CN210217046U - All-round intelligent wall painting machine of arm formula - Google Patents
All-round intelligent wall painting machine of arm formula Download PDFInfo
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- CN210217046U CN210217046U CN201920076054.4U CN201920076054U CN210217046U CN 210217046 U CN210217046 U CN 210217046U CN 201920076054 U CN201920076054 U CN 201920076054U CN 210217046 U CN210217046 U CN 210217046U
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Abstract
The utility model relates to an all-round intelligent machine of wipeing wall of arm formula relates to industrial robot technical field, and the technical problem of solution is that the machine of wipeing wall can't brush and construct flexibility, intelligent degree low to corner position. The wall painting machine comprises a frame device, a mechanical arm device and an execution device, wherein the mechanical arm device is installed on the frame device, the tail end of the mechanical arm device is connected with the execution device, and the mechanical arm device controls the execution device to finish the wall painting action. The frame device can move along the ground and comprises a belt wheel moving vehicle body platform, a hydraulic lifting platform and a coating bucket, wherein the hydraulic lifting platform is fixedly arranged on the belt wheel moving vehicle body platform, and the coating bucket is arranged on the top surface of the hydraulic lifting platform. The utility model discloses can brush and mechanism flexibility, intelligent degree height to corner position.
Description
Technical Field
The utility model relates to an industrial robot technical field especially relates to an all-round intelligent wall painting machine of arm formula, including frame device, arm device and final controlling element.
Background
In recent years, with the development of urbanization construction, more and more high-rise buildings are built, wall painting is an indispensable part, and the wall painting not only improves the appearance, but also plays a role in protecting the wall body. At present, the traditional manual wall painting is replaced by a wall painting machine gradually due to low efficiency, poor quality and high cost.
Chinese invention CN104631793A discloses an intelligent lifting wall painting machine with adjustable angle of fixed-step rolling brush driven by chain wheel and chain, which utilizes a chain wheel and chain transmission device to automatically adjust the height of the rolling brush to complete large-area painting work. Although the wall painting machine has certain automation, the wall painting machine has obvious advantages in terms of painting quality and painting efficiency, the problems that the wall corner position cannot be brushed and the flexibility of the mechanism is low still exist, and the intelligent degree is not high.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides a technical problem be the machine of wipeing the wall can't brush and construct flexibility, intelligent degree low to corner position.
For solving the technical problem, the utility model discloses a technical scheme be an all-round intelligent wall painting machine of arm-type, including frame device, arm device and actuating device, the arm device is installed on the frame device, arm device end-to-end connection actuating device, arm device control actuating device accomplishes the wall body and whitewashes the action.
The frame device can move along the ground and comprises a belt wheel moving vehicle body platform, a hydraulic lifting platform and a coating bucket, wherein the hydraulic lifting platform is fixedly arranged on the belt wheel moving vehicle body platform, and the coating bucket is arranged on the top surface of the hydraulic lifting platform.
The belt wheel moving vehicle body platform comprises a wheel brake lock arranged on a wheel and a fixed lifting support rod arranged under the vehicle body platform, the wheel brake lock is used for limiting the wheel to move along the ground, and the fixed lifting support rod is used for improving the reliability of the fixation of a vehicle frame and the stability of the work of a mechanical arm.
The hydraulic lifting platform is driven by four hydraulic lifting columns symmetrically arranged on the vehicle body platform to lift.
The mechanical arm device comprises a mechanical arm, a positioning camera, a detection camera and a control box, wherein the positioning camera and the detection camera are arranged at the tail end of the mechanical arm and electrically connected with the control box, the positioning camera and the detection camera are arranged at the top end of the mechanical arm and transmit image information to the control box, and the control box controls the mechanical arm and the hydraulic lifting platform to act.
The mechanical arm comprises a base, a large arm, a small arm, a first rotating joint, a second rotating joint and a third rotating joint, the base 211 is fixed to the upper surface of the hydraulic lifting platform through screws, the large arm is hinged to the base through the first rotating joint, the large arm and the small arm are connected in series through the second rotating joint, the third rotating joint is fixed to the tail end of the small arm, and a positioning camera and a detection camera are mounted on two sides of the third rotating joint.
