WO2023046004A1 - 辊涂机器人及辊涂方法 - Google Patents

辊涂机器人及辊涂方法 Download PDF

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Publication number
WO2023046004A1
WO2023046004A1 PCT/CN2022/120483 CN2022120483W WO2023046004A1 WO 2023046004 A1 WO2023046004 A1 WO 2023046004A1 CN 2022120483 W CN2022120483 W CN 2022120483W WO 2023046004 A1 WO2023046004 A1 WO 2023046004A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting unit
drag chain
actuator
lifting
roller
Prior art date
Application number
PCT/CN2022/120483
Other languages
English (en)
French (fr)
Inventor
黄良洪
陈威霖
莫新
郭眶眶
陈伟森
何崇凯
闵一武
陈军华
朱晓
Original Assignee
广东博智林机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111118837.2A external-priority patent/CN115853967A/zh
Priority claimed from CN202111458383.3A external-priority patent/CN116220312A/zh
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2023046004A1 publication Critical patent/WO2023046004A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/12—Hauling- or hoisting-chains so called ornamental chains
    • F16G13/16—Hauling- or hoisting-chains so called ornamental chains with arrangements for holding electric cables, hoses, or the like

Definitions

  • the present application relates to the technical field of construction robots, in particular to a roller coating robot and a roller coating method.
  • the present application also relates to the technical field of mechanical equipment, in particular to drag chain components, reciprocating mechanisms and mechanical equipment.
  • the stroke of the moving mechanism must be less than or equal to twice the installation height difference of the drag chain, where S is the stroke length and S/2 is the installation height difference.
  • S is the stroke length
  • S/2 is the installation height difference.
  • the drag chains in the "D" size range in the figure have not been deployed and utilized at all; when the installation height difference is limited, the travel of the drag chain cannot be extended to a greater extent. Therefore, there is a need to provide an improved energy chain assembly. In addition, there is also a need to apply this improved drag chain assembly to a roller coating robot to realize the lifting movement in the roller coating operation.
  • One aspect of the present application provides a roller coating robot, which can improve the problem of poor roller coating quality of the related art roller coating equipment.
  • Another aspect of the present application provides a roll coating method, which can be applied to a roll coating robot to improve the problem of poor roll coating quality of roll coating equipment in the related art.
  • Another aspect of the present application provides a drag chain assembly, a reciprocating mechanism and a mechanical device, so as to solve the problem of a relatively small movable stroke of the drag chain in the related art.
  • a roller coating robot which may include: a chassis; a controller; a traverse mechanism, which may be arranged on the chassis; Driven by the traversing mechanism, it can translate horizontally relative to the working surface; a lifting mechanism; an actuator, which can be used to roll coat the working surface, and the actuator can be relatively The working surface is close to or far away from, the actuator can be raised and lowered relative to the working surface driven by the lifting mechanism; and a pressure detection mechanism, the pressure detection mechanism can be used to detect that the actuator is against the The pressure on the working surface; wherein, during the vertical operation of the actuator, the controller can control the telescopic mechanism to change the driving force of the actuator according to the feedback from the pressure detection mechanism, so as to The actuator first maintains and then reduces the pressure on the working face.
  • roller coating robot provided according to the embodiments of the present application may also have the following additional technical features:
  • the pressure detection mechanism may include a detection part and a test part; the test part may be set on the actuator, and the form of the test part may be The force that the mechanism pushes the lifting mechanism changes, and the detection part can detect the degree of shape change of the detected part and feed back a detection signal to the controller, and the controller can determine according to the detection signal The pressure when the actuator is against the working surface.
  • the pressure data generated by the actuator on the working surface can be determined, and by controlling the telescopic mechanism, the shape of the inspected part can be maintained or further changed according to the requirements, so that the pressure meets the requirements.
  • the inspected part may be a spring
  • the detecting part may be a photoelectric switch
  • the spring may be arranged on the actuator, and the actuator is against the working surface
  • the photoelectric switch can detect the compression amount of the spring and feed back the detection signal to the controller.
  • the photoelectric switch can accurately identify the change of the compression amount of the spring, so that the pressure change can be identified, so that the pressure information can be further obtained in real time according to the detection situation, and the pressure can be controlled.
  • the actuator may include a connecting plate, a roller and a blocking piece
  • the photoelectric switch may be divided into a first switch and a second switch
  • the roller is slidably arranged on the The connecting plate, the blocking piece can be connected to the roller, the first switch and the second switch can be arranged on the connecting plate and can be triggered by the blocking piece, the first switch is relatively
  • the connecting plate is closer to the roller than the second switch, and the connecting plate is connected to the output end of the lifting mechanism.
  • the movement of the roller can be reflected respectively through the cooperation with the blocking piece, so as to determine the magnitude of the spring pressure.
  • the lifting mechanism may include a first lifting unit and a second lifting unit, the chassis is provided with the first lifting unit, and the traverse mechanism may be arranged on the second lifting unit.
  • Both the first lifting unit and the second lifting unit can make the actuator lift up and down, so as to roll coat the working surface up and down.
  • the first lifting unit includes a support frame, a lifting frame and a drag chain assembly, the support frame of the first lifting unit is fixed to the chassis and formed as a mounting part, and the first lifting unit A lifting frame of a lifting unit is connected to the traversing mechanism and is formed as a movable part, and the movable part of the first lifting unit is mounted on the mounting part of the first lifting unit so as to reciprocate along the lifting direction; and, the The towline assembly of the first lifting unit may include a first installation seat located at the mounting portion of the first lifting unit and may include a towline, and the two ends of the towline of the first lifting unit are respectively an installation end and a connecting end.
  • the installation end of the towline of the first lifting unit is rotatably installed on the first mounting seat of the first lifting unit around the axis extending along the width direction of the towline, and the towline of the first lifting unit
  • the connecting end of the chain is used for rotational connection or fixed connection with the movable part of the first lifting unit, so as to drive the movable part of the first lifting unit to reciprocate along the lifting direction.
  • the lifting frame of the first lifting unit can be driven to reciprocate along the lifting direction, so that the actuator can be lifted up and down to roll coat the working surface up and down.
  • the drag chain assembly of the first lifting unit may further include: a first mounting plate, and the first mounting plate of the first lifting unit may be wound along the The axis extending in the width direction of the towline is rotatably mounted on the first installation seat of the first lifting unit; the installation end of the towline of the first lifting unit can be fixedly installed on the first installation of the first lifting unit plate.
  • a first mounting hole may be provided on the first mounting seat of the first lifting unit, and the first mounting hole of the first lifting unit may be along the The towline extends in the width direction, and a bearing can be arranged in the first mounting hole of the first lifting unit; the first mounting plate of the first lifting unit can be rotated by the first rotating shaft installed on the bearing Installed on the first mounting seat of the first lifting unit.
  • the rotation installation of the first mounting plate of the first lifting unit can be realized, and the rotation is relatively smooth.
  • the installation end of the drag chain of the first lifting unit may have an initial position and an overturned position on its rotation stroke, and in the initial position, the drag chain of the first lifting unit
  • the installation end of the chain and the main section of the towline are arranged in a curved manner, and in the flipped position, the installation end of the towline of the first lifting unit is arranged in a straight line with the main section of the towline;
  • the second The mounting end of the towline of a lifting unit may be configured to be able to return from the flipped position to the initial position.
  • the drag chain of the first lifting unit may be arranged along the up and down direction, and the installation end of the drag chain of the first lifting unit is located below the connecting end, so that During the return journey of the drag chain of the first lifting unit, the installation end of the drag chain of the first lifting unit can be reset to the initial position under the action of gravity of the drag chain.
  • the installation end of the towline of the first lifting unit can be reset to the initial position under the action of gravity of the towline, so that it is not necessary to additionally provide a reset mechanism for the first lifting unit.
  • the installation end of the drag chain of the first lifting unit may be provided with a reset member, and the reset member provided at the installation end of the drag chain of the first lifting unit is used to During the return journey of the drag chain of a lifting unit, the installation end of the drag chain of the first lifting unit is reset to the initial position.
  • the drag chain installation end of the first lifting unit can be set to be able to reset from the flipped position to the initial position, so that the automatic reset of the drag chain installation end of the first lifting unit can be realized.
  • the reset member provided at the installation end of the drag chain of the first lifting unit may be a torsion spring.
  • the production efficiency of the reset part of the first lifting unit can be improved and the production cost can be reduced.
  • the drag chain assembly of the first lifting unit when the connecting end of the drag chain of the first lifting unit is rotatably connected to the movable part of the first lifting unit, the drag chain assembly of the first lifting unit also It may include: a second mounting base, the second mounting base of the first lifting unit may be provided with a second mounting hole extending along the width direction of the drag chain of the first lifting unit; and a second mounting plate , the second mounting plate of the first lifting unit can be rotatably installed with the second mounting seat of the first lifting unit through the second rotating shaft, and the second rotating shaft of the first lifting unit is connected with the first lifting unit The second installation hole of the unit is rotationally fitted; the connection end of the drag chain of the first lifting unit can be installed on the second mounting plate of the first lifting unit.
  • the second lifting unit may include a support frame, a lifting frame and a drag chain assembly, and the support frame of the second lifting unit may be fixed to the side of the second lifting unit and formed as a mounting part, the lifting frame of the second lifting unit can be connected to the actuator and formed as a movable part, and the movable part of the second lifting unit can be installed on the first lifting unit so as to reciprocate along the lifting direction.
  • the installation part of the second lifting unit; and, the towline assembly of the second lifting unit may include a first mounting seat located at the installation part of the second lifting unit and may include a drag chain, and the drag chain of the second lifting unit
  • the two ends of the towline can be the installation end and the connection end respectively, and the installation end of the towline of the second lifting unit can rotate around the axis extending along the width direction of the towline and be installed on the second lifting unit.
  • the first mounting seat, the connecting end of the towline of the second lifting unit is used to be rotationally connected or fixedly connected to the movable part of the second lifting unit, so as to drive the movable part of the second lifting unit along the The lifting direction reciprocates.
  • the lifting frame of the second lifting unit can be driven to reciprocate along the lifting direction, so that the actuator can be lifted up and down to roll coat the working surface up and down.
  • the drag chain assembly of the second lifting unit may further include: a first mounting plate, and the first mounting plate of the second lifting unit may be wound along the The axis extending in the width direction of the drag chain is rotatably mounted on the first mounting base of the second lifting unit; the installation end of the drag chain of the second lifting unit can be fixedly installed on the first mounting seat of the second lifting unit plate.
  • a first mounting hole may be provided on the first mounting seat of the second lifting unit, and the first mounting hole of the second lifting unit may be along the The towline extends in the width direction, and a bearing can be arranged in the first mounting hole of the second lifting unit; the first mounting plate of the second lifting unit can be rotated by the first rotating shaft installed on the bearing Installed on the first mounting seat of the second lifting unit.
  • the rotation installation of the first mounting plate of the second lifting unit can be realized, and the rotation is relatively smooth.
  • the installation end of the drag chain of the second lifting unit may have an initial position and an overturned position on its rotation stroke, and in the initial position, the drag chain of the second lifting unit
  • the installation end of the chain and the main section of the towline are arranged in a curved manner, and in the flipped position, the installation end of the towline of the second lifting unit is arranged in a straight line with the main section of the towline;
  • the installation end of the drag chain of the two lifting units is configured to be able to reset from the flipped position to the initial position.
  • the drag chain of the second lifting unit may be arranged along the up and down direction, and the installation end of the drag chain of the second lifting unit may be located below the connecting end, so that During the return journey of the drag chain of the second lifting unit, the installation end of the drag chain of the second lifting unit can be reset to the initial position under the action of gravity of the drag chain.
