WO2021180026A1 - 地坪漆刮涂装置及地坪漆涂覆机器人 - Google Patents

地坪漆刮涂装置及地坪漆涂覆机器人 Download PDF

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Publication number
WO2021180026A1
WO2021180026A1 PCT/CN2021/079520 CN2021079520W WO2021180026A1 WO 2021180026 A1 WO2021180026 A1 WO 2021180026A1 CN 2021079520 W CN2021079520 W CN 2021079520W WO 2021180026 A1 WO2021180026 A1 WO 2021180026A1
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WO
WIPO (PCT)
Prior art keywords
scraper
floor paint
adaptive mechanism
adaptive
scraping device
Prior art date
Application number
PCT/CN2021/079520
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English (en)
French (fr)
Inventor
谢志锋
潘克玉
李昂
郑丰
陈伯扦
陈浩
游专
黄宇杰
Original Assignee
广东博智林机器人有限公司
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Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021180026A1 publication Critical patent/WO2021180026A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements

Definitions

  • This application relates to the technical field of construction machinery, for example, to a floor paint scraping device and a floor paint coating robot.
  • a floor paint scraping device is usually used to apply floor paint to the ground. Because the ground will have ups and downs and slopes, the existing floor paint scraping device usually cannot be adjusted according to the ground conditions, so there are often phenomena such as inconsistent scraping thickness, missing scraping, and stuck scraper mechanism. Indeed affect the quality and efficiency of squeegee coating.
  • This application provides a floor paint squeegee device, which can make the squeegee mechanism adaptively adjust according to the changes of the ground conditions, ensure the consistency of the squeegee thickness, effectively prevent the occurrence of leakage and the jamming of the squeegee mechanism, and improve the squeegee Coating quality and scraping efficiency.
  • This application provides a floor paint coating robot.
  • the scraper mechanism can be adaptively adjusted according to changes in ground conditions, ensuring the uniformity of the scraping thickness, and effectively preventing leakage and scraping.
  • the occurrence of jamming of the scraper mechanism ensures the coating quality and coating efficiency of the floor paint.
  • An embodiment provides a floor paint scraping device, including:
  • the scraper mechanism is set to scrape the floor paint
  • the adaptive mechanism includes a first adaptive mechanism and a second adaptive mechanism, the second adaptive mechanism is arranged at the adjustment end of the first adaptive mechanism, and the scraper mechanism is arranged at the second adaptive mechanism The adjustment end;
  • the adjustment end of one of the first adaptive mechanism and the second adaptive mechanism can rotate about a first axis parallel to the squeegee direction of the squeegee mechanism, so that The scraper mechanism can be rotated parallel to the ground; the adjustment end of the other of the first adaptive mechanism and the second adaptive mechanism can be raised and lowered in the vertical direction, so that the scraper mechanism can be adapted by lifting The ups and downs of the ground.
  • An embodiment provides a floor paint coating robot, which includes the floor paint scraping device as described above.
  • Figure 1 is a schematic structural diagram of a floor paint scraping device provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of a partial structure of a floor paint scraping device provided by an embodiment of the present application
  • Fig. 3 is a partial side view of the floor paint scraping device provided by the embodiment of the present application.
  • 3-Second adaptive mechanism 31-Lower pressure plate group; 311-Lower pressure plate; 312-Side plate; 32-Upper pressure plate; 33-Second elastic member; 34-Guide rod; 35-Linear bearing; 36-Height adjustment Piece;
  • connection should be understood in a broad sense, unless otherwise clearly specified and limited.
  • connection can be a fixed connection or a detachable connection.
  • Connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection can be a fixed connection or a detachable connection.
  • connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • this embodiment provides a floor paint scraping device, which is configured to coat floor paint on the ground and can be applied to a floor paint coating robot.
  • the floor paint scraping device includes a scraper mechanism 1 and an adaptive mechanism. Among them, the scraper mechanism 1 is set to scrape the floor paint.
  • the adaptive mechanism includes a first adaptive mechanism 2 and a second adaptive mechanism 3. The second adaptive mechanism 3 is arranged at the adjusting end of the first adaptive mechanism 2, and the scraper mechanism 1 is arranged at the adjusting end of the second adaptive mechanism 3. .
  • the adjustment end of one of the first adaptive mechanism 2 and the second adaptive mechanism 3 can rotate around the first axis, and the first axis is parallel to the squeegee direction a of the squeegee mechanism 1, So that the scraper mechanism 1 can rotate parallel to the ground.
  • the adjustment end of the other of the first adaptive mechanism 2 and the second adaptive mechanism 3 can be raised and lowered in a vertical direction, so that the scraper mechanism 1 can adapt to the undulations of the ground through the raising and lowering.
  • the second adaptive mechanism 3 is arranged at the adjustment end of the first adaptive mechanism 2, and the scraper mechanism 1 is arranged at the adjustment end of the second adaptive mechanism 3.
