CN212405970U - Coating robot - Google Patents

Abstract

The utility model discloses a coating robot, include: the chassis travelling mechanism comprises a chassis structure frame and travelling wheels; stirring feeding mechanism, stirring feeding mechanism establishes on chassis running gear, and stirring feeding mechanism includes: the stirring device comprises a stirring material barrel, a stirring piece and a stirring motor, wherein the stirring material barrel is provided with a discharge hole, and the stirring motor is connected with the stirring piece so as to stir materials in the stirring material barrel; the lifting mechanism is arranged on the chassis travelling mechanism; coating actuating mechanism, coating actuating mechanism connects on elevating system in order to be driven elevating movement by elevating system, coating actuating mechanism includes: feed bin and coating piece, feed bin and discharge gate link to each other, and the feed bin has the feed bin export, and coating piece closes on the setting of feed bin export. According to the utility model discloses coating robot can reduce labour's output, improves the efficiency of construction.

Description

Coating robot

Technical Field

The utility model belongs to the technical field of building construction equipment technique and specifically relates to a coating robot is related to.

Background

In the related art, most of the building materials are coated manually, however, the traditional manual coating method includes: firstly, a large amount of manpower is needed, and the labor intensity is high; second, the construction industry is in shortage of workers at present, and the labor cost rises year by year; thirdly, the construction efficiency is low; fourthly, the manual operation quality is difficult to control, and the like.

Taking putty as an example, the putty is a decorative setting material for flattening the surface of a wall body, is thick paste paint and is an essential product before painting. Putty scraping is one of the methods for decorating inner walls, and the putty is scraped on the walls to ensure the smoothness of the wall surfaces. Putty scraping on the market is mostly finished manually, and a larger improvement space exists.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a coating robot to reduce labour's output, improve the efficiency of construction.

According to the utility model discloses coating robot, include: the chassis travelling mechanism comprises a chassis structure frame and travelling wheels, and the travelling wheels are connected to the chassis structure frame; stirring feeding mechanism, stirring feeding mechanism establishes on the chassis running gear, stirring feeding mechanism includes: the stirring device comprises a stirring material barrel, a stirring piece and a stirring motor, wherein the stirring material barrel is provided with a discharge hole, and the stirring motor is connected with the stirring piece so as to stir materials in the stirring material barrel; the lifting mechanism is arranged on the chassis travelling mechanism; a coating actuator connected to the elevating mechanism to be driven by the elevating mechanism to move up and down, the coating actuator comprising: feed bin and coating piece, the feed bin with the discharge gate links to each other, the feed bin has the feed bin export, coating piece closes on the setting of feed bin export, coating piece is used for in elevating movement with the discharged material of feed bin export covers to the building face on.

According to the utility model discloses coating robot through setting up the walking wheel, can be so that chassis running gear has the walking function. Through setting up elevating system, can be so that coating actuating mechanism does elevating movement, make the piece of coating can cover the material on the building face, increase the adhesion and the homogeneity of material coating, improve coating robot's coating quality. Through setting up stirring feeding mechanism and coating actuating mechanism, the operation can be unified to the coating robot, through coating actuating mechanism and chassis running gear, stirring feeding mechanism and elevating system combine together, the material need not supply often, and the building face can coat in succession, can stir, material loading and coating operation to increase substantially the efficiency of construction, can reduce labour's output, if can reduce labour's quantity, reduce the production cost, if can also reduce intensity of labour again, improve constructor's security.

In some embodiments, the stirring and feeding mechanism further comprises a feeding pump, the feeding pump is used for pumping the material discharged from the discharge port to the storage bin, and the feeding pump, the stirring piece and the stirring motor are connected through an output shaft so as to realize synchronous stirring and feeding.

In some embodiments, the upper part of the stirring cylinder is in a barrel shape, the lower part of the stirring cylinder is gradually reduced in cross section in a downward direction, the bottom of the stirring cylinder is provided with the discharge hole, the feeding pump is connected to the bottom of the stirring cylinder, and the stirring motor is connected to the top of the stirring cylinder.

