WO2022247339A1

WO2022247339A1 - Roll coating execution terminal and roll coating robot

Info

Publication number: WO2022247339A1
Application number: PCT/CN2022/074874
Authority: WO
Inventors: 刘恒志; 陈伯扦; 付勇; 刘建成
Original assignee: 广东博智林机器人有限公司
Priority date: 2021-05-26
Filing date: 2022-01-29
Publication date: 2022-12-01
Also published as: AU2022282086A1; GB2621647A; GB202300061D0

Abstract

The present application relates to a roll coating execution terminal and a roll coating robot. The roll coating execution terminal comprises: a mounting seat; at least one telescopic floating mechanism, which is connected to the mounting seat; at least one set of roll coating assemblies, which are connected to the at least one telescopic floating mechanism; and each set of the roll coating assemblies is configured with at least two rollers arranged at intervals, and the rollers are used to make contact with a construction surface.

Description

Roll coating execution terminal and roll coating robot

technical field

The present application relates to a rolling coating execution terminal and a rolling coating robot.

Background technique

In recent years, with the continuous improvement of the level of science and technology, in order to solve the adverse economic impact of high labor costs that have been rising year by year, various intelligent equipment has been put into all walks of life in people's production and life. For example, in the construction industry, rolling coating robots have been gradually used to replace traditional manual scraping for epoxy floor paint roll coating, so as to achieve the effect of improving quality, increasing efficiency and reducing costs. When the roller coating robot is working, the AGV trolley automatically runs to provide walking power, and the manipulator drives the roller to move back and forth above the construction work surface, thereby realizing the effect of simulating manual scraping.

However, before the manipulator drives the roller to carry out the roller coating operation, the area where the paint is poured onto the construction work surface at a fixed point is usually located on one side of the roller. Unevenness, and the roller cannot always contact the undulating construction surface, resulting in poor roller coating effect and low roller coating efficiency.

application content

Based on this, it is necessary to provide a rolling coating execution terminal and a rolling coating robot, aiming at solving the problems of poor rolling coating effect and low rolling coating efficiency in the prior art.

The present application aims to provide a rolling coating execution terminal, including: a mounting base; at least one telescopic floating mechanism connected to the mounting base; at least one set of rolling coating components connected to the at least one telescopic floating mechanism; The roller coating assembly is configured with at least two rollers arranged at intervals, and the rollers are used to contact the construction surface.

The roll coating execution terminal application is equipped in a roll coating robot to perform roll coating construction on the construction work surface. Due to the configuration of at least two rollers, compared with the traditional single-roller roller coating mechanism, the contact area with the construction work surface is larger, and the roller coating area completed per unit time is larger, which can significantly improve the roller coating efficiency. In addition, since the roller coating component is connected with the telescopic floating mechanism, the telescopic floating mechanism can provide the roller with the active lifting and floating ability, so that the roller can adapt to the fluctuations of the construction surface and always effectively contact the construction work surface, ensuring the quality of roller coating and efficiency.

Further, the rolling coating execution terminal is equipped with a group of rolling coating components and a plurality of telescopic floating mechanisms, and the rolling coating components include a rolling coating bracket, a first roller and a second roller; wherein, the rolling coating bracket and the A plurality of telescopic floating mechanisms are connected, and the first roller and the second roller are respectively rotatably connected to the roller coating support; the roller coating execution terminal also includes a feeding mechanism, and the feeding mechanism is connected to the mounting seat connected, the feeding mechanism has a discharge port, and the paint output from the discharge port falls between the first roller and the second roller.

Further, the rolling coating bracket includes a first mounting frame, a second mounting frame, a first connecting frame and a second connecting frame, the first mounting frame is arranged in parallel with the second mounting frame, and the first connecting frame The frame is arranged in parallel with the second connecting frame, the two ends of the first connecting frame are respectively connected to the first mounting frame and the second mounting frame, and the two ends of the second connecting frame are respectively connected to the first A mounting frame and the second mounting frame, the first mounting frame, the second mounting frame, the first connecting frame and the second connecting frame cooperate to form a quadrilateral structure and cooperate to form the blanking area, the projection of the discharge port is in the middle of the blanking area; the first roller is rotatably set on the first mounting frame, and the second roller is rotatably set on the second mounting frame .

Further, the telescopic floating mechanism is configured in multiples, and the multiple telescopic floating mechanisms are divided into a first telescopic floating group and a second telescopic floating group, and the first telescopic floating group and the second telescopic floating group are respectively The base is connected to the mounting seat, the first telescopic floating group is connected to the first mounting frame, and the second telescopic floating group is connected to the second mounting frame.

Further, the rolling coating bracket also includes a first rotating unit and a second rotating unit, the first rotating unit is arranged on the first mounting frame and is connected to the first telescopic floating group in rotation, the first rotating unit Two rotation units are arranged on the second installation frame and are connected in rotation with the second telescopic floating group; the rotation axis of the first rotation unit is perpendicular to the rolling axis of the first roller, and the rotation axis of the second rotation unit is The axis of rotation is perpendicular to the rolling axis of the second roller.

Further, the telescopic floating mechanism includes a guide rod, an elastic telescopic member, a linear bearing and a telescopic sleeve, the guide rod is connected to the mounting seat, the elastic telescopic member is sleeved on the guide rod, and the The linear bearing is slidingly sleeved on the outside of the guide rod and abuts against the elastic telescopic member, the telescopic sleeve is sleeved on the outside of the linear bearing, and the telescopic sleeve is connected with the roller coating assembly.

Further, the telescoping floating mechanism further includes a protective cover, the protective cover is fixed on the outside of the guide rod, and the outer wall of the telescopic sleeve is slidingly fitted with the inner wall of the protective cover.

Further, the feeding mechanism includes a feeding seat, a mixing motor, a mixing transmission assembly and a mixing pipe, and the mixing motor and the mixing transmission assembly are respectively arranged on the feeding seat and connected by driving , the mixing transmission assembly is connected to the mixing tube and is used to drive the mixing tube to rotate, and the feeding seat is provided with at least one feeding port, and the feeding port communicates with the mixing tube , the end of the mixing tube away from the material supply seat is formed with the discharge port.

Further, there are two feed ports, which are respectively a first feed port and a second feed port, and the first feed port and the second feed port are respectively communicated with the mixing pipe.

Further, the feeding mechanism also includes an end cover and a fixing pipe, the feeding seat has a maintenance port, and the end cover is detachably arranged at the maintenance port; the fixing pipe is arranged on the feeding seat , the mixing tube is rotatably arranged in the fixed tube.

Further, the at least one telescopic floating mechanism includes a first telescopic floating mechanism and a second telescopic floating mechanism, the first telescopic mechanism and the second telescopic floating mechanism are arranged in parallel and spaced from each other; the at least one set of rollers The coating assembly includes a first roller coating assembly, the first roller coating assembly includes a first connecting rod and two rollers, the two rollers are respectively a first roller and a second roller, and the first connecting rod is connected to the first roller respectively. The first telescopic floating mechanism and the second telescopic floating mechanism are hinged, and the first roller and the second roller are respectively arranged at two ends of the first connecting rod.

Further, the at least one telescopic floating mechanism also includes a third telescopic floating mechanism and a fourth telescopic floating mechanism, the third telescopic mechanism and the fourth telescopic floating mechanism are arranged in parallel and spaced apart from each other; The roller coating assembly also includes a second roller coating assembly, the second roller coating assembly includes a second connecting rod and two rollers, the two rollers are respectively a third roller and a fourth roller, and the second connecting rods are respectively It is hinged with the third telescopic floating mechanism and the fourth telescopic floating mechanism, and the third roller and the fourth roller are respectively arranged at both ends of the second connecting rod.

Further, the rolling coating execution terminal also includes a first linkage mechanism and a second linkage mechanism, the first telescopic floating mechanism is connected to the third telescopic floating mechanism through the first linkage mechanism, so that the first The telescopic floating mechanism and the third telescopic floating mechanism can synchronously telescopically move; the second telescopic floating mechanism is connected with the fourth telescopic floating mechanism through the second linkage mechanism, so that the second telescopic floating mechanism and the The fourth telescoping floating mechanism can synchronously telescopically move.

Further, each telescopic floating mechanism includes a fixed body, a movable body and an elastic telescopic body, one end of the fixed body is connected to the mounting base, and one end of the movable body is connected to the first connecting rod or the The second connecting rod is connected, and the other end of the fixed body is connected to the other end of the movable body through the elastic expansion body, so that the movable body can perform telescopic movement relative to the fixed body.

Furthermore, the rolling coating execution terminal also includes a plurality of hinge assemblies and a plurality of torsion pieces, one end of each of the fixed bodies is rotatably connected to the mounting base through each of the hinge assemblies, each of the torsion pieces is arranged on each on the hinge assembly, and the two ends of the torsion member abut against the mounting seat and the fixed body respectively.

Further, one end of each movable body is provided with a first connecting frame and a first rotating shaft, and the first connecting frame is rotatably connected to the first connecting rod or the second connecting rod through the first rotating shaft.

Further, the ends of the first connecting rod and the second connecting rod are both provided with a second rotating shaft and a second connecting frame hinged to the second rotating shaft, and the second connecting frame is connected to the first connecting rod. The corresponding rollers among the drum, the second drum, the third drum and the fourth drum are connected, the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft, and the axis of the second rotating shaft is connected to the corresponding The rolling axes of the rollers are vertical.

Further, the rolling coating execution terminal further includes a connecting plate, and the first telescopic floating mechanism, the second telescopic floating mechanism, the third telescopic floating mechanism and the fourth telescopic floating mechanism are respectively connected to the connecting plate.

Further, the connecting plate includes a plate main body and four extension bodies extending outward from the plate main body, the four extension bodies are connected with the first telescopic floating mechanism, the second telescopic floating mechanism, and the third telescopic floating mechanism. The floating mechanism and the fourth telescopic floating mechanism are connected in one-to-one correspondence.

Further, the connecting plate is made of elastic material.

Further, the connecting plate includes a first plate body, a universal joint and a second plate body, one end of the first plate body is rotatably connected to one end of the second plate body through the universal joint joint, The other end of the first plate is connected to the first telescopic floating mechanism and the third telescopic floating mechanism, and the other end of the second plate is connected to the second telescopic floating mechanism and the fourth telescopic floating mechanism. Floating mechanism connection.

Further, the length of the first connecting rod is shorter than the length of the second connecting rod.

