CN215612727U - Coating robot - Google Patents

Abstract

The utility model provides a coating robot. The coating robot includes: a first lifting mechanism; the second lifting mechanism is arranged on part of the first lifting mechanism; and the actuating mechanism comprises a roller assembly connected with the second lifting mechanism, wherein the second lifting mechanism and the actuating mechanism are movably arranged in the vertical direction relative to at least part of the first lifting mechanism, and the roller assembly is movably arranged in the vertical direction relative to at least part of the second lifting mechanism. In the technical scheme of the utility model, the coating operation range of the coating robot is wider.

Description

Coating robot

Technical Field

The utility model relates to the technical field of coating, in particular to a coating robot.

Background

The gum material coating industry is widely used in construction processes. The coating equipment known by the inventor comprises a first lifting mechanism, wherein the operation height of an actuating mechanism can be adjusted through the first lifting mechanism, and the actuating mechanism performs coating operation after the actuating mechanism is adjusted to a certain operation height; after the actuating mechanism is adjusted to the highest position of the first lifting mechanism, the height of the actuating mechanism can not be adjusted for the second time, so that the coating operation range of the coating equipment is small.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a coating robot, which has a large coating operation range.

In order to achieve the above object, the present invention provides a coating robot comprising: a first lifting mechanism; the second lifting mechanism is arranged on part of the first lifting mechanism; and the actuating mechanism comprises a roller assembly connected with the second lifting mechanism, wherein the second lifting mechanism and the actuating mechanism are movably arranged in the vertical direction relative to at least part of the first lifting mechanism, and the roller assembly is movably arranged in the vertical direction relative to at least part of the second lifting mechanism. The chassis supports a first lifting mechanism, a second lifting mechanism and an actuating mechanism; the height of the second lifting mechanism and the executing mechanism relative to the chassis in the vertical direction can be adjusted through the first lifting mechanism, and after the second lifting mechanism and the executing mechanism are adjusted to a certain height in the vertical direction, coating operation can be carried out through the roller assembly; because the actuating mechanism is connected with the first lifting mechanism through the second lifting mechanism, and the roller assembly is movable in the vertical direction relative to at least part of the second lifting mechanism, the height of the roller assembly in the vertical direction relative to the first lifting mechanism is adjustable under the driving of the second lifting mechanism; that is, the height of the roller assembly in the vertical direction can be adjusted again by the second elevating mechanism, so that the coating operation range of the roller assembly can be improved; in the technical scheme of the application, the actuating mechanism is movably connected with the first lifting mechanism through the second lifting mechanism, and the actuating mechanism is driven by the second lifting mechanism to be adjustable in height in the vertical direction relative to the first lifting mechanism, namely, after the actuating mechanism is adjusted to a certain operation height through the first lifting mechanism, the height of the roller assembly in the vertical direction can be adjusted again through the second lifting mechanism, so that the coating operation range of the roller assembly is expanded; therefore, in the present invention, the coating robot has a wide coating operation range.

Further, the second elevating mechanism includes: the first mounting frame is connected with part of the first lifting mechanism; the first driving structure is arranged on the first mounting frame; the first synchronous belt transmission structure is connected with the roller assembly through the first synchronous belt transmission structure. The first mounting frame supports the first driving structure, the first driving wheel, the first driven wheel and the first synchronous belt; the first driving structure drives the first driving wheel to rotate, the first driving wheel drives the first driven wheel to rotate through the first synchronous belt, the first driving wheel and the first driven wheel support the first synchronous belt, the first synchronous belt moves under the driving of the first driving wheel, the roller assembly moves under the driving of the first synchronous belt, and therefore the purpose that the roller assembly can movably be arranged in the vertical direction relative to at least part of the second lifting mechanisms is achieved, the roller assembly can move in the vertical direction relative to the first lifting mechanisms under the driving of the second lifting mechanisms, the coating operation range of the roller assembly is improved, and the coating operation range of the coating robot is larger.

Further, the coating robot further includes: the transverse moving mechanism is arranged on the first lifting mechanism; the rotating mechanism is used for connecting the transverse moving mechanism and the second lifting mechanism, and the second lifting mechanism and the executing mechanism are rotationally arranged in a horizontal plane under the driving of the rotating mechanism; at least part of the transverse moving mechanism is movably arranged in the horizontal first direction relative to the first lifting mechanism so as to drive the rotating mechanism, the second lifting mechanism and the executing mechanism to move. The second lifting mechanism is connected with the first lifting mechanism through a rotating mechanism and a transverse moving mechanism; under the drive of the transverse moving mechanism, the rotating mechanism, the second lifting mechanism and the executing mechanism can move along the horizontal first direction, namely, under the drive of the transverse moving mechanism, the roller assembly can move along the horizontal first direction, so that the roller assembly can carry out coating operation on different areas, and the coating operation range of the roller assembly is further improved; the second lifting mechanism and the actuating mechanism can rotate in the horizontal plane under the driving of the rotating mechanism, and the second lifting mechanism and the actuating mechanism are provided with a storage position close to the transverse moving mechanism and a working position far away from the transverse moving mechanism, namely, the second lifting mechanism and the actuating mechanism can be positioned at the storage positions through the rotating mechanism, so that the occupied space of the coating robot is reduced, and the coating robot is convenient to move and store; the second lifting mechanism and the actuating mechanism can be positioned at working positions through the rotating mechanism, so that the roller assembly can conveniently perform coating operation.