In some embodiments, the bin outlet is provided on a sidewall of the bin, and the coating member is a doctor blade and is located below the bin outlet.

Specifically, the scraper is in the shape of a long plate extending along the length direction of the bin outlet, and the scraper is provided with a plurality of spaced scrapers in the height direction.

In some optional embodiments, the scraper comprises: the connecting section is connected to the bottom of the storage bin; the inclined section is connected with the connecting section and is arranged in a downward inclined mode in the direction towards the plane where the bin outlet is located; the scraping section is connected with the inclined section, and the scraping section continuously extends downwards from the inclined section to exceed the surface of the bin outlet.

In some embodiments, the coating actuator further comprises: the bin is connected to the first mounting seat; a second mounting seat; the linear bearing is connected between the first mounting seat and the second mounting seat; the steering motor is connected with the second mounting seat to adjust the direction of the second mounting seat, and the steering motor is connected to the lifting mechanism.

In some embodiments, the lift mechanism comprises: the lifting structure frame is connected to the chassis travelling mechanism; the lifting block is arranged on the lifting structure frame in a vertically sliding manner; the winch is arranged on the lifting structure frame and connected to the lifting block through a steel wire rope; the lifting motor is connected with the winch to drive the winch to pull the lifting block.

In some embodiments, the chassis running gear further comprises a battery box, the battery box is arranged at the top of the chassis structural frame, the lifting mechanism is arranged at the top of the battery box, the stirring and feeding mechanism is connected to the top of the chassis structural frame and located at one side of the battery box, the stirring material cylinder is provided with a plurality of supporting legs, part of the supporting legs are connected to the chassis structural frame, and part of the supporting legs are connected to the battery box.

In some embodiments, the coating robot further comprises a navigation system for navigation, the navigation system comprising at least one lidar.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a side view of a coating robot in an embodiment of the present invention;

fig. 2 is a perspective view of the stirring and feeding mechanism in the embodiment of the present invention;

fig. 3 is a perspective view of a coating actuator according to an embodiment of the present invention;

fig. 4 is a side view of the lifting mechanism in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a part of a coating robot according to an embodiment of the present invention (including a chassis traveling mechanism and a navigation system).

Reference numerals:

a coating robot 100,

A chassis traveling mechanism 1, a chassis structural frame 11, traveling wheels 12, bearing wheels 121, steering wheels 122, a battery box 13, a stirring and feeding mechanism 2, a stirring material barrel 21, supporting legs 211, a stirring piece 22, a stirring motor 23, a motor support 231, a feeding pump 24, an output shaft 25, a power unit,

the lifting mechanism 3, the lifting structure frame 31, the roller 311, the lifting block 32, the winch 33, the wire rope 331, the lifting motor 34,

Coating actuating mechanism 4, bin 41, bin outlet 411, coating piece 42, scraper 421, connecting section 4211, inclined section 4212, scraping section 4213, first mounting seat 43, second mounting seat 44, linear bearing 45, steering motor 46, speed reducer 47, scraper and scraper,

A navigation system 5,

A control system 6.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "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; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A coating robot 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 5.

According to the embodiment of the present invention, as shown in fig. 1 and 2, the coating robot 100 includes: a chassis walking mechanism 1, a stirring and feeding mechanism 2, a lifting mechanism 3 and a coating executing mechanism 4.

The chassis walking mechanism 1 comprises a chassis structure frame 11 and walking wheels 12, and the walking wheels 12 are connected to the chassis structure frame 11. Stirring feeding mechanism 2 establishes on chassis running gear 1, and stirring feeding mechanism 2 includes: the stirring device comprises a stirring cylinder 21, a stirring piece 22 and a stirring motor 23, wherein the stirring cylinder 21 is provided with a discharge hole, and the stirring motor 23 is connected with the stirring piece 22 to stir the materials in the stirring cylinder 21.