  • the drag chain installation end of the second lifting unit can be reset to the initial position under the gravity of the drag chain, so that it is not necessary to provide an additional reset mechanism for the second lifting unit.
  • the installation end of the drag chain of the second lifting unit may be provided with a reset member, and the reset member provided at the installation end of the drag chain of the second lifting unit is used to During the return journey of the drag chain of the second lifting unit, the installation end of the drag chain of the second lifting unit is reset to the initial position.
  • the drag chain installation end of the second lifting unit can be set to be able to reset from the flipped position to the initial position, so that the automatic reset of the drag chain installation end of the second lifting unit can be realized.
  • the reset member provided at the installation end of the drag chain of the second lifting unit may be a torsion spring.
  • the production efficiency of the reset part of the second lifting unit can be improved and the production cost can be reduced.
  • the drag chain component of the second lifting unit when the connecting end of the drag chain of the second lifting unit is rotatably connected to the movable part of the second lifting unit, the drag chain component of the second lifting unit also It may include: a second mounting base, the second mounting base of the second lifting unit may be provided with a second mounting hole extending along the width direction of the drag chain of the second lifting unit; and a second mounting plate , the second mounting plate of the second lifting unit can be rotatably installed with the second mounting seat of the second lifting unit through the second rotating shaft, and the second rotating shaft of the second lifting unit is connected with the second lifting unit The second installation hole of the unit is rotationally fitted; the connection end of the drag chain of the second lifting unit can be installed on the second mounting plate of the second lifting unit.
  • a roll coating method is provided, which is applied to the roll coating robot described in any one of the above embodiments, and the method may include the following steps: the controller passes the The telescopic mechanism controls the actuator to hold against the working surface and reach the first working pressure value; the actuator moves upward from the initial position to the preset working height and at the same time rolls the working surface in the form of discharge; After the actuator reaches the preset height, the controller controls the actuator to leave the working surface through the telescoping mechanism, the traverse mechanism drives the actuator to translate horizontally, and the lifting mechanism drives The actuator rises by a preset distance; the controller controls the actuator to bear against the working surface through the telescoping mechanism and reaches a second working pressure value; the actuator moves down to the initial position and At the same time, roll coat the working surface in the form of no discharge.
  • the roller coating robot can make the effect of the roller coating more uniform and improve the quality of the roller coating.
  • the actuator in the step of rolling coating the working surface in the form of discharging material while the actuator moves upward from the initial position to the preset working height: the actuator is raised to Before approaching the preset working height, the telescoping mechanism shrinks gradually to reduce the pressure of the actuator on the working surface.
  • the material accumulated on the roller on the actuator can be consumed, and avoid overflow and accumulation above the working surface, so as to facilitate the subsequent downward roller coating operation.
  • the actuator descends to the Before the initial position, the telescoping mechanism shrinks gradually to reduce the pressure of the actuator on the working surface.
  • the actuator includes a roller, and after the actuator reaches the preset height, the controller controls the actuator to leave the working surface through the telescopic mechanism , the traversing mechanism drives the actuator to translate horizontally, and the lifting mechanism drives the actuator to rise by a preset distance: the preset distance is equal to the diameter of the roller.
  • the preset spacing is the same as the diameter of the roller.
  • the roller can coat the top of the working surface with slurry and prevent the uneven thickness of the slurry coated on the working surface.
  • the actuator may include a roller and a nozzle
  • the nozzle may be provided with a valve
  • the roller coating robot may include a pumping system
  • the pumping system may include a feeding pump
  • the nozzle is communicated with the feeding pump through a pipeline
  • the roller coating method also includes: before the roller starts to roll coating, closing the valve, and the feeding pump first supplies the nozzle with the The line is charged so that the line has an initial pressure; when the valve is opened, the nozzle reaches the maximum spray width.
  • the spray pattern of the nozzle can be maximized at the beginning, avoiding skipping.
  • the height of the working surface required for the operation is B meters
  • the time for the roller to rise is A
  • the discharge speed of the pumping system is S
  • the actual height of the roller rise is obtained, and the difference between the actual height of the roller rise and the preset height is determined When the difference reaches a threshold, the valve is controlled to close.
  • a towline assembly which may include: a first installation base; The axis extending in the width direction of the towline is rotatably mounted on the first installation seat, and the connecting end of the towline can be used to connect with the movable part, so as to be driven to reciprocate along the length direction of the towline.
  • the movable part can be reciprocated along the length direction of the drag chain (it can be horizontal or up and down).
  • the drag chain assembly may further include: a first mounting plate, which is rotatably mounted on the first mounting plate around an axis extending along the width direction of the drag chain.
  • An installation seat; the installation end of the towline can be fixedly installed on the first installation plate.
  • a first mounting hole may be provided on the first mounting base, and the first mounting hole may extend along the width direction of the drag chain, and the first mounting hole may A bearing may be provided; the first mounting plate may be rotatably mounted on the first mounting base through a first rotating shaft mounted on the bearing.
  • the installation end of the towline may have an initial position and an overturned position on its rotation stroke, and in the initial position, the installation end of the towline and the towline
  • the main body section is curved, and in the overturned position, the installation end of the towline is arranged in a straight line with the main section of the towline; the installation end of the towline is set to be able to reset from the overturned position to the initial position.
  • the automatic reset of the towline installation end can be realized by setting the towline installation end to be able to reset from the overturned position to the initial position.
  • the tow chain can be set up and down, and the installation end of the tow chain is located below the connection end, so that during the return journey of the tow chain, the The installation end of the drag chain can be reset to the initial position under the gravity of the drag chain.
  • the installation end of the towline can be reset to the initial position under the gravity of the towline, so that no additional reset mechanism is required.
  • the installation end of the drag chain may be provided with a reset member, and the reset member is used to reset the installation end of the drag chain to the the initial position.
  • the installation end of the drag chain can be set to be able to reset from the flipped position to the initial position, so that the automatic reset of the installation end of the drag chain can be realized.
  • the reset member may be a torsion spring.
  • the production efficiency of the reset part can be improved and the production cost can be reduced.
  • the connecting end of the towline is installed rotatably around an axis extending along the width direction of the towline.
  • the connecting end of the drag chain is installed in rotation. In this way, during the rotation of the installing end of the drag chain, the connecting end of the drag chain can also rotate with a small angle, which increases the smoothness of the movement.
  • the towline assembly may further include: the second mounting base is provided with a second installation hole extending along the width direction of the towline; and a second mounting plate , which is rotatably installed with the second mounting seat through a second rotating shaft rotatably matched with the second mounting hole; the connection end of the drag chain is mounted on the second mounting plate.
  • a reciprocating mechanism which may include: a mounting part; a movable part mounted on the mounting part to reciprocate along a direction; and, according to any of the preceding embodiments
  • the first installation seat of the towline assembly is arranged on the installation part, so that the installation end of the towline rotates around an axis extending along the width direction of the towline Installed on the installation part, the connecting end of the towline is rotationally connected or fixedly connected to the movable part.
  • the movable part By rotationally or fixedly connecting the connecting end of the towline to the movable part, the movable part can be reciprocated along the length direction of the towline (which can be horizontal or up and down).
  • the reciprocating mechanism may include a lifting mechanism, and the lifting mechanism includes a supporting frame and a lifting frame, the supporting frame is the installation part, and the lifting frame is the movable part .
  • the lifting movement (up and down movement) of the lifting frame can be realized.
  • a mechanical device which may include the reciprocating mechanism as described in any one of the above embodiments.
  • the reciprocating mechanism may include a lifting mechanism
  • the lifting mechanism may include a support frame and a lifting frame, the support frame is the installation part, and the lifting frame may be the Movable part;
  • the mechanical equipment may include roller coating equipment, and the roller coating equipment may include a chassis, a lifting mechanism installed on the chassis, and a roller coating device installed on the lifting mechanism.
  • the installation end of the drag chain is rotatably installed on the first mounting seat around the axis extending along the width direction of the drag chain, and the connecting end of the drag chain is used to connect with the movable part to Driven to reciprocate along the length direction of the towline, so that the installation end of the towline has an initial position and an overturned position on its rotation stroke, and in the initial position, the installation end of the towline and The main section of the towline is bent, and in the overturned position, the installation end of the towline is arranged in a straight line with the main section of the towline, so that the movable stroke of the towline assembly can be increased .
  • Fig. 1 is the structural representation of drag chain in the related art
  • Fig. 2 is the schematic diagram of the roller coating robot that the embodiment of the application provides;
  • Fig. 3 is a schematic diagram of another perspective of Fig. 2;
  • Fig. 4 is a schematic diagram of a traverse mechanism, a telescoping mechanism, a second lifting unit and an actuator;
  • Fig. 4a is the front view of Fig. 4.
  • Fig. 4b is the left view of Fig. 4;
  • Fig. 4c is the rear view of Fig. 4.
  • Figure 4d is a top view of Figure 4.
  • Fig. 5 is a schematic diagram of Fig. 4 with the nozzle hidden from another perspective;
  • Fig. 6 is a schematic diagram of another viewing angle of Fig. 5;
  • Fig. 7 is a partially enlarged view of part L of Fig. 5;
  • Fig. 8 is a partially enlarged view of part M of Fig. 5;
  • Fig. 9 is a partially enlarged view of part N of Fig. 5;
  • Fig. 10 is a partially enlarged view of part O of Fig. 6;
  • Fig. 11 is a partially enlarged view of part P of Fig. 6;
  • Fig. 12 is the flowchart of roller coating method
  • Fig. 13 is the flowchart of roller coating method
  • Fig. 14 is the flowchart of roller coating method
  • Figure 15 is a schematic diagram of the action of related technical operations
  • Figure 16 is a schematic diagram of the action of the roller and the spring relative to the working surface
  • Fig. 17 is a schematic diagram of edge trimming on the working surface when the roller is raised and lowered.
  • Fig. 18 is a schematic front view of an embodiment of the reciprocating mechanism provided by the present application.
  • Figure 19 is a schematic side view of Figure 18;
  • Fig. 20 is a schematic diagram during the working process of the reciprocating mechanism in Fig. 18;
  • Figure 21 is a schematic side view of Figure 20;
  • Fig. 22 is a schematic diagram of the installation structure of the installation end of the drag chain of the reciprocating mechanism in Fig. 18;
  • Fig. 23 is a schematic cross-sectional view of Fig. 22;
  • Fig. 24 is a schematic diagram of the installation structure of the connecting end of the drag chain of the reciprocating mechanism in Fig. 18;
  • FIG. 25 is a schematic cross-sectional view of FIG. 24 .
  • Icons 1000-roller coating robot; 100-chassis; 200-controller; 300-transverse mechanism; 310-transverse motor; 320-transverse track; 330-first rotating motor; Drive motor; 420-guide rail; 510-first lifting unit; 520-second lifting unit; 521-base frame; 522-second rotating motor; 523-buffer spring; 524-lifting motor; 525-synchronous wheel; Timing belt; 600-executing mechanism; 610-roller; 620-nozzle; 630-connecting plate; 631-linear bearing; 640-block; 700-pressure detection mechanism; 710-first switch; 720-second switch; 730-inspected part; 800-pump material system; 900-working surface; 10-reciprocating mechanism; 101-installation part; 102-moving part; Mounting hole; 2- drag chain; 2a-installation end; 2b-connection end; 3-first mounting plate; 4-bearing; 5-first rotating shaft; 6-second mounting base; 61-second mounting hole; 7-the second mounting plate; 8-the second
  • setting and “connection” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components.