  • the adjustment end of one of the first adaptive mechanism 2 and the second adaptive mechanism 3 can rotate around the first axis, so when the ground is tilted, the scraper mechanism 1 can be rotated parallel to the ground, which is beneficial to ensure the coating
  • the consistency of the thickness prevents the occurrence of the phenomenon of leakage; in addition, since the adjustment end of the other of the first adaptive mechanism 2 and the second adaptive mechanism 3 can be raised and lowered in the vertical direction, when the ground is up and down ,
  • the scraper mechanism 1 can be raised and lowered to adapt to the undulations of the ground, while maintaining a certain pressure between the scraper mechanism 1 and the ground, so as to help ensure the uniformity of the scraping thickness, and effectively prevent the scraper mechanism 1 from jamming and falling when going uphill.
  • the phenomenon of missing scraping occurs when slope is sloped, which improves the quality of scrap
  • the floor paint scraping device provided in this embodiment further includes a robotic arm 4, the first adaptive mechanism 2 is connected to the robotic arm 4, and the robotic arm 4 can drive the adaptive mechanism to lift.
  • the mechanical arm 4 can drive the scraper mechanism 1 to flexibly lift and move to ensure the scraping range of the scraper mechanism 1.
  • the first adaptive mechanism 2 is connected to the mechanical arm 4 through a connecting flange 7.
  • the scraper mechanism 1 can also be arranged on the first adaptive mechanism 2 while the second adaptive mechanism 3 is connected to the mechanical arm 4, which is not limited here.
  • the floor paint scraping device provided in this embodiment further includes a pressure sensor 5, which can detect the pressure of the scraper mechanism 1, and the mechanical arm 4 can drive the scraper according to the pressure of the scraper.
  • the mechanism 1 is lifted and lowered.
  • the pressure sensor 5 is arranged between the adjustment end of the first adaptive mechanism 2 and the second adaptive mechanism 3. Through the cooperation of the first adaptive mechanism 2, the second adaptive mechanism 3, the mechanical arm 4 and the pressure sensor 5, a closed-loop control of the scraper mechanism 1 can be formed, and the position of the scraper mechanism 1 can be flexibly adjusted according to the changes in the ground conditions.
  • the scraper mechanism 1 is always close to the ground with a certain pressure to ensure the uniformity of scraping.
  • the floor paint scraping device provided in this embodiment further includes a control box 6, and both the pressure sensor 5 and the mechanical arm 4 are electrically connected to the control box 6.
  • the signal detected by the pressure sensor 5 can be transmitted to the control box 6, and the control box 6 can control the mechanical arm 4 to drive the scraper mechanism 1 to lift and move.
  • the robot arm 4 drives the scraper mechanism 1 to move from the standby point to the top of the squeegee starting point according to the set program. At this time, the height of the scraper mechanism 1 from the ground is 50mm;
  • the mechanical arm 4 drives the scraper mechanism 1 to continue to descend until the pressure sensor 5 detects that the pressure of the scraper mechanism 1 is within the preset pressure range and then stops falling to avoid floor paint
  • the squeegee mechanism 1 is pushed up because the squeegee mechanism 1 has no pressure, which causes the squeegee mechanism 1 to not stick to the ground and cannot control the thickness of the squeegee;
  • the pressure sensor 5 detects the ground pressure of the scraper mechanism 1 in real time.
  • the second adaptive mechanism 3 will drive the scraper mechanism 1 up and down through the lifting assembly 31 to make The ground pressure of the scraper mechanism 1 is within the preset pressure range; when encountering large ground ups and downs, such as uphill or downhill, when the pressure sensor 5 detects that the ground pressure of the scraper mechanism 1 is greater than the maximum pressure setting
  • the mechanical arm 4 will drive the scraper mechanism 1 to rise while advancing until the ground pressure stops rising when the pressure is within the preset pressure range.
  • the mechanical arm 4 drives the scraper mechanism 1 to descend while advancing, until the ground pressure is within the preset pressure range and stops falling.
  • the cooperation of the robot arm 4 and the pressure sensor 5 can make the scraper mechanism 1 rise and fall according to the undulations of the ground, the cooperation of the robot arm 4 and the pressure sensor 5 is more suitable for situations with large ground undulations and smaller ground undulations. It is not sensitive, and the response speed is slow, which cannot meet the requirements of the scraping speed.
  • the second adaptive mechanism 3 can quickly respond to small ground fluctuations to compensate for the small ground fluctuations of the robot arm 4 and the pressure sensor 5 The lack of sensitivity and slow response speed.
  • the first adaptive mechanism 2 provided in this embodiment includes a rotating arm assembly 21, and the lower end of the rotating arm assembly 21 is connected to the second adaptive mechanism 3.