The lifting mechanism 3 is arranged on the chassis walking mechanism 1, and the coating executing mechanism 4 is connected to the lifting mechanism 3 so as to be driven by the lifting mechanism 3 to move up and down. The coating actuator 4 includes: a silo 41 and a coating member 42, the silo 41 being connected to the discharge opening 411, the silo 41 having a silo outlet 411, the coating member 42 being arranged adjacent to the silo outlet 411, the coating member 42 being used to coat the building surface with material discharged from the silo outlet 411 in a lifting movement.

It can be understood that, in actual operation, the coating robot 100 can move to the place to be constructed through the chassis traveling mechanism 1, start the stirring motor 23, can stir the material in the stirring cylinder 21 through the stirring piece 22, the even material can flow to the bin 41 from the discharge port, and the lifting mechanism 3 can drive the coating execution mechanism 4 to do lifting movement at the same time, so as to cover the material discharged from the bin outlet 411 to the building surface. Where the material can be fed to the silo 41 under the influence of gravity. During the stirring process, the stirring member 22 can also generate a certain driving force to the material, so that the material flows from the discharge port to the storage bin 41. The form of the material to be conveyed is not limited here. Of course, after the coating operation at the current position is completed, the chassis traveling mechanism 1 may be moved to the next operation position, and the above operations may be repeated. The coating robot 100 has high construction efficiency, can effectively reduce the manual demands in construction engineering, lightens the working strength of workers, and improves the construction effect of putty coating operation.

Particularly, the traveling wheels 12 can enable the chassis traveling mechanism 1 to have a traveling function, so that the chassis traveling mechanism 1 can be operated to a place to be constructed and can be moved to the next position after coating at the current position is completed, and the coating efficiency is improved. The lifting mechanism 3 can drive the coating executing mechanism 4 to do lifting movement, which is beneficial to controlling the acting force of the coating piece 42 on the building surface, and the chassis walking mechanism 1 can walk, so the distance between the coating piece 42 and the building surface can be adjusted, and the coating thickness of the material can be adjusted. The chassis running mechanism 1, the stirring and feeding mechanism 2 and the lifting mechanism 3 are matched, so that the coating executing mechanism 4 can operate uniformly, controllably in thickness and continuously, and the construction quality and efficiency are improved. The object on which the coating robot 100 works, i.e., the coated building surface, may be a floor surface, a wall surface, or other types of surfaces.

The stirring and feeding mechanism 2 can stir the materials, so that the uniformity of the materials is improved. The putty is taken as an example, and is mostly prepared by mixing putty powder and water. In the construction, in order to ensure the quality of the putty, the putty is mostly manufactured when the putty is coated. Through set up stirring feeding mechanism 2 on chassis running gear 1, can carry out the intensive mixing with putty powder and water in stirring feed cylinder 21, improve the homogeneity of putty, and improve the convenience of construction, mostly be independent setting like general coating operation and rabbling mechanism. During construction, workers are often required to move the uniformly mixed material to a coating mechanism. And the embodiment of the utility model provides an in, coating robot 100 includes stirring feeding mechanism 2 and coating actuating mechanism 4, and coating robot 100 can the operation of integration like this, further improves the efficiency of construction. The integrated operation refers to that stirring, feeding and coating operations can be performed on the coating robot 100, which can reduce labor output, such as the number of labor and production cost, and can also reduce labor intensity and improve safety of constructors.

According to the utility model discloses coating robot 100 through setting up walking wheel 12, can be so that chassis running gear 1 has the walking function. Through setting up elevating system 3, can be so that coating actuating mechanism 4 does elevating movement, make coating 42 can cover the material on the building face, increase the adhesion and the homogeneity of material coating, improve the coating quality of coating robot 100. Through setting up stirring feeding mechanism 2 and coating actuating mechanism 4, coating robot 100 can the operation of integration, through with coating actuating mechanism 4 and chassis running gear 1, stirring feeding mechanism 2 and elevating system 3 combine together, the material does not need supply often, the building face can be coated in succession, can stir, material loading and coating operation, thereby increase substantially the efficiency of construction, can reduce labour's output, if can reduce labour's quantity, reduce the production cost, if again can also reduce intensity of labour, improve constructor's security.