  • roller coating robot 1000 provided by the embodiment of the present application will be described in detail with reference to the accompanying drawings. Please refer to Fig. 2 and Fig. 3, the embodiment of the present application provides a kind of roller coating robot 1000, including:
  • a traverse mechanism 300 which is arranged on the chassis 100;
  • the telescopic mechanism 400 driven by the traverse mechanism 300, the telescopic mechanism 400 can translate horizontally relative to the working surface 900;
  • the actuator 600 the actuator 600 is used for the roller coating operation surface 900, the actuator 600 can approach or move away from the operation surface 900 under the drive of the telescopic mechanism 400, and the actuator 600 can move relative to the operation surface 900 under the drive of the lifting mechanism. lifting; and a pressure detection mechanism 700, the pressure detection mechanism 700 is used to detect the pressure of the actuator 600 against the working surface 900;
  • the controller 200 can control the telescopic mechanism 400 to change the driving force to the actuator 600 according to the feedback of the pressure detection mechanism 700, so that the actuator 600 first maintains and then reduces the force on the working surface. 900 pressure.
  • the lifting mechanism includes a first lifting unit 510 and a second lifting unit 520
  • the chassis 100 is provided with the first lifting unit 510
  • the traverse mechanism 300 is arranged at the output end of the first lifting unit;
  • the two lifting units 520 are connected, and the output end of the second lifting unit 520 is connected with the actuator 600 .
  • Both the first lifting unit 510 and the second lifting unit 520 can make the actuator 600 lift up and down, so as to roll coat the working surface 900 up and down.
  • Both the first lifting unit 510 and the second lifting unit 520 can be driven by servo motors to precisely control the lifting.
  • the structures and functions of the first lifting unit 510 and the second lifting unit 520 will be described in detail later.
  • the lifting strokes of the first lifting unit 510 and the second lifting unit 520 can be obtained by the controller 200, so as to control other components to take corresponding actions according to the strokes.
  • the roller coating robot 1000 includes a pumping system 800 , and the pumping system 800 includes a feeding pump (a screw pump is used as the feeding pump in this embodiment), which pumps the slurry to the actuator 600 according to the amount through the pipeline.
  • the controller 200 is arranged in the left electrical cabinet and the right electrical cabinet to control each structure of the roller coating robot 1000 that needs to be controlled.
  • the chassis 100 can refer to the existing AVG chassis, which can drive the parts of the load to switch the working position, and the internal driving part can be a servo motor to precisely control the walking stroke.
  • the actuator 600 includes a roller 610 and a nozzle 620, the nozzle 620 is provided with a valve (a solenoid valve is used in this embodiment), the roller coating robot 1000 includes a pump material system 800, and the pump material system 800 includes a feed pump, The nozzle 620 communicates with the feeding pump through a pipeline.
  • the pressure detection mechanism 700 includes a detection part and a tested part 730;
  • the inspected object 730 is set on the actuator 600, and the shape of the inspected object 730 changes with the force of the telescopic mechanism 400 pushing the lifting mechanism.
  • the controller 200 determines the pressure when the actuator 600 abuts the working surface 900 according to the detection signal. By detecting the shape change of the inspected object 730, the pressure data generated by the actuator 600 on the working surface 900 can be determined, and by controlling the telescopic mechanism 400, the shape of the inspected object 730 can be maintained or further changed according to requirements, so as to Make the pressure meet the requirement.
  • the inspected part 730 is a spring (shown in Figure 16), the detecting part is a photoelectric switch, and the spring is arranged on the actuator 600.
  • the actuator 600 When the actuator 600 is pressed against the working surface 900, the telescopic mechanism 400 pushes the lifting mechanism The spring can be compressed, and the photoelectric switch can detect the compression amount of the spring and feed back the detection signal to the controller 200 .
  • the photoelectric switch can accurately identify the change of the compression amount of the spring, so that the pressure change can be identified, so that the pressure information can be further obtained in real time according to the detection situation, and the pressure can be controlled.
  • the actuator 600 includes a connecting plate 630 and a blocking piece 640.
  • the photoelectric switch is divided into a first switch 710 and a second switch 720.
  • the roller 610 is slidably arranged on the connecting plate 630 through a linear bearing 631, and the blocking piece 640 is connected to the The roller 610, the first switch 710 and the second switch 720 are all set on the connecting plate 630 and can be triggered by the stopper 640.
  • the first switch 710 is closer to the roller 610 than the second switch 720.
  • the connecting plate 630 and the lifting mechanism (The output end of the second lifting unit 520) is connected.
  • this embodiment uses two groups of rollers 610 on the left and right, and each group of rollers 610 can be provided with corresponding photoelectric switches and springs, and equipped with a stopper 640.
  • the controller The 200 can more accurately grasp the pressure on the working surface 900, so as to accurately control the expansion or contraction of the telescopic mechanism 400 through accurate pressure detection.
  • FIG. 4 shows the state where the telescopic mechanism 400 drives the actuator 600 to fold relative to the traverse mechanism 300 (about the folded state, it can also be further combined with Figure 4a, Figure 4b, Figure 4 4c, FIG. 4d for multi-angle viewing to understand the structure),
  • FIG. 5 shows the state in which the telescoping mechanism 400 is deployed relative to the traverse mechanism 300, and
  • FIG. 6 shows another perspective of FIG. 5 .
  • Figure 7 shows the pressure detection mechanism 700
  • Figure 8 shows the structure of the traversing mechanism 300
  • Figure 8 shows the structure of the connection between the end of the telescopic mechanism 400 and the second lifting unit 520
  • Figure 10 shows the telescopic mechanism 400 and the traversing mechanism
  • Figure 11 shows the matching style of the actuator 600 and the second lifting unit 520.
  • the traversing mechanism 300 can drive the telescopic mechanism 400 to translate horizontally on the traversing track 320 through the traversing motor 310 and the screw structure, and there is a first Rotating motor 330 realizes rotation fit, so that telescopic mechanism 400 can have two kinds of postures in Fig. 5 and Fig. 4, and telescopic mechanism 400 is a linear telescopic member, and parts such as linear drive motor 410 and guide rail 420 can be set, so that the second lifting The unit 520 can be pushed out or pulled back to finally change the position of the actuator 600 relative to the working surface 900 .
  • the output end of the telescopic mechanism 400 and the base frame 521 of the second elevating unit 520 are rotated and matched by the second rotating motor 522, so that the second elevating unit 520 can have relative to the output end of the telescopic mechanism 400 in the horizontal direction.
  • a certain swing range is convenient for adapting to different working surfaces 900, and a buffer member such as a buffer spring 523 can also be arranged between the two to avoid the reaction force from affecting the structural stability of the two.
  • the second lifting unit 520 can be equipped with a lifting motor 524, a synchronous wheel 525, and a synchronous belt 526, and the connecting plate 630 of the actuator 600 is connected to the synchronous belt 526, so that the lifting of the connecting plate 630 can be realized, thereby driving the roller 610 , the nozzle 620 and the blocking plate 640 and many other components installed on the connecting plate 630 are lifted up and down.
  • This embodiment includes four rollers 610, which are one group up and down, and divided into two groups of left and right.
  • the embodiment of the present application provides a roll coating method, which is applied to the above-mentioned roll coating robot 1000, and the method includes the following steps:
  • the controller 200 controls the actuator 600 to abut the working surface 900 through the telescopic mechanism 400 and reach the first working pressure value;
  • the controller 200 controls the actuator 600 to abut against the working surface 900 through the telescopic mechanism 400 and reach the second working pressure value;
  • the roller coating robot 1000 can make the effect of the roller coating more uniform and improve the quality of the roller coating.
  • the first working pressure value and the second working pressure value may be the same.
  • the telescopic mechanism 400 shrinks gradually to reduce the pressure of the actuator 600 on the working surface 900 . Since the pressure of the actuator 600 on the working surface 900 is reduced, the materials accumulated by the roller 610 on the actuator 600 can be consumed, and avoid overflowing and accumulating on the working surface 900, so as to facilitate the subsequent downward roller coating operation. Since the pressure of the actuator 600 on the working surface 900 is reduced, the slurry of the roller 610 on the actuator 600 will not be squeezed out at the lower end of the working surface 900 , preventing the slurry from accumulating on the working surface 900 .
  • the actuator 600 includes a roller 610. After the actuator 600 reaches the preset height, the controller 200 controls the actuator 600 to leave the working surface 900 through the telescopic mechanism 400, the traverse mechanism 300 drives the actuator 600 to translate horizontally, and the lifting mechanism drives the actuator 600 steps up the preset pitch:
  • the predetermined distance is equal to the diameter of the roller 610 .
  • the preset distance is the same as the diameter of the roller 610 , and when moving up, the roller 610 can coat the top of the working surface 900 with slurry and prevent uneven thickness of the slurry coated on the working surface 900 .
  • the actuator 600 includes a roller 610 and a nozzle 620, the nozzle 620 is provided with a valve, the roller coating robot 1000 includes a pumping system 800, the pumping system 800 includes a feeding pump, and the nozzle 620 is connected to the feeding pump through a pipeline, please refer to Figure 14 , the roller coating method also includes:
  • the height of the working surface 900 required for the operation is B meters
  • the time for the roller 610 to rise is A
  • the discharge speed of the pumping system 800 is S, satisfying S>B/A.
  • the control valve is closed .
  • part of the slurry on the roller 610 can be consumed to avoid slurry accumulation.
  • Fig. 15 is a schematic diagram of the operation of the related technology.
  • the roller body J when the roller body J is squeezed on the wall with a constant force and moves up and down for roller coating, it will be easy to move between J1 and J2. Accumulated material will affect the quality of roller coating.
  • the telescopic mechanism 400 is stretched, so that the roller leans against point E, and the compression amount of the spring is controlled in a small range or at a point value.
  • the compression of the spring from point E to point G remains stable, until point G, the telescopic mechanism 400 reduces the pushing force, so that the spring is gradually extended, and the pressure of the roller 610 on the working surface 900 is gradually reduced.
  • the spring compression from point H to point F remains stable until point F starts, and the telescopic mechanism 400 reduces the pushing force.
  • the spring is gradually stretched, the pressure of the roller 610 on the working surface 900 is gradually reduced, and it continues to move to point E driven by the second lifting unit 520 .
  • the roller 610 leaves the working surface 900 first, and then the traverse mechanism 300 drives the roller 610 to traverse 30mm to the left, and the second lifting unit 520 drives the roller 610 Move up a distance of 50 mm in diameter of the roller 610, and then press the roller 610 against the working surface 900 again according to a predetermined pressure, and gradually roll down the coating.
  • 30mm is just an example, and other distances can also be considered to the left, as long as the edge covering can complete the edge closing of the slurry.
  • the compression amount of the spring is kept at 5-10mm, so that the pressure of the roller 610 on the working surface 900 is constantly controlled, and the quality of roller coating is improved.
  • the electromagnetic valve can be closed in advance during the upward movement of the roller 610, so that the materials accumulated on the upper side of the roller 610 can be coated on the working surface 900 during the process of gradually reducing the pressure, avoiding This part of the accumulated slurry is accumulated on the working surface 900.
  • the roller 610 can move a short distance to the left and roll coating from the top down, while the pump material system 800 only supplies material during the rising process, and does not supply material during the descending process. Therefore, the descending trajectory W of the roller 610 can lean against the left and upper sides of the rising trajectory U, and then scrape the slurry that may overflow on the upper and left sides of U, and when the bottom exits at the end, it can be seen from the above , there will be no accumulation of material on the lower side of the roller 610.
  • the roller 610 can be covered by another track W for scraping while the roller 610 is descending .
  • the method of spraying with nozzle 620 is also better than the traditional method of discharging material from roller 610 , and will not cause missing coating due to uneven discharge of roller 610 .
  • roller coating robot 1000 of the present application cooperates with the corresponding roller coating method, which can effectively improve the quality of roller coating, better replace labor, and avoid many problems caused by manual roller coating.
  • Embodiments of the present application also provide a towline assembly and a reciprocating mechanism, and Fig. 18 to Fig. 25 show a reciprocating mechanism, and the reciprocating mechanism has the towline assembly.