Further, the rolling coating execution terminal also includes a fixed bracket, which is used for positioning the discharge port; the fixed bracket is arranged on the first connecting rod.

Further, the at least one group of roller coating assemblies includes a first roller coating assembly and a second roller coating assembly; the at least one telescopic floating mechanism is used to apply Pressure, the pressure applied to the construction surface by the first roller coating assembly is greater than the pressure applied to the construction surface by the second roller coating assembly.

Further, the roll coating execution terminal also includes a feeding mechanism and an installation base; the feeding mechanism is connected to the installation seat, and the outlet of the feeding mechanism faces the construction surface; the first Both the rolling coating assembly and the second rolling coating assembly are connected to the installation base, and the second rolling coating assembly can be movably erected on the installation base. On the vertical construction surface, the first The second roller coating assembly is higher than the first roller coating assembly; the installation base is provided with a first installation part, and a support shaft is installed in the first installation part, and each telescopic floating mechanism passes through the support shaft It is rotatably matched with the installation base; each telescopic floating mechanism is assembled with the feeding mechanism.

Further, the rolling coating execution terminal is equipped with two telescopic floating mechanisms, each of which includes a fixed body, a movable body and an elastic telescopic body, and the fixed body is installed together with the feeding mechanism , the movable bodies of the two telescopic floating mechanisms are respectively connected to the two ends of the mounting plate, and the middle part of the mounting plate is sleeved on the supporting shaft through a wear-resistant sleeve.

Further, the feeding mechanism includes a rotary joint, a mixer, and a mounting plate, the rotary joint is connected to the mounting seat, and the at least one telescopic floating mechanism is installed on the rotary joint through the mounting plate, The rotary joint is connected with the mixer, and the outlet of the mixer forms the outlet of the feeding mechanism.

Further, the first roller coating assembly includes a first roller, a second roller, a first fitting, a second fitting and a first connecting rod, and the first connecting rod is passed through the installation base, The first fitting is movably connected with one end of the first connecting rod, the second fitting is movably connected with the other end of the first connecting rod, and the first roller is rotatably mounted on the On the first fitting, the second roller is rotatably mounted on the second fitting.

Further, the outlet of the mixer is located between the first drum and the second drum, and the outlet of the mixer corresponds to the middle of the first drum and the second drum.

Further, the first assembly part includes a first assembly plate, a first adjustment bracket, a second adjustment bracket and a first positioning ring, and the first assembly plate is rotatably mounted on one end of the first connecting rod , and the first assembly plate is limited and fixed by the first positioning ring and the first connecting rod, the first assembly plate is provided with a first chute, and one end of the first adjustment bracket is movable Fit into the first chute, the other end of the first adjustment bracket rotates with one end of the first roller, and one end of the second adjustment bracket is movably fitted into the first chute , the other end of the second adjustment bracket rotates with the other end of the first roller; the second assembly includes a second assembly plate, a third adjustment bracket, a fourth adjustment bracket and a second positioning ring, the The second mounting plate is rotatably mounted on the other end of the first connecting rod, and the second mounting plate is limited and fixed with the first connecting rod through the second positioning ring. The assembly plate is provided with a second chute, one end of the third adjusting bracket is movably fitted into the second chute, and the other end of the third adjusting bracket is rotatably matched with one end of the second roller One end of the fourth adjusting bracket is movably fitted into the second chute, and the other end of the fourth adjusting bracket is rotatably engaged with the other end of the second roller.

Further, the second roller coating assembly includes a third roller, a fourth roller, a third assembly, a fourth assembly, a second connecting rod, a third connecting rod, a first limiting baffle and a second limiting The baffle, the installation base is provided with a second installation part, the third roller is rotatably installed on the third fitting, the third fitting and the second connecting rod One end is movably connected, the other end of the second connecting rod is rotatably connected to the second installation part, the first limit baffle is installed on the second installation part, and the first limit stop The limit conflicts between the plate and the second connecting rod, and the third roller is higher than the first roller during construction on the vertical construction surface; the fourth roller is rotatably installed on the fourth device As for the accessories, the fourth fitting is movably connected to one end of the third connecting rod, the other end of the third connecting rod is rotatably connected to the second mounting part, and the second limit baffle Installed on the second installation part, the second limit baffle interferes with the limit of the third connecting rod, and the fourth roller is higher than the second roller during construction on the vertical construction surface. roller.

Further, the third assembly part includes a third assembly plate, a fifth adjustment bracket, a sixth adjustment bracket and a third positioning ring, and the third assembly plate is rotatably mounted on one end of the second connecting rod , and the third assembly plate is limited and fixed by the third positioning ring and the second connecting rod, the third assembly plate is provided with a third chute, and one end of the fifth adjustment bracket is movable Fit into the third chute, the other end of the fifth adjusting bracket rotates with one end of the third roller, and one end of the sixth adjusting bracket movably fits into the third chute , the other end of the sixth adjustment bracket rotates with the other end of the third roller; the fourth assembly includes a fourth assembly plate, a seventh adjustment bracket, an eighth adjustment bracket and a fourth positioning ring, the The fourth assembly plate is rotatably mounted on one end of the third connecting rod, and the fourth assembly plate is limited and fixed with the third connecting rod through the fourth positioning ring, and the fourth assembly A fourth chute is provided on the plate, one end of the seventh adjusting bracket is movably fitted into the fourth chute, the other end of the seventh adjusting bracket is rotatably matched with one end of the fourth roller, One end of the eighth adjusting bracket is movably fitted into the fourth chute, and the other end of the eighth adjusting bracket is rotatably engaged with the other end of the fourth roller.

The application provides a rolling coating robot, including: a walking chassis; a mechanical arm, the mechanical arm is set on the walking chassis; and the above-mentioned rolling coating execution terminal, the rolling coating execution terminal is set on the Walk the end of the chassis.

Description of drawings

The drawings constituting a part of the application are used to provide further understanding of the application, and the schematic embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation to the application.

Fig. 1 is a schematic structural view of the rolling coating execution terminal described in the first embodiment of the present application;

Fig. 2 is the assembling structure diagram of roller coating support, the first roller and the second roller among Fig. 1;

Fig. 3 is a schematic structural view of the feeding mechanism in the first embodiment of the present application;

Fig. 4 is a schematic structural diagram of the telescopic floating mechanism in the first embodiment of the present application;

Fig. 5 is the sectional structure diagram of A-A place in Fig. 4;

Fig. 6 is a schematic structural view of the rolling coating execution terminal described in the second embodiment of the present application;

Fig. 7 is a structural schematic diagram of another viewing angle of Fig. 6;

Fig. 8 is a structural schematic diagram of another viewing angle of Fig. 7;

Fig. 9 is a schematic structural view of each telescopic floating mechanism in Fig. 6 when they are extended synchronously;

Fig. 10 is a structural schematic diagram of different stretching amounts of each telescopic floating mechanism in Fig. 6;

Fig. 11 is a schematic structural view of each telescopic floating mechanism in Fig. 6 when it shrinks synchronously;

Fig. 12 is a structural schematic diagram of the first viewing angle of the rolling coating execution terminal described in the third embodiment of the present application;

Fig. 13 is a schematic structural diagram of a second viewing angle of the rolling coating execution terminal described in the third embodiment of the present application;

FIG. 14 is a schematic diagram of a partial structure of the rolling coating execution terminal described in the third embodiment of the present application;

Fig. 15 is a structural schematic diagram of a third viewing angle of the rolling coating execution terminal described in the third embodiment of the present application;

FIG. 16 is a schematic structural diagram of a fourth viewing angle of the rolling coating execution terminal according to the third embodiment of the present application.

Detailed ways

In order to make the above-mentioned purpose, features and advantages of the present application more obvious and understandable, the specific implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

first embodiment

The embodiment of the present application provides a rolling coating robot (not shown in the figure), which is used for rolling coating construction on the construction work surface of various buildings, so as to evenly apply the coating (such as paint, putty powder, etc.) on the construction surface. The working surface forms a decorative interface or a protective interface.

The rolling coating robot can include: a walking chassis, a mechanical arm and a rolling coating execution terminal. The robotic arm is set on the walking chassis, and the rolling coating execution terminal is set at the end of the robotic arm away from the walking chassis. Among them, the walking chassis is used to output walking power, so that the roller coating robot has the mobility, so as to meet the needs of rolling coating on large-area construction work surfaces. Optionally, the walking chassis may be, but not limited to, a wheeled chassis, a crawler chassis, etc., which can be selected according to actual needs.

The mechanical arm is used to load the roll coating execution terminal 100, and provide the power required for the roll coating execution terminal 100 to reciprocate linearly or swing in an arc in a plane parallel to the construction work surface, so that the roll coating execution terminal can complete large-area, high Quality roller application. . Optionally, the robotic arm may be, but not limited to, a two-axis robotic arm, a four-axis robotic arm, a six-axis robotic arm, etc., which can be selected according to actual needs.

As shown in FIG. 1 , it is a rolling coating execution terminal 100 shown in the first embodiment of the present application, which is used to perform rolling coating operations on construction work surfaces. Specifically, the roll coating execution terminal includes: a mounting seat 101, a plurality of telescopic floating mechanisms 10, a set of roll coating components, and a feeding mechanism 50, and the set of roll coating components includes a roll coating bracket 20, a first roller 31 and a second roll coating assembly. Two rollers 32.

Please continue to refer to Figures 1 and 3, the telescopic floating mechanism 10 is installed on the mounting base 101, and the mounting base 101 is used to connect with a movable device, such as a mechanical arm or a sliding seat, etc. The movable device in this embodiment is used to drive the installation The seat moves along the preset trajectory. The roller coating support 20 is connected with the telescopic floating mechanism 10 , and a blanking area 25 is formed around the rolling coating support 20 . For example, in this embodiment, the roll coating bracket 20 is formed into a ring structure, and the blanking area 25 is the inner ring cavity area of the ring structure. The first roller 31 and the second roller 32 are respectively rotatably connected to the roller coating bracket 20 , and the first roller 31 and the second roller 32 are arranged opposite to each other with a certain distance therebetween. The feeding mechanism 50 is disposed on the installation seat 101 , and the feeding mechanism 50 has a discharge port 51 , and the projection of the discharge port 51 is in the blanking area 25 .