Further, slewing mechanism includes the first slewing structure who is connected with the sideslip mechanism and the second slewing structure who is connected with first slewing structure, and second slewing structure is connected with second elevating system, and under first slewing structure's drive, second slewing structure, second elevating system and actuating mechanism all rotationally set up in the horizontal plane, and under second slewing structure's drive, second elevating system and actuating mechanism all rotationally set up in the horizontal plane. Through the first rotating structure and the second rotating structure, the second lifting mechanism and the executing mechanism can rotate twice in the horizontal plane, so that the rotating angle range of the second lifting mechanism and the executing mechanism in the horizontal plane is increased; by the arrangement, on one hand, the storage effect of the second lifting mechanism and the executing mechanism can be improved, the occupied space of the coating robot is reduced, and the coating robot is convenient to move and store; on the other hand, when the working surface (such as a wall surface) is not flat or an included angle is formed between two adjacent working surfaces, the actuating mechanism can adapt to the actual condition of the working surface by adjusting the rotation angle of the second lifting mechanism and the actuating mechanism in the horizontal plane, the coating operation can be conveniently carried out by utilizing the actuating mechanism, and the adaptability of the coating robot is improved.

Furthermore, the rotating mechanism further comprises a moving structure arranged between the first rotating structure and the second rotating structure, the second rotating structure is connected with the first rotating structure through the moving structure, the second rotating structure is movably arranged in the horizontal second direction relative to at least part of the moving structure so as to drive the second lifting mechanism and the executing mechanism to move, and an included angle is formed between the horizontal first direction and the horizontal second direction. Under the drive of the moving structure, the second rotating structure, the second lifting mechanism and the executing mechanism can move along the horizontal second direction, so that the distance between the executing mechanism and the operation surface (such as a wall surface) can be adjusted (particularly, the distance between the roller assembly and the operation surface can be adjusted), and the executing mechanism can conveniently perform coating operation on the operation surface.

Further, the moving structure includes: the second mounting frame is arranged on the first rotating structure; the second driving structure is arranged on the second mounting frame; and the second synchronous belt transmission structure is connected with the second rotating structure through the second synchronous belt transmission structure. The second mounting frame supports a second driving structure, a second driving wheel, a second driven wheel and a second synchronous belt; second drive structure drive second action wheel rotates, the second action wheel drives the second through the second hold-in range and rotates from the driving wheel, second action wheel and second support the second hold-in range from the driving wheel, under the drive of second action wheel, the second hold-in range removes along horizontal second direction, under the drive of second hold-in range, second rotating-structure, second elevating system and actuating mechanism all remove along horizontal second direction along with the second hold-in range together, thereby realize carrying out the purpose of adjusting the distance between actuating mechanism and the operation face (like the wall).

Further, the first rotating structure includes: the third mounting frame is arranged on the transverse moving mechanism; the third driving structure is arranged on the third mounting frame; the first rotating platform is arranged on the third installation frame and can be rotationally arranged relative to the third installation frame, the third driving structure is in driving connection with the first rotating platform, and the first rotating platform is connected with at least part of the second rotating structure. A third mounting frame supporting a third drive structure and the first rotating platform; the third driving structure drives the first rotating platform to rotate, and the moving structure and the second rotating structure both rotate under the driving of the first rotating platform, so that the purpose that the first rotating structure drives the second rotating structure, the second lifting mechanism and the executing mechanism to rotate in the horizontal plane is achieved.

Further, the coating robot further includes: the first lifting mechanism is arranged on the chassis; the feeding mechanism is connected with the chassis and is used for feeding materials for the roller assembly; the first electric control cabinet is arranged on the chassis; and the second electric control cabinet is arranged on the chassis, wherein the first electric control cabinet and the second electric control cabinet are respectively arranged on two opposite sides of the feeding mechanism. First automatically controlled cabinet and the automatically controlled cabinet symmetric distribution of second, the weight that can evenly distributed coating robot simultaneously walks the line for electric strong and weak electricity and separately brings the convenience.

Further, first elevating system includes fourth installation frame and sets up in the safety hook of fourth installation frame, and the safety hook is connected with the sideslip mechanism. The fourth installation frame supports the falling protector and the transverse moving mechanism, and the falling protector is used for preventing the transverse moving mechanism from falling, so that the transverse moving mechanism can move safely and stably in the vertical direction.

Further, the actuating mechanism comprises a plurality of roller assemblies arranged at intervals along a horizontal first direction; or the roller assembly comprises a plurality of rollers which are arranged at intervals along the vertical direction, and the rollers can be rotatably arranged around the axes of the rollers; or the coating robot further comprises a safety limiting device, and the safety limiting device is arranged on the periphery of the second lifting mechanism. The roller assembly executes coating operation, and the arrangement of the two roller assemblies can improve the operation area of one-time coating operation; the two roller assemblies are arranged at intervals, so that coating operation can be performed on two areas at one time, and the coating efficiency is improved; the two roller assemblies are arranged on the second lifting mechanism at intervals, so that the balance of the second lifting mechanism and the two roller assemblies can be kept, and the stability of the actuating mechanism is ensured. The uniformity of coating operation can be improved by arranging a plurality of rollers, and the coating effect is ensured. The safety limiting device is used for limiting the second lifting mechanism, so that the effect of protecting the actuating mechanism is achieved, and the second lifting mechanism and the actuating mechanism are prevented from being damaged.