  • the reciprocating mechanism will be described in detail with reference to the drawings.
  • the reciprocating mechanism 10 includes an installation part 101 , a movable part 102 and a drag chain assembly 103 .
  • the movable part 102 is reciprocatingly installed on the installation part 101 along one direction (which may be a horizontal direction or an up and down direction).
  • the reciprocating mechanism 10 includes a lifting mechanism
  • the lifting mechanism includes a supporting frame and a lifting frame
  • the supporting frame is the installation part 101
  • the lifting frame is the movable part 102.
  • the movable part 102 is reciprocally arranged up and down.
  • the design is not limited to
  • the movable part 102 may also be arranged reciprocatingly in a horizontal direction.
  • the drag chain assembly 103 includes a first mounting base 1 and a drag chain 2, the two ends of the drag chain 2 are an installation end 2a and a connection end 2b, and the installation end 2a is wound along the width direction of the drag chain 2
  • the extended axis is rotatably mounted on the first mounting seat 1, and the connecting end 2b of the drag chain 2 is used to connect with the movable part, so as to be driven to reciprocate along the length direction of the drag chain 2, and the drag chain
  • the first mounting seat 1 of the assembly 103 is arranged on the installation part 101, so that the installation end 2a of the towline 2 is rotatably installed on the installation part 101 around an axis extending along the width direction of the towline 2,
  • the connection end 2b of the drag chain 2 is rotationally or fixedly connected to the movable part 102 .
  • the installation end 2a of the towline 2 is mounted on the first mounting base 1 around an axis extending along the width direction of the towline 2, and the connection end 2b of the towline 2 is To be connected with the movable part, to be driven to reciprocate along the length direction of the towline 2, so that the installation end 2a of the towline 2 has an initial position and an overturned position on its rotation stroke, in the initial position , the installation end 2a of the towline 2 and the main section of the towline 2 are curved, and in the overturned position, the installation end 2a of the towline 2 and the main section of the towline 2 are curved.
  • the straight-line arrangement in this way, can increase the movable stroke of the towline assembly 103 .
  • the drag chain assembly 103 further includes a first mounting plate 3, the first mounting plate 3 is rotatably mounted on the first mounting plate 3 around an axis extending along the width direction of the drag chain 2 Seat 1, the installation end 2a of the drag chain 2 is fixedly installed on the first installation plate 3, so that the rotation installation of the installation end 2a of the drag chain 2 is realized through the rotation installation of the first installation plate 3 , the structure is simple and the rotation installation stability is good.
  • the first installation seat 1 is provided with a first installation hole 11, and the first installation hole 11 is along the drag chain 2 Extending in the width direction, the first mounting hole 11 is provided with a bearing 4, and the first mounting plate 3 is rotatably mounted on the first mounting seat 1 through the first rotating shaft 5 mounted on the bearing 4, so that, The rotation installation of the first installation plate 3 is realized by the first rotation shaft 5 and the bearing 4, and the rotation is relatively smooth.
  • the installation end 2a of the towline 2 has an initial position and an overturned position on its rotation stroke, as shown in Figure 18 and Figure 19, in the initial position, the installation end 2a of the towline 2 and the towline
  • the main section of the towline 2 is curved, as shown in Figure 20 and Figure 21, when in the overturned position, the installation end 2a of the towline 2 is arranged in a straight line with the main section of the towline 2, in this embodiment
  • the installation end 2a of the drag chain 2 is set to be able to reset from the flipped position to the initial position, so that the automatic reset of the installation end 2a of the drag chain 2 can be realized, and for the drag chain 2 reset its power source is not limited, specifically, in this embodiment, the towline 2 is set up and down, and the installation end 2a of the towline 2 is located below the connection end 2b, so as to So that during the return journey of the towline 2, the installation end 2a of the towline 2 can be reset to the initial position under the gravity
  • the installation end 2a of the drag chain 2 is provided with a reset member, and the reset member is used to reset the installation end 2a of the drag chain 2 to the The initial position
  • the specific structure of the reset member is not limited, for example, the reset member can be a torsion spring.
  • the connecting end 2b of the towline 2 is mounted to be rotated around an axis extending along the width direction of the towline 2. Therefore, during the rotation of the installation end 2a of the towline 2, the The connecting end 2b of the towline 2 can also rotate a small angle together.
  • the rotating installation structure of the connecting end 2b of the towline 2 is not limited. Specifically, please refer to Fig. 24 and Fig. 25.
  • the towline assembly 103 also includes a second mounting base 6 and a second Two mounting plates 7, the second mounting base 6 is provided with a second mounting hole 61 extending along the width direction of the drag chain 2, the second mounting plate 7 rotates with the second mounting hole 61
  • the matched second rotating shaft 8 is rotationally installed with the second mounting seat 6, and the connecting end 2b of the towline 2 is installed on the second mounting plate 7, so that the connecting end 2b of the towline 2 can be realized rotation installation.
  • At least one of the first lifting unit 510 and the second lifting unit 520 of the roller coating robot 1000 of the present application can be implemented by a reciprocating mechanism 10, so that the actuator 600 is driven by the lifting mechanism. Reciprocating lifting relative to the working surface 900.
  • the embodiment of the first lifting unit 510 and the second lifting unit 520 will be described in detail with reference to the drawings.
  • the first lifting unit 510 may include a support frame, a lifting frame and a drag chain assembly 103 .
  • the support frame is fixed on the chassis 100 and is formed as a mounting part 101
  • the lifting frame is connected to the traversing mechanism 300 and is formed as a movable part 102, and the movable part 102 is reciprocally mounted on the mounting part 102 along the lifting direction (that is, the length direction of the drag chain 2).
  • the towline assembly 103 includes a first mounting base 1 and a towline 2 located on the mounting portion 101.
  • the two ends of the towline 2 are respectively an installation end 2a and a connection end 2b, and the installation end 2a extends along the width direction of the towline 2.
  • the axis of the shaft is rotatably mounted on the first mounting base 1, and the connecting end 2b is used for rotatably or fixedly connecting with the movable part 102, so as to drive the movable part 102 to reciprocate along the lifting direction.
  • the first lifting assembly 510 can drive the traverse mechanism 300 to reciprocate up and down, and then implement the actuator 600 to reciprocate up and down through the traverse mechanism 300 to perform roller coating operations.
  • the second lifting unit 520 may include a support frame, a lifting frame and a drag chain assembly 103, the support frame is fixed at the side of the second lifting unit 520 and formed as The installation part, the lifting frame is connected to the actuator 600 and is formed as a movable part, and the movable part 102 is reciprocally installed on the installation part along the lifting direction (ie, the length direction of the drag chain 2 ).
  • the towline assembly 103 includes a first mounting base 1 and a towline 2 located on the mounting portion 101.
  • the two ends of the towline 2 are respectively an installation end 2a and a connection end 2b, and the installation end 2a extends along the width direction of the towline 2.
  • the axis is rotatably mounted on the first mounting base 1, and the connecting end 2b is used for rotatably or fixedly connecting with the movable part 102, so as to reciprocate the movable part 102 along the lifting direction.
  • the second lifting unit 520 can drive the actuator 600 to reciprocate along the lifting direction to perform the roller coating operation.
  • first execution unit 510 and/or the second execution unit 520 can be applied to the various implementation forms of the drag chain assembly described in the foregoing embodiments herein.
  • first execution unit 510 and/or the second execution unit 520 can be implemented as any lifting module used in the spraying robot of the related art, as long as the implementation can be realized.
  • the reciprocating lifting of the mechanism 600 is sufficient.
  • the disclosure provides a roller coating robot and a roller coating method, which relate to the technical field of construction robots.
  • the roller coating robot includes: chassis; controller; traversing mechanism, which is set on the chassis; telescopic mechanism, which can move horizontally relative to the working surface under the drive of the traversing mechanism; lifting mechanism; For the roller coating operation surface, the actuator can be moved closer or farther away from the operation surface under the drive of the telescopic mechanism, and the actuator can be lifted relative to the operation surface under the drive of the lifting mechanism; and the pressure detection mechanism is used to detect and execute The mechanism resists the pressure on the working surface; wherein, the controller can control the telescopic mechanism to change the driving force on the actuator according to the feedback from the pressure detection mechanism, so that the actuator first maintains and then reduces the pressure on the working surface.
  • the roller coating robot cooperates with the corresponding roller coating method, which can effectively improve the quality of roller coating and better replace manual work.
  • the application also provides a towline assembly, a reciprocating mechanism and mechanical equipment, the towline assembly includes a first mounting seat and a towline, the two ends of the towline are installation ends and connection ends, and the installation end is wound around the The axis extending in the width direction of the towline is rotatably mounted on the first mounting seat, the connecting end of the towline is used to connect with the movable part, so as to be driven to reciprocate along the length direction of the towline, In order to make the installation end of the towline have an initial position and an overturned position on its rotation stroke, in the initial position, the installation end of the towline and the main section of the towline are curved, and in the When the towline is turned over, the installation end of the towline is arranged in a straight line with the main section of the towline, so that the movable stroke of
  • roll coating robot and roll coating method, drag chain assembly, reciprocating mechanism and mechanical equipment provided by the present disclosure are reproducible, and can be used in various industrial applications, for example, can be applied in the field of construction technology.