In some embodiments, as shown in fig. 1 and 2, the stirring and feeding mechanism 2 further comprises a feed pump 24, and the feed pump 24 is used for pumping the material discharged from the discharge port to the bin 41. Therefore, the conveying efficiency of the materials can be improved, and the operating efficiency of the stirring and feeding mechanism 2 is improved. The feeding pump 24, the stirring piece 22 and the stirring motor 23 are connected through an output shaft 25 to realize synchronous stirring and feeding. Thus, the feeding pump 24 is driven by the stirring motor 23, and the feeding pump 24 does not need an independent driving structure, so that the cost can be reduced, and the structure is simplified.

Optionally, the stirring member 22 may be a turbine, and the turbine may generate a strong radial flow during stirring, so that the stirring efficiency is high, and the improvement of the operating efficiency of the stirring and feeding mechanism 2 is facilitated.

Of course, in other embodiments, the stirring member 22 may have other structures, such as a screw member, and the specific structure of the stirring member 22 is not limited herein.

In some embodiments, as shown in fig. 1 and 2, the upper portion of the stirring cylinder 21 is cylindrical, the lower portion of the stirring cylinder 21 has a cross section gradually decreasing in a downward direction, the bottom of the stirring cylinder 21 is provided with a discharge port, the feed pump 24 is connected to the bottom of the stirring cylinder 21, and the stirring motor 23 is connected to the top of the stirring cylinder 21. It will be appreciated that the upper part of the mixing barrel 21 is cylindrical, which improves the load carrying capacity of the material and reduces the frequency of feeding. The section of the lower part of the stirring material barrel 21 is gradually reduced in the downward direction, so that the material can be guided to flow towards the discharge hole, the feeding effect is facilitated, the material pressure at the discharge hole can be improved, and the feeding efficiency is high.

In some embodiments, as shown in fig. 3, the bin outlet 411 is provided on a side wall of the bin 41, and the coating member 42 is a doctor blade 421 and is located below the bin outlet 411. Thus, when the coating robot 100 coats a building surface (such as a wall surface) on the side surface of the coating robot 100, the material can directly flow to the building surface from the bin outlet 411 on the side wall of the bin 41, and the flowing direction of the material is towards the building surface due to the limitation of the direction of the bin outlet 41, so that the material is favorably adhered to the building surface when impacting the building surface. The material not adhered on the building surface flows downwards under the action of gravity and can be coated on the building surface by the scraping of the scraper 421.

Specifically, as shown in fig. 3, the scraper 421 is in the shape of a long plate extending along the length direction of the bin outlet 411, so that the scraping area of the scraper 421 can be increased, and the working efficiency of the scraper 421 can be improved. Scraper 421 are equipped with a plurality of spaced-apart on the direction of height, and when the wall operation, the material can be via the multichannel knife coating of multichannel scraper 421 like this to can improve the operation effect of scraper 421, make the material more level and smooth, compact.

Of course, in other embodiments, the bin outlet 411 may be located on a side wall of the bin 41, the coating member 42 is a doctor blade 421, and the doctor blade 421 is located in front of the bin outlet 411 in the coating direction. The coating robot 100 can thus facilitate the blade coating operation on the ground, and the lifting device plays a role in controlling the blade coating thickness, so that the continuous operation of the coating member 42 can be realized through the traveling of the traveling wheels 12. In other embodiments, the bin outlet 411 may also be arranged on a doctor blade 421 or between two doctor blades 421. In other embodiments, the scraper 421 can be replaced by a roller, a brush, etc. according to the coating requirement, and is not limited herein.