The rotary joint comprises an absolute encoder, a relative encoder, a brake, a servo direct drive motor and a speed reducer inside, wherein the speed reducer is provided with a rotating shaft, and the absolute encoder, the relative encoder, the brake and the servo direct drive motor are sequentially fixed on the rotating shaft from left to right to realize the assembly with the speed reducer; the rotation of each rotary joint is realized by the drive of a servo direct drive motor, the control box controls the start of the servo direct drive motor, the speed reducer reduces the output rotating speed of the servo direct drive motor to enable the moving mechanical arm to obtain a proper moving speed, the absolute encoder and the relative encoder are used for recording the rotating angle of each rotary joint and the position information of the executing device, and the servo direct drive motor is braked by the brake after the moving mechanical arm moves to a specified position.
The executing device comprises a rolling brush and a hairbrush; the rolling brush comprises a rolling brush support, a roller and a roller shaft, the roller is sleeved on the roller shaft, two ends of the roller shaft are rigidly connected to the inner surfaces of the left side and the right side of the rolling brush support, and the rolling brush and the hairbrush are respectively hinged to two ends of a third rotating joint through screws;
compared with the prior art, the beneficial effects of the utility model are that:
(1) adopt light and handy nimble motion arm, operating space is big, can the automatic adjustment round brush and the position and the direction of brush to can carry out the operation of repeatability plastering a wall for a long time, the movement speed is fast, has not only improved the speed of plastering a wall, has realized the automation of plastering a wall moreover.
(2) The tail end of the mechanical arm is provided with the positioning camera and the detection camera which are respectively used for determining the region to be brushed and the region to be brushed in the detection leakage manner, so that the wall surfaces with all heights and angles can be brushed, the wall brushing quality is improved, and the intellectualization of wall brushing is realized.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of the carriage assembly;
FIG. 3 is a schematic view of a robotic arm assembly;
FIG. 4 is a cross-sectional view of the internal structure of the revolute joint;
FIG. 5 is a schematic diagram of an execution apparatus.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings, but the present invention is not limited thereto.
Fig. 1 shows a mechanical arm type omnibearing intelligent wall painting machine, which comprises a frame device 1, a mechanical arm device 2 and an execution device 3, wherein the mechanical arm device 2 is installed on the frame device 1, the tail end of the mechanical arm device 2 is connected with the execution device 3, and the mechanical arm device 2 controls the execution device 3 to act to finish the wall painting action.
As shown in fig. 2, the carriage assembly 1 is movable along the ground, and includes a wheeled mobile vehicle body platform 11, a hydraulic lifting platform 12, and a paint bucket 13, wherein the hydraulic lifting platform 12 is fixedly mounted on the wheeled mobile vehicle body platform 11, and the paint bucket 13 is disposed on the top surface of the hydraulic lifting platform 12.
The belt wheel mobile vehicle body platform 11 comprises wheel brake locks 14 mounted on wheels and fixed lifting support rods 15 mounted below the vehicle body platform, the wheel brake locks 14 are used for limiting the wheels to move along the ground, and the fixed lifting support rods 15 are used for improving the reliability of frame fixation and the stability of mechanical arm work.
The hydraulic lifting platform 12 is driven by four hydraulic lifting columns 16 symmetrically arranged on the vehicle body platform to realize lifting.
As shown in fig. 3, the robot arm device 2 includes a robot arm 21, a positioning camera 22, a detection camera 23 and a control box 24, the positioning camera 22 and the detection camera 23 are installed at the end of the robot arm 21 and electrically connected to the control box 24, and are installed at the top end of the robot arm 21 to transmit image information to the control box 24, and the control box 24 controls the robot arm 21 and the hydraulic lifting platform 12 to operate.
The mechanical arm 21 comprises a base 211, a large arm 212, a small arm 213, a first rotating joint 214, a second rotating joint 215 and a third rotating joint 216, the base 211 is fixed on the upper surface of the hydraulic lifting platform 12 through screws, the large arm 212 is hinged to the base 211 through the first rotating joint 214, the large arm 212 and the small arm 213 are connected in series through the second rotating joint 215, the third rotating joint 216 is fixed at the tail end of the small arm 213, and the positioning camera 22 and the detection camera 23 are mounted on two sides of the third rotating joint 216.