To sum up, the implementation of the technical solution of this embodiment will have the following beneficial effects: the rolling coating execution terminal of the above solution is equipped in a rolling coating robot to perform rolling coating construction on the construction work surface. Since the first roller 31 and the second roller 32 are installed on the first roller coating support 20 at the same time, compared with the traditional single-roller roller coating execution terminal, the contact area with the construction work surface is larger, and the completed The rolling coating area is large, which can significantly improve the rolling coating efficiency.

In addition, since the roller coating bracket 20 is connected with the telescopic floating mechanism 10, the telescopic floating mechanism 10 can provide the first roller 31 and the second roller 32 with active lifting and floating capabilities, and then when the first roller 31 and the second roller 32 When encountering bumpy and uneven construction work surfaces, it can adapt to the fluctuations and always effectively contact the construction work surfaces to ensure the quality and efficiency of roller coating.

In addition, because the roller coating support 20 is an annular structure and is formed with a blanking area 25, and the projection of the discharge port 51 of the feeding mechanism 50 is in the discharge area 25, that is, the paint dripped from the discharge port 51 can be Controlled in the area enclosed by the first roller 31 and the second roller 32, when the roller coating execution terminal moves back and forth, the first roller 31 and the second roller 32 can alternately perform two-way roller coating operation, not only the roller coating efficiency is high, but also It can ensure that the paint is rolled evenly, and the dripping effect and the two-way rolling effect are improved.

Please continue to refer to Fig. 1 and Fig. 2, on the basis of the foregoing embodiments, the roller coating bracket 20 includes a first mounting frame 21, a second mounting frame 22, a first connecting frame 23 and a second connecting frame 24, and the first roller 31 Rotationally arranged on the first mounting frame 21, the second roller 32 is rotatably installed on the second mounting frame 22, and the first mounting frame 21 and the second mounting frame 22 are spaced apart substantially in parallel (substantially parallel includes parallel and approximately parallel conditions). Set, the two ends of the first connecting frame 23 are respectively connected to the first mounting frame 21 and the second mounting frame 22, and the two ends of the second connecting frame 24 are respectively connected to the first mounting frame 21 and the second mounting frame 22, and the first connection The frame 23 and the second connecting frame 24 are substantially parallel and spaced apart. The first mounting frame 21, the second mounting frame 22, the first connecting frame 23 and the second connecting frame 24 cooperate to form a parallelogram structure and cooperate to form a blanking area. The projection of the discharge port 51 is in the middle of the blanking area. In addition, for example, the first connecting frame 23 and the second connecting frame 24 have a certain amount of elastic deformation, so as to be able to adapt to the unevenness of the construction work surface.

The roller coating support 20 is assembled by the first mounting frame 21, the second mounting frame 22, the first connecting frame 23 and the second connecting frame 24 to form a parallelogram structure, which is simple in structure, easy to manufacture, light in weight, and has high structural strength and stability. Well, the durability is good, even if it is stained with paint, it will not affect the service life. In addition, according to the known lengths of the first mounting frame 21, the second mounting frame 22, the first connecting frame 23 and the second connecting frame 24, it is easy to calculate the area of the roller coating bracket 20, which is conducive to accurate calculation and control of the roller coating area.

For example, in this embodiment, the first mounting frame 21 and the second mounting frame 22 are both formed in a U-shaped structure, and the first roller 31 and the second roller 32 are respectively installed in the U-shaped cavity through corresponding roller shafts, and the installation method is simple. , compact structure and good reliability. In addition, the first connecting frame 23 and the second connecting frame 24 can optionally be made of sheet metal parts, which have high structural strength and are easy to obtain. The first connecting frame 23 and the second connecting frame 24 are preferably assembled with the first mounting frame 21 and the second mounting frame 22 by means of screw connection, the assembly structure is simple, the assembly and disassembly are convenient, and the connection reliability is high.

It should be noted that, in order to further increase the area of roller coating per unit time to improve the efficiency of roller coating, at least two first rollers 31 can be installed on the first mounting frame 21, and/or at least two rollers 31 can be installed on the second mounting frame 22. Two second rollers 32, the specific number of rollers can be set according to actual needs. In order to ensure the quality of roller coating, each first roller 31 and each second roller 32 are generally in the same plane, so as to ensure that they can be in contact with the construction work surface at the same time.

It should be noted that setting the projection of the discharge port 51 at the middle position of the blanking area 25 can help spread the paint dripped on the ground more evenly, avoid splashing the paint to the outside, and improve the utilization of the paint. rate and avoid polluting the surrounding environment.

Please continue to refer to FIG. 1 , in one embodiment, the rolling coating execution terminal further includes a base 11 , and a plurality of telescopic floating mechanisms 10 are connected to the mounting base 101 through the base 11 . A plurality of telescopic floating mechanisms can be divided into two groups, respectively the first telescopic floating group 12 and the second telescopic floating group 13, the first telescopic floating group 12 and the second telescopic floating group 13 are respectively arranged on the base 11, and the second telescopic floating group A telescopic floating group 12 is connected to the first mounting frame 21 , and a second telescopic floating group 13 is connected to the second mounting frame 22 . In this embodiment, the first telescopic floating group 12 includes two telescopic floating mechanisms 10 , and the second telescopic floating group 13 includes two telescopic floating mechanisms 10 .

When the construction work surface is the outer wall surface of a building (such as a building), there will be yin and yang angles or turning parts on the outer wall surface, or there will be unevenness on the wall surface due to manufacturing size errors. If the first roller 31 and the second roller 32 is assembled with a rigid structure, the first roller 31 and the second roller 32 cannot be guaranteed to be in constant contact with the construction work surface, which will affect the quality and efficiency of roller coating. In view of this, in some embodiments, the roller coating bracket 20 also includes a first rotating unit 14 and a second rotating unit 15, the first rotating unit 14 is arranged on the first mounting frame 21 and rotates with the first telescopic floating group 12 connected, the second rotating unit 15 is arranged on the second installation frame 22 and is rotatably connected with the second telescopic floating group 13 . The rotation axis provided by the first rotation unit 14 is perpendicular to the rolling axis of the first roller 31 , and the rotation axis provided by the second rotation unit 15 is perpendicular to the rolling axis of the second roller 32 . For example, the first rotating unit 14 includes a hinge shaft installed on the first mounting frame 21, the first telescopic floating group 12 is connected with the hinge shaft, and the second rotating unit 15 includes another hinge shaft installed on the second mounting frame 22. , the second telescopic floating group 13 is connected with this other home Pazhou.

Since the first installation frame 21 is rotatably connected with the first telescopic floating group 12 through the first rotating unit 14, and the second mounting frame 22 is rotatably connected with the second telescopic floating group 13 through the second rotating unit 15, thus when contacting When the angle changes or the uneven construction work surface is reached, the first roller 31 and the second roller 32 can not only carry out self-adaptive telescopic floating, but also ensure that the first roller 31 and the second roller 32 are always in contact with the construction work surface. It can also self-adaptively rotate and swing to meet the contact requirements of construction work surfaces at different angles and ensure the quality and efficiency of roller coating.

Please continue to refer to FIG. 4 and FIG. 5 , in some embodiments, each telescopic floating mechanism 10 includes a guide rod 16, an elastic telescopic member 17, a linear bearing 18 and a telescopic sleeve 19, wherein the guide rod is connected to the base 11, The elastic expansion member 17 is sleeved on the guide rod 16 , the linear bearing 18 is slidably sleeved on the outside of the guide rod 16 and abuts against the elastic expansion member 17 , and the expansion sleeve 19 is sleeved on the outside of the linear bearing 18 . During assembly, the telescopic sleeve 19 is directly or indirectly connected to the hinge shaft of the corresponding first rotating unit 14 or second rotating unit 15 on the roller bracket 20 .

When working, when the first roller 31 and the second roller 32 contact the construction work surface, they will receive the reverse thrust exerted by the construction work surface, and the telescopic sleeve 19 will drive the linear bearing 18 to shrink and slide relative to the guide rod 16, and the linear bearing 18 Squeeze the elastic expansion member 17 to produce compression to realize the shrinkage and floating when the first roller 31 and the second roller 32 contact the protruding parts of the construction work surface; In the recessed position, since the working surface no longer exerts a reverse thrust, the elastic expansion member 17 will release the elastic potential energy and stretch itself to push the linear bearing 18 and the expansion sleeve 19 out, so as to drive the first roller 31 and the second roller 31. The second roller 32 elongates and contacts the effect of the concave part of the construction work surface. The structure of the first telescopic floating group 12 and the second telescopic floating group 13 is simple in structure, and the telescopic movement is stable, so that the first roller 31 and the second roller 32 can reliably contact the construction work surface.

Optionally, the above-mentioned elastic stretchable member 17 may be, but not limited to, any one of springs, elastic columns, shrapnel, etc., which can be selected according to actual needs.

Further, each telescopic floating mechanism 10 also includes a protective cover 19a, the protective cover 19a is fixed on the outside of the guide rod 16, and the outer wall of the telescopic sleeve 19 is slidably matched with the inner wall of the protective cover 19a, for example, the protective cover 19 and the base 11 connections. The protective cover 19a can not only prevent the elastic expansion member 17 from being exposed to the environment, and affect the elastic properties of the paint, and then affect the rolling ability of the first roller 31 and the second roller 32; The outside of the cylinder 19 can guide and limit the telescopic movement of the telescopic sleeve 19 to prevent the telescopic sleeve 19 from driving the first roller 31 and the second roller 32 to deflect and affect the quality of roller coating.

The rolling coating execution terminal of this solution is an integrated rolling coating module, specifically integrating the two functions of material supply and rolling coating into one module. When working, first rely on the feeding mechanism 50 to output the paint to the construction work surface, and then the mechanical arm drives the first roller 31 and the second roller 32 to reciprocate bidirectionally to spread the paint evenly on the construction work surface.

Please continue to refer to FIG. 3 , for example, on the basis of any of the above embodiments, the feeding mechanism 50 may include a feeding seat 52 , a mixing motor 53 , a mixing transmission assembly and a mixing tube 54 . The feeding seat 52, for example, can be installed on the base 11, the mixing motor 53 and the mixing drive assembly are respectively arranged on the feeding seat 52 and are drivenly connected, and the mixing drive assembly is connected with the mixing pipe 54 and is used to drive the mixing The pipe 54 rotates, and the feeding seat 52 is provided with at least one feeding port, which is connected to the mixing pipe 54 , and the end of the mixing pipe 54 away from the feeding seat 52 is formed with a feeding port 51 .