In some alternative embodiments, as shown in fig. 3, the scraper 421 includes: a connecting section 4211, an inclined section 4212 and a scraping section 4213. The connection segment 4211 is connected to the bottom of the silo 41. The inclined section 4212 is connected to the connecting section 4211, and the inclined section 4212 is inclined downward in a direction toward the surface of the bin outlet 411. The wiping section 4213 is connected with the inclined section 4212.

As shown in fig. 3, the wiping section 4213 extends from the inclined section 4212 to extend downward beyond the surface of the bin outlet 411. That is, the doctor blade 421 is closer to the building surface than the bin outlet 411. The thickness of the coating of material is determined by the distance between the wiping section 4213 and the building surface.

It will be appreciated that the coating actuator 4 is adapted to move upwardly as the material is discharged from the bin outlet 411 so that the scraper 421 scrapes the material from below upwards. During the coating process, excess material can accumulate on the upper surface of the blade 421. Since the scraper 421 is formed in a shape (which may be a straight line or an arc) extending downward in a direction toward the building surface at the inclined section 4212 and the scraping section 4213, the material accumulated on the upper surface of the scraper 421 has a tendency to slide down in a direction toward the building surface. Thus, when the scraper 421 scrapes the depression, the accumulated material can be quickly supplied to the depression. The structure that sets up like this can reduce the material volume that drops ground, can improve the coating quality moreover.

In some embodiments, as shown in fig. 3, the coating actuator 4 further comprises: a steering motor 46, the steering motor 46 being used to adjust the angle of the applicator member 42 relative to the building surface. In some embodiments, as shown in fig. 3, the coating actuator 4 further comprises: a first mounting seat 43, a second mounting seat 44, a linear bearing 45 and a steering motor 46. The bin 41 is attached to a first mounting block 43. A linear bearing 45 is connected between the first mount 43 and the second mount 44. The steering motor 46 is connected to the second mounting base 44 to adjust the direction of the second mounting base 44, and the steering motor 46 is connected to the lifting mechanism 3. It will be appreciated that the linear bearing 45 is arranged such that the first mounting block 43 is linearly movable relative to the second mounting block 44. Here, when the building surface is a wall surface, the bin 41 may be moved closer to or farther from the wall surface by the movement of the first mounting seat 43, so that the coating thickness of the material may be adjusted. The second mounting base 44 can rotate relative to the lifting mechanism 3 due to the arrangement of the steering motor 46, so that the relative angles of the first mounting base 43, the bin 41 and the coating piece 42 can be adjusted in sequence, the operation quality of the coating robot 100 can be improved, and if wall positions such as dead corners and wall corners are met, the steering motor 46 can enable the coating piece 42 to rotate to approach the positions for coating operation.

Optionally, a buffer member (e.g., a buffer spring) is connected between the first mounting seat 43 and the second mounting seat 43, and the buffer spring is used for pushing the first mounting seat 43 towards a side of the second mounting seat 43 adjacent to the bin 41. This provides some cushioning protection when the coating actuator 4 is in trouble.

Alternatively, as shown in fig. 3, a motor holder 231 is provided on the top of the agitating barrel 21, and the agitating motor 23 is mounted on the motor holder 231. It can be understood that the motor holder 231 is provided to improve the installation stability of the agitator motor 23 and to improve the operation stability of the agitator motor 23.

Optionally, one side of the first mounting seat 43 is fixedly connected with the bin 41 through a screw, the other side of the first mounting seat 43 is fixedly connected with the linear bearing 45 through a screw, the second mounting seat 44 is fixedly connected to a mounting flange of the speed reducer 47 through a screw, and the steering motor 46 is fixedly connected with the speed reducer 47 through a flange. Of course, in other embodiments, other fastening structures, such as a snap structure, a bolt or a pin, etc., may be used to achieve a secure connection therebetween, and the specific fastening manner is not limited herein.

