of the cylinder 82 can unlock the structures such as the jan type coupler. The connection and disconnection scheme adopted in the present embodiment is not high in requirement for the cylinder 82, and a short stroke cylinder 82 may be used to facilitate the unlocking work in a limited space. The selection of the components can be made by those skilled in the art as desired.

It will be appreciated that the spraying and plastering integrated machine can be manufactured only by realizing the spraying and plastering integrated machine, and the corresponding actuators should realize the alarming of the left and right feed shafts, the arrangement of the flash scraping mechanism, the traversing of the spray gun 30, the arrangement of the plastering plate turnover mechanism and the like within a limited size. In the prior art, the single machine of the strickling machine is not provided with a traversing mechanism of the spray gun 30, the length and the size of the whole machine are close to the limit, and the spraying and plastering integrated machine can simultaneously realize the functions of the strickling machine and the spraying machine, so that the traversing mechanism of the spray gun 30 is not realized if the spraying and plastering integrated machine is singly added on the basis.

In this embodiment, the spray gun 30 and the scraper 40 are driven by the same driving unit 50, and the spray gun 30 and the scraper 40 are mutually locked by the first locking member 31 and the second locking member 41, and the first locking member 31 and the second locking member 41 are unlocked by the unlocking structure, so that the spraying device 100 has two working modes, one is to independently drive the spray gun 30 to transversely move and spray materials, and the other is to drive the scraper 40 to move together to scrape the slurry in the flash tank 20.

Through the unblock and the design of integral connection of this application, can realize spraying and scrape the layout of the required part of two kinds of functions of flash in limited space, overall structure is compact, does not occupy extra space, does not influence the size of original scraper single machine used executor. Because the spray gun 30 and the scraping plate 40 share one driving unit 50 and share one guide rail 60, the space utilization rate is high, the weight increase of the whole parts is small, and through practice, the weight increase is hardly brought about, so that the stability of the whole spraying robot 1000 is not affected by the addition of functions, the stable running and stable operation can be realized, and the whole machine is overturned due to no large weight increase. Meanwhile, since there is no need to additionally provide a set of traversing mechanism, power system and slide rail system for the spray gun 30, the cost of the whole spray device 100 and the spray robot 1000 is hardly increased, and the economic benefit is extremely high.

To sum up, the spraying device 100 of the present application can independently drive the spraying gun 30 to perform the transverse spraying through the independent driving unit 50, and can also drive the spraying gun 30 to move together with the scraping plate 40 after the spraying gun 30 is connected with the scraping plate 40, so as to realize the scraping of the redundant slurry in the flash tank 20, and the transverse driving mechanism 51 is not required to be independently configured for the spraying gun 30 or the scraping plate 40, so that the spraying and plastering can be effectively simplified in structure, and the stability of the spraying robot 1000 adopting the spraying device 100 is not required to occupy additional installation space.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A spray device, comprising:

the driving unit is in transmission connection with the spray gun;

2. The spray device of claim 1, wherein the spray gun is provided with a first locking member and the scraper plate is provided with a second locking member, the spray gun and the scraper plate being in the connected state when the first locking member and the second locking member are mated;

3. The spray device of claim 2, wherein the first locking member is a locking block, the second locking member is a locking pin, the locking block has a locking groove matched with the locking pin, and the locking pin is movably arranged on the scraping plate.

4. The spray device according to claim 3, wherein the movement direction of the spray gun is taken as a first direction, a direction perpendicular to the first direction is taken as a second direction, the clamping groove comprises a wide diameter section and a narrow diameter section which are distributed along the first direction, the unlocking mechanism comprises a push rod which can stretch along the second direction, the push rod can push the clamping pin to be separated from the wide diameter section in the second direction, and when the spray gun moves, the push rod is separated from the narrow diameter section or enters the wide diameter section;

5. The spray device of claim 1, wherein the spray device further comprises:

6. The spray device of claim 5, wherein the driving unit comprises a driving mechanism and a transmission mechanism, the driving mechanism is arranged at one end of the guide rail and is positioned below the flash tank, the transmission mechanism comprises a driving ring and a plurality of guide wheels, the guide wheels are arranged at the rear side of the flash tank, the driving ring is wound on the guide wheels, the spray gun is fixedly connected with the driving ring, and the output end of the driving mechanism is connected with the guide wheels.

7. The spray device of claim 6, wherein the plurality of guide wheels are divided into a driving wheel, a first driven wheel, a second driven wheel, a third driven wheel and a fourth driven wheel, the driving wheel is connected to the output end of the driving mechanism, the driving wheel is located at the rear side of the overflow trough and at the lower side, the first driven wheel and the second driven wheel are located at one end of the guide rail and at the rear side of the overflow trough, and the third driven wheel and the fourth driven wheel are located at the other end of the guide rail and at the rear side of the overflow trough.

8. The spray device of claim 6 wherein said flash tank further comprises a shoe attached to the top of the flash tank, the portion of said drive ring above said guide rail being supported by said shoe.

9. The spray device of claim 6, wherein the drive ring is a chain and the guide wheel is a sprocket;

or the driving ring is a driving belt, and the guide wheel is a belt wheel.

10. The spray device of claim 1, further comprising a first in-place sensor and a second in-place sensor, wherein the first in-place sensor is disposed at one end of the flash tank in the length direction, the second in-place sensor is disposed at the other end of the flash tank in the length direction, and the first in-place sensor and the second in-place sensor are respectively used for limiting the extreme positions of the spray gun in the transverse movement of the flash tank in the length direction.

11. The spray device of claim 1, wherein the nozzle of the spray gun is located above the flash tank.

12. A spray robot, comprising:

a chassis;

The lifting mechanism is arranged on the chassis;

the rotating mechanism is arranged at the output end of the lifting mechanism;

the recovery hopper is arranged on the chassis; and

the spray device according to any one of claims 1-11, which is connected to an output of the rotating mechanism;

13. The spray robot of claim 12, wherein the recovery hopper is on the right side of the chassis, and the drive unit includes a drive mechanism on the lower left side of the chute.