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Abstract

一种辊涂机器人（1000），包括：底盘（100）；控制器（200）；横移机构（300），横移机构设置于底盘；伸缩机构（400），伸缩机构在横移机构的驱动下能够相对于作业面（900）水平平移；升降机构；执行机构（600），执行机构用于辊涂作业面，执行机构在伸缩机构的驱动下能够相对于作业面靠近或者远离，执行机构在升降机构的带动下能够相对于作业面升降；以及压力检测机构（700），压力检测机构用于检测执行机构抵持于作业面的压力；其中，控制器能够根据压力检测机构的反馈，控制伸缩机构改变对执行机构的驱动力，以使得执行机构先保持再减小对作业面的压力。以及一种辊涂方法，应用于辊涂机器人。辊涂机器人配合相应的辊涂方法，能够使得辊涂效果更均匀，有效提升辊涂质量，更好地替代人工。

Description

辊涂机器人及辊涂方法
相关申请的交叉引用
本申请要求于2021年12月2日提交中国国家知识产权局的申请号为202111458383.3、名称为“辊涂机器人及辊涂方法”以及于2021年9月24日提交中国国家知识产权局的申请号为202111118837.2、名称为“拖链组件、往复动作机构以及机械设备”的中国专利申请的优先权，这两个专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑机器人技术领域，具体而言，涉及一种辊涂机器人及辊涂方法。此外，本申请还涉及机械设备技术领域，尤其涉及拖链组件、往复动作机构以及机械设备。
背景技术
室内辊涂作业广泛用于建筑工艺过程中，目前大多室内辊涂施工采用人工辊涂的作业方式，或者人工借用简易设备进行辊涂作业，人工辊涂作业效率慢、人工体力状态不同，效果不稳定，人工成本越来越高。于是机器替代人工作业形成必然趋势，自动控制对于机器替代人工就体现出非常重要。相关技术的自动辊涂设备在自动作业时的辊涂质量不高。
此外，相关技术的拖链安装方式，如图1所示，移动机构的行程必须小于或等于拖链安装高度差的两倍，其中，S为行程长度，S/2为安装高度差。图中“D”尺寸范围的拖链完全没得到展开和利用；当安装高度差受限时，无法更大限度地延伸拖链行程。因此，存在对提供一种改进的拖链组件的需求。另外，还存在将这种改进的拖链组件应用于辊涂机器人以实现辊涂作业中的升降运动的需求。
发明内容
本申请的一方面提供了一种辊涂机器人，其能够改善相关技术的辊涂设备辊涂质量不高的问题。
本申请的另一方面提供了一种辊涂方法，其能够应用于辊涂机器人，以改善相关技术的辊涂设备的辊涂质量不高的问题。
本申请的再一方面提供了一种拖链组件、往复动作机构以及机械设备，从而解决相关技术中拖链的活动行程较小的问题。
在本申请的一些实施方式中，提供了一种辊涂机器人，可以包括：底盘；控制器；横移机构，所述横移机构可以设置于所述底盘；伸缩机构，所述伸缩机构在所述横移机构的驱动下能够相对于作业面水平平移；升降机构；执行机构，所述执行机构可以用于辊涂所述作业面，所述执行机构在所述伸缩机构的驱动下能够相对于所述作业面靠近或者远离，所述执行机构在所述升降机构的带动下能够相对于所述作业面升降；以及压力检测机构，所述压力检测机构可以用于检测所述执行机构抵持于所述作业面的压力；其中，在所述执行机构竖向作业过程中，所述控制器能够根据所述压力检测机构的反馈，控制所述伸缩机构改变对所述执行机构的驱动力，以使得所述执行机构先保持再减小对所述作业面的压力。
通过在升降的过程中，控制执行机构相对于作业面的压力变化，使得作业面上不容易有浆料残留，能够改善辊涂后质量不佳的问题。
另外，根据本申请的实施例提供的辊涂机器人，还可以具有如下附加的技术特征：
在本申请的可选实施例中，所述压力检测机构可以包括检测件和被检件；所述被检件可以设置于所述执行机构，所述被检件的形态可以随着所述伸缩机构推挤所述升降机构的作用力改变而变化，所述检测件能够检测所述被检件的形态变化程度并向所述控制器反馈检测信号，所述控制器可以根据所述检测信号确定所述执行机构抵持所述作业面时的压力。
通过检测被检件的形态变化，能够以此确定执行机构对作业面产生的压力数据，并通过控制伸缩机构，能够使得被检件的形态按照需求进行维持或者进一步变化，以使得压力满足要求。
在本申请的可选实施例中，所述被检件可以为弹簧，所述检测件可以为光电开关，所述弹簧可以设置于所述执行机构，所述执行机构抵持于所述作业面时，所述伸缩机构推挤所述升降机构能够使得所述弹簧被压缩，所述光电开关能够检测所述弹簧的压缩量并向所述控制器反馈所述检测信号。
光电开关能够准确识别到弹簧的压缩量变化，从而使得压力变化被识别到，以便于进一步根据检测情况实时获取压力信息，并控制压力。
在本申请的可选实施例中，所述执行机构可以包括连接板、辊筒和挡片，所述光电开关可以分为第一开关、第二开关，所述辊筒可滑动地设置于所述连接板，所述挡片可以连接于所述辊筒，所述第一开关和所述第二开关均可以设置于所述连接板且能够被所述挡片触发，所述第一开关相较于所述第二开关更靠近所述辊筒，所述连接板与所述升降机构的输出端连接。
通过设置第一开关和第二开关，能够分别通过与挡片的配合来反映出辊筒的移动情况，从而判断弹簧压力的大小。
在本申请的可选实施例中，所述升降机构可以包括第一升降单元和第二升降单元，所述底盘上设有所述第一升降单元，所述横移机构可以设置于所述第一升降单元的输出端；所述伸缩机构的输出端可以与所述第二升降单元连接，所述第二升降单元的输出端可以与所述执行机构连接。
第一升降单元和第二升降单元都能够使得执行机构升降，以对作业面进行上下辊涂。
在本申请的可选实施例中，所述第一升降单元包括支撑架、升降架和拖链组件，所述第一升降单元的支撑架固定于所述底盘并且形成为安装部，所述第一升降单元的升降架连接至所述横移机构并且形成为活动部，所述第一升降单元的活动部沿升降方向往复运动地安装于所述第一升降单元的安装部；以及，所述第一升降单元的拖链组件可以包括设于所述第一升降单元的安装部的第一安装座并且可以包括拖链，所述第一升降单元的拖链的两端分别为安装端和连接端，所述第一升降单元的拖链的安装端绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第一升降单元的第一安装座，所述第一升降单元的拖链的连接端用以与所述第一升降单元的所述活动部转动连接或者固定连接，以将所述第一升降单元的活动部带动成沿着所述升降方向往复活动。
通过拖链组件，第一升降单元的升降架可以被带动成沿着升降方向往复运动，使得执行机构升降，以对作业面进行上下辊涂。
在本申请的可选实施例中，所述第一升降单元的拖链组件还可以包括：第一安装板，所述第一升降单元的第一安装板可以绕沿着所述第一升降单元的拖链的宽度方向延伸的轴线转动安装于所述第一升降单元的第一安装座；所述第一升降单元的拖链的安装端可以固定安装于所述第一升降单元的第一安装板。
通过为第一升降单元的拖链组件设置第一安装板，可以便于实现第一升降单元的拖链安装端的可靠且牢固的安装。
在本申请的可选实施例中，所述第一升降单元的第一安装座上可以设置有第一安装孔，所述第一升降单元的第一安装孔可以沿着所述第一升降单元的拖链的宽度方向延伸，在所述第一升降单元的第一安装孔内可以设置有轴承；所述第一升降单元的第一安装板可以通过安装于所述轴承的第一转动轴转动安装于所述第一升降单元的第一安装座。
通过为第一升降单元设置第一转动轴和轴承，可以实现第一升降单元的第一安装板的转动安装，转动比较平顺。
在本申请的可选实施例中，所述第一升降单元的拖链的安装端在其转动行程上可以具有初始位置和翻转位置，在所述初始位置时，所述第一升降单元的拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述第一升降单元的拖链的安装端与所述拖链的主体段呈直行设置；所述第一升降单元的拖链的安装端可以被设置为能够自所述翻转位置复位至所述初始位置。
通过将第一升降单元的拖链安装端设置成能够自翻转位置复位至初始位置，可以实现第一升降单元的拖链安装端的自动复位。
在本申请的可选实施例中，所述第一升降单元的拖链可以沿着上下向设置，且所述第一升降单元的拖链的安装端位于所述连接端的下方，以使得在所述第一升降单元的拖链进行返回行程中，所述第一升降单元的拖链的安装端能够在所述拖链的重力作用下，复位至所述初始位置。
第一升降单元的拖链安装端能够在拖链的重力作用下复位至初始位置，如此可以不用为第一升降单元额外设置复位机构。
在本申请的可选实施例中，所述第一升降单元的拖链的安装端可以设置有复位件，设置在所述第一升降单元的拖链的安装端的复位件用以在所述第一升降单元的拖链进行返回行程中，将所述第一升降单元的拖链的安装端复位至所述初始位置。
通过复位件的作用，可以将第一升降单元的拖链安装端设置成能够自翻转位置复位至初始位置，从而可以实现第一升降单元的拖链安装端的自动复位。
在本申请的可选实施例中，设置在所述第一升降单元的拖链的安装端的复位件可以为扭簧。
通过将可以被批量生产且易于获得的扭簧作为第一升降单元的复位件，可以提高第一升降单元的复位件的生产效率，降低了生产成本。
在本申请的可选实施例中，在所述第一升降单元的拖链的连接端与所述第一升降单元的活动部转动连接的情况下，所述第一升降单元的拖链组件还可以包括：第二安装座，所述第一升降单元的第二安装座上可以设置有沿着所述第一升降单元的拖链的宽度方向延伸的第二安装孔；以及，第二安装板，所述第一升降单元的第二安装板可以通过第二转动轴与所述第一升降单元的第二安装座转动安装，所述第一升降单元的第二转动轴与所述第一升降单元的第二安装孔转动配合；所述第一升降单元的拖链的连接端可以安装于第一升降单元的第二安装板。
通过这种设置，可以实现第一升降单元的拖链连接端的转动安装。
在本申请的可选实施例中，所述第二升降单可以元包括支撑架、升降架和拖链组件，所述第二升降单元的支撑架可以固定于所述第二升降单元的侧部处并且形成为安装部，所述第二升降单元的升降架可以连接至所述执行机构并且形成为活动部，所述第二升降单元的活动部可以沿升降方向往复运动地安装于所述第二升降单元的安装部；以及，所述第二升降单元的拖链组件可以包括设于所述第二升降单元的安装部的第一安装座并且可以包括拖链，所述第二升降单元的拖链的两端可以分别为安装端和连接端，所述第二升降单元的拖链的安装端可以绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第二升降单元的第一安装座，所述第二升降单元的拖链的连接端用以与所述第二升降单元的活动部转动连接或者固定连接，以将所述第二升降单元的活动部带动成沿着所述升降方向往复活动。
通过拖链组件，第二升降单元的升降架可以被带动成沿着升降方向往复运动，使得执行机构升降，以对作业面进行上下辊涂。
在本申请的可选实施例中，所述第二升降单元的拖链组件还可以包括：第一安装板，所述第二升降单元的第一安装板可以绕沿着所述第二升降单元的拖链的宽度方向延伸的轴线转动安装于所述第二升降单元的第一安装座；所述第二升降单元的拖链的安装端可以固定安装于所述第二升降单元的第一安装板。
通过为第二升降单元设置第一安装板，可以便于实现第二升降单元的拖链安装端的可靠且牢固的安装。
在本申请的可选实施例中，所述第二升降单元的第一安装座上可以设置有第一安装孔，所述第二升降单元的第一安装孔可以沿着所述第二升降单元的拖链的宽度方向延伸，在所述第二升降单元的第一安装孔内可以设置有轴承；所述第二升降单元的第一安装板可以通过安装于所述轴承的第一转动轴转动安装于所述第二升降单元的第一安装座。
通过为第二升降单元设置第一转动轴和轴承，可以实现第二升降单元的第一安装板的转动安装，转动比较平顺。
在本申请的可选实施例中，所述第二升降单元的拖链的安装端在其转动行程上可以具有初始位置和翻转位置，在所述初始位置时，所述第二升降单元的拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述第二升降单元的拖链的安装端与所述拖链的主体段呈直行设置；所述第二升降单元的拖链的安装端被设置为能够自所述翻转位置复位至所述初始位置。