In some embodiments, as shown in fig. 4, the lifting mechanism 3 includes: an elevating structure frame 31, an elevating block 32, a winding machine 33, and an elevating motor 34. The lifting structure frame 31 is connected to the chassis traveling mechanism 1. The lifting block 32 is provided on the lifting structure frame 31 to be slidable up and down. The hoist 33 is arranged on the lifting structure frame 31, and the hoist 33 is connected to the lifting block 32 through a steel wire rope 331; the elevator motor 34 is connected to the hoist 33 to drive the hoist 33 to pull the elevator block 32. It will be appreciated that the provision of the elevation structure frame 31 may improve the elevation stability of the elevating mechanism 3. In the lifting operation, the lifting motor 34 may power the hoist 33 such that the hoist 33 makes a rotational movement to move the wire rope to pull the lifting block 32. Wherein the lift motor 34 may rotate in a forward direction. The rotation direction of the hoist 33, the rotation direction of the wire rope, and the lifting state of the lifting block 32 may be changed in sequence by changing the direction of rotation. In addition, the winch 33 and the wire rope 331 are used for transmission, so that the structure is simple, certain self-adjustment is realized, and the movement is reliable.

Optionally, as shown in fig. 4, the lifting structure frame 31 is further provided with a roller 311, and the steel cable can rotate around the roller 311. It can be understood that the rollers 311 are arranged to guide the movement of the wire rope, thereby reducing the rotational offset of the wire rope. In addition, the roller 311 has a certain tensioning effect, so that the operation stability of the steel wire rope is further improved.

Of course, in other embodiments, the lifting mechanism 3 may also adopt a motor, a gear and a rack, or a motor, a lead screw, a slider, or other matching structures, and the above-mentioned lifting function can also be achieved, and the specific form of the lifting mechanism 3 is not limited herein.

In some embodiments, as shown in fig. 1 and 5, the chassis traveling mechanism 1 further includes a battery box 13, the battery box 13 is disposed on the top of the chassis structural frame 11, the lifting mechanism 3 is disposed on the top of the battery box 13, the stirring and feeding mechanism 2 is connected to the top of the chassis structural frame 11 and located on one side of the battery box 13, the stirring cylinder 21 has a plurality of supporting legs 211, a part of the supporting legs 211 is connected to the chassis structural frame 11, and a part of the supporting legs 211 is connected to the battery box 13. So set up, the overall structure of robot is very compact, and wherein stirring feeding mechanism 2 is because heavy weight does not directly install on battery box 13, is favorable to the focus of complete machine to be adjusted down, is difficult for turning on one's side. And the lifting mechanism 3 is integrated into the battery box 13, so that the coating height of the coating executing mechanism 4 can be reasonably lifted.

It can be understood that the battery box 13 can provide power for the coating robot 100, thereby improving the automation degree of the coating robot 100 and reducing the labor intensity of workers. The support leg 211 can improve the installation stability of the stirring cylinder 21 and improve the operation stability of the stirring cylinder 21.

In some embodiments, as shown in fig. 5, the coating robot 100 further comprises a navigation system 5 for navigation, the navigation system 5 comprising at least one lidar. The navigation system 5 may detect at least one of a construction condition of the building surface and a road condition.

Optionally, as shown in fig. 1, the coating robot 100 further comprises a control system 6. In actual operation, the coating robot 100 may detect the condition of the construction surface through the navigation system 5 and intelligently plan a path through the control system 6. That is, the coating robot 100 may perform data collection by the navigation system 5 and perform intelligent analysis by the control system 6, so that the coating robot 100 may recognize the surrounding environment and the coordinates of the position where the coating robot is located, autonomously plan a path, and autonomously move to a designated working position. In addition, the feeding speed and the lifting speed can be intelligently controlled through the control system 6, the coating uniformity of all putty parts of the coating robot 100 during construction is further improved, and the high-precision operation effect with good overall coating consistency is achieved.