  • the pivoting arm assembly 21 includes a pivoting arm 211 and a pin 212, two adjacent pivoting arms 211 are hingedly connected by a pin 212, and the axis of the pin 212 is the first axis. That is, the axis of the pin shaft 212 is parallel to the squeegee direction a, and the rotating arm 211 can rotate around the pin shaft 212.
  • the number of the pivoting arms 211 is three, and the three pivoting arms 211 are hingedly connected in turn by the pin shaft 212. Through the rotation of the rotating arm 211, the scraper mechanism 1 can be rotated with the inclination of the ground.
  • the first adaptive mechanism 2 provided in this embodiment further includes a first elastic member 23.
  • the first elastic member 23 is arranged on the rotating arm 211. When the scraper mechanism 1 rotates, the first elastic member 23 can adjust the scraper. The ground pressure of mechanism 1. By providing the first elastic member 23, a certain pressure can be maintained between the scraper mechanism 1 and the ground, thereby helping to ensure the uniformity of the scraping thickness.
  • the first elastic member 23 is a spring, and the spring is sleeved on the rotating arm 211.
  • the first adaptive mechanism 2 provided in this embodiment further includes a pressure adjusting block 22, which is arranged on the pivoting arm 211 in an adjustable position along the vertical direction.
  • the adjusting block 22 abuts, and the lower end of the first elastic member 23 abuts the lower end of the rotating arm assembly 21.
  • the initial pressure of the first elastic member 23 on the lower end of the swing arm assembly 21 can be adjusted by adjusting the position of the pressure adjusting block 22.
  • the second adaptive mechanism 3 provided in this embodiment includes a lower pressing plate group 31, an upper pressing plate 32 and a second elastic member 33.
  • the scraper mechanism 1 is arranged on the lower pressing plate group 31.
  • the upper pressing plate 32 is connected with the adjustment end of the first adaptive mechanism 2.
  • the second elastic member 33 elastically connects the lower pressing plate group 31 and the upper pressing plate 32 so that the lower pressing plate group 31 can be raised and lowered in the vertical direction. Through the expansion and contraction of the second elastic member 33, the lifting of the lower pressing plate group 31 is realized, and thus the lifting of the scraper mechanism 1 is realized.
  • the second elastic member 33 is a spring.
  • the lower pressing plate group 31 includes a lower pressing plate 311 and two side plates 312.
  • the two side plates 312 are oppositely arranged on the lower pressing plate 311.
  • the lower end of the second elastic member 33 abuts against the lower pressing plate 311, and the scraper mechanism 1 Set on the two side plates 312.
  • the second adaptive mechanism 3 provided in this embodiment further includes a guide rod 34.
  • the lower end of the guide rod 34 is connected to the lower pressure plate group 31, and the upper end of the guide rod 34 slidably passes through the upper pressure plate 32 in the vertical direction.
  • the second elastic member 33 is sleeved on the guide rod 34.
  • the second adaptive mechanism 3 provided in this embodiment further includes a linear bearing 35.
  • the linear bearing 35 is arranged on the upper pressure plate 32, and the guide rod 34 is inserted into the linear bearing 35.
  • the cooperation of the guide rod 34 and the linear bearing 35 is beneficial to ensure the smoothness of the lifting and lowering of the guide rod 34 and the accuracy of the lifting path.
  • the second elastic member 33 is sleeved on the guide rod 34, the upper end of the second elastic member 33 abuts against the upper pressing plate 32 or the linear bearing 35, and the lower end of the second elastic member 33 abuts against the lower pressing plate 311 .
  • the second adaptive mechanism 3 provided in this embodiment further includes a height adjustment block 36, which is adjustable in the vertical direction on the guide rod 34 and is located above the upper pressure plate 32.
  • the block 36 can abut against the linear bearing 35 or the upper pressing plate 32 to limit the descending height of the scraper mechanism 1.
  • the height adjustment block 36 can abut the linear bearing 35.
  • the floor paint scraping device uses both electrical and mechanical methods to jointly participate in the adaptive adjustment of the scraper mechanism 1 to the ground, making full use of the rapid response of the machine (the second elastic member 33) to the ground height adaptively.
  • the electric pressure sensor 5 and the mechanical arm 4 are used to control the height of the scraper mechanism 1 in a closed loop to compensate for the insufficient adaptive range of the mechanical height to the ground, so that the scraper mechanism 1 can be quickly applied to the ground.
  • the scraper mechanism 1 provided in this embodiment includes a mounting assembly 11, a first scraper 12 and a second scraper 13.
  • the mounting assembly 11 is arranged on the second adaptive mechanism 3.
  • the first scraper 12 is installed on the mounting assembly 11.
  • the second scraper 13 is installed on the mounting assembly 11 and is parallel to and spaced apart from the first scraper 12. The cooperation of the first scraper 12 and the second scraper 13 is beneficial to ensure the uniformity and flatness of the floor paint scraping.
  • the mounting assembly 11 is adjustably disposed on the lower pressing plate group 31 about the second axis, and the second axis is perpendicular to the first axis.