By applying the technical scheme of the utility model, the chassis supports the first lifting mechanism, the second lifting mechanism and the actuating mechanism; the height of the second lifting mechanism and the executing mechanism relative to the chassis in the vertical direction can be adjusted through the first lifting mechanism, and after the second lifting mechanism and the executing mechanism are adjusted to a certain height in the vertical direction, coating operation can be carried out through the roller assembly; because the actuating mechanism is connected with the first lifting mechanism through the second lifting mechanism, and the roller assembly is movable in the vertical direction relative to at least part of the second lifting mechanism, the height of the roller assembly in the vertical direction relative to the first lifting mechanism is adjustable under the driving of the second lifting mechanism; that is, the height of the roller assembly in the vertical direction can be secondarily adjusted by the second lifting mechanism, so that the coating operation range of the roller assembly can be improved; in the technical scheme of the application, the actuating mechanism is movably connected with the first lifting mechanism through the second lifting mechanism, and the actuating mechanism is driven by the second lifting mechanism to be adjustable in height in the vertical direction relative to the first lifting mechanism, namely, after the actuating mechanism is adjusted to the highest position or the lowest position of the first lifting mechanism, the height of the roller assembly in the vertical direction can be adjusted for the second time through the second lifting mechanism, so that the coating operation range of the roller assembly is expanded; therefore, in the present invention, the coating robot has a wide coating operation range.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 shows a front view of an embodiment of a coating robot according to the utility model (with the actuator in the working position);

fig. 2 shows a left side view of the coating robot of fig. 1;

FIG. 3 shows a rear view of the coating robot of FIG. 1;

FIG. 4 shows a top view of the coating robot of FIG. 1;

FIG. 5 shows a view in direction A of the coating robot of FIG. 2;

FIG. 6 shows a schematic view of a portion of the coating robot of FIG. 1;

FIG. 7 shows a left side view of FIG. 6;

FIG. 8 shows a cross-sectional view taken along line B-B of FIG. 7;

FIG. 9 shows another schematic construction of the coating robot of FIG. 1 (with the actuator in a stowed position);

FIG. 10 shows a left side view of FIG. 9; and

fig. 11 shows a top view of fig. 9.

Wherein the figures include the following reference numerals:

10. a chassis; 11. a Mecanum wheel; 12. a battery compartment; 13. a first laser radar; 14. a chassis frame; 20. a first lifting mechanism; 21. a fourth mounting frame; 30. a second lifting mechanism; 31. a first mounting frame; 32. a first drive wheel; 33. a first driven wheel; 34. a first synchronization belt; 40. an actuator; 41. a roller assembly; 42. a roller; 50. a traversing mechanism; 60. a rotating mechanism; 61. a first rotating structure; 611. a third mounting frame; 612. a third drive structure; 613. a first rotating platform; 62. a second rotating structure; 63. a moving structure; 631. a second mounting frame; 632. a second drive structure; 633. a second drive wheel; 634. a second driven wheel; 635. a second synchronous belt; 70. a feeding mechanism; 80. a first electric control cabinet; 90. a second electric control cabinet; 100. a safety limiting device; 110. a second lidar.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the utility model.

Aiming at the problem that the actuator of the coating equipment is fixedly connected with the first lifting mechanism, which leads to a smaller coating operation range of the coating equipment, the utility model and the embodiment of the utility model provide a coating robot.

As shown in fig. 1 to 5 and 9 to 11, in an embodiment of the present invention, a coating robot includes a chassis 10, a first lifting mechanism 20, a second lifting mechanism 30, and an actuator 40, the first lifting mechanism 20 being provided to the chassis 10; the second lifting mechanism 30 is arranged on part of the first lifting mechanism 20; the actuator 40 includes a roller assembly 41 connected to the second elevating mechanism 30, wherein the second elevating mechanism 30 and the actuator 40 are each disposed movably in the vertical direction with respect to at least a part of the first elevating mechanism 20, and the roller assembly 41 is disposed movably in the vertical direction with respect to at least a part of the second elevating mechanism 30.

In the above arrangement, the chassis 10 supports the first lifting mechanism 20, the second lifting mechanism 30 and the actuator 40; the height of the second lifting mechanism 30 and the actuating mechanism 40 relative to the chassis 10 in the vertical direction can be adjusted by the first lifting mechanism 20, and after the second lifting mechanism 30 and the actuating mechanism 40 are adjusted to a certain height in the vertical direction, the coating operation can be performed by the roller assembly 41; since the actuator 40 is connected to the first elevating mechanism 20 through the second elevating mechanism 30 and the roller assembly 41 is movable in the vertical direction with respect to at least a part of the second elevating mechanism 30, the height of the roller assembly 41 in the vertical direction with respect to the first elevating mechanism 20 is adjustable by the second elevating mechanism 30; that is, the height of the roller assembly 41 in the vertical direction can be secondarily adjusted by the second elevating mechanism 30, so that the coating work range of the roller assembly 41 can be increased; compared with a coating device in which the execution mechanism is fixedly connected with the first lifting mechanism, in the technical solution of the present application, the execution mechanism 40 is movably connected with the first lifting mechanism 20 through the second lifting mechanism 30, and the height of the execution mechanism 40 in the vertical direction relative to the first lifting mechanism 20 is adjustable under the driving of the second lifting mechanism 30, that is, after the execution mechanism is adjusted to the highest position or the lowest position of the first lifting mechanism, the height of the roller assembly 41 in the vertical direction can be adjusted twice through the second lifting mechanism 30, so as to improve the coating operation range of the roller assembly 41; therefore, in the present invention, the coating robot has a wide coating operation range.

As shown in fig. 1, 4, 5, 7 and 9, in an embodiment of the present invention, the actuator 40 includes two roller assemblies 41 spaced apart in a horizontal first direction. The roller assembly 41 performs coating operation, and the arrangement of two roller assemblies 41 can increase the operation area of one coating operation; the two roller assemblies 41 are arranged at intervals, so that coating operation can be performed on two areas at one time, and the coating efficiency is improved; the two roller assemblies 41 are arranged at intervals on the second lifting mechanism 30, so that the balance of the second lifting mechanism 30 and the two roller assemblies 41 can be kept, and the stability of the actuating mechanism 40 is ensured.

