CN219491619U - Double-mast type spraying operation robot - Google Patents

Abstract

The utility model discloses a double-mast type spraying operation robot which comprises a moving platform, a lifting device arranged on the moving platform and a spraying operation mechanism arranged at the top end of the lifting device. According to the utility model, the movable mounting chassis is arranged, the quick intercommunication with the whole machine can be realized through the paint and the electric quick plug-in interface, and meanwhile, the movable mounting chassis is used as a counterweight during the combined action operation of the omnidirectional running chassis and the double-mast lifting device, so that the anti-overturning stability of the whole machine is ensured, and the anti-overturning capability of the whole machine in large-area spraying is enhanced.

Description

Double-mast type spraying operation robot

Technical Field

The utility model relates to the field of spraying robots, in particular to a double-mast type spraying operation robot.

Background

At present, the spraying operation in the market mostly adopts to build a scaffold or an overhead working truck to send workers to a spraying area for manual spraying, and the workers are in a coating spraying environment in a short distance for a long time and have certain damage to the bodies of the workers, meanwhile, the project construction strength of the large-area low-altitude spraying operation is high, and the efficiency, the quality stability and the personnel safety of manual spraying are low. In order to solve the problems caused by the spraying operation mode, automatic spraying equipment appears on the market, automatic spraying operation is realized by utilizing an automatic device such as a mechanical arm and the like by means of lifting equipment, for example, chinese patent publication No. CN 109306794A discloses an industrial building high wall surface coating system, the mechanical arm is driven by a double-rod telescopic lifting mechanism to realize lifting, spraying in a high-rise area can be met, the mechanical arm drives a spray gun to realize multi-degree-of-freedom angle and position adjustment, the requirements of different spraying positions are met, but the requirement is still met, the problem is still solved, in order to avoid toppling over during high-altitude operation, stabilizer overhanging legs are arranged at the bottom of a movable base, the stability is improved, the operation efficiency is influenced, each time of fixed-point operation is required to be supported, the legs are required to be recovered after the operation is finished, and the next point is required to be unfolded.

Disclosure of Invention

In order to improve the spraying efficiency and quality of large-area spraying projects such as low-rise buildings, parking lots, large tank bodies and the like, improve the working conditions of spraying working types and relieve the difficult problem of labor recruitment of spraying operators, the utility model provides the double-mast type spraying working robot with high spraying efficiency, strong stability and good rigidity, and the automatic operation of large-area spraying can be realized after a preset process program.

The technical scheme adopted by the utility model is as follows: the double-mast type spraying operation robot comprises a moving platform, a lifting device arranged on the moving platform and a spraying operation mechanism arranged at the top end of the lifting device, and is characterized by further comprising a movable mounting chassis, wherein the movable mounting chassis is in multi-point detachable rigid connection with the moving platform, a coating stirring storage tank, a spraying pump and a storage battery are integrally arranged on the movable mounting chassis, the coating stirring storage tank and the spraying pump provide coating for the spraying operation mechanism, and the storage battery provides power for the whole equipment.

Further, the lifting device comprises two mast lifting devices, the two mast lifting devices are symmetrically arranged in opposite directions, Z-shaped connecting pieces are correspondingly connected between mast sections with the same height on the two mast lifting devices, and the top ends of the two mast lifting devices are fixedly connected with the same mounting table.

Further, a stay wire displacement sensor is arranged in the mast lifting device.

Further, the spraying operation mechanism comprises a bidirectional combined rotary table, a cross sliding module, a spray gun rod and a spray nozzle, wherein the bidirectional combined rotary table can rotate in the horizontal direction and the vertical direction, the cross sliding module is installed on the bidirectional combined rotary table through a connecting frame and comprises a horizontal sliding module and a vertical sliding module which are in sliding connection, the spray gun rod is connected with the cross sliding module, and the spray nozzle is fixedly installed on the spray gun rod.

Further, the spraying operation mechanism comprises a linear movement module, a six-axis mechanical arm and a nozzle, wherein the six-axis mechanical arm is connected with the linear movement module, and the nozzle is fixedly arranged on the six-axis mechanical arm.

Further, the mobile platform is an omnidirectional running chassis driven by four steering wheels.

The utility model has the beneficial effects that:

(1) According to the utility model, the spraying pump, the paint stirring system and the high-capacity battery are integrated by arranging the mobile mounting chassis, the connection and the disassembly of the mobile platform can be realized through a mechanical structure, the quick intercommunication with the whole machine can be realized through the paint and the electric quick plug-in interface, the passing capacity of the whole machine is ensured, meanwhile, the mobile mounting chassis is also used as a counterweight when the omnidirectional running chassis and the double-mast lifting device jointly act, the anti-overturning stability of the whole machine is ensured, and the anti-overturning capacity of the whole machine in large-area spraying is enhanced;

(2) The two mast type lifting devices are symmetrically arranged on the omnidirectional running chassis in opposite directions, the structure is compact, the diagonal supporting range of the top platform is large, the stress is uniform, the rigidity of the whole structure is guaranteed, mast sections with the same height are respectively and correspondingly connected through a middle connecting structure, the stability and the synchronism during lifting movement are improved, and in addition, a stay wire displacement sensor is integrated in the mast group, so that the precision control of the lifting height is guaranteed;

(3) Based on the arrangement of the lifting structure of the omnidirectional moving chassis and the double masts, different operation modes such as punching, plastering, polishing and the like can be realized by matching with different tail end operation actuators.