During work, the feeding seat 52 is connected with the base 11, and then connected with the end of the mechanical arm through the mounting seat 101, so that the feeding mechanism 50 is assembled and fixed. The feed port communicates with the paint supply device through the feed pipe, and the paint supply device injects the paint into the mixing pipe 54 through the feed pipe. Then the mixing motor 53 starts to drive the mixing transmission assembly to rotate, and the mixing transmission assembly then drives the mixing pipe 54 to rotate, so as to achieve the effect of evenly stirring the coating, while preventing the coating from standing and agglomerating to ensure the quality of roller coating. The paint after stirring is output from the discharge port 51.

Further, there are two feeding ports, which are respectively a first feeding port 521 and a second feeding port 522 , and the first feeding port 521 and the second feeding port 522 are respectively communicated with the mixing pipe 54 . Therefore, the first feed port 521 and the second feed port 522 can respectively introduce different types of paints into the mixing pipe 54 to prepare mixed paints of different types and properties to meet the needs of different roller coating conditions and requirements. For example, in this embodiment, the first feed port 521 is used to flow into the curing agent, and the second feed port 522 is used to flow into the main paint. The mixed paint prepared by stirring in this way solidifies more quickly, which can shorten the paint solidification time and shorten the entire coating. Roller application cycle.

In addition, the feeding mechanism 50 also includes an end cover 55 and a fixed pipe 56 , the feeding seat 52 has a maintenance port, and the end cover 55 is detachably disposed on the maintenance port of the feeding seat 52 . Since the end cover 55 is designed to be detachable, it is convenient to carry out inspection and maintenance, and to clean the inside of the feeding seat 52 and the installation parts. The fixed pipe 56 is arranged on the material supply seat 52 , and the mixing pipe 54 is rotatably arranged in the fixed pipe 56 . Therefore, the fixing pipe 56 can fix the mixing pipe 54 and ensure the smooth rotation of the mixing pipe 54 .

second embodiment

As shown in FIG. 6 , it is a rolling coating execution terminal 100 shown in the second embodiment of the present application. The rolling coating execution terminal 100 is, for example, equipped in a rolling coating robot and is used to directly execute the main body of rolling coating construction on the ground. , such as rolling the floor paint onto the floor of an underground car park. The rolling coating execution terminal 100 includes: a mounting base 101, a plurality of telescopic floating mechanisms and two groups of rolling coating assemblies (a first group of roller assemblies and a second group of roller assemblies), each group of rolling coating assemblies includes two rollers, each group The roller coating components are all connected to the mounting base 101 through a telescopic floating mechanism, and each telescopic floating mechanism can perform self-adaptive telescopic movement.

More specifically, a plurality of telescopic floating mechanisms include a first telescopic floating mechanism 1a, a second telescopic floating mechanism 1b, a third telescopic floating mechanism 1c and a fourth telescopic floating mechanism 1d, the first telescopic floating mechanism 1a, the second telescopic floating mechanism 1b, the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d are arranged substantially parallel and spaced apart from each other, and these telescopic floating mechanisms 1a-1d are all connected to the mounting seat 10. As shown in the figure, these telescopic floating mechanisms 1a-1d are, for example, generally arranged at the four corners of a quadrilateral structure.

The first group of roller assemblies includes a first connecting rod 41 and two rollers (the first roller 31 and the second roller 32), the first connecting rod 41 is respectively hinged with the first telescopic floating mechanism 1a and the second telescopic floating mechanism 1b, and The first roller 31 and the second roller 32 are substantially parallel to the two ends of the first connecting rod 41 , and the rolling axes of the first roller 31 and the second roller 32 are substantially perpendicular to the axis of the first connecting rod 41 . The second group of roller assemblies includes a second connecting rod 42 and two rollers (the third roller 33 and the fourth roller 34), the second connecting rod 42 is respectively hinged with the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d, and , the third roller 33 and the fourth roller 34 are arranged substantially parallel to both ends of the second connecting rod 42 , and the rolling axes of the third roller 33 and the fourth roller 34 are substantially perpendicular to the axis of the second connecting rod 42 .

When the rolling coating execution terminal 100 is in use, the mounting base 101 is connected with the motion unit (such as a mechanical arm) of the rolling coating construction robot, so that the mechanical arm can drive the rolling coating execution terminal 100 to move, so as to meet the needs of large-area ground rolling coating operations. needs. In addition, a first telescopic floating mechanism 1a, a second telescopic floating mechanism 1b, a third telescopic floating mechanism 1c and a fourth telescopic floating mechanism 1d are connected to the mounting base 101, and the first telescopic floating mechanism 1a and the second telescopic floating mechanism 1b are respectively It is hinged with the first connecting rod 41 to form a deformable quadrilateral structure, and the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d are respectively hinged with the second connecting rod 42 to form a deformable quadrilateral structure. In this way, when the rolling coating execution terminal 100 performs rolling coating on uneven ground, with the help of the self-adaptive telescopic movement capability of each telescopic floating mechanism, each roller can follow the ups and downs of the ground for adaptive floating up and down, so that it can always Close to the ground, not only can ensure the efficiency of roller coating construction, but also the quality of roller coating construction is good.

Please continue to refer to Fig. 9 to Fig. 11, in particular, under the expansion and contraction of the first telescopic floating mechanism 1a, the second telescopic floating mechanism 1b, the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d, each quadrilateral structure can be according to Adaptive attitude changes due to terrain changes. According to whether the ground is a plane or an inclined surface, the first connecting rod 41 and the second connecting rod 42 form a horizontal or inclined posture accordingly. When the first connecting rod 41 is in a horizontal posture, the first telescopic floating mechanism 1a and the second telescopic floating mechanism 1b The expansion and contraction are the same (can be synchronous extension or synchronous contraction); when the first connecting rod 41 is in an inclined posture, the expansion and contraction of the first telescopic floating mechanism 1a and the second telescopic floating mechanism 1b are larger and smaller. The relationship between the posture of the second connecting rod 42 and the telescopic amounts of the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d will not be repeated here.

In this solution, the mounting seat 101 may include a connecting flange and quick-release bolts. After the connecting flange is connected to the end of the mechanical arm, it can be quickly and reliably fixed by quick release bolts, which improves the assembleability of the rolling coating execution terminal 100.

It can be understood that the above-mentioned rollers (the first roller 31 to the fourth roller 34 ) can adopt the same structural design, so as to reduce design and manufacturing costs and improve the versatility of components. Each roller may include a roller frame and a roller wheel rotatably mounted on the roller frame. With the movement of the mechanical arm, the roller rolls on the ground, so that the paint is rolled evenly on the ground.

It can be understood that in order to improve the efficiency of roller coating per unit time, two or more roller wheels can be installed on each roller support, and the specific number of roller wheels can be set according to actual needs.

In some embodiments, the first telescopic floating mechanism 1a and the second telescopic floating mechanism 1b can be set independently of each other. Similarly, the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d can be set independently of each other, so that each telescopic floating mechanism capable of telescopic movement independently of each other. When faced with some uneven ground with relatively severe undulations, each telescopic floating mechanism can independently perform stretching or contracting movements, thereby realizing the tilting of the first connecting rod 41 and the second connecting rod 42 to drive each roller to assume a high and low setting, so as to Adapt to the raised ground or the sunken ground respectively, so as to achieve the effect of always being close to the ground.

It can be understood that the telescopic and floating mechanisms can move independently of each other, which means that they can be extended simultaneously, contracted simultaneously, or stretched and contracted at the same time, which is not specifically limited here.

In some embodiments, the rolling coating execution terminal 100 may include a first linkage mechanism and a second linkage mechanism, and the first telescopic floating mechanism 1a may be connected to the third telescopic floating mechanism 1c through the first linkage mechanism, so that the first telescopic floating mechanism 1a and the third telescoping floating mechanism 1c can move synchronously. For uneven ground with relatively high flatness or relatively small undulations, the first telescopic floating mechanism 1a and the third telescopic floating mechanism 1c can drive the first roller 31 and the third roller 33 to be close to each other at the same time through synchronous telescopic movement. The ground, to ensure the efficiency and quality of roller coating. Similarly, the second telescopic floating mechanism 1b can be connected with the fourth telescopic floating mechanism 1d through the second linkage mechanism, so that the second telescopic floating mechanism 1b and the fourth telescopic floating mechanism 1d can telescopically move synchronously. For uneven ground with high flatness or relatively small undulations, the second telescopic floating mechanism 1b and the fourth telescopic floating mechanism 1d can drive the second roller 32 and the fourth roller 34 to always be in close contact with each other through synchronous telescopic movement. The ground, to ensure the efficiency and quality of roller coating. For example, both the first linkage mechanism and the second linkage mechanism can be made up of coupling rods and coupling heads that are located at opposite ends of the coupling rods. They are connected in one-to-one correspondence with the third telescopic floating mechanism 1c (the fourth telescopic floating mechanism 1d).

In some embodiments, the rolling coating execution terminal 100 may include a third linkage mechanism and a fourth linkage mechanism, the first telescopic floating mechanism 1a is connected to the second telescopic floating mechanism 1b through the third linkage mechanism, so that the first telescopic floating mechanism 1a It can move synchronously with the second telescopic floating mechanism 1b. For uneven ground with relatively high flatness or relatively small fluctuations, the first telescopic floating mechanism 1a and the second telescopic floating mechanism 1b can drive the first connecting rod 41 to synchronize in a horizontal or approximately horizontal posture through synchronous telescopic movement. Telescopic floating, so that the first roller 31 and the second roller 32 are always in close contact with the ground at the same time, ensuring the efficiency and quality of roller coating. Similarly, the third telescopic floating mechanism 1c can be connected with the fourth telescopic floating mechanism 1d through the fourth linkage mechanism, so that the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d can telescopically move synchronously. For uneven ground with relatively high flatness or relatively small fluctuations, the third telescopic floating mechanism 1c and the fourth telescopic floating mechanism 1d can drive the second connecting rod 42 to synchronize in a horizontal or approximately horizontal posture through synchronous telescopic movement. Telescopic floating, so that the third roller 33 and the fourth roller 34 are always in close contact with the ground at the same time, ensuring the efficiency and quality of roller coating. For example, both the 3rd linkage mechanism and the 4th linkage mechanism can be made up of coupling rods and coupling joints that are located at opposite ends of the coupling rods, and the two coupling joints are connected with the first telescopic floating mechanism 1a (the 3rd telescopic floating mechanism 1c) respectively. They are connected in one-to-one correspondence with the second telescopic floating mechanism 1b (the fourth telescopic floating mechanism 1d).