As shown in fig. 4, the interior of the rotary joint includes an absolute encoder 2101, a relative encoder 2102, a brake 2103, a servo direct drive motor 2104 and a speed reducer 2105, the speed reducer 2105 is provided with a rotating shaft 2106, and the absolute encoder 2101, the relative encoder 2102, the brake 2103 and the servo direct drive motor 2104 are sequentially fixed on the rotating shaft 2106 from left to right to realize assembly with the speed reducer 2105; the rotation of each rotary joint is realized by the drive of the servo direct drive motor 2104, the control box 24 controls the start of the servo direct drive motor 2104, the speed reducer 2105 reduces the output rotating speed of the servo direct drive motor 2104 to enable the motion mechanical arm 21 to obtain a proper motion speed, the absolute encoder 2101 and the relative encoder 2102 are used for recording the rotating angle of each rotary joint and the position information of the executing device 3, and after the motion mechanical arm 21 moves to a specified position, the brake 2103 brakes the servo direct drive motor 2104.
As shown in fig. 5, the executing device 3 includes a rolling brush 31 and a brush 32; the rolling brush 31 comprises a rolling brush support 311, a roller 313 and a roller shaft 312, the roller 313 is sleeved on the roller shaft 312, two ends of the roller shaft 312 are just connected to the inner surfaces of the left side and the right side of the rolling brush support 311, and the rolling brush 31 and the hair brush 32 are respectively hinged to two ends of the third rotating joint 216 through screws.
The utility model discloses the working process:
the frame device 1 is moved to a working position, the control box 24 is started, the positioning camera 22 and the detection camera 23 start working, image information is converted into corresponding code instructions to be sent to the moving mechanical arm 21, the moving of the moving mechanical arm 21 is realized by driving each rotating joint, and the rolling brush 31 and the hair brush 32 of the executing device 3 are driven to work. Meanwhile, the positioning camera 22 and the detection camera 23 synchronously monitor, track and feed back in real time, position the area to be brushed, transmit image position information to the control box 24, and the control box 24 controls the hydraulic lifting platform 12 to lift so as to meet the height change of the construction position. When the wall surface is integrally coated once, the detection camera 23 starts to operate to detect the brushing missing area, and when the brushing missing area is found, the third rotating joint 216 is rotated, the positions of the rolling brush 31 and the brush 32 are adjusted, and the brush 32 is operated to perform second wall coating work on the brushing missing area such as a corner; paint is conveyed to the rolling brush 31 and the hairbrush 32 by the paint conveying pipe 17 through the paint conveying barrel 13, and the rolling brush 31 and the hairbrush 32 can change positions in the painting process, so that the paint conveying pipe 17 is a flexible telescopic pipe, has good flexibility and elasticity, and ensures the service life.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) adopt light and handy nimble motion arm, operating space is big, can the automatic adjustment round brush and the position and the direction of brush to can carry out the operation of repeatability plastering a wall for a long time, the movement speed is fast, has not only improved the speed of plastering a wall, has realized the automation of plastering a wall moreover.
(2) The tail end of the mechanical arm is provided with the positioning camera and the detection camera which are respectively used for determining the region to be brushed and the region to be brushed in the detection leakage manner, so that the wall surfaces with all heights and angles can be brushed, the wall brushing quality is improved, and the intellectualization of wall brushing is realized.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention.
Claims (6)
1. A mechanical arm type omnibearing intelligent wall painting machine, which comprises a frame device (1), a mechanical arm device (2) and an execution device (3), the mechanical arm device (2) is arranged on the frame device (1), the tail end of the mechanical arm device (2) is connected with the execution device (3), the mechanical arm device (2) controls the execution device (3) to finish the wall painting action, the frame device (1) comprises a belt wheel moving vehicle body platform (11), a hydraulic lifting platform (12) and a coating bucket (13), the paint bucket (13) is arranged on the top surface of the hydraulic lifting platform (12), it is characterized in that the hydraulic lifting platform (12) is fixedly arranged on the belt wheel moving vehicle body platform (11), the hydraulic lifting platform (12) is driven by four hydraulic lifting columns (16) symmetrically arranged on the vehicle body platform to lift.