As shown in fig. 1, 6 to 8 and 10, in the embodiment of the present invention, the roller assembly 41 includes three rollers 42 spaced apart in the vertical direction, and the rollers 42 are rotatably provided about their own axes. The uniformity of the coating operation can be improved by providing a plurality of rollers 42, and the coating effect can be ensured.

In the embodiment of the utility model, the coating robot adopts a roller arrangement operation mode of bilaterally symmetrical 3 rollers (namely two roller assemblies 41 are symmetrically arranged along the left and right directions of the paper surface of figure 1, and each roller assembly 41 is provided with three rollers 42), so that the stability of a coated contact surface and an execution end is greatly improved.

Of course, in an alternative embodiment not shown in the drawings of the present application, it is also possible to make the actuator 40 include only one roller assembly 41 or include at least three roller assemblies 41 arranged at intervals in the horizontal first direction according to actual needs; alternatively, the roller assembly 41 may include only one roller 42 or two or at least four rollers 42 spaced apart in the vertical direction.

As shown in fig. 6 and 8, in the embodiment of the present invention, the second lifting mechanism 30 includes a first mounting frame 31, a first driving structure, and a first timing belt transmission structure, and the first driving structure is connected to the roller assembly 41 through the first timing belt transmission structure. The first synchronous belt transmission structure includes a first driving pulley 32, a first driven pulley 33 and a first synchronous belt 34, and the first mounting frame 31 is connected with a portion of the first elevating mechanism 20; the first driving structure is arranged on the first mounting frame 31; the first driving wheel 32 is arranged on the first mounting frame 31 and is rotatably arranged relative to the first mounting frame 31, and the first driving structure is in driving connection with the first driving wheel 32; the first driven pulley 33 is provided to the first mounting frame 31 and is rotatably provided with respect to the first mounting frame 31; the first synchronous belt 34 is disposed at the outer periphery of the first driving pulley 32 and the first driven pulley 33, the first driving pulley 32 drives the first driven pulley 33 to rotate through the first synchronous belt 34, and the roller assembly 41 is connected to the first synchronous belt 34.

In the above arrangement, the first mounting frame 31 supports the first driving structure, the first driving pulley 32, the first driven pulley 33 and the first timing belt 34; the first driving structure drives the first driving wheel 32 to rotate, the first driving wheel 32 drives the first driven wheel 33 to rotate through the first synchronous belt 34, the first driving wheel 32 and the first driven wheel 33 support the first synchronous belt 34, the first synchronous belt 34 moves under the driving of the first driving wheel 32, the roller assembly 41 moves under the driving of the first synchronous belt 34, and therefore the purpose that the roller assembly 41 can be movably arranged in the vertical direction relative to at least part of the second lifting mechanism 30 is achieved, and the roller assembly 41 can be movably arranged in the vertical direction relative to the first lifting mechanism 20 under the driving of the second lifting mechanism 30, and therefore the coating operation range of the roller assembly 41 is improved, and the coating operation range of the coating robot is larger.

Preferably, the first drive structure is an electric motor.

As shown in fig. 1, 2, and 4 to 7, in the embodiment of the present invention, the coating robot further includes a safety stopper 100, and the safety stopper 100 is disposed at an outer periphery of the second elevating mechanism 30. The safety limiting device 100 is used for limiting the second lifting mechanism 30, so as to protect the actuator 40 and prevent the second lifting mechanism 30 and the actuator 40 from being damaged. The safety limiting device 100 is arranged at the periphery of the second lifting mechanism 30, so that the problem that the second lifting mechanism 30 is damaged due to collision of the second lifting mechanism 30 with an external structure (such as a wall) can be avoided, the second lifting mechanism 30 is limited through the safety limiting device 100, the execution mechanism 40 can perform coating in a safe operation range, and the problem that the execution mechanism 40 is damaged is avoided.

Preferably, as shown in fig. 1 and 4, in an embodiment of the present invention, the coating robot includes four safety stoppers 100, and the four safety stoppers 100 are respectively disposed at an upper edge, a lower edge, a left edge, and a right edge of the first mounting frame 31 of the second lifting mechanism 30 to limit the second lifting mechanism 30, so as to protect the actuator 40 and prevent the second lifting mechanism 30 and the actuator 40 from being damaged.

Preferably, the safety limiting device 100 is a limit switch.

In the embodiment of the utility model, the execution end of the coating robot is provided with a lifting and safety limiting device (namely, the execution mechanism 40 is connected with the second lifting mechanism 30 and is movably arranged in the vertical direction relative to at least part of the second lifting mechanism 30, and the safety limiting device 100 is arranged on the second lifting mechanism 30); the execution end is provided with a lifting system, so that the operation range and the operation effect of the limit position of roller coating are greatly improved; the self-contained safety limiting device can accurately detect errors generated by BIM (Building Information Modeling) data, and ensures that equipment does not interfere with a wall body.

As shown in fig. 1, 2, 4 and 5, in the embodiment of the present invention, the coating robot further includes a traverse mechanism 50 and a rotation mechanism 60, the traverse mechanism 50 being provided to the first elevating mechanism 20; the rotating mechanism 60 is used for connecting the traversing mechanism 50 and the second lifting mechanism 30, and the second lifting mechanism 30 and the executing mechanism 40 can be rotationally arranged in a horizontal plane under the driving of the rotating mechanism 60; at least a portion of the traversing mechanism 50 is movably disposed in a horizontal first direction relative to the first lifting mechanism 20 to move the rotating mechanism 60, the second lifting mechanism 30 and the actuator 40.