  • the mounting assembly 11 includes a rotating shaft 111 and a mounting plate 112. The angle of the first end of the rotating shaft 111 is adjustably inserted into one of the side plates 312, and the angle of the second end of the rotating shaft 111 is adjustably inserted into the other side plate.
  • the mounting plate 112 is detachably and fixedly connected to the rotating shaft 111, the first scraper 12 and the second scraper 13 are both mounted on the mounting plate 112, that is, the rotating shaft 111 serves as the second axis for adjusting the angle of the mounting assembly 11.
  • the first scraper 12 and the second scraper 13 are respectively located on both sides of the mounting plate 112.
  • the grounding end of the first scraper 12 is zigzag, and the grounding end of the second scraper 13 is flat.
  • the first scraper 12 first scrapes the floor paint.
  • the floor paint is scraped after the second scraper 13 to make the floor paint smooth.
  • the first scraper 12 can play the role of preliminary pre-scraping to make the floor paint more evenly distributed, and the second scraper 13 can play the role of leveling, because the ground end of the first scraper 12 is When the floor paint is sufficient, the scraped surface will also be regular jagged, and the second scraper 13 behind the first scraper 12 can repair the serrated surface to a flat surface, and finally realize the uniform and smooth thickness of the entire scraped surface. .
  • This embodiment also provides a floor paint coating robot, which includes the floor paint scraping device described above.
  • the floor paint coating robot provided in this embodiment, through the application of the floor paint scraping device described above, can make the scraper mechanism 1 adaptively adjust according to changes in the ground conditions, ensure the uniformity of the scraping thickness, and effectively prevent scraping and omission.
  • the occurrence of jamming of the scraper mechanism 1 ensures the coating quality and coating efficiency of the floor paint.
  • the floor paint squeegee device has the second adaptive mechanism 3 arranged at the adjustment end of the first adaptive mechanism 2, and the scraper mechanism 1 is arranged at the adjustment end of the second adaptive mechanism 3.