Drawings

Fig. 1 is a schematic overall structure of embodiment 1 of the present utility model.

Fig. 2 is a schematic structural diagram of a lifting device according to embodiment 1 of the present utility model.

Fig. 3 is a schematic structural view of a spraying operation mechanism of embodiment 1 of the present utility model.

Fig. 4 is a schematic overall structure of embodiment 2 of the utility model.

Description of the embodiments

The present utility model will be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments are shown, for the purpose of illustrating the utility model, but the scope of the utility model is not limited to the specific embodiments shown.

Embodiment 1, as shown in fig. 1-3, the present embodiment discloses a double mast type spraying robot, which comprises a mobile platform 1, a lifting device 2 installed on the mobile platform 1, a spraying operation mechanism 3 installed on the top end of the lifting device 2, and a mobile mounting chassis 4.

The mobile platform 1 adopts an omnidirectional running chassis driven by four steering wheels as a running mechanism to drive the whole upper assembly to move, adopts steering wheels with large diameters, has stronger obstacle crossing and omnidirectional running capabilities, and can adapt to different road surfaces and space conditions of a construction site.

The movable mounting chassis 4 and the movable platform 1 are in multi-point detachable rigid connection, a paint stirring storage tank, a spraying pump and a storage battery are integrally arranged on the movable mounting chassis 4, the paint stirring storage tank and the spraying pump provide paint for the spraying operation mechanism 3, and the storage battery provides power for the whole equipment.

The lifting device 2 comprises two mast lifting devices 201, the two mast lifting devices 201 are symmetrically arranged in opposite directions, Z-shaped connecting pieces 202 are correspondingly connected between mast sections with the same height on the two mast lifting devices 201, and the top ends of the two mast lifting devices 201 are fixedly connected with the same mounting table. A guy wire displacement sensor is installed in the mast lift 201.

The spraying operation mechanism 3 comprises a bidirectional combined rotary table 301, a cross sliding module 302, a spray gun rod 303 and a spray nozzle 304, the bidirectional combined rotary table 301 can realize rotation in the horizontal direction and the vertical direction, is responsible for providing two degrees of freedom of pitching and swinging, and is adjusted for operation planes of different angles, the cross sliding module 302 is installed on the bidirectional combined rotary table 301 through a connecting frame and comprises a horizontal sliding module and a vertical sliding module which are in sliding connection, the spray gun rod 303 is connected with the cross sliding module 302, and the spray nozzle 304 is fixedly installed on the spray gun rod 303.

In embodiment 2, as shown in fig. 4, the difference between the present embodiment and embodiment 1 is that the spraying operation mechanism includes a linear movement module, a six-axis mechanical arm, and a nozzle, where the six-axis mechanical arm is connected with the linear movement module, and the nozzle is fixedly installed on the six-axis mechanical arm. The linear module is responsible for the horizontal movement of the six-axis mechanical arm, the working range of the whole machine during fixed point position operation is enlarged, and meanwhile, the six-axis mechanical arm is matched to realize high-precision and high-flexibility operation of fixed point positions.

Many modifications and other embodiments of the utility model will come to mind to one skilled in the art to which this utility model pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the utility models are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (6)

1. The double-mast type spraying operation robot comprises a moving platform (1), a lifting device (2) arranged on the moving platform (1) and a spraying operation mechanism (3) arranged at the top end of the lifting device (2), and is characterized by further comprising a movable mounting chassis (4), wherein the movable mounting chassis (4) and the moving platform (1) are in multi-point detachable rigid connection, a coating stirring storage tank, a spraying pump and a storage battery are integrally arranged on the movable mounting chassis (4), the coating stirring storage tank and the spraying pump provide coating for the spraying operation mechanism (3), and the storage battery provides power for the whole equipment.

2. The double mast spray work robot of claim 1, wherein: the lifting device (2) comprises two mast lifting devices (201), the two mast lifting devices (201) are symmetrically arranged in opposite directions, Z-shaped connecting pieces (202) are correspondingly connected between mast sections with the same height on the two mast lifting devices (201), and the top ends of the two mast lifting devices (201) are fixedly connected with the same mounting table.

3. A double mast spray work robot as claimed in claim 2, wherein: and a stay wire displacement sensor is arranged in the mast lifting device (201).

4. The double mast spray work robot of claim 1, wherein: the spraying operation mechanism (3) comprises a bidirectional combined rotary table (301), a cross sliding module (302), a spray gun rod (303) and a spray nozzle (304), wherein the bidirectional combined rotary table (301) can rotate in the horizontal direction and the vertical direction, the cross sliding module (302) is installed on the bidirectional combined rotary table (301) through a connecting frame and comprises a horizontal sliding module and a vertical sliding module which are in sliding connection, the spray gun rod (303) is connected with the cross sliding module (302), and the spray nozzle (304) is fixedly installed on the spray gun rod (303).

5. The double mast spray work robot of claim 1, wherein: the spraying operation mechanism comprises a linear movement module, a six-axis mechanical arm and a nozzle, wherein the six-axis mechanical arm is connected with the linear movement module, and the nozzle is fixedly installed on the six-axis mechanical arm.

6. The double mast spray work robot of claim 1, wherein: the mobile platform (1) is an omnidirectional running chassis driven by four steering wheels.