2. The mechanical arm type omnibearing intelligent wall painting machine according to claim 1, wherein said wheeled mobile vehicle platform (11) comprises wheel brake locks (14) mounted on the wheels and fixed lifting struts (15) mounted under the vehicle platform.
3. The mechanical arm type omnibearing intelligent wall painting machine according to claim 1, wherein the mechanical arm device (2) comprises a mechanical arm (21), a positioning camera (22), a detection camera (23) and a control box (24), and the positioning camera (22) and the detection camera (23) are installed at the tail end of the mechanical arm (21) and are electrically connected with the control box (24).
4. The mechanical arm type omnibearing intelligent wall painting machine according to claim 3, wherein the mechanical arm (21) comprises a base (211), a large arm (212), a small arm (213), a first rotating joint (214), a second rotating joint (215) and a third rotating joint (216), the base (211) is fixed on the upper surface of the hydraulic lifting platform (12) through screws, the large arm (212) is hinged on the base (211) through the first rotating joint (214), the large arm (212) and the small arm (213) are connected in series through the second rotating joint (215), the third rotating joint (216) is fixed at the tail end of the small arm (213), and the positioning camera (22) and the detection camera (23) are mounted on two sides of the third rotating joint (216).
5. The mechanical arm type omnibearing intelligent wall painting machine according to claim 4, wherein the inside of the rotary joint comprises an absolute encoder (2101), a relative encoder (2102), a brake (2103), a servo direct drive motor (2104) and a speed reducer (2105), and the speed reducer (2105) is provided with a rotary shaft (2106), the absolute encoder (2101), the relative encoder (2102), the brake (2103) and the servo direct drive motor (2104) which are sequentially fixed on the rotary shaft (2106) from left to right.
6. The mechanical arm type omnibearing intelligent wall painting machine according to claim 4, wherein the execution device (3) comprises a rolling brush (31) and a brush (32), the rolling brush (31) comprises a rolling brush support (311), a roller (313) and a roller shaft (312), the roller (313) is sleeved on the roller shaft (312), two ends of the roller shaft (312) are rigidly connected to the inner surfaces of the left side and the right side of the rolling brush support (311), and the rolling brush (31) and the brush (32) are respectively hinged to two ends of the third rotary joint (216) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920076054.4U CN210217046U (en) | 2019-01-17 | 2019-01-17 | All-round intelligent wall painting machine of arm formula |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920076054.4U CN210217046U (en) | 2019-01-17 | 2019-01-17 | All-round intelligent wall painting machine of arm formula |
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| CN210217046U true CN210217046U (en) | 2020-03-31 |
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| CN201920076054.4U Active CN210217046U (en) | 2019-01-17 | 2019-01-17 | All-round intelligent wall painting machine of arm formula |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112443137A (en) * | 2020-11-06 | 2021-03-05 | 丁军 | Multifunctional waterproof coating detection device |
| CN114856236A (en) * | 2022-04-28 | 2022-08-05 | 中冶建工集团有限公司 | Maintenance device for external windowsill |
| CN115324315A (en) * | 2021-05-10 | 2022-11-11 | 广东博智林机器人有限公司 | Operation control method and device for floor paint coating robot |
-
2019
- 2019-01-17 CN CN201920076054.4U patent/CN210217046U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112443137A (en) * | 2020-11-06 | 2021-03-05 | 丁军 | Multifunctional waterproof coating detection device |
| CN112443137B (en) * | 2020-11-06 | 2022-05-17 | 陈科帆 | Multifunctional waterproof coating detection device |
| CN115324315A (en) * | 2021-05-10 | 2022-11-11 | 广东博智林机器人有限公司 | Operation control method and device for floor paint coating robot |
| CN115324315B (en) * | 2021-05-10 | 2023-10-20 | 广东博智林机器人有限公司 | Operation control method and device of floor paint coating robot |
| CN114856236A (en) * | 2022-04-28 | 2022-08-05 | 中冶建工集团有限公司 | Maintenance device for external windowsill |
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