通过将第二升降单元的拖链安装端设置成能够自翻转位置复位至初始位置，可以实现第二升降单元的拖链安装端的自动复位。
在本申请的可选实施例中，所述第二升降单元的拖链可以沿着上下向设置，且所述第二升降单元的拖链的安装端可以位于所述连接端的下方，以使得在所述第二升降单元的拖链进行返回行程中，所述第二升降单元的拖链的安装端能够在所述拖链的重力作用下，复位至所述初始位置。
第二升降单元的拖链安装端能够在拖链的重力作用下复位至初始位置，如此可以不用为第二升降单元额外设置复位 机构。
在本申请的可选实施例中，所述第二升降单元的拖链的安装端可以设置有复位件，设置在所述第二升降单元的拖链的安装端的复位件用以在所述第二升降单元的拖链进行返回行程中，将所述第二升降单元的拖链的安装端复位至所述初始位置。
通过复位件的作用，可以将第二升降单元的拖链安装端设置成能够自翻转位置复位至初始位置，从而可以实现第二升降单元的拖链安装端的自动复位。
在本申请的可选实施例中，设置在所述第二升降单元的拖链的安装端的复位件可以为扭簧。
通过将可以被批量生产且易于获得的扭簧作为第二升降单元的复位件，可以提高第二升降单元的复位件的生产效率，降低了生产成本。
在本申请的可选实施例中，在所述第二升降单元的拖链的连接端与所述第二升降单元的活动部转动连接的情况下，所述第二升降单元的拖链组件还可以包括：第二安装座，所述第二升降单元的第二安装座上可以设置有沿着所述第二升降单元的拖链的宽度方向延伸的第二安装孔；以及，第二安装板，所述第二升降单元的第二安装板可以通过第二转动轴与所述第二升降单元的第二安装座转动安装，所述第二升降单元的第二转动轴与所述第二升降单元的第二安装孔转动配合；所述第二升降单元的拖链的连接端可以安装于第二升降单元的第二安装板。
通过这种设置，可以实现第二升降单元的拖链连接端的转动安装。
在本申请的另一些实施方式中，提供了一种辊涂方法，应用于上述实施例中的任一实施例所述的辊涂机器人，该方法可以包括以下步骤：所述控制器通过所述伸缩机构控制所述执行机构抵持所述作业面并达到第一作业压力值；所述执行机构从初始位置向上运动至预设作业高度并同时以出料的形式，辊涂所述作业面；所述执行机构到达所述预设高度后，所述控制器通过所述伸缩机构控制所述执行机构离开所述作业面，所述横移机构带动所述执行机构水平平移，所述升降机构带动所述执行机构上升预设间距；所述控制器通过所述伸缩机构控制所述执行机构抵持所述作业面并达到第二作业压力值；所述执行机构向下运动至所述初始位置并同时以不出料的形式，辊涂所述作业面。
通过该辊涂方法，辊涂机器人能够使得辊涂的效果更均匀，提高辊涂质量。
在本申请的可选实施例中，在所述执行机构从初始位置向上运动至预设作业高度并同时以出料的形式，辊涂所述作业面的步骤中：所述执行机构在上升到接近所述预设作业高度前，所述伸缩机构逐渐收缩以减小所述执行机构对所述作业面的压力。
由于执行机构对作业面的压力减小，执行机构上的辊筒所堆积的物料可以被消耗，并且避免在作业面上方溢出并堆积，以便于后续向下辊涂作业。
在本申请的可选实施例中，在所述执行机构向下运动至所述初始位置并同时以不出料的形式，辊涂所述作业面的步骤中：所述执行机构在下降到接近所述初始位置前，所述伸缩机构逐渐收缩以减小所述执行机构对所述作业面的压力。
由于执行机构对作业面的压力减小，执行机构上的辊筒的浆料不会在作业面下端被挤压出来，防止作业面上有浆料堆积。
在本申请的可选实施例中，所述执行机构包括辊筒，在所述执行机构到达所述预设高度后，所述控制器通过所述伸缩机构控制所述执行机构离开所述作业面，所述横移机构带动所述执行机构水平平移，所述升降机构带动所述执行机构上升预设间距的步骤中：所述预设间距等于所述辊筒的直径。
预设间距和辊筒直径相同，当上移时，辊筒能够将作业面的顶部涂上浆料，并且防止该处作业面被涂覆的浆料的厚薄不均。
在本申请的可选实施例中，所述执行机构可以包括辊筒和喷嘴，所述喷嘴处可以设有阀门，所述辊涂机器人可以包括泵料系统，所述泵料系统可以包括送料泵，所述喷嘴与所述送料泵通过管路连通，所述辊涂方法还包括：在所述辊筒开始辊涂之前，关闭所述阀门，所述送料泵先给所述喷嘴所用的所述管路充料以使得所述管路具有初始压力；打开所述阀门时，所述喷嘴能达到最大喷幅。
通过预先充压，可以使得喷嘴在开始时的喷幅达到最大，避免出现漏涂。
在本申请的可选实施例中，所需作业的所述作业面的高度为B米，所述辊筒上升作业的时间为A，所述泵料系统的出料速度为S，满足S＞B/A。
通过设计泵料系统的出料速度，可以保障辊筒工作的过程中有足够的浆料供应，避免出现漏涂。
在本申请的可选实施例中，在所述辊筒上升到所述预设作业高度之前，获取所述辊筒上升的实际高度，确定所述辊筒上升的实际高度与所述预设高度的差值，当所述差值达到阈值时，控制所述阀门关闭。
通过提前关闭阀门，可以使得辊筒上的浆料被消耗一部分，避免浆料堆积。
在本申请的再一些实施方式中，提供了一种拖链组件，可以包括：第一安装座；以及，拖链，其两端为安装端和连接端，所述安装端可以绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第一安装座，所述拖链的连接端可以用以与活动件连接，以被带动沿着所述拖链的长度方向往复活动。
通过拖链组件，可以使活动件沿着拖链的长度方向(可以是水平方向，也可以是上下方向)往复运动。
在本申请的可选实施例中，所述拖链组件还可以包括：第一安装板，所述第一安装板可以绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第一安装座；所述拖链的安装端可以固定安装于所述第一安装板。
通过设置第一安装板，可以便于实现拖链安装端的可靠且牢固的安装。
在本申请的可选实施例中，所述第一安装座上可以设置有第一安装孔，所述第一安装孔可以沿着所述拖链的宽度方向延伸，所述第一安装孔内可以设置有轴承；所述第一安装板可以通过安装于所述轴承的第一转动轴转动安装于所述第一安装座。
通过第一转动轴和轴承，可以实现第一安装板的转动安装，转动比较平顺。
在本申请的可选实施例中，所述拖链的安装端在其转动行程上可以具有初始位置和翻转位置，在所述初始位置时，所述拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述拖链的安装端与所述拖链的主体段呈直行 设置；所述拖链的安装端被设置为能够自所述翻转位置复位至所述初始位置。
通过将拖链安装端设置成能够自翻转位置复位至初始位置，可以实现拖链安装端的自动复位。
在本申请的可选实施例中，所述拖链可以沿着上下向设置，且所述拖链的安装端位于所述连接端的下方，以使得在所述拖链进行返回行程中，所述拖链的安装端能够在所述拖链的重力作用下，复位至所述初始位置。
拖链安装端能够在拖链的重力作用下复位至初始位置，如此可以不用额外设置复位机构。
在本申请的可选实施例中，所述拖链的安装端可以设置有复位件，所述复位件用以在所述拖链进行返回行程中，将所述拖链的安装端复位至所述初始位置。
通过复位件的作用，可以将拖链安装端设置成能够自翻转位置复位至初始位置，从而可以实现拖链安装端的自动复位。
在本申请的可选实施例中，所述复位件可以为扭簧。
通过将可以被批量生产且易于获得的扭簧作为复位件，可以提高复位件的生产效率，降低了生产成本。
在本申请的可选实施例中，所述拖链的连接端绕沿着所述拖链的宽度方向延伸的轴线转动安装。
拖链连接端转动安装，以此方式，在拖链安装端转动过程中，拖链连接端也可以随同一起转动一小角度，增大了运动的平顺性。
在本申请的可选实施例中，所述拖链组件还可以包括：所述第二安装座上设置有沿着所述拖链的宽度方向延伸的第二安装孔；以及，第二安装板，其通过与所述第二安装孔转动配合的第二转动轴、与所述第二安装座转动安装；所述拖链的连接端安装于所述第二安装板。
通过这种设置，可以实现拖链连接端的转动安装。
在本申请的又一些实施方式中，提供了一种往复动作机构，可以包括：安装部；活动部，沿着一方向往复运动地安装于所述安装部；以及，根据前述实施例中的任一实施例所述的拖链组件，所述拖链组件的第一安装座设于所述安装部，以使得所述拖链的安装端绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述安装部，所述拖链的连接端与所述活动部转动连接或者固定连接。
通过将拖链连接端与活动部转动连接或者固定连接，可以使活动部沿着拖链的长度方向(可以是水平方向，也可以是上下方向)往复运动。
在本申请的可选实施例中，所述往复动作机构可以包括升降机构，所述升降机构包括支撑架和升降架，所述支撑架为所述安装部，所述升降架为所述活动部。
通过设置升降机构，可以实现升降架的升降运动(上下运动)。
在本申请的再又一些实施方式中，提供一种机械设备，可以包括如上述实施例中的任一实施例所述的往复动作机构。
在本申请的可选实施例中，所述往复动作机构可以包括升降机构，所述升降机构可以包括支撑架和升降架，所述支撑架为所述安装部，所述升降架可以为所述活动部；所述机械设备可以包括辊涂设备，所述辊涂设备可以包括底盘、安装在所述底盘上的升降机构，以及安装在所述升降机构上的辊涂装置。
可以理解的是，本申请的机械设备具体类型不做限制，只要具有所述往复动作机构的设备均可以理解为所述机械设备。
根据本申请的技术方案，拖链的安装端绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第一安装座，所述拖链的连接端用以与活动件连接，以被带动沿着所述拖链的长度方向往复活动，以使得所述拖链的安装端在其转动行程上具有初始位置和翻转位置，在所述初始位置时，所述拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述拖链的安装端与所述拖链的主体段呈直行设置，如此，可以增大所述拖链组件的活动行程。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为相关技术中的拖链的结构示意图；
图2为本申请的实施例提供的辊涂机器人的示意图；
图3为图2的另一个视角的示意图；
图4为横移机构、伸缩机构、第二升降单元以及执行机构的示意图；
图4a为图4的主视图；
图4b为图4的左视图；
图4c为图4的后视图；
图4d为图4的俯视图；
图5为图4在另一个视角下隐去了喷嘴的示意图；
图6为图5的另一个视角的示意图；
图7为图5的L部分的局部放大图；
图8为图5的M部分的局部放大图；
图9为图5的N部分的局部放大图；
图10为图6的O部分的局部放大图；
图11为图6的P部分的局部放大图；
图12为辊涂方法的流程图；
图13为辊涂方法的流程图；
图14为辊涂方法的流程图；
图15为相关技术作业的动作示意图；
图16为辊筒、弹簧相对于作业面的动作示意图；
图17为辊筒上升和下降时在作业面上的收边的示意图。
图18为本申请提供的往复动作机构的一实施例的正视示意图；
图19为图18的侧视示意图；
图20为图18中的往复动作机构工作过程中的示意图；
图21为图20的侧视示意图；
图22为图18中往复动作机构的拖链的安装端的安装结构示意图；
图23为图22的剖视示意图；
图24为图18中往复动作机构的拖链的连接端的安装结构示意图；
图25为图24的剖视示意图。
图标：1000-辊涂机器人；100-底盘；200-控制器；300-横移机构；310-横移电机；320-横移轨道；330-第一旋转电机；400-伸缩机构；410-直线驱动电机；420-导轨；510-第一升降单元；520-第二升降单元；521-基架；522-第二旋转电机；523-缓冲弹簧；524-升降电机；525-同步轮；526-同步带；600-执行机构；610-辊筒；620-喷嘴；630-连接板；631-直线轴承；640-挡片；700-压力检测机构；710-第一开关；720-第二开关；730-被检件；800-泵料系统；900-作业面；10-往复动作机构；101-安装部；102-活动部；103-拖链组件；1-第一安装座；11-第一安装孔；2-拖链；2a-安装端；2b-连接端；3-第一安装板；4-轴承；5-第一转动轴；6-第二安装座；61-第二安装孔；7-第二安装板；8-第二转动轴。