  • the adjustment end of one of the adaptive mechanism 2 and the second adaptive mechanism 3 can rotate around the first axis, so when the ground is tilted, the scraper mechanism 1 can be parallel to the ground, which helps to ensure the consistency of the thickness of the squeegee It can prevent the occurrence of leakage phenomenon; in addition, since the adjustment end of the other one of the first adaptive mechanism 2 and the second adaptive mechanism 3 can be raised and lowered in the vertical direction, the scraper mechanism 1 It can be raised and lowered to adapt to the undulations of the ground, while maintaining a certain pressure between the scraper mechanism 1 and the ground, which helps to ensure the uniformity of the scraping thickness, and effectively prevents the scraper mechanism 1 from jamming when going uphill and leaking when going downhill. The phenomenon of scraping occurs, which improves the quality and efficiency of scraping.
  • the floor paint coating robot provided by the present application, by applying the above-mentioned floor paint scraping device, can make the scraper mechanism 1 self-adaptively adjust according to the changes of the ground conditions, ensure the uniformity of the scraping thickness, and effectively prevent the leakage and scraping.
  • the occurrence of jamming of the scraper mechanism 1 ensures the coating quality and coating efficiency of the floor paint.

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  • Civil Engineering (AREA)
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Abstract

一种地坪漆刮涂装置和地坪漆涂覆机器人。地坪漆刮涂装置包括刮刀机构(1)、第一自适应机构(2)和第二自适应机构(3)。第二自适应机构设置在第一自适应机构的调整端，刮刀机构设置在第二自适应机构的调整端。当刮刀机构受外力时，第一自适应机构和第二自适应机构中的一个的调整端能够绕与刮刀机构的刮涂方向(a)平行的第一轴线转动，以使刮刀机构能够通过转动与地面平行；另一个的调整端能够沿竖直方向升降，以使刮刀机构能够通过升降适应地面的起伏。

Description

地坪漆刮涂装置及地坪漆涂覆机器人
本申请要求申请日为2020年3月10日、申请号为202010160563.2的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑机械技术领域，例如涉及一种地坪漆刮涂装置及地坪漆涂覆机器人。
背景技术
在相关技术中，通常利用地坪漆刮涂装置向地面涂覆地坪漆。由于地面会存在高低起伏和倾斜的情况，但是现有的地坪漆刮涂装置通常不能根据地面的情况进行调整，所以经常会出现刮涂厚度不一致、漏刮以及刮刀机构卡死等现象，从而严重影响了刮涂质量和刮涂效率。
发明内容
本申请提供一种地坪漆刮涂装置，能够使刮刀机构根据地面情况的变化进行自适应调节，保证刮涂厚度的一致性，有效防止漏刮以及刮刀机构卡死等现象的发生，提高刮涂质量和刮涂效率。
本申请提供一种地坪漆涂覆机器人，通过应用上述的地坪漆刮涂装置，能够使刮刀机构根据地面情况的变化进行自适应调节，保证刮涂厚度的一致性，有效防止漏刮以及刮刀机构卡死等现象的发生，保证地坪漆的涂覆质量和涂覆效率。
一实施例提供一种地坪漆刮涂装置，包括：
刮刀机构，设置为刮涂地坪漆；
自适应机构，包括第一自适应机构和第二自适应机构，所述第二自适应机构设置在所述第一自适应机构的调整端，所述刮刀机构设置在所述第二自适应机构的调整端；
当所述刮刀机构受外力时，所述第一自适应机构和所述第二自适应机构中的一个的调整端能够绕与所述刮刀机构的刮涂方向平行的第一轴线转动，以使所述刮刀机构能够通过转动与地面平行；所述第一自适应机构和所述第二自适 应机构中的另一个的调整端能够沿竖直方向升降，以使所述刮刀机构能够通过升降适应地面的起伏。