Alternatively, as shown in fig. 5, the road wheels 12 may include load bearing wheels 121 and steering wheels 122. It will be appreciated that the provision of load bearing wheels 121 may improve the load bearing capacity of road wheels 12. The steering wheel 122 can be a power wheel, and the walking wheels 12 can move in a steering manner, so that the running performance of the walking wheels 12 is improved.

A coating robot 100 in one embodiment of the present invention is described below with reference to fig. 1-5.

According to the utility model discloses coating robot 100, include: the device comprises a chassis travelling mechanism 1, a stirring and feeding mechanism 2, a lifting mechanism 3, a coating executing mechanism 4 and a control system 6.

The chassis walking mechanism 1 comprises a chassis structure frame, walking wheels 12 and a battery box 13, the walking wheels 12 are connected to the chassis structure frame 11, and the walking wheels 12 comprise bearing wheels 121 and steering wheels 122. A battery box 13 is provided on top of the chassis frame 11.

The stirring and feeding mechanism 2 is connected to the top of the chassis structure frame 11 and located at one side of the battery box 13, the stirring barrel 21 has a plurality of supporting legs 211, part of the supporting legs 211 are connected to the chassis structure frame 11, and part of the supporting legs 211 are connected to the battery box 13. Stirring feeding mechanism 2 includes: stirring barrel 21, stirring piece 22, stirring motor 23 and feeding pump 24. The upper portion of stirring feed cylinder 21 is the cask shape, and the lower part of stirring feed cylinder 21 is in the direction section taper downwards, and the bottom of stirring feed cylinder 21 is equipped with the discharge gate, and feeding pump 24 is connected in the bottom of stirring feed cylinder 21, and agitator motor 23 is connected at the top of stirring feed cylinder 21. The stirring motor 23 is connected with the stirring piece 22 to stir the material in the stirring barrel 21, and the feeding pump 24 is arranged corresponding to the discharge port to pump the material. The feeding pump 24, the stirring piece 22 and the stirring motor 23 are connected through an output shaft 25 to realize synchronous stirring and feeding. Elevating system 3 establishes at the top of battery box 13, and elevating system 3 includes: an elevating structure frame 31, an elevating block 32, and a hoist 33. The lifting structure frame 31 is connected to the chassis traveling mechanism 1. The lifting block 32 is provided on the lifting structure frame 31 to be slidable up and down. The hoist 33 is provided on the lifting structure frame 31, and the hoist 33 is connected to the lifting block 32 by a wire rope 331. The elevator motor 34 is connected to the hoist 33 to drive the hoist 33 to pull the elevator block 32.

The coating executing mechanism 4 is connected to the lifting mechanism 3 to be driven by the lifting mechanism 3 to move up and down, and the coating executing mechanism 4 comprises: a storage bin 41, a coating member 42, a first mounting seat 43, a second mounting seat 44, a linear bearing 45 and a steering motor 46. The hopper 41 is connected to the feed pump 24 to receive the material discharged from the discharge port, the hopper outlet 411 is provided on a side wall of the hopper 41, and the coating member 42 is a doctor blade 421 and is located below the hopper outlet 411. The scraper 421 has a long plate shape extending in the length direction of the bin outlet 411, and the scraper 421 is provided in a plurality at intervals in the height direction. The scraper 421 includes: a connecting section 4211, an inclined section 4212 and a scraping section 4213. The connection segment 4211 is connected to the bottom of the silo 41. The inclined section 4212 is connected to the connecting section 4211, and the inclined section 4212 is inclined downward in a direction toward the surface of the bin outlet 411. The scraping section 4213 is connected with the inclined section 4212, the scraping section 4213 extends downwards continuously from the inclined section 4212 to exceed the surface of the bin outlet 411, and the scraper 421 is used for covering the material discharged from the bin outlet 411 onto the building surface in the lifting motion. The bin 41 is attached to a first mounting block 43. A linear bearing 45 is connected between the first mount 43 and the second mount 44. The steering motor 46 is connected to the second mounting base 44 to adjust the direction of the second mounting base 44, and the steering motor 46 is connected to the lifting mechanism 3.