Please continue to refer to FIG. 6 and FIG. 8 , in some embodiments, each telescopic floating mechanism can include a fixed body 103, a movable body 104, and an elastic telescopic body, and one end of the fixed body 103 is connected to the mounting base 101, and the mounting base 101 is used for connected to the arm. One end of the movable body 104 is connected with the corresponding first connecting rod 41 or the second connecting rod 42, and the other end of the fixed body 103 is connected with the other end of the movable body 104 through an elastic telescopic body, so that the movable body 104 can be opposite to the fixed body 103 Do stretching exercises. During roller coating construction, in the face of the undulating ground, the elastic stretchable body can self-adaptively stretch and deform, so as to realize the telescopic movement of the movable body 104 relative to the fixed body 103, so that each roller follows the topography of the ground and always clings to the ground. The structure of the telescopic floating mechanism is simple, and the self-adaptive telescopic floating ability to adapt to the fluctuation of the ground is good, which helps to ensure the quality of roller coating.

In order to ensure connection reliability, the mounting base 101 in this solution can be a rigid component. When the roller coating assembly is tilted, each telescopic floating mechanism can be slightly deformed to adapt to the change of the overall structure.

In some alternative embodiments, each telescopic floating mechanism may also be elastically connected to the mounting base 101 . For example, in some embodiments, the rolling coating execution terminal 100 may also include a hinge assembly and a torsion member, one end of the fixed body 103 is rotatably connected to the mounting base 101 through the hinge assembly, the torsion member is arranged on the hinge assembly, and the two ends of the torsion member The ends respectively abut against the mounting seat 101 and the fixed body 103 . The hinge assembly keeps each telescopic floating mechanism perpendicular to the mounting base 101 under normal conditions through torsion parts, and when subjected to ground pressure, each telescopic floating mechanism can tilt to a certain extent with the help of the rotational freedom of the hinge assembly, so that each roller Adapt and stick to the ground.

In order to ensure that each telescopic floating mechanism is more stable and reliable when it is telescopically floated under the action of ground pressure. On the basis of the above-mentioned embodiments, the fixed body 103 is formed into a cylindrical shape with one end open and the other end closed, the movable body 104 is slidably arranged in the cylinder cavity of the fixed body 103, and the elastic expansion body is set as a spring, and the spring abuts against the fixed body Between the bottom wall of the cylinder cavity of 103 and one end of the movable body 104 . The side wall of the barrel cavity constrains and limits the spring, and at the same time limits and guides the movable body 104 , so that when the spring is stretched and deformed, the movable body 104 stretches and slides smoothly and reliably inside the fixed body 103 .

Please continue to refer to FIG. 6 , in addition, on the basis of any of the above-mentioned embodiments, one end of each movable body 104 can also be provided with a first connecting frame 105 and a first rotating shaft 106, and the first connecting frame 105 is arranged at a distance from the movable body 104 One end of the fixed body 103 , and the first connecting frame 105 is hinged to the first connecting rod 41 or the second connecting rod 42 through the first rotating shaft 106 . When facing the ground with more complex ups and downs, in addition to making each group of roller coating assemblies in a tilted posture with the help of each telescopic floating mechanism, the first rotating shaft 106 also enables each group of roller coating assemblies to have an angle within a certain angle range of the first plane. The ability to rotate and swing, so that each roller can better adapt to the ground with load fluctuations, ensuring the efficiency and quality of roller coating.

Please continue to refer to FIG. 6 and FIG. 8 , the rolling coating execution terminal 100 also includes a plurality of second connecting frames 401 and a plurality of second rotating shafts 402, and the two ends of the first connecting rod 41 and the second connecting rod 42 are respectively provided with second The rotating shaft 402 and the middle part of the roller support of each roller are respectively hinged through the corresponding second connecting frame 401 and the corresponding second rotating shaft 402 . The axis of the second rotating shaft 402 is perpendicular to the axis of the first rotating shaft 106 , so that each drum can rotate and swing in the second plane. When facing the ground with more complex ups and downs, in addition to using each telescopic floating mechanism to make each group of roller coating components tilt, the second rotating shaft 402 can make each roller have the ability to rotate and swing within a certain range of the second plane, In this way, each roller can better adapt to the ground where the load fluctuates, ensuring the efficiency and quality of roller coating.

It can be understood that when the first plane is set as the plane where the X-axis is located, correspondingly the second plane can be set as the plane where the Y-axis is located; or when the first plane is set as the plane where the X-axis is located, correspondingly the second plane can be set as The plane where the Z axis is located, and so on.

It should be noted that the axis of the second rotating shaft 402 is parallel to the axis of the first connecting rod 41 or the second connecting rod 42 , so that the first plane and the second plane are perpendicular to each other. Alternatively, the axis of the second rotating shaft 402 is arranged non-parallel to the axis of the first connecting rod 41 or the second connecting rod 42 , so that the first plane and the second plane are arranged at non-right angles. In this way, each roller can form more different spatial attitudes, so that it can well adapt to various complex uneven grounds, ensure that each roller can effectively cling to the ground, and obtain higher roller coating efficiency and roller coating quality. This also greatly enhances the use performance and applicable terrain range of the roll coating execution terminal 100 .

In addition, in order to further improve the rolling coating efficiency of the rolling coating execution terminal 100 per unit time, on the basis of any of the above-mentioned embodiments, the rolling coating execution terminal 100 can also include a connecting plate 102, and the movable bodies of each telescopic floating mechanism are connected to The connection board 102 is connected.

It should be noted that in order to improve the efficiency of roller coating construction, theoretically, the number of groups of roller coating components can be flexibly selected according to needs, that is, the number of roller groups can also be three, four or even more groups. At this time, it is only necessary to equip an appropriate number of connecting plates 102 to assemble and connect each roller coating assembly.

Preferably, the connecting plate 102 can be made of elastic material. For example, the connecting plate 102 in this embodiment can be made of spring steel. At this time, the connection plate 102 not only provides a certain connection strength to ensure the connection reliability of the two groups of roller coating assemblies (the first roller coating assembly and the second roller coating assembly), in addition, the connection plate 102 also possesses a certain elastic deformation capacity, so that The two sets of roller coating components have different spatial attitudes, so as to adapt to the undulating ground and ensure that each roller component can always be in close contact with the ground.

It should be noted that in other embodiments, the connecting plate 102 can also be made of other elastic materials, such as rubber, etc., which can be selected according to actual needs.

Please continue to refer to FIG. 6 and FIG. 7 , in addition, in some embodiments, the connecting plate 102 is arranged in an X-shaped structure. Specifically, the connection board 102 includes a board main body and four extension bodies extending outward from the board main body. The four extension bodies are connected in one-to-one correspondence with the movable bodies 104 of the first telescopic floating mechanism 1a to the fourth telescopic floating mechanism 1d. The connection plate 102 with X-shaped structure design has the ability to reduce weight, provide sufficient connection strength and elastic deformation range, so that the two groups of roller coating components can tilt, twist and other posture changes following the undulating ground to ensure reliable contact with the ground sex and effectiveness.

Or, as an alternative to the above-mentioned embodiment, the connecting plate 102 may include a first plate body, a universal joint and a second plate body, and one end of the first plate body rotates with one end of the second plate body through the universal joint joint. Connect, the other end of the first plate body is connected with the movable body 104 of the first telescopic floating mechanism 1a and the third telescopic floating mechanism 1c respectively, the other end of the second plate body is connected with the second telescopic floating mechanism 1b and the fourth telescopic floating mechanism The movable bodies 104 of 1d are respectively connected. In this way, with the help of the omnidirectional freedom of the universal joint, the connecting plate 102 has the ability to provide sufficient connection strength and elastic deformation range at the same time, so that the two groups of roller coating components can tilt, twist and other posture changes following the undulating ground to ensure tightness. Floor-to-ground reliability and effectiveness. Optionally, the universal joint may be, but is not limited to, a universal joint.

In this embodiment, the lower end of each movable body 104 and the end of the corresponding extension body are connected to the same point on the first connecting rod 41 or the second connecting rod 42, which is more conducive to ensuring structural strength and stability.

Further, the installation seat 101 and the connecting plate 102 are arranged opposite to each other at intervals up and down, and the two are connected by two sets of roller coating assemblies, and form a cubic structure. While ensuring the self-adaptive expansion and contraction ability, the overall structure has high strength, and the quality of roller coating will not be affected due to excessive deformation during construction.

Please continue to refer to FIG. 6 and FIG. 7. In addition, on the basis of any of the above-mentioned embodiments, the length of the first connecting rod 41 is shorter than the length of the second connecting rod 42, so that the first roller 31 and the second roller 32 are located at the first Between the third drum 33 and the fourth drum 34 . In this way, while obtaining higher roller coating efficiency, the structural layout is more compact and the space occupied is small, which is suitable for the roller coating needs of the floor area with narrow space.

The rolling coating execution terminal 100 also includes a fixed bracket 50 for positioning the discharge port; the fixed bracket 50 is arranged on the first connecting rod 41 .

During work, the discharge port of the feeding module can be clamped on the fixed bracket 50 to realize positioning and continuously drip the paint onto the ground. The connecting flange is connected to the end of the mechanical arm through quick-release bolts, and moves downward for a certain distance. The springs in each telescopic floating mechanism compress the four rollers to press the ground, and the mechanical arm drives the roller coating execution terminal to reciprocate left and right. Slowly move forward (the first roller 31 and the second roller 32 move forward, the third roller 33 and the fourth roller 34 move backward), and carry out roller coating construction. The paint flows out from the discharge port to the ground, and between the first roller 31 and the second roller 32, it is initially rolled evenly by the first roller 31 and the second roller 32, and then fully coated by the third roller 33 and the fourth roller 34. Roll evenly, so that the overall construction efficiency and construction quality are greatly improved.

Further, the first roller 31 and the second roller 32 of the first roller coating assembly partially overlap with the third roller 33 and the fourth roller 34 of the second roller coating assembly. In this way, it is possible to prevent the gap between the two sets of roller coating components from forming a roller coating vacuum zone, resulting in that the gap cannot be effectively rolled and coated, which affects the quality of the roller coating.

third embodiment

As shown in FIG. 12 to FIG. 14, in one embodiment, the roll coating execution terminal includes a first roll coating assembly, a second roll coating assembly and two telescopic floating mechanisms 10, the first roll coating assembly and the second roll coating assembly Each roller of the rollers is used for rolling contact with the construction surface. The telescopic floating mechanism 10 is used to apply pressure to the first roller coating assembly and the second roller coating assembly. The pressure applied to the construction surface by each roller of the first roller coating assembly is greater than that of the second roller coating assembly. The pressure exerted by each roller of the second roller coating assembly on the construction surface.