In the above arrangement, the second elevating mechanism 30 is connected to the first elevating mechanism 20 via the rotating mechanism 60 and the traversing mechanism 50; under the driving of the traverse mechanism 50, the rotating mechanism 60, the second lifting mechanism 30 and the executing mechanism 40 can all move along the horizontal first direction, that is, under the driving of the traverse mechanism 50, the roller assembly 41 can move along the horizontal first direction, so that the roller assembly 41 can perform coating operation on different areas, thereby further improving the coating operation range of the roller assembly 41; the second lifting mechanism 30 and the actuating mechanism 40 can rotate in the horizontal plane under the driving of the rotating mechanism 60, the second lifting mechanism 30 and the actuating mechanism 40 have a storage position close to the transverse moving mechanism 50 and a working position far away from the transverse moving mechanism 50, namely, the second lifting mechanism 30 and the actuating mechanism 40 can be located at the storage position through the rotating mechanism 60, the occupied space of the coating robot is reduced, and the coating robot is convenient to move and store; the second elevating mechanism 30 and the actuator 40 can be set to the working position by the rotating mechanism 60, which facilitates the coating operation of the roller assembly 41.

In an embodiment of the present invention, the coating robot includes a traverse mechanism 50 and a rotation mechanism 60. The arrangement can ensure that the coating robot can finish coating operation in two different areas at the same station, greatly improves the operation efficiency and reduces the occupied time of the coating robot in a non-working state. Meanwhile, the rotating mechanism 60 can recover the actuating mechanism 40 to the maximum extent, reduce the space size of the coating robot and facilitate the passage of the coating robot in the indoor passageway of the building.

Preferably, in the embodiment of the present invention, the structure of the first lifting mechanism 20 is the same as that of the second lifting mechanism 30, the traversing mechanism 50 is connected to the synchronous belt of the first lifting mechanism 20, and the traversing mechanism 50 is driven by the synchronous belt of the first lifting mechanism 20 to be movably disposed in the vertical direction, so as to drive the rotating mechanism 60, the second lifting mechanism 30 and the executing mechanism 40 to move in the vertical direction, so as to adjust the height of the executing mechanism 40 in the vertical direction.

Of course, in alternative embodiments of the present application, the first lifting mechanism 20 may be another structure capable of realizing linear movement, such as a linear guide rail, according to actual needs.

Preferably, in an embodiment of the present invention, the traversing mechanism 50 includes a fifth mounting frame, a fourth driving structure disposed on the fifth mounting frame, a speed reducer connected to the fourth driving structure, a lead screw connected to the speed reducer, a nut in threaded fit with the lead screw, and a guide rail disposed on the fifth mounting frame, the fourth driving structure drives the lead screw to rotate, the lead screw is rotatably disposed on the fifth mounting frame, the lead screw rotates to drive the nut to move along a central axis of the lead screw, the fifth mounting frame is connected to the synchronous belt of the first lifting mechanism 20, and the nut is connected to the rotating mechanism 60 to drive the rotating mechanism 60, the second lifting mechanism 30, and the actuator 40 to move along the horizontal first direction. In the embodiment of the present invention, the lead screw of the traverse mechanism 50 is disposed in the horizontal first direction.

Preferably, the fourth drive structure is a servo motor.

Of course, in alternative embodiments of the present application, the traversing mechanism 50 may be configured to realize linear movement according to actual needs, for example, the structure of the traversing mechanism 50 may be the same as that of the second lifting mechanism 30.

Preferably, as shown in fig. 2, in the embodiment of the present invention, the first lifting mechanism 20 includes a fourth mounting frame 21 and a safety catch provided to the fourth mounting frame 21, the safety catch being connected to the traversing mechanism 50, the safety catch being used to prevent the traversing mechanism 50 from falling. The fourth mounting frame 21 supports a fall arrester for preventing the cross-travel mechanism 50 from falling and a cross-travel mechanism 50 for ensuring safe and smooth movement of the cross-travel mechanism 50 in the vertical direction.

As shown in fig. 4, 6, 8, 9 and 11, in the embodiment of the present invention, the rotating mechanism 60 includes a first rotating structure 61 connected to the traversing mechanism 50 and a second rotating structure 62 connected to the first rotating structure 61, the second rotating structure 62 is connected to the second lifting mechanism 30, the second rotating structure 62, the second lifting mechanism 30 and the actuator 40 are all rotatably disposed in a horizontal plane by the first rotating structure 61, and the second lifting mechanism 30 and the actuator 40 are all rotatably disposed in a horizontal plane by the second rotating structure 62.

Through the first rotating structure 61 and the second rotating structure 62, the second lifting mechanism 30 and the actuating mechanism 40 can rotate twice in the horizontal plane, so that the angle range of rotation of the second lifting mechanism 30 and the actuating mechanism 40 in the horizontal plane is increased; by the arrangement, on one hand, the storage effect of the second lifting mechanism 30 and the executing mechanism 40 can be improved, the occupied space of the coating robot is reduced, and the coating robot is convenient to move and store; on the other hand, when the working surface (such as a wall surface) is not flat or an included angle exists between two adjacent working surfaces, the actuating mechanism 40 can adapt to the actual situation of the working surface by adjusting the rotation angle of the second lifting mechanism 30 and the actuating mechanism 40 in the horizontal plane, the coating operation can be conveniently carried out by using the actuating mechanism 40, and the adaptability of the coating robot is improved.