The navigation system 5 and the control system 6 are arranged on the chassis walking mechanism 1, and the navigation system 5 comprises at least one laser radar. The navigation system 5 can perform data collection and the control system 6 can perform intelligent analysis.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A coating robot, comprising:

the chassis travelling mechanism comprises a chassis structure frame and travelling wheels, and the travelling wheels are connected to the chassis structure frame;

stirring feeding mechanism, stirring feeding mechanism establishes on the chassis running gear, stirring feeding mechanism includes: the stirring device comprises a stirring material barrel, a stirring piece and a stirring motor, wherein the stirring material barrel is provided with a discharge hole, and the stirring motor is connected with the stirring piece so as to stir materials in the stirring material barrel;

the lifting mechanism is arranged on the chassis travelling mechanism;

a coating actuator connected to the elevating mechanism to be driven by the elevating mechanism to move up and down, the coating actuator comprising: feed bin and coating piece, the feed bin with the discharge gate links to each other, the feed bin has the feed bin export, coating piece closes on the setting of feed bin export, coating piece is used for in elevating movement with the discharged material of feed bin export covers to the building face on.

2. The coating robot of claim 1, wherein the stirring and feeding mechanism further comprises a feeding pump, the feeding pump is used for pumping the material discharged from the discharge port to the storage bin, and the feeding pump and the stirring piece are connected with the stirring motor through an output shaft so as to realize synchronous stirring and feeding.

3. The coating robot according to claim 2, wherein the upper part of the stirring cylinder is in a cylindrical shape, the lower part of the stirring cylinder has a gradually decreasing cross section in a downward direction, the discharge port is formed at the bottom of the stirring cylinder, the feeding pump is connected to the bottom of the stirring cylinder, and the stirring motor is connected to the top of the stirring cylinder.

4. The coating robot of claim 1, wherein the bin outlet is provided on a side wall of the bin, and the coating member is a doctor blade and is located below the bin outlet.

5. The coating robot according to claim 4, wherein the doctor blade is in the form of a long plate extending in a length direction of the hopper outlet, and the doctor blade is provided in plurality at intervals in a height direction.

6. The coating robot of claim 4, wherein the doctor blade comprises:

the connecting section is connected to the bottom of the storage bin;

the inclined section is connected with the connecting section and is arranged in a downward inclined mode in the direction towards the plane where the bin outlet is located;

the scraping section is connected with the inclined section, and the scraping section continuously extends downwards from the inclined section to exceed the surface of the bin outlet.

7. The coating robot of claim 1, wherein said coating actuator further comprises:

the bin is connected to the first mounting seat;

a second mounting seat;

the linear bearing is connected between the first mounting seat and the second mounting seat;

the steering motor is connected with the second mounting seat to adjust the direction of the second mounting seat, and the steering motor is connected to the lifting mechanism.

8. The coating robot of claim 1, wherein the lifting mechanism comprises:

the lifting structure frame is connected to the chassis travelling mechanism;

the lifting block is arranged on the lifting structure frame in a vertically sliding manner;

the winch is arranged on the lifting structure frame and connected to the lifting block through a steel wire rope;

the lifting motor is connected with the winch to drive the winch to pull the lifting block.

9. The coating robot of claim 1, wherein the chassis traveling mechanism further comprises a battery box, the battery box is arranged on the top of the chassis structural frame, the lifting mechanism is arranged on the top of the battery box, the stirring and feeding mechanism is connected to the top of the chassis structural frame and located on one side of the battery box, the stirring cylinder is provided with a plurality of supporting legs, part of the supporting legs are connected to the chassis structural frame, and part of the supporting legs are connected to the battery box.

10. The coating robot according to any of claims 1-9, further comprising a navigation system for navigation, the navigation system comprising at least one lidar.

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