一实施例提供一种地坪漆涂覆机器人，包括如上所述的地坪漆刮涂装置。
附图说明
图1是本申请实施例提供的地坪漆刮涂装置的结构示意图；
图2是本申请实施例提供的地坪漆刮涂装置的局部结构示意图；
图3是本申请实施例提供的地坪漆刮涂装置的局部侧视图。
图中：
1-刮刀机构；11-安装组件；111-转轴；112-安装板；12-第一刮刀；13-第二刮刀；
2-第一自适应机构；21-转臂组件；211-转臂；212-销轴；22-压力调节块；23-第一弹性件；
3-第二自适应机构；31-下压板组；311-下压板；312-侧板；32-上压板；33-第二弹性件；34-导杆；35-直线轴承；36-高度调节块；
4-机械臂；
5-压力传感器；
6-控制箱；
7-连接法兰；
a-刮涂方向。
具体实施方式
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”等仅用于描述目的，或者用于区分不同结构或部件，而不能理解为指示或暗示相对重要性。其中，术语“第一位置”和“第二位置”为两个不同的位置。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可 拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
如图1和图2所示，本实施例提供一种地坪漆刮涂装置，设置为将地坪漆涂覆在地面上，可以应用在地坪漆涂覆机器人上。地坪漆刮涂装置包括刮刀机构1和自适应机构。其中，刮刀机构1，设置为刮涂地坪漆。自适应机构包括第一自适应机构2和第二自适应机构3，第二自适应机构3设置在第一自适应机构2的调整端，刮刀机构1设置在第二自适应机构3的调整端。当刮刀机构1受外力时，第一自适应机构2和第二自适应机构3两者中一个的调整端能够绕第一轴线转动，且第一轴线与刮刀机构1的刮涂方向a平行，以使刮刀机构1能够通过转动与地面平行。第一自适应机构2和第二自适应机构3两者中另一个的调整端能够沿竖直方向升降，以使刮刀机构1能够通过升降适应地面的起伏。
本实施例提供的地坪漆刮涂装置，通过将第二自适应机构3设置在第一自适应机构2的调整端，并将刮刀机构1设置在第二自适应机构3的调整端，由于第一自适应机构2和第二自适应机构3两者中一个的调整端能够绕第一轴线转动，所以当地面出现倾斜时，刮刀机构1能够通过转动与地面平行，从而有利于保证刮涂厚度的一致性，防止漏刮现象的发生；另外，由于第一自适应机构2和第二自适应机构3两者中另一个的调整端能够沿竖直方向升降，所以当地面出现高低起伏时，刮刀机构1能够升降，以适应地面的起伏，同时使刮刀机构1与地面之间保持一定的压力，从而有利于保证刮涂厚度的均匀性，有效防止上坡时刮刀机构1卡死以及下坡时漏刮的现象发生，提高刮涂质量和刮涂效率。
可选地，如图1所示，本实施例提供的地坪漆刮涂装置还包括机械臂4，第一自适应机构2与机械臂4连接，机械臂4能够驱动自适应机构升降。机械臂4能够带动刮刀机构1灵活地升降和移动，保证刮刀机构1的刮涂范围。在本实施例中，第一自适应机构2通过连接法兰7与机械臂4连接。在其他实施例中，也可以将刮刀机构1设置在第一自适应机构2上，同时使第二自适应机构3与机械臂4连接，在此不作限制。
可选地，如图2所示，本实施例提供的地坪漆刮涂装置还包括压力传感器5，压力传感器5能够检测刮刀机构1的贴地压力，机械臂4能够根据贴地压力驱动刮刀机构1升降。在本实施例中，压力传感器5设置在第一自适应机构2 的调整端和第二自适应机构3之间。通过第一自适应机构2、第二自适应机构3、机械臂4和压力传感器5的配合，能够形成对刮刀机构1的闭环控制，可以根据地面情况的变化灵活地调整刮刀机构1的位置，使刮刀机构1始终以一定的压力贴紧地面，以保证刮涂的均匀性。
如图1所示，本实施例提供的地坪漆刮涂装置还包括控制箱6，压力传感器5和机械臂4均与控制箱6电连接。压力传感器5检测到的信号能够传递至控制箱6，控制箱6能够控制机械臂4带动刮刀机构1升降和移动。
本实施例提供的地坪漆刮涂装置的工作过程如下：
(1)机械臂4根据设定程序带动刮刀机构1从待机点移动到刮涂起始点的上方，此时刮刀机构1离地高度为50mm；
(2)当刮刀机构1到达刮涂起始点的上方后，机械臂4带动刮刀机构1开始慢速往下降，当刮刀机构1与地面接触后，如果地面存在倾斜，第一自适应机构2会慢慢调整刮刀机构1的姿态，使得刮刀机构1与地面平行；
(3)当刮刀机构1与地面平行后，机械臂4带动刮刀机构1继续往下降直至压力传感器5检测到刮刀机构1的贴地压力在预设压力范围内后停止下降，以避免地坪漆因刮刀机构1没有压力而将刮刀机构1顶起，导致刮刀机构1不贴地从而无法控制刮涂厚度；
(4)当刮刀机构1对地有一定压力后，机械臂4开始带动刮刀机构1沿刮涂方向a进行刮涂；
(5)在刮涂时，压力传感器5实时检测刮刀机构1的贴地压力，当遇到较小的地面起伏时，第二自适应机构3将通过升降组件31带动刮刀机构1升降，以使刮刀机构1的贴地压力在预设压力范围内；当遇到较大的地面起伏时，例如上坡或下坡时，当压力传感器5检测到刮刀机构1的贴地压力大于压力设定最大阈值时，机械臂4将带动刮刀机构1在前进的同时上升，直至贴地压力在预设压力范围内时停止上升，当压力传感器5检测到刮刀机构1的贴地压力低于压力设定最小阈值时，机械臂4便带动刮刀机构1在前进的同时下降，直至贴地压力在预设压力范围内时停止下降。