As shown in fig. 8, in the embodiment of the present invention, the first rotating structure 61 includes a third mounting frame 611, a third driving structure 612 and a first rotating platform 613, the third mounting frame 611 is disposed on the traversing mechanism 50; the third driving structure 612 is disposed on the third mounting frame 611; the first rotating platform 613 is disposed on the third mounting frame 611 and is rotatably disposed relative to the third mounting frame 611, the third driving structure 612 is drivingly connected to the first rotating platform 613, and the first rotating platform 613 is connected to at least a portion of the second rotating structure 62.

In the above arrangement, the third mounting frame 611 supports the third drive structure 612 and the first rotating platform 613; the third driving structure 612 drives the first rotating platform 613 to rotate, and the moving structure 63 and the second rotating structure 62 are driven by the first rotating platform 613 to rotate, so that the purpose that the first rotating structure 61 drives the second rotating structure 62, the second lifting mechanism 30 and the actuating mechanism 40 to rotate in a horizontal plane is achieved.

Preferably, the third drive structure 612 is a motor.

Preferably, in the embodiment of the present invention, the structure of the second rotating structure 62 is the same as that of the first rotating structure 61, the mounting frame of the second rotating structure 62 is connected to the second timing belt 635 of the moving structure 63, the rotating platform of the second rotating structure 62 is connected to the first mounting frame 31 of the second lifting mechanism 30, the driving structure of the second rotating structure 62 drives the rotating platform of the second rotating structure 62 to rotate, and the second lifting mechanism 30 and the actuating mechanism 40 rotate in the horizontal plane under the driving of the rotating platform of the second rotating structure 62. Of course, in alternative embodiments of the present application, the second rotating structure 62 may be another structure capable of realizing the rotating motion according to actual needs.

As shown in fig. 4, 6 and 8, in the embodiment of the present invention, the rotating mechanism 60 further includes a moving structure 63 disposed between the first rotating structure 61 and the second rotating structure 62, the second rotating structure 62 is connected to the first rotating structure 61 through the moving structure 63, and the second rotating structure 62 is movably disposed in a horizontal second direction relative to at least a part of the moving structure 63 to drive the second lifting mechanism 30 and the actuator 40 to move, wherein an angle is formed between the horizontal first direction and the horizontal second direction.

In the above arrangement, under the driving of the moving structure 63, the second rotating structure 62, the second lifting mechanism 30 and the actuating mechanism 40 are movable along the horizontal second direction, so that the distance between the actuating mechanism 40 and the working surface (such as a wall surface) can be adjusted (specifically, the distance between the roller assembly 41 and the working surface can be adjusted), and the coating operation of the working surface by the actuating mechanism 40 is facilitated.

When the working surface is uneven or an included angle exists between two adjacent working surfaces, the rotation angle of the second lifting mechanism 30 and the execution mechanism 40 in the horizontal plane can be adjusted through the first rotating structure 61 and/or the second rotating structure 62, so that the execution mechanism 40 is aligned with the working surface, and the execution mechanism 40 can conveniently coat the working surface; the distance between the actuator 40 and the work surface can be adjusted by the moving mechanism 63, so that the actuator 40 can perform coating operation on the work surface.

As shown in fig. 6 and 8, in the embodiment of the present invention, the moving structure 63 includes a second mounting frame 631, a second driving structure 632, and a second synchronous belt transmission structure, and the second driving structure 632 is connected to the second rotating structure 62 through the second synchronous belt transmission structure. The second synchronous belt transmission structure comprises a second driving pulley 633, a second driven pulley 634 and a second synchronous belt 635, and the second mounting frame 631 is disposed on the first rotating structure 61; the second driving structure 632 is disposed on the second mounting frame 631; the second driving wheel 633 is disposed on the second mounting frame 631 and is rotatably disposed relative to the second mounting frame 631, and the second driving structure 632 is in driving connection with the second driving wheel 633; the second driven wheel 634 is provided to the second mounting frame 631 and is rotatably provided with respect to the second mounting frame 631; the second timing belt 635 is disposed at the peripheries of the second driving pulley 633 and the second driven pulley 634, the second driving pulley 633 drives the second driven pulley 634 to rotate through the second timing belt 635, and the second rotating structure 62 is connected to the second timing belt 635.

In the above arrangement, the second mounting frame 631 supports the second driving structure 632, the second driving pulley 633, the second driven pulley 634, and the second timing belt 635; the second driving structure 632 drives the second driving wheel 633 to rotate, the second driving wheel 633 drives the second driven wheel 634 to rotate through the second synchronous belt 635, the second driving wheel 633 and the second driven wheel 634 support the second synchronous belt 635, under the driving of the second driving wheel 633, the second synchronous belt 635 moves along the horizontal second direction, under the driving of the second synchronous belt 635, the second rotating structure 62, the second lifting mechanism 30 and the executing mechanism 40 all move along the horizontal second direction along with the second synchronous belt 635, so that the purpose of adjusting the distance between the executing mechanism 40 and the working surface (such as a wall surface) is achieved.

Preferably, the second drive structure 632 is an electric motor.

Specifically, in the embodiment of the present invention, the third mounting frame 611 is connected to the timing belt of the traversing mechanism 50, the first rotating platform 613 is connected to the second mounting frame 631, the second timing belt 635 is connected to the mounting frame of the second rotating structure 62, and the rotating platform of the second rotating structure 62 is connected to the first mounting frame 31, so that the second lifting mechanism 30 and the actuating mechanism 40 are driven by the rotating mechanism 60 to rotate in the horizontal plane and move in the horizontal second direction.