When the rolling coating execution terminal is in use, each roller of the first rolling coating assembly will roll the paint on the construction surface evenly, and the pressure applied by the first rolling coating assembly to the construction surface can be adjusted through the telescopic floating mechanism 10, so that the first rolling coating assembly The roller of the roller coating assembly can more effectively coat the cracks or cracks on the construction surface. At the same time, considering that the side of the first roller coating assembly is prone to paint accumulation when the first roller coating assembly is rolling coating, by The pressure applied to the construction surface by the second roller coating assembly is greater than the pressure applied to the construction surface by the first roller coating assembly, allowing the second roller coating assembly to roll the paint accumulation on the construction surface after the first roller coating assembly rolls flat. Therefore, the above-mentioned roll coating execution terminal can evenly spread most of the paint on the construction surface through the first roll coating assembly, and use the second roll coating assembly to roll and repair the part of the paint piled up after the roll coating of the first roll coating assembly , so as to avoid leaks or rolling marks on the construction surface.

As shown in FIG. 12 and FIG. 14 , in one embodiment, the roll coating execution terminal further includes an installation base 7 and a feeding mechanism 50 . For example, the feeding mechanism 50 is assembled with each telescopic floating mechanism 10, and the feeding mechanism 50 is connected with the mounting base 101, which is used for connecting with the mechanical arm, and the outlet of the feeding mechanism 50 faces the construction surface. The first roller coating assembly and the second roller coating assembly are all connected to the installation base 7, and the second roller coating assembly can be movably erected on the installation base 7. On the vertical construction surface, the second roller coating assembly is higher than First roll coat the components. The installation base 7 is provided with a first installation portion 71, and a support shaft (not shown in the figure) is installed in the first installation portion 71, and each telescopic floating mechanism 10 is rotatably matched with the installation base 7 through the support shaft.

Specifically, the first installation portion 71 may be a groove or an installation opening opened on the installation base 7 . Each telescopic floating mechanism 10 can be a spring or an elastic cylinder. Further, after the rolling coating execution terminal is connected with the rolling coating robot, the pressing force of the telescopic floating mechanism 10 on the installation base 7 can be changed by compressing or pulling back the telescopic floating mechanism 10. In addition, considering that during the rolling coating movement of the rolling coating execution terminal, there will be uneven areas on the construction surface, the telescopic floating mechanism 10 is movably matched with the installation base 7 through the support shaft, so that the installation base 7 can pass through the unevenness. When the uneven area can be tilted accordingly, the first roller coating assembly and the second roller coating assembly will be inclined synchronously with the installation base 7, ensuring that the rollers of the first roller coating assembly and the rollers of the second roller coating assembly roll-on effect. Furthermore, opening the first installation portion 71 on the installation base 7 can make the relative rotation between the telescopic floating mechanism 10 and the installation base 7 more stable.

The above-mentioned rolling coating execution terminal is connected and fixed with the rolling coating robot, and the required paint is loaded into the feeding mechanism 50 . The first roller coating assembly and the second roller coating assembly are installed on the installation base 7. When performing the rolling coating operation, the roller of the first rolling coating assembly will first conflict with the construction surface, and then, the roller in the feeding mechanism 50 The paint will be sprinkled on the construction surface through the discharge port. At this time, the rolling coating execution terminal is driven by the rolling coating robot to move, and the first rolling coating component will roll the coating on the construction surface evenly, which can be adjusted by the telescopic floating mechanism 10. The pressure applied to the installation base 7 changes the pressure applied to the construction surface by the cylinder of the first roller coating assembly, so that the first roller coating assembly can more effectively coat the cracks or cracks on the construction surface. At the same time, considering the first When a roller coating assembly is rolling coating, the side of the first roller coating assembly is prone to paint accumulation, and there is a height difference between the first roller coating assembly and the second roller coating assembly on the construction surface, that is, on the vertical construction surface , the roller of the second roller coating assembly is higher than the roller of the first roller coating assembly, and the pressure applied to the construction surface by the roller of the first roller coating assembly is greater than the pressure applied to the construction surface by the roller of the second roller coating assembly, so that The second roller coating assembly can roll off the part of the paint accumulation generated after the first roller coating assembly rolls the construction surface.

As shown in FIG. 12 to FIG. 14 , in one embodiment, each telescopic floating mechanism 10 may include a fixed body 103 , a movable body 104 and an elastic telescopic body. One end of each fixed body 103 can be connected with the feeding mechanism 50, and the other end of each fixed body 103 is slidably matched with one end of the movable body 104, and an elastic telescopic body can be arranged between the fixed body 103 and the movable body 104, so that the movable body 104 Can be stretched elastically. The other end of each movable body 104 is respectively connected to the two ends of the mounting plate 113 , and the middle part of the mounting plate 113 is sleeved on the supporting rotating shaft through the wear-resistant sleeve 114 . The movable body 104 of each telescopic floating mechanism 10 is integrated through the mounting plate 113 , so that each telescopic floating mechanism 10 transmits force to the installation base 7 more effectively. Further, the mounting plate 113 is sheathed on the supporting shaft through the wear-resistant sleeve 114, which can reduce the friction loss between the mounting plate 113 and the supporting shaft.

As shown in FIG. 13 and FIG. 14, in one embodiment, the feeding mechanism 50 may include a rotary joint 57, a mixer 58, and a mounting plate 59, and the mounting base 101 is installed on the rotary joint 57. The mounting plate 59 is connected to the rotary joint 57 , the rotary joint 57 is connected to the mixer 58 , and the discharge port 581 of the mixer 58 forms the discharge port of the feeding structure 50 . Specifically, according to the actual situation, it is sometimes necessary to mix the paint, for example: on the rotary joint 57, a curing agent feed port and a main paint feed port are opened, and then the paint material is mixed by the mixer 58, and finally the mixed The paint material is exported from the discharge port 581 of the mixer 58 . In addition, it is often necessary to use the material tube to transport the paint, and the rotation of the rotary joint 57 can effectively avoid the material tube from being entangled.

12-13 and 15-16, in one embodiment, the first roller coating assembly includes a first roller 31, a second roller 32, a first assembly 310, a second assembly 320 and a first connecting Rod 61, the first connecting rod 61 is installed on the installation base 7, the first fitting 310 is hinged with one end of the first connecting rod 61, the second fitting 320 is hinged with the other end of the first connecting rod 61, and the second fitting 320 is hinged with the other end of the first connecting rod 61. A drum 31 is rotatably mounted on the first fitting 310 , and a second drum 32 is rotatably mounted on the second fitting 320 . Specifically, the first assembly part 310 and the second assembly part 320 are plates or rods. The first roller 31 and the second roller 32 can be fixed on the corresponding two sides of the installation base 7 through the first connecting rod 61 , and at the same time, the fixing of the first roller 31 and the first connecting rod 61 can be made through the first fitting 310 It is more convenient, and the fixing of the second roller 32 and the first connecting rod 61 can be made more convenient through the second assembly part 320 . Further, in this embodiment, the first assembly part 310 is movably connected with the first connecting rod 61, so that the first roller 31 can obtain a degree of freedom in rotation, and at the same time, the first roller 31 has an axial degree of freedom (referring to Axial direction of connecting rod 61). And the second assembly part 320 is movably connected with the second connecting rod 62 , so that the second roller 32 can obtain the degree of freedom of rotation, while the installation base 7 has the degree of freedom in the axial direction (referring to the axial direction of the first connecting rod 61 ). The above implementation manner can effectively improve the rolling coating effect of the first rolling coating assembly.

In one embodiment, the outlet 581 of the mixer 58 is located between the first drum 31 and the second drum 32 , and the outlet 581 of the mixer 58 corresponds to the middle of the first drum 31 and the second drum 32 . Specifically, the above-mentioned embodiment can make the first roller coating assembly more fully contact the paint, and the roller coating is more uniform.

As shown in FIG. 12 , in one embodiment, the first assembly part 310 includes a first assembly plate 313 , a first adjustment bracket 311 , a second adjustment bracket 312 and a first positioning ring, and the first assembly plate 313 is rotatably mounted. It is located at one end of the first connecting rod 61, and the first assembly plate 313 is limited and fixed with the first connecting rod 61 by the first positioning ring. The first assembly plate 313 is provided with a first chute 314, and the first adjusting bracket 311 One end of the first adjustment bracket 311 is movably fitted into the first chute 314, the other end of the first adjustment bracket 311 is rotatably matched with one end of the first roller 31, and one end of the second adjustment bracket 312 is movably fitted into the first chute 314, The other end of the second adjusting bracket 312 is rotatably engaged with the other end of the first roller 31 . The second assembly part 320 includes a second assembly plate 323 , a third adjustment bracket 321 , a fourth adjustment bracket 322 and a second positioning ring. The second assembly plate 323 is rotatably mounted on the other end of the first connecting rod 61 , and The second assembly plate 323 is limited and fixed by the second positioning ring and the first connecting rod 61. The second assembly plate 323 is provided with a second chute 324, and one end of the third adjustment bracket 321 is movably fitted into the second chute. 324, the other end of the third adjustment bracket 321 is rotationally matched with one end of the second roller 32, one end of the fourth adjustment bracket 322 is movably loaded into the second slide groove 324, the other end of the fourth adjustment bracket 322 is connected to the second The other end of the roller 32 is rotationally fitted.

Specifically, by sliding the first adjusting bracket 311 and the second adjusting bracket 312 in the first chute 314, the distance between the first adjusting bracket 311 and the second adjusting bracket 312 can be changed, which is more convenient for the adjustment of the first roller 31. for an efficient installation. By sliding the third adjusting bracket 321 and the fourth adjusting bracket 322 in the second chute 324, the distance between the third adjusting bracket 321 and the fourth adjusting bracket 322 can be changed, which is more convenient for effectively adjusting the second roller 32. Install.