虽然通过机械臂4和压力传感器5的配合，能够使刮刀机构1根据地面的起伏情况进行升降，但是机械臂4和压力传感器5配合比较适用于地面起伏较大的情况，对较小的地面起伏并不灵敏，且反映速度较慢，无法满足刮涂速度的要求，而第二自适应机构3可以快速响应较小的地面起伏变化，从而弥补机 械臂4和压力传感器5对较小的地面起伏不灵敏、反映速度较慢的不足。
可选地，如图2所示，本实施例提供的第一自适应机构2包括转臂组件21，转臂组件21的下端与第二自适应机构3连接。在一实施例中，转臂组件21包括转臂211和销轴212，相邻两个转臂211之间通过销轴212铰接连接，且销轴212的轴线即为第一轴线。即销轴212的轴线与刮涂方向a平行，转臂211能够绕销轴212转动。在本实施例中，转臂211的数量为三个，三个转臂211通过销轴212依次铰接连接。通过转臂211的转动，可以使刮刀机构1随地面的倾斜而转动。
可选地，本实施例提供的第一自适应机构2还包括第一弹性件23，第一弹性件23设置在转臂211上，当刮刀机构1转动时，第一弹性件23能够调节刮刀机构1的贴地压力。通过设置第一弹性件23，可以使刮刀机构1与地面之间保持一定的压力，从而有利于保证刮涂厚度的均匀性。可选地，第一弹性件23为弹簧，弹簧套设在转臂211上。
可选地，本实施例提供的第一自适应机构2还包括压力调节块22，压力调节块22沿竖直方向位置可调节地设置在转臂211上，第一弹性件23的上端与压力调节块22抵接，第一弹性件23的下端与转臂组件21的下端抵接。通过调节压力调节块22的位置可以调节第一弹性件23对转臂组件21下端的初始压力。
可选地，本实施例提供的第二自适应机构3包括下压板组31、上压板32和第二弹性件33。刮刀机构1设置在下压板组31上。上压板32与第一自适应机构2的调整端连接。第二弹性件33弹性连接下压板组31和上压板32，以使下压板组31能够沿竖直方向升降。通过第二弹性件33的伸缩，实现下压板组31的升降，进而实现刮刀机构1的升降。可选地，第二弹性件33为弹簧。
在本实施例中，下压板组31包括下压板311和两个侧板312，两个侧板312相对设置在下压板311上，第二弹性件33的下端与下压板311抵接，刮刀机构1设置在两个侧板312上。
可选地，本实施例提供的第二自适应机构3还包括导杆34，导杆34的下端与下压板组31连接，导杆34的上端沿竖直方向可滑动地穿过上压板32，第二弹性件33套设在导杆34上。通过导杆34在上压板32中的上下滑动，可以保证刮刀机构1升降路径的精确性和升降的稳定性。
可选地，本实施例提供的第二自适应机构3还包括直线轴承35，直线轴承 35设置在上压板32上，导杆34穿设在直线轴承35中。通过导杆34和直线轴承35的配合，有利于保证导杆34升降的顺畅性以及升降路径的精确性。
在一实施例中，第二弹性件33套设在导杆34上，第二弹性件33的上端与上压板32或直线轴承35抵接，第二弹性件33的下端与下压板311抵接。
可选地，本实施例提供的第二自适应机构3还包括高度调节块36，高度调节块36沿竖直方向位置可调节地设置在导杆34上且位于上压板32的上方，高度调节块36能够与直线轴承35或上压板32抵接，以限制刮刀机构1的下降高度。在本实施例中，高度调节块36能够与直线轴承35抵接。
本实施例提供的地坪漆刮涂装置，采用电气与机械两种方式共同参与刮刀机构1对地面的自适应调整，充分利用了机械(第二弹性件33)对地高度自适应的快速响应特性，又利用了电气上压力传感器5与机械臂4闭环控制刮刀机构1的高度来弥补机械对地高度自适应范围偏小的不足，实现刮刀机构1可以快速贴地刮涂。
可选地，如图2和图3所示，本实施例提供的刮刀机构1包括安装组件11、第一刮刀12和第二刮刀13。安装组件11设置在第二自适应机构3上。第一刮刀12安装在安装组件11上。第二刮刀13安装在安装组件11上且与第一刮刀12平行且间隔设置。通过第一刮刀12和第二刮刀13的配合有利于保证地坪漆刮涂的均匀性和平整性。
在一实施例中，安装组件11绕第二轴线角度可调节地设置在下压板组31上，且第二轴线与第一轴线垂直。通过绕第二轴线调节安装组件11相对下压板组31的角度，可以调节刮刀机构1相对地面的角度，以便满足不同的刮涂需求。可选地，安装组件11包括转轴111和安装板112，转轴111的第一端角度可调节地插在其中一个侧板312上，转轴111的第二端角度可调节地插在另一个侧板312上，安装板112与转轴111可拆卸的固定连接，第一刮刀12和第二刮刀13均安装在安装板112上，即转轴111作为调节安装组件11角度的第二轴线。示例性地，第一刮刀12和第二刮刀13分别位于安装板112的两侧。
可选地，第一刮刀12的贴地端呈锯齿状，第二刮刀13的贴地端呈平面状，当刮刀机构1刮涂地坪漆时，第一刮刀12先刮涂地坪漆，第二刮刀13后刮涂地坪漆，以使地坪漆被刮平。第一刮刀12可起到初步预刮的作用，使地坪漆分布地更加均匀，第二刮刀13可以起到整平的作用，因为第一刮刀12的贴地端在进行刮涂时，在地坪漆充足的情况下，刮涂出来的面将同样是规则的锯 齿状，而第一刮刀12后面的第二刮刀13可以将锯齿面修复成平面，最终实现整个刮涂面厚度统一且平整。
本实施例还提供一种地坪漆涂覆机器人，包括上述的地坪漆刮涂装置。本实施例提供的坪漆涂覆机器人，通过应用上述的地坪漆刮涂装置，能够使刮刀机构1根据地面情况的变化进行自适应调节，保证刮涂厚度的一致性，有效防止漏刮以及刮刀机构1卡死等现象的发生，保证地坪漆的涂覆质量和涂覆效率。