As shown in fig. 3, 4 and 11, in the embodiment of the present invention, the coating robot further includes a feeding mechanism 70, a first electric control cabinet 80 and a second electric control cabinet 90, the feeding mechanism 70 is connected to the chassis 10, and the feeding mechanism 70 is used for feeding the roller assembly 41; the first electric control cabinet 80 is arranged on the chassis 10; the second electric control cabinet 90 is disposed on the chassis 10, wherein the first electric control cabinet 80 and the second electric control cabinet 90 are disposed on two opposite sides of the feeding mechanism 70, respectively.

In the above arrangement, the first electric control cabinet 80 and the second electric control cabinet 90 are symmetrically distributed, so that the weight of the coating robot can be uniformly distributed, and convenience is brought to the separation of electric strong and weak current wiring.

Preferably, as shown in fig. 1, 4 and 11, in the embodiment of the present invention, the first electric control cabinet 80, the feeding mechanism 70 and the second electric control cabinet 90 are sequentially arranged along a horizontal first direction, and the feeding mechanism 70, the first lifting mechanism 20 and the traversing mechanism 50 are sequentially arranged along a direction perpendicular to the horizontal first direction, so that the arrangement can achieve reasonable arrangement and reduce the occupied space of the coating robot.

In an embodiment of the present invention, the feeding mechanism 70 of the coating robot includes a material box for storing the material, a servo motor, a speed reducer connected to the servo motor, a screw pump for pumping out the material in the material box, a stirring blade for stirring the material in the material box, a liquid level detecting device for detecting a liquid level of the material in the material box, and the like, wherein the servo motor drives the stirring blade to stir the material through the speed reducer. The technical scheme of this application adopts the pump sending and the stirring feed mode that unites two into one, and spatial layout is compact, and is with low costs.

In the embodiment of the utility model, the chassis 10 mechanism of the coating robot comprises four mecanum wheels 11, a battery chamber 12, a first laser radar 13 (one at the diagonal and two in total), a chassis frame 14 and the like; the rotation axis of Mecanum wheel 11 is perpendicular to the horizontal first direction, that is, Mecanum wheel 11 runs along the horizontal first direction, and roller 42 is arranged along the horizontal first direction, therefore, the design of side-by-side arrangement of the chassis and the roller can ensure that the working surface of the coating robot is parallel to the running direction of the coating robot, and the obstacle crossing capability of the coating robot is increased. Meanwhile, in the operation process, the coating robot walks linearly, so that the abrasion loss of the wheat wheel and the power consumption of the battery are greatly reduced. The arrangement of the first laser radar 13 can realize the obstacle avoidance function.

Preferably, as shown in fig. 2, 3 and 10, in the embodiment of the present invention, the coating robot further includes a second laser radar 110, and the second laser radar 110 may implement an automatic navigation function.

In an embodiment of the present invention, the coating robot further includes a control system, and the control system is connected to each electrical component of the coating robot to control the motion of the coating robot.

The glue material coating industry is widely applied to the building process, and most glue material construction at present adopts an artificial coating operation mode or adopts simple equipment to perform roller coating operation manually. The manual roller coating has the advantages of low working efficiency, high working cost, uneven coating effect and difficulty in forming uniform visual effect, the volatilization of the coating can harm the health of workers, and a higher working position needs to be constructed by manually climbing onto a portal frame, so that certain safety risk is realized. Compared with a coating technology needing manual participation, the coating robot has the advantages that the function is complete, various coating operations of building interior wall colloid materials can be automatically completed, the control precision is high, the quality can be guaranteed, the market popularization value is high, manual participation is not needed, and the health and the safety of workers can be guaranteed.

The technical scheme of the application has the following advantages:

1. the chassis can realize the omnidirectional movement function, the safe obstacle avoidance function and the automatic navigation function of the coating robot. Meanwhile, the working surface of the coating robot is ensured to be parallel to the traveling direction of the coating robot, and the obstacle crossing capability of the coating robot is improved. Meanwhile, in the operation process, the coating robot walks linearly, so that the abrasion loss of the Mecanum wheel and the power consumption of a battery are greatly reduced.

2. The actuating end can be driven to accurately move up and down through the first lifting mechanism, and the lifting speed can be changed according to the flow of the feeding mechanism (the flow of the feeding mechanism can be detected by arranging a flow meter between the screw pump and the roller); the anti-falling function is added, and the safety factor is greatly improved.

3. The transverse moving mechanism can realize that the coating robot can finish coating operation in two different areas at the same station, thereby greatly improving the operation efficiency and reducing the time occupied by the coating robot in a non-working state.

4. The rotating mechanism can realize the maximum recovery of the execution end, reduce the space size of the coating robot and be beneficial to the passage of the coating robot in the building passageway.

5. The actuating mechanism greatly improves the stability of a coated contact surface and an actuating end, and meanwhile, the actuating mechanism is provided with a lifting system (namely a second lifting mechanism), so that the operation range and the operation effect of the limiting position of the roller coating are greatly improved; the safety limiting device can accurately detect errors generated by BIM data, and the equipment is prevented from interfering with a wall body.

6. The feeding mechanism can realize that pump material and stirring are realized in same system, only need during the batching to put into the workbin to the material in proportion can, on the one hand rabbling mechanism can evenly stir the mixture, and on the other hand rabbling mechanism can stir according to specific frequency always, can keep the homogeneity of liquid material (being the material), does benefit to and guarantees the roller coat quality.

7. First automatically controlled cabinet and the automatically controlled cabinet symmetric distribution of second in feeding mechanism's relative both sides, can evenly distributed coating robot's weight, separately bring the convenience for electric strong and weak current wiring simultaneously.