12-13 and 15-16, in one embodiment, the second roller coating assembly includes a third roller 33, a fourth roller 34, a third assembly 330, a fourth assembly 340, a second continuous The rod 62 , the third connecting rod 63 , the first limiting baffle 73 and the second limiting baffle 74 . The installation base 7 is provided with a second mounting portion 72, and the third roller 33 is rotatably mounted on the third assembly part 330. The third assembly part 330 is hinged to one end of the second connecting rod 62, and the second connecting rod The other end of 62 is rotatably connected with the second mounting part 72, and the first limiting baffle 73 is installed on the second mounting part 72, and the first limiting baffle 73 interferes with the second connecting rod 62 in a limited position. When constructing to the construction surface, the third roller 33 is higher than the first roller 31. The fourth roller 34 is rotatably mounted on the fourth assembly part 340 , the fourth assembly part 340 is hinged to one end of the third connecting rod 63 , and the other end of the third connecting rod 63 is rotatably connected to the second mounting part 72 , the second limit baffle 74 is installed on the second installation part 72, and the second limit baffle 74 interferes with the limit of the third connecting rod 63. When constructing on the vertical construction surface, the fourth roller 34 is higher than The second roller 32 .

Specifically, the third assembly part 330 and the fourth assembly part 340 are plates or rods. The third assembly part 330 is movably connected with the second connecting rod 62 , so that the third roller 33 can obtain a degree of rotation freedom, and meanwhile the third roller 33 has an axial degree of freedom (referring to the axial direction of the second connecting rod 62 ). And the fourth assembly part 340 is movably connected with the third connecting rod 63 , so that the fourth roller 34 can obtain the degree of freedom of rotation, and at the same time, the fourth roller 34 has the degree of freedom in the axial direction (referring to the axial direction of the third connecting rod 63 ). The above implementation manner can effectively improve the rolling coating effect of the second rolling coating assembly. Further, the third roller 33 is fixed by the second connecting rod 62, the third roller 33 can rely on its own gravity to face the construction surface, and the fourth roller 34 is fixed by the third connecting rod 63, the fourth roller 34 can rely on Self-gravity faces the construction surface. This is only one of the implementations. In order to effectively fix the third roller 33 and the fourth roller 34 relative to the construction surface, a torsion can also be added at the connection between the second connecting rod 62 and the second mounting part 72. A spring, and a torsion spring is added at the connection between the third connecting rod 63 and the second mounting portion 72 . By installing the first limit baffle 73 and the second limit baffle 74 on the second installation part 72, the third roller 33 can be higher than the first roller 31 on the vertical construction surface, and the fourth roller 34 It is higher than the second roller 32 on the vertical construction surface. Furthermore, both the second connecting rod 62 and the third connecting rod 63 are provided with bending parts. After the second connecting rod 62 is connected to the installation base 7, the bending parts of the second connecting rod 62 can bypass the first The roller 31, so as to prevent the movement of the second connecting rod 62 from affecting the first roller 31. And after the third connecting rod 63 is connected with the installation base 7 , the bent part of the third connecting rod 63 can bypass the second roller 32 , so as to prevent the movement of the third connecting rod 63 from affecting the second roller 32 .

As shown in FIG. 12 , in one embodiment, the third assembly part 330 includes a third assembly plate 333 , a fifth adjustment bracket 331 , a sixth adjustment bracket 332 and a third positioning ring, and the third assembly plate 333 is rotatably mounted. It is located at one end of the second connecting rod 62, and the third mounting plate 333 is limited and fixed with the second connecting rod 62 through the third positioning ring. The third mounting plate 333 is provided with a third slide groove 234, and the fifth adjusting bracket 331 One end of the fifth adjusting bracket 331 is movably fitted into the third chute 234, the other end of the fifth adjusting bracket 331 is rotatably engaged with one end of the third roller 33, and one end of the sixth adjusting bracket 332 is movably fitted into the third chute 234, The other end of the sixth adjusting bracket 332 is rotatably matched with the other end of the third roller 33 . The fourth assembly part 340 includes a fourth assembly plate 343, a seventh adjustment bracket 341, an eighth adjustment bracket 342 and a fourth positioning ring. The fourth assembly plate 343 is rotatably mounted on one end of the third connecting rod 63, and the second The four assembly plates 343 are limited and fixed by the fourth positioning ring and the third connecting rod 63, the fourth assembly plate 343 is provided with a fourth chute 344, and one end of the seventh adjusting bracket 341 is movably loaded into the fourth chute 344 , the other end of the seventh adjusting bracket 341 is rotationally matched with one end of the fourth roller 34, one end of the eighth adjusting bracket 342 is movably fitted into the fourth chute 344, the other end of the eighth adjusting bracket 342 is in contact with the fourth roller The other end of 34 turns and fits.

Specifically, by sliding the fifth adjusting bracket 331 and the sixth adjusting bracket 332 in the third chute 234, the distance between the fifth adjusting bracket 331 and the sixth adjusting bracket 332 can be changed, which is more convenient for the adjustment of the third roller 33. for an efficient installation. By sliding the seventh adjusting bracket 341 and the eighth adjusting bracket 342 in the fourth chute 344, the distance between the seventh adjusting bracket 341 and the eighth adjusting bracket 342 can be changed, which is more convenient for effectively adjusting the fourth roller 34. Install.

As mentioned above, in one embodiment, there is also provided a rolling coating robot, including any one of the above rolling coating execution terminals. When the above-mentioned rolling coating robot is in use, the rolling coating execution terminal is driven by the mechanical arm to move, and the above-mentioned rolling coating execution terminal can spread most of the paint evenly on the construction surface through the first rolling coating assembly, and the coating can be spread by the second rolling coating assembly. The accumulated part is rolled and repaired to avoid missing coating or rolling marks on the construction surface.

In one embodiment, when the rolling coating robot is performing the rolling coating operation, the rolling coating robot can drive the rolling coating execution terminal to quickly reciprocate left and right, and at the same time move slowly downwards to form a continuous Z-shaped path, so that a rectangular shape can be completed. Roller coating construction on the construction surface.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A rolling coating execution terminal, comprising: a mounting seat; at least one telescopic floating mechanism connected to the mounting seat; at least one group of rolling coating components connected to the at least one telescopic floating mechanism; each group of the rolling coating components is configured There are at least two rollers arranged at intervals, and the rollers are used to contact the construction surface.
Roll coating execution terminal according to claim 1, wherein,

The rolling coating execution terminal is equipped with a set of rolling coating components and a plurality of telescopic floating mechanisms, and the rolling coating components include a rolling coating bracket, a first roller and a second roller; wherein, the rolling coating bracket and the plurality of telescopic The floating mechanism is connected, and the first roller and the second roller are respectively rotatably connected with the roller coating bracket;

The roll coating execution terminal also includes a feeding mechanism, the feeding mechanism is connected to the installation seat, the feeding mechanism has a discharge port, and the paint output from the discharge port falls on the first roller and the second roller.
Roll coating execution terminal according to claim 2, wherein,

The roller coating support includes a first mounting frame, a second mounting frame, a first connecting frame and a second connecting frame, the first mounting frame is arranged in parallel with the second mounting frame, and the first connecting frame is connected to the second mounting frame. The second connecting frame is arranged in parallel, the two ends of the first connecting frame are respectively connected to the first mounting frame and the second mounting frame, and the two ends of the second connecting frame are respectively connected to the first mounting frame Cooperate with the second mounting frame, the first mounting frame, the second mounting frame, the first connecting frame and the second connecting frame to form a quadrilateral structure and cooperate to surround the blanking area, so The projection of the discharge port is in the middle of the blanking area;

The first roller is rotatably arranged on the first installation frame, and the second roller is rotatably arranged on the second installation frame.
The rolling coating execution terminal according to claim 3, wherein the telescopic floating mechanism is configured in multiples, and the multiple telescopic floating mechanisms are divided into a first telescopic floating group and a second telescopic floating group, and the first telescopic floating The floating group and the second telescopic floating group are respectively connected to the mounting base through the base, the first telescopic floating group is connected to the first mounting frame, and the second telescopic floating group is connected to the second mounting frame. frame connection.
Roll coating execution terminal according to claim 4, wherein,

The roller coating bracket also includes a first rotation unit and a second rotation unit, the first rotation unit is arranged on the first installation frame and is connected to the first telescopic floating group in rotation, and the second rotation unit set on the second installation frame and rotatably connected with the second telescopic floating group;

The rotation axis of the first rotation unit is perpendicular to the rolling axis of the first roller, and the rotation axis of the second rotation unit is perpendicular to the rolling axis of the second roller.
The rolling coating execution terminal according to any one of claims 1 to 5, wherein the telescopic floating mechanism includes a guide rod, an elastic telescopic member, a linear bearing and a telescopic sleeve, and the guide rod is connected to the mounting seat , the elastic telescopic member is sleeved on the guide rod, the linear bearing is slidably sleeved on the outside of the guide rod and abuts against the elastic telescopic member, and the telescopic sleeve is sleeved on the linear Outside the bearing, the telescopic sleeve is connected with the roller coating assembly.
The rolling coating execution terminal according to claim 6, wherein the telescopic floating mechanism further includes a protective cover, the protective cover is fixed on the outside of the guide rod, and the outer wall of the telescopic sleeve is in contact with the protective cover. Inner wall slip fit.
The roll coating execution terminal according to any one of claims 2 to 7, wherein the feeding mechanism includes a feeding seat, a mixing motor, a mixing transmission assembly and a mixing pipe, and the mixing motor and the The mixing transmission assembly is respectively arranged on the material supply seat and connected by driving. The mixing transmission assembly is connected with the transmission of the mixing tube and is used to drive the rotation of the mixing tube. The material supply seat is provided with at least A feeding port, the feeding port communicates with the mixing pipe, and the feeding port is formed at the end of the mixing pipe away from the feeding seat.
The roll coating execution terminal according to claim 8, wherein, the number of said feed ports is set to two and are respectively a first feed port and a second feed port, and said first feed port and said second feed port The feeding ports are respectively communicated with the mixing pipes.
The rolling coating execution terminal according to claim 8, wherein the feeding mechanism further includes an end cover and a fixed pipe, the feeding seat has a maintenance port, and the end cover is detachably arranged at the maintenance port; The fixed pipe is arranged on the feeding seat, and the mixing pipe is rotatably arranged in the fixed pipe.
Roll coating execution terminal according to claim 1, wherein,

The at least one telescopic floating mechanism includes a first telescopic floating mechanism and a second telescopic floating mechanism, the first telescopic floating mechanism and the second telescopic floating mechanism are arranged in parallel and spaced from each other;