本申请的目的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本申请的描述中，需要说明的是，术语“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
首先，将参照附图对本申请的实施例所提供的辊涂机器人1000进行详细地描述。请结合图2和图3，本申请的实施例提供了一种辊涂机器人1000，包括：
底盘100；
控制器200；
横移机构300，横移机构300设置于底盘100；
伸缩机构400，伸缩机构400在横移机构300的驱动下能够相对于作业面900水平平移；
升降机构；
执行机构600，执行机构600用于辊涂作业面900，执行机构600在伸缩机构400的驱动下能够相对于作业面900靠近或者远离，执行机构600在升降机构的带动下能够相对于作业面900升降；以及压力检测机构700，压力检测机构700用于检测执行机构600抵持于作业面900的压力；
其中，在执行机构600竖向作业过程中，控制器200能够根据压力检测机构700的反馈，控制伸缩机构400改变对执行机构600的驱动力，以使得执行机构600先保持再减小对作业面900的压力。
其中，升降机构包括第一升降单元510和第二升降单元520，底盘100上设有第一升降单元510，横移机构300设置于第一升降单元的输出端；伸缩机构400的输出端与第二升降单元520连接，第二升降单元520的输出端与执行机构600连接。第一升降单元510和第二升降单元520都能够使得执行机构600升降，以对作业面900进行上下辊涂。第一升降单元510和第二升降单元520都可以由伺服电机来输出驱动力，以精确控制升降。第一升降单元510和第二升降单元520的结构和功能将在稍后进行详细地描述。第一升降单元510和第二升降单元520的升降行程可以被控制器200获取，以便于根据行程来控制其他部件做出响应动作。
此外，辊涂机器人1000包括泵料系统800，泵料系统800包括送料泵(本实施例采用螺杆泵作为送料泵)，其通过管路将浆料按量泵送给执行机构600。在本实施例中，控制器200设置于左电柜和右电柜内，以对辊涂机器人1000各个需要控制的结构进行控制。底盘100则是可以参考现有的AVG底盘，可以带动负载的部件行走以切换作业位置，并且其内部的驱动件可以是伺服电机，以精确控制行走的行程。
请结合图4，执行机构600包括辊筒610和喷嘴620，喷嘴620处设有阀门(本实施例采用了电磁阀)，辊涂机器人1000包括泵料系统800，泵料系统800包括送料泵，喷嘴620与送料泵通过管路连通。
简单而言，通过在升降的过程中，控制执行机构600相对于作业面900的压力变化，使得作业面900上不容易有浆料残留，能够改善辊涂后质量不佳的问题。
请结合图5及图7，压力检测机构700包括检测件和被检件730；
被检件730设置于执行机构600，被检件730的形态随着伸缩机构400推挤升降机构的作用力改变而变化，检测件能够检测被检件730的形态变化程度并向控制器200反馈检测信号，控制器200根据检测信号确定执行机构600抵持作业面900时的压力。通过检测被检件730的形态变化，能够以此确定执行机构600对作业面900产生的压力数据，并通过控制伸缩机构400，能够使得被检件730的形态按照需求进行维持或者进一步变化，以使得压力满足要求。
在本实施例中，被检件730为弹簧(图16有示意)，检测件为光电开关，弹簧设置于执行机构600，执行机构600抵持于作业面900时，伸缩机构400推挤升降机构能够使得弹簧被压缩，光电开关能够检测弹簧的压缩量并向控制器200反馈检测信号。光电开关能够准确识别到弹簧的压缩量变化，从而使得压力变化被识别到，以便于进一步根据检测情况实时获取压力信息，并控制压力。详细的，执行机构600包括连接板630和挡片640，光电开关分为第一开关710、第二开关720，辊筒610通过直线轴承631可滑动地设置于连接板630，挡片640连接于辊筒610，第一开关710和第二开关720均设置于连接板630且能够被挡片640触发，第一开关710相较于第二开关720更靠近辊筒610，连接板630与升降机构(第二升降单元520)的输出端连接。通过设置第一开关710和第二开关720，能够分别通过与挡片640的配合来反映出辊筒610的移动情况，从而判断弹簧压力的大小。可以理解的是，本实施例采用了左右两组辊筒610，每组辊筒610都可以分别设置相应的光电开关和弹簧，并配置挡片640，通过更多的光电开关的检测，控制器200可以更准确地把握对于作业面900的压力，以便于通过精确的压力检测来精确控制伸缩机构400的伸展或者收缩。
请结合图4至图11，关于辊涂机器人1000，图4中是伸缩机构400带动执行机构600相对于横移机构300收拢的状态(关于收拢状态，还可以进一步结合图4a，图4b，图4c，图4d来进行多角度查看，以了解结构)，图5展示了伸缩机构400相对于横移机构300展开的状态，图6展示了图5的另一个视角。图7展示了压力检测机构700，图8展示了横移机构300的结构，图8展示了伸缩机构400末端与第二升降单元520连接处的结构，图10展示了伸缩机构400与横移机构300输出端配合的式样，图11展示了执行机构600与第二升降单元520配合的式样。
大体而言，横移机构300可以通过横移电机310以及丝杠结构来带动伸缩机构400在横移轨道320上水平平移，并且伸缩机构400与横移机构300的输出端之间还有第一旋转电机330来实现转动配合，使得伸缩机构400可以有图5和图4中的两种姿态，而伸缩机构400为直线伸缩构件，可以设置直线驱动电机410以及导轨420等部件，使得第二升降单元520能够被推出或者拉回，以最终改变执行机构600相对于作业面900的位置。此外，伸缩机构400的输出端与第二升降单元520的基架521之间通过第二旋转电机522来进行转动配合，使得第二升降单元520可以相对于伸缩机构400的输出端在水平方向有一定摆动幅度，便于适应不同的作业面900，二者之间还可以设置缓冲弹簧523一类的缓冲件，以避免反作用力影响二者的结构稳定。第二升降单元520则是可以设置升降电机524和同步轮525、同步带526，将执行机构600的连接板630与同步带526传动连接，即可实现连接板630的升降，从而带动辊筒610、喷嘴620和挡片640等诸多安装于连接板630上的部件升降。本实施例包括四个辊筒610，上下为一组，并分作左右两组，在图17所示的辊筒610辊涂的轨迹中，将两组辊筒610在同一方向的轨迹简单示意为两个长方形，以更加明显地区别于另一个方向的轨迹，并不能限制地理解为两组辊筒610必须抵靠在一起来形成所示的并靠的轨迹。
关于横移机构300、伸缩机构400以及升降机构的相互连接以及动作，可以参考一般的建筑机器人所用的横移模组、伸缩模组以及升降模组的结构和连接关系、动作关系，最终都是为了能够将辊筒610与作业面900之间调节至所需的配合位置，保障辊涂的质量，下文不再赘述。请结合图12，本申请的实施例提供了一种辊涂方法，应用于上述辊涂机器人1000，该方法包括以下步骤：
S10:控制器200通过伸缩机构400控制执行机构600抵持作业面900并达到第一作业压力值；
S20:执行机构600从初始位置向上运动至预设作业高度并同时以出料的形式，辊涂作业面900；
S30:执行机构600到达预设高度后，控制器200通过伸缩机构400控制执行机构600离开作业面900，横移机构300带动执行机构600水平平移，升降机构带动执行机构600上升预设间距；
S40:控制器200通过伸缩机构400控制执行机构600抵持作业面900并达到第二作业压力值；
S50:执行机构600向下运动至初始位置并同时以不出料的形式，辊涂作业面900。
通过该辊涂方法，辊涂机器人1000能够使得辊涂的效果更均匀，提高辊涂质量。其中，第一作业压力值和第二作业压力值可以相同。
请结合图13和图16，在执行机构600从初始位置向上运动至预设作业高度并同时以出料的形式，辊涂作业面900的步骤中：
S21:执行机构600在上升到接近预设作业高度前，伸缩机构400逐渐收缩以减小执行机构600对作业面900的压力。
在执行机构600向下运动至初始位置并同时以不出料的形式，辊涂作业面900的步骤中：
S51:执行机构600在下降到接近初始位置前，伸缩机构400逐渐收缩以减小执行机构600对作业面900的压力。由于执行机构600对作业面900的压力减小，执行机构600上的辊筒610所堆积的物料可以被消耗，并且避免在作业面900上方溢出并堆积，以便于后续向下辊涂作业。由于执行机构600对作业面900的压力减小，执行机构600上的辊筒610的浆料不会在作业面900下端被挤压出来，防止作业面900上有浆料堆积。
执行机构600包括辊筒610，在执行机构600到达预设高度后，控制器200通过伸缩机构400控制执行机构600离开作业面900，横移机构300带动执行机构600水平平移，升降机构带动执行机构600上升预设间距的步骤中：
预设间距等于辊筒610的直径。
预设间距和辊筒610直径相同，当上移时，辊筒610能够将作业面900的顶部涂上浆料，并且防止该处作业面900被涂覆的浆料的厚薄不均。
执行机构600包括辊筒610和喷嘴620，喷嘴620处设有阀门，辊涂机器人1000包括泵料系统800，泵料系统800包括送料泵，喷嘴620与送料泵通过管路连通，请结合图14，辊涂方法还包括：
S0:在辊筒610开始辊涂之前，关闭阀门，送料泵先给喷嘴620所用的管路充料以使得管路具有初始压力；打开阀门时，喷嘴620能达到最大喷幅。通过预先充压，可以使得喷嘴620在开始时的喷幅达到最大，避免出现漏涂。
其中，所需作业的作业面900的高度为B米，辊筒610上升作业的时间为A，泵料系统800的出料速度为S，满足S＞B/A。通过设计泵料系统800的出料速度，可以保障辊筒610工作的过程中有足够的浆料供应，避免出现漏涂。此外，当作业环境中的作业面900的高度并不完全相同时，可以先根据作业面900的高度，计算好作业的预设高度，并根据预设高度来提前计算好要出料的量和出料速度，使得现场作业更为灵活。
进一步的，在辊筒610上升到预设作业高度之前，获取辊筒610上升的实际高度，确定辊筒610上升的实际高度与预设高度的差值，当差值达到阈值时，控制阀门关闭。通过提前关闭阀门，可以使得辊筒610上的浆料被消耗一部分，避免浆料堆积。
请结合图16和图17，在具体作业时，图16中的辊筒610所处的各个位置分别为E、F、G、H，在图16中，辊筒610的上升轨迹为实线U所示，其顶部V即为预设高度，虚线W为下降时，辊筒610的轨迹，U和W的底端X即为初始位置的高度。其中，可以结合图15，图15为相关技术作业的动作示意图，相关技术中辊体J在以恒定的作用力挤压在墙体上，并且上下运动辊涂时，会容易在J1和J2两处积料，影响辊涂质量。
而本申请中，在开始辊涂前，伸缩机构400伸展，使得滚筒抵靠在E点，弹簧的压缩量被控制在一个较小的范围或者控制在一个点值上，需要说明的是，在上升过程中，从E点到G点的弹簧压缩量都保持稳定，直到G点开始，伸缩机构400减小推动的作用力，使得弹簧逐渐伸长，辊筒610对作业面900的压力逐渐减小并在第二升降单元520的带动下继续运动到H点；在下降过程中，H点到F点的弹簧压缩量都保持稳定，直到F点开始，伸缩机构400减小推动的作用力，使得弹簧逐渐伸长，辊筒610对作业面900的压力逐渐减小并在第二升降单元520的带动下继续运动到E点。
其中，如图17所示，在上升到预设高度V后，辊筒610先离开作业面900，然后横移机构300带动辊筒610向左横移30mm，第二升降单元520带动辊筒610向上移动一个辊筒610直径的距离50mm，然后再次将辊筒610按照既定的压力抵靠在作业面900上，并逐渐向下辊涂。其中，30mm仅是举例，也可以考虑左移其他距离，只要最后搭边覆盖能够将浆料收边完成即可。