本申请提供的地坪漆刮涂装置，通过将第二自适应机构3设置在第一自适应机构2的调整端，并将刮刀机构1设置在第二自适应机构3的调整端，由于第一自适应机构2和第二自适应机构3两者中一个的调整端能够绕第一轴线转动，所以当地面出现倾斜时，刮刀机构1能够与地面平行，从而有利于保证刮涂厚度的一致性，防止漏刮现象的发生；另外，由于第一自适应机构2和第二自适应机构3两者中另一个的调整端能够沿竖直方向升降，所以当地面出现高低起伏时，刮刀机构1能够升降，以适应地面的起伏，同时使刮刀机构1与地面之间保持一定的压力，从而有利于保证刮涂厚度的均匀性，有效防止上坡时刮刀机构1卡死以及下坡时漏刮的现象发生，提高刮涂质量和刮涂效率。
本申请提供的地坪漆涂覆机器人，通过应用上述的地坪漆刮涂装置，能够使刮刀机构1根据地面情况的变化进行自适应调节，保证刮涂厚度的一致性，有效防止漏刮以及刮刀机构1卡死等现象的发生，保证地坪漆的涂覆质量和涂覆效率。

Claims (14)

  1. 一种地坪漆刮涂装置，包括：
    刮刀机构(1)，设置为刮涂地坪漆；
    自适应机构，包括第一自适应机构(2)和第二自适应机构(3)，所述第二自适应机构(3)设置在所述第一自适应机构(2)的调整端，所述刮刀机构(1)设置在所述第二自适应机构(3)的调整端；
    当所述刮刀机构(1)受外力时，所述第一自适应机构(2)和所述第二自适应机构(3)中的一个的调整端能够绕与刮刀机构(1)的刮涂方向(a)平行的第一轴线转动，以使所述刮刀机构(1)能够通过转动与地面平行；所述第一自适应机构(2)和所述第二自适应机构(3)中的另一个的调整端能够沿竖直方向升降，以使所述刮刀机构(1)能够通过升降适应地面的起伏。
  2. 根据权利要求1所述的地坪漆刮涂装置，还包括机械臂(4)，所述第一自适应机构(2)与所述机械臂(4)连接，所述机械臂(4)能够驱动所述自适应机构升降。
  3. 根据权利要求2所述的地坪漆刮涂装置，还包括压力传感器(5)，所述压力传感器(5)能够检测所述刮刀机构(1)的贴地压力，所述机械臂(4)能够根据所述贴地压力驱动所述刮刀机构(1)升降。
  4. 根据权利要求3所述的地坪漆刮涂装置，其中，所述压力传感器(5)设置在所述第一自适应机构(2)的调整端和所述第二自适应机构(3)之间。
  5. 根据权利要求1-4任一项所述的地坪漆刮涂装置，其中，所述第一自适应机构(2)包括转臂组件(21)，所述转臂组件(21)的下端与所述第二自适应机构(3)连接，所述转臂组件(21)包括：
    多个转臂(211)和销轴(212)，相邻两个所述转臂(211)之间通过所述销轴(212)铰接连接，且所述销轴(212)的轴线为所述第一轴线。
  6. 根据权利要求5所述的地坪漆刮涂装置，其中，所述第一自适应机构(2)还包括第一弹性件(23)，所述第一弹性件(23)设置在所述多个转臂(211)上，当所述刮刀机构(1)在所述多个转臂(211)的带动下转动时，所述第一弹性件(23)能够调节所述刮刀机构(1)的贴地压力。
  7. 根据权利要求6所述的地坪漆刮涂装置，其中，所述第一自适应机构(2)还包括压力调节块(22)，所述压力调节块(22)沿竖直方向位置可调节地设置在所述多个转臂(211)上，所述第一弹性件(23)的上端与所述压力调节块(22)抵接，所述第一弹性件(23)的下端与所述转臂组件(21)的下端抵接。
  8. 根据权利要求1-4任一项所述的地坪漆刮涂装置，其中，所述第二自适应机构(3)包括：
    下压板组(31)，所述刮刀机构(1)设置在所述下压板组(31)上；
    上压板(32)，与所述第一自适应机构(2)的调整端连接；
    第二弹性件(33)，弹性连接所述下压板组(31)和所述上压板(32)，以使所述下压板组(31)能够沿竖直方向升降。
  9. 根据权利要求8所述的地坪漆刮涂装置，其中，所述第二自适应机构(3)还包括导杆(34)，所述导杆(34)的下端与所述下压板组(31)连接，所述导杆(34)的上端沿竖直方向可滑动地穿过所述上压板(32)，所述第二弹性件(33)套设在所述导杆(34)上。
  10. 根据权利要求9所述的地坪漆刮涂装置，其中，所述第二自适应机构(3)还包括直线轴承(35)，所述直线轴承(35)设置在所述上压板(32)上，所述导杆(34)穿设在所述直线轴承(35)中。
  11. 根据权利要求10所述的地坪漆刮涂装置，其中，所述第二自适应机构(3)还包括：
    高度调节块(36)，沿竖直方向位置可调节地设置在所述导杆(34)上且位于所述上压板(32)的上方，所述高度调节块(36)能够与所述直线轴承(35)或所述上压板(32)抵接，以限制所述刮刀机构(1)的下降高度。
  12. 根据权利要求1-4任一项所述的地坪漆刮涂装置，其中，所述刮刀机构(1)包括：
    安装组件(11)，设置在所述第二自适应机构(3)上；
    第一刮刀(12)，安装在所述安装组件(11)上；
    第二刮刀(13)，安装在所述安装组件(11)上且与所述第一刮刀(12)平行且间隔设置。
  13. 根据权利要求12所述的地坪漆刮涂装置，其中，所述第一刮刀(12)的贴地端呈锯齿状，所述第二刮刀(13)的贴地端呈平面状，当所述刮刀机构(1)刮涂地坪漆时，所述第一刮刀(12)先刮涂地坪漆，所述第二刮刀(13)后刮涂地坪漆，以使地坪漆被刮平。
  14. 一种地坪漆涂覆机器人，包括如权利要求1-13任一项所述的地坪漆刮涂装置。
PCT/CN2021/079520 2020-03-10 2021-03-08 地坪漆刮涂装置及地坪漆涂覆机器人 WO2021180026A1 (zh)

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