The at least one group of roller coating assemblies includes a first roller coating assembly, and the first roller coating assembly includes a first connecting rod and two rollers, the two rollers are respectively a first roller and a second roller, and the first roller A connecting rod is respectively hinged to the first telescopic floating mechanism and the second telescopic floating mechanism, and the first roller and the second roller are respectively arranged at both ends of the first connecting rod.
Roll coating execution terminal according to claim 11, wherein,

The at least one telescopic floating mechanism further includes a third telescopic floating mechanism and a fourth telescopic floating mechanism, the third telescopic floating mechanism and the fourth telescopic floating mechanism are arranged in parallel and spaced from each other;

The at least one set of roller coating assemblies also includes a second roller coating assembly, the second roller coating assembly includes a second connecting rod and two rollers, the two rollers are respectively a third roller and a fourth roller, and the The second connecting rod is respectively hinged to the third telescopic floating mechanism and the fourth telescopic floating mechanism, and the third roller and the fourth roller are respectively arranged at both ends of the second connecting rod.
The rolling coating execution terminal according to claim 12, wherein the rolling coating execution terminal further comprises a first linkage mechanism and a second linkage mechanism, and the first telescopic floating mechanism communicates with the second linkage mechanism through the first linkage mechanism. Three telescopic floating mechanisms are connected, so that the first telescopic floating mechanism and the third telescopic floating mechanism can telescopically move synchronously; the second telescopic floating mechanism is connected with the fourth telescopic floating mechanism through the second linkage mechanism , so that the second telescopic floating mechanism and the fourth telescopic floating mechanism can move synchronously.
The rolling coating execution terminal according to claim 12, wherein each telescopic floating mechanism includes a fixed body, a movable body and an elastic telescopic body, one end of the fixed body is connected to the mounting seat, and the movable body One end is connected with the first connecting rod or the second connecting rod, and the other end of the fixed body is connected with the other end of the movable body through the elastic expansion body, so that the movable body can be relatively The fixed body performs telescopic movement.
The rolling coating execution terminal according to claim 14, wherein, the rolling coating execution terminal further comprises a plurality of hinge assemblies and a plurality of torsion members, and one end of each of the fixed bodies passes through each of the hinge assemblies and the mounting seat Rotationally connected, each torsion member is disposed on each hinge assembly, and two ends of the torsion member abut against the mounting base and the fixed body respectively.
The rolling coating execution terminal according to claim 14, wherein, one end of each movable body is provided with a first connecting frame and a first rotating shaft, and the first connecting frame connects with the first rotating shaft through the first rotating shaft. The connecting rod or the second connecting rod is rotatably connected.
The rolling coating execution terminal according to claim 16, wherein the ends of the first connecting rod and the second connecting rod are both provided with a second rotating shaft and a second connecting frame hinged to the second rotating shaft, The second connecting frame is connected to the corresponding roller among the first roller, the second roller, the third roller and the fourth roller, the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft, and the The axis of the second rotating shaft is perpendicular to the rolling axis of the corresponding roller.
The rolling coating execution terminal according to any one of claims 12 to 17, wherein the rolling coating execution terminal further comprises a connecting plate, and the first telescopic floating mechanism, the second telescopic floating mechanism, and the third telescopic floating mechanism and the fourth telescopic floating mechanism are respectively connected with the connecting plate.
The rolling coating execution terminal according to claim 18, wherein the connecting plate includes a main body and four extension bodies extending outward from the main body, and the four extension bodies are connected to the first telescopic floating The mechanism, the second telescopic floating mechanism, the third telescopic floating mechanism and the fourth telescopic floating mechanism are connected in one-to-one correspondence.
The rolling coating execution terminal according to claim 19, wherein the connecting plate is made of elastic material.
The rolling coating execution terminal according to claim 18, wherein the connecting plate comprises a first plate body, a universal joint and a second plate body, and one end of the first plate body is connected to the universal joint joint One end of the second board is rotatably connected, the other end of the first board is connected to the first telescopic floating mechanism and the third telescopic floating mechanism, and the other end of the second board is connected to the The second telescopic floating mechanism is connected to the fourth telescopic floating mechanism.
The rolling coating execution terminal according to claim 12, wherein the length of the first connecting rod is smaller than the length of the second connecting rod.
The rolling coating execution terminal according to claim 22, wherein, the rolling coating execution terminal further comprises a fixed bracket, the fixed bracket is used for positioning the discharge port; the fixed bracket is arranged on the first connecting rod.
The rolling coating execution terminal according to claim 1, wherein said at least one group of rolling coating components comprises a first rolling coating component and a second rolling coating component; said at least one telescopic floating mechanism is used to The coating component and the second roller coating component apply pressure, and the pressure applied by the first roller coating component to the construction surface is greater than the pressure applied to the construction surface by the second roller coating component.
The rolling coating execution terminal according to claim 24, wherein the rolling coating execution terminal further comprises a feeding mechanism and an installation base;

The feeding mechanism is connected to the mounting seat, and the outlet of the feeding mechanism faces the construction surface;

Both the first roller coating assembly and the second roller coating assembly are connected to the installation base, and the second roller coating assembly can be movably erected on the installation base, on the vertical construction surface , the second roller coating assembly is higher than the first roller coating assembly;

The installation base is provided with a first installation part, and a support shaft is installed in the first installation part, and each telescopic floating mechanism is rotatably matched with the installation base through the support shaft;

Each telescopic floating mechanism is assembled with the feeding mechanism.
The rolling coating execution terminal according to claim 25, wherein, the rolling coating execution terminal is equipped with two telescopic floating mechanisms, and each telescopic floating mechanism includes a fixed body, a movable body and an elastic telescopic body, and the The fixed body is installed together with the feeding mechanism, the movable bodies of the two telescopic floating mechanisms are respectively connected to the two ends of the mounting plate, and the middle part of the mounting plate is sleeved on the supporting shaft through a wear-resistant sleeve.
The rolling coating execution terminal according to claim 26, wherein the feeding mechanism includes a rotary joint, a mixer, and a mounting plate, the rotary joint is connected to the mounting base, and the at least one telescopic floating mechanism passes through the The mounting plate is installed on the rotary joint, the rotary joint is connected with the mixer, and the discharge port of the mixer forms the discharge port of the feeding mechanism.
The rolling coating execution terminal according to claim 27, wherein the first rolling coating assembly includes a first roller, a second roller, a first assembly, a second assembly and a first connecting rod, and the first connecting rod The rod is passed through the installation base, the first fitting is movably connected with one end of the first connecting rod, and the second fitting is movably connected with the other end of the first connecting rod. The first roller is rotatably mounted on the first fitting, and the second roller is rotatably mounted on the second fitting.
The rolling coating execution terminal according to claim 28, wherein, the outlet of the mixer is located between the first roller and the second roller, and the outlet of the mixer corresponds to the first roller. The first drum is in the middle of the second drum.
The rolling coating execution terminal according to claim 28, wherein the first assembly part includes a first assembly plate, a first adjustment bracket, a second adjustment bracket and a first positioning ring, and the first assembly plate is rotatable Installed on one end of the first connecting rod, and the first assembly plate is limited and fixed with the first connecting rod through the first positioning ring, and the first assembly plate is provided with a first sliding groove , one end of the first adjusting bracket is movably fitted into the first chute, the other end of the first adjusting bracket rotates with one end of the first roller, and one end of the second adjusting bracket movably loaded into the first chute, and the other end of the second adjusting bracket is rotatably matched with the other end of the first roller;

The second assembly part includes a second assembly plate, a third adjustment bracket, a fourth adjustment bracket and a second positioning ring, the second assembly plate is rotatably mounted on the other end of the first connecting rod, and The second assembly plate is limited and fixed by the second positioning ring and the first connecting rod, the second assembly plate is provided with a second chute, and one end of the third adjustment bracket is movably mounted. into the second chute, the other end of the third adjusting bracket rotates with one end of the second roller, and one end of the fourth adjusting bracket is movably fitted into the second chute, so The other end of the fourth adjusting bracket is rotatably engaged with the other end of the second roller.
The rolling coating execution terminal according to claim 27, wherein the second rolling coating assembly comprises a third roller, a fourth roller, a third assembly, a fourth assembly, a second connecting rod, a third connecting rod, The first limit baffle and the second limit baffle, the installation base is provided with a second installation part, the third roller is rotatably installed on the third assembly, the third The fitting is movably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the second mounting part, and the first limit baffle is installed on the second On the installation part, the first limit baffle interferes with the limit of the second connecting rod. During construction on the vertical construction surface, the third roller is higher than the first roller; the fourth roller It is rotatably installed on the fourth assembly, and the fourth assembly is movably connected with one end of the third connecting rod, and the other end of the third connecting rod is movably connected with the second mounting part. Rotate connection, the second limit baffle is installed on the second installation part, the second limit baffle conflicts with the limit of the third connecting rod, during construction on the vertical construction surface, The fourth roller is higher than the second roller.
The rolling coating execution terminal according to claim 31, wherein the third assembly part includes a third assembly plate, a fifth adjustment bracket, a sixth adjustment bracket and a third positioning ring, and the third assembly plate is rotatable Installed on one end of the second connecting rod, and the third assembly plate is limited and fixed with the second connecting rod through the third positioning ring, and the third assembly plate is provided with a third slide groove , one end of the fifth adjusting bracket is movably fitted into the third chute, the other end of the fifth adjusting bracket rotates with one end of the third roller, and one end of the sixth adjusting bracket movably loaded into the third chute, and the other end of the sixth adjusting bracket is rotatably matched with the other end of the third roller;

The fourth assembly part includes a fourth assembly plate, a seventh adjustment bracket, an eighth adjustment bracket and a fourth positioning ring, the fourth assembly plate is rotatably mounted on one end of the third connecting rod, and the The fourth assembly plate is limited and fixed by the fourth positioning ring and the third connecting rod, the fourth assembly plate is provided with a fourth chute, and one end of the seventh adjusting bracket is movably inserted into the In the fourth chute, the other end of the seventh adjusting bracket is rotatably engaged with one end of the fourth roller, and one end of the eighth adjusting bracket is movably fitted into the fourth chute, the The other end of the eighth adjusting bracket is rotatably engaged with the other end of the fourth roller.
A rolling coating robot, including:

walking chassis;

a mechanical arm, the mechanical arm is arranged on the walking chassis; and

The rolling coating execution terminal according to any one of claims 1 to 32, wherein the rolling coating execution terminal is arranged at the end of the mechanical arm away from the walking chassis.