In the technical scheme of this application, coating robot receives complete machine control system's instruction and agreement, under the overall arrangement of automatic navigation and BIM technique to realize automatic walking, automatic range finding, functions such as automatic to wall, automatic pump material, automatic round brush. The coating robot really realizes the requirement of unmanned operation by calling the data of the BIM system and planning the operation path and the operation method.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the chassis supports a first lifting mechanism, a second lifting mechanism and an actuating mechanism; the height of the second lifting mechanism and the executing mechanism relative to the chassis in the vertical direction can be adjusted through the first lifting mechanism, and after the second lifting mechanism and the executing mechanism are adjusted to a certain height in the vertical direction, coating operation can be carried out through the roller assembly; because the actuating mechanism is connected with the first lifting mechanism through the second lifting mechanism, and the roller assembly is movable in the vertical direction relative to at least part of the second lifting mechanism, the height of the roller assembly in the vertical direction relative to the first lifting mechanism is adjustable under the driving of the second lifting mechanism; that is, the height of the roller assembly in the vertical direction can be secondarily adjusted by the second lifting mechanism, so that the coating operation range of the roller assembly can be improved; in the technical scheme of the application, the actuating mechanism is movably connected with the first lifting mechanism through the second lifting mechanism, and the actuating mechanism is driven by the second lifting mechanism to be adjustable in height in the vertical direction relative to the first lifting mechanism, namely, after the actuating mechanism is adjusted to the highest position or the lowest position of the first lifting mechanism, the height of the roller assembly in the vertical direction can be adjusted for the second time through the second lifting mechanism, so that the coating operation range of the roller assembly is expanded; therefore, in the present invention, the coating robot has a wide coating operation range.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A coating robot, comprising:

a first lifting mechanism;

the second lifting mechanism is arranged on part of the first lifting mechanism;

and an actuator including a roller assembly connected to the second elevating mechanism, wherein the second elevating mechanism and the actuator are both disposed to be movable in a vertical direction with respect to at least a part of the first elevating mechanism, and the roller assembly is disposed to be movable in a vertical direction with respect to at least a part of the second elevating mechanism.

2. The coating robot according to claim 1, wherein the second elevating mechanism comprises:

the first mounting frame is connected with part of the first lifting mechanism;

the first driving structure is arranged on the first mounting frame;

the first synchronous belt transmission structure is connected with the roller assembly through the first driving structure.

3. A coating robot according to claim 1 or 2, characterized in that the coating robot further comprises:

the transverse moving mechanism is arranged on the first lifting mechanism;

the rotating mechanism is used for connecting the transverse moving mechanism and the second lifting mechanism, and the second lifting mechanism and the executing mechanism can be rotationally arranged in a horizontal plane under the driving of the rotating mechanism; at least part of the transverse moving mechanism is movably arranged in the horizontal first direction relative to the first lifting mechanism so as to drive the rotating mechanism, the second lifting mechanism and the executing mechanism to move.

4. The coating robot according to claim 3, wherein the rotating mechanism includes a first rotating structure connected to the traversing mechanism and a second rotating structure connected to the first rotating structure, the second rotating structure is connected to the second lifting mechanism, the second rotating structure, the second lifting mechanism and the actuator are all rotatably disposed in a horizontal plane by the first rotating structure, and the second lifting mechanism and the actuator are all rotatably disposed in a horizontal plane by the second rotating structure.

5. The coating robot of claim 4, wherein the rotating mechanism further comprises a moving structure disposed between the first rotating structure and the second rotating structure, the second rotating structure is connected to the first rotating structure through the moving structure, and the second rotating structure is movably disposed in a horizontal second direction relative to at least a portion of the moving structure to move the second lifting mechanism and the actuator, wherein the horizontal first direction and the horizontal second direction have an included angle therebetween.

6. A coating robot according to claim 5, wherein said moving structure comprises:

the second mounting frame is arranged on the first rotating structure;

the second driving structure is arranged on the second mounting frame;

and the second synchronous belt transmission structure is connected with the second rotating structure through the second synchronous belt transmission structure.

7. A coating robot according to claim 4, wherein said first rotating structure comprises:

the third mounting frame is arranged on the transverse moving mechanism;

the third driving structure is arranged on the third mounting frame;

the first rotating platform is arranged on the third installation frame and can be rotationally arranged relative to the third installation frame, the third driving structure is in driving connection with the first rotating platform, and the first rotating platform is connected with at least part of the second rotating structure.

8. A coating robot according to claim 1 or 2, characterized in that the coating robot further comprises:

the first lifting mechanism is arranged on the chassis;

the feeding mechanism is connected with the chassis and is used for feeding the roller assembly;

the first electric control cabinet is arranged on the chassis;

and the second electric control cabinet is arranged on the chassis, wherein the first electric control cabinet and the second electric control cabinet are respectively arranged on two opposite sides of the feeding mechanism.

9. The coating robot of claim 3, wherein the first lifting mechanism comprises a fourth mounting frame and a fall arrestor disposed on the fourth mounting frame, the fall arrestor being connected to the traversing mechanism.

10. Coating robot according to claim 1 or 2,

the actuating mechanism comprises a plurality of roller assemblies arranged at intervals along a horizontal first direction; alternatively, the first and second electrodes may be,

the roller assembly comprises a plurality of rollers which are arranged at intervals along the vertical direction, and the rollers can be rotatably arranged around the axes of the rollers; alternatively, the first and second electrodes may be,

the coating robot further comprises a safety limiting device, and the safety limiting device is arranged on the periphery of the second lifting mechanism.

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