在升降过程中，弹簧的压缩量一直保持在5-10mm，使得辊筒610对作业面900的压力得到时时控制，提升辊涂质量。
详细的，在传统的作业方式中，辊筒610的下侧和上侧以及左右两侧都会有浆料堆积(如图15所示的J1和J2两处)，既造成浆料的浪费，又可能使得作业面900上有浆料堆积，使得浆料分布厚度不均，影响最终的辊涂质量。本实施例通过上述作业方法，能够在辊筒610上行过程中，提前关闭电磁阀，使得辊筒610上侧堆积的物料可以在压力逐渐减小的过程中被涂覆在作业面900上，避免该部分堆积的浆料被堆积到作业面900上，这是因为，假如一直保持一样的压力，辊筒610上侧会有积料情况，当在顶部辊筒610离开作业面900时，堆积的浆料就会溢出并堆积在作业面900上，造成质量不佳。而压力逐渐减小可以使得该部分积料被消耗，从而解决了相应问题，同理，在下降到接近下端时，也是可以消耗掉辊筒610下侧的积料，避免辊筒610离开作业面900时，该部分积料被留在作业面900上。
对于左右两侧的溢料，由于辊筒610可以向左横移一小段距离，并从上侧向下辊涂，而泵料系统800只在上升过程中供料，下降过程中不供料，所以辊筒610下降的轨迹W可以撘靠上升轨迹U的左侧和上侧，然后将U的上侧和左侧的可能溢出的浆料刮平，而在最后底部退出时，结合上文可知，也不会有辊筒610下侧的积料情况。对于轨迹W的右侧，当横移机构300带动整个执行机构600右移到下一个作业段时，可以在辊筒610下降的过程中，通过另外的轨迹W来搭边覆盖，以进行刮平。在作业面900的最右端时，即便有所溢料，也已符合施工要求，完全实现了自动化的辊涂作业，并且作业的质量高，不需要返工，节省人工，降低了人工劳动强度。除了辊涂收边以外，采用喷嘴620喷涂的方式也较之传统的从辊筒610出料的方式更佳，不会由于辊筒610出料不均匀而导致漏涂。
综上所述，本申请的辊涂机器人1000配合相应的辊涂方法，能够有效提升辊涂质量，更好地替代人工，避免人工辊涂带来的诸多问题。
本申请的实施例还提供了一种拖链组件和往复动作机构，如图18至图25示出了一种往复动作机构，所述往复动作机构具有所述拖链组件。接下来将参照附图对往复动作机构进行详细地描述。
请参阅图18至图21，所述往复动作机构10包括安装部101、活动部102以及拖链组件103。
所述活动部102沿着一方向(可以是水平方向，也可以是上下方向)往复运动地安装于所述安装部101，具体地，本实施例中，所述往复动作机构10包括升降机构，所述升降机构包括支撑架和升降架，所述支撑架为所述安装部101，所述升降架为所述活动部102，为此，所述活动部102上下往复设置，显然本设计不限于此，在其他实施例中，所述活动部102也可以是在一水平方向上往复设置。
所述拖链组件103包括第一安装座1和拖链2，所述拖链2的两端为安装端2a和连接端2b，所述安装端2a绕沿着所述拖链2的宽度方向延伸的轴线转动安装于所述第一安装座1，所述拖链2的连接端2b用以与活动件连接，以被带动沿着所述拖链2的长度方向往复活动，所述拖链组件103的第一安装座1设于所述安装部101，以使得所述拖链2的安装端2a绕沿着所述拖链2的宽度方向延伸的轴线转动安装于所述安装部101，所述拖链2的连接端2b与所述活动部102转动连接或者固定连接。
本申请提供的技术方案中，拖链2的安装端2a绕沿着所述拖链2的宽度方向延伸的轴线转动安装于所述第一安装座1，所述拖链2的连接端2b用以与活动件连接，以被带动沿着所述拖链2的长度方向往复活动，以使得所述拖链2的安装端2a在其转动行程上具有初始位置和翻转位置，在所述初始位置时，所述拖链2的安装端2a与所述拖链2的主体段呈弯曲设置，在所述翻转位置时，所述拖链2的安装端2a与所述拖链2的主体段呈直行设置，如此，可以增大所述拖链组件103的活动行程。
实现“所述安装端2a绕沿着所述拖链2的宽度方向延伸的轴线转动安装于所述第一安装座1”的具体结构不做限制，具体地，请进一步参阅图22和图23，在本实施例中，所述拖链组件103还包括第一安装板3，所述第一安装板3绕沿着所述拖链2的宽度方向延伸的轴线转动安装于所述第一安装座1，所述拖链2的安装端2a固定安装于所述第一安装板3，如此，通过所述第一安装板3的转动安装来实现所述拖链2的安装端2a的转动安装，结构简单且转动安装稳定性好，进一步地，在本实施例中，所述第一安装座1上设置有第一安装孔11，所述第一安装孔11沿着所述拖链2的宽度方向延伸，所述第一安装孔11内设置有轴承4，所述第一安装板3通过安装于所述轴承4的第一转动轴5转动安装于所述第一安装 座1，如此，通过第一转动轴5和轴承4实现所述第一安装板3的转动安装，转动比较平顺。
所述拖链2的安装端2a在其转动行程上具有初始位置和翻转位置，如图18和图19所示，在所述初始位置时，所述拖链2的安装端2a与所述拖链2的主体段呈弯曲设置，如图20和图21所示，在所述翻转位置时，所述拖链2的安装端2a与所述拖链2的主体段呈直行设置，在本实施例中，所述拖链2的安装端2a被设置为能够自所述翻转位置复位至所述初始位置，如此可以实现所述拖链2的安装端2a的自动复位，而对于所述拖链2的复位其动力源不做限制，具体地，在本实施例中，所述拖链2沿着上下向设置，且所述拖链2的安装端2a位于所述连接端2b的下方，以使得在所述拖链2进行返回行程中，所述拖链2的安装端2a能够在所述拖链2的重力作用下，复位至所述初始位置，如此可以不用额外设置复位机构，显然，在其他实施例中，所述拖链2的安装端2a设置有复位件，所述复位件用以在所述拖链2进行返回行程中，将所述拖链2的安装端2a复位至所述初始位置，所述复位件的具体结构不做限制，如，所述复位件可为扭簧。
在本实施例中，所述拖链2的连接端2b绕沿着所述拖链2的宽度方向延伸的轴线转动安装，为此，在所述拖链2的安装端2a转动过程中，所述拖链2的连接端2b也可以随同一起转动一小角度。所述拖链2的连接端2b的转动安装结构不做限制，具体地，请进一步参阅图24和图25，在本实施例中，所述拖链组件103还包括第二安装座6和第二安装板7，所述第二安装座6上设置有沿着所述拖链2的宽度方向延伸的第二安装孔61，所述第二安装板7通过与所述第二安装孔61转动配合的第二转动轴8、与所述第二安装座6转动安装，所述拖链2的连接端2b安装于所述第二安装板7，如此可以实现所述拖链2的连接端2b的转动安装。
在一些实施方式中，本申请的辊涂机器人1000的第一升降单元510和第二升降单元520中的至少一者可以通过往复运动机构10来实施，从而实现执行机构600在升降机构的带动下相对于作业面900的往复升降。接下来将结合附图对由第一升降单元510和第二升降单元520的实施方式进行详细地描述。
在一些实施方式中，结合图2、图19和图21，第一升降单元510可以包括支撑架、升降架和拖链组件103。支撑架固定于底盘100并且形成为安装部101，升降架连接至横移机构300并且形成为活动部102，活动部102沿升降方向(即，拖链2的长度方向)往复运动地安装于安装部101。拖链组件103包括设于安装部101的第一安装座1和拖链2，拖链2的两端分别为安装端2a和连接端2b，安装端2a绕沿着拖链2的宽度方向延伸的轴线转动安装于第一安装座1，连接端2b用以与活动部102转动连接或者固定连接，以将活动部102带动成沿着升降方向往复活动。以此方式，根据本申请的实施方式，第一升降组件510可以带动横移机构300进行上下往复运动，进而通过横移机构300实现执行机构600的上下往复运动，执行辊涂作业。
在一些实施方式中，结合图4、图19和图21，第二升降单元520可以包括支撑架、升降架和拖链组件103，支撑架固定于第二升降单元520的侧部处并且形成为安装部，升降架连接至执行机构600并且形成为活动部，活动部102沿升降方向(即，拖链2的长度方向)往复运动地安装于安装部。拖链组件103包括设于安装部101的第一安装座1和拖链2，拖链2的两端分别为安装端2a和连接端2b，安装端2a绕沿着拖链2的宽度方向延伸的轴线转动安装于第一安装座1，连接端2b用以与活动部102转动连接或者固定连接，以将活动部102沿着升降方向往复活动。以此方式，第二升降单元520可以带动执行机构600沿着升降方向往复活动，执行辊涂作业。
可以理解的是，在本文的前述实施方式中所描述的拖链组件的各种实现形式均可以被应用于第一执行单元510和/或第二执行单元520。为了简要起见，将不进行赘述。此外，还可以理解的是，第一升降单元510和第二升降单元520的实现方式不限于此，并且其可以被实现为在相关技术的喷涂机器人中所用的任何升降模组，只要能够实现执行机构600的往复升降即可。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。
工业实用性
本公开提供了一种辊涂机器人及辊涂方法，涉及建筑机器人技术领域。辊涂机器人包括：底盘；控制器；横移机构，横移机构设置于底盘；伸缩机构，伸缩机构在横移机构的驱动下能够相对于作业面水平平移；升降机构；执行机构，执行机构用于辊涂作业面，执行机构在伸缩机构的驱动下能够相对于作业面靠近或者远离，执行机构在升降机构的带动下能够相对于作业面升降；以及压力检测机构，压力检测机构用于检测执行机构抵持于作业面的压力；其中，控制器能够根据压力检测机构的反馈，控制伸缩机构改变对执行机构的驱动力，以使得执行机构先保持再减小对作业面的压力。辊涂机器人配合相应的辊涂方法，能够有效提升辊涂质量，更好地替代人工。本申请还提供了一种拖链组件、往复动作机构以及机械设备，所述拖链组件包括第一安装座和拖链，拖链的两端为安装端和连接端，所述安装端绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第一安装座，所述拖链的连接端用以与活动件连接，以被带动沿着所述拖链的长度方向往复活动，以使得所述拖链的安装端在其转动行程上具有初始位置和翻转位置，在所述初始位置时，所述拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述拖链的安装端与所述拖链的主体段呈直行设置，如此，可以增大所述拖链组件的活动行程。
此外，可以理解的是，本公开所提供的辊涂机器人及辊涂方法、拖链组件、往复动作机构及机械设备是可以重现的，并且可以用在多种工业应用中，例如，可以应用于建筑工艺领域。

Claims (28)

  1. 一种辊涂机器人，其特征在于，包括：
    底盘；
    控制器；
    横移机构，所述横移机构设置于所述底盘；
    伸缩机构，所述伸缩机构在所述横移机构的驱动下能够相对于作业面水平平移；
    升降机构；
    执行机构，所述执行机构用于辊涂所述作业面，所述执行机构在所述伸缩机构的驱动下能够相对于所述作业面靠近或者远离，所述执行机构在所述升降机构的带动下能够相对于所述作业面升降；以及
    压力检测机构，所述压力检测机构用于检测所述执行机构抵持于所述作业面的压力；
    其中，在所述执行机构竖向作业过程中，所述控制器能够根据所述压力检测机构的反馈，控制所述伸缩机构改变对所述执行机构的驱动力，以使得所述执行机构先保持再减小对所述作业面的压力。
  2. 根据权利要求1所述的辊涂机器人，其特征在于，所述压力检测机构包括检测件和被检件；
    所述被检件设置于所述执行机构，所述被检件的形态随着所述伸缩机构推挤所述升降机构的作用力改变而变化，所述检测件能够检测所述被检件的形态变化程度并向所述控制器反馈检测信号，所述控制器根据所述检测信号确定所述执行机构抵持所述作业面时的压力。
  3. 根据权利要求2所述的辊涂机器人，其特征在于，所述被检件为弹簧，所述检测件为光电开关，所述弹簧设置于所述执行机构，所述执行机构抵持于所述作业面时，所述伸缩机构推挤所述升降机构能够使得所述弹簧被压缩，所述光电开关能够检测所述弹簧的压缩量并向所述控制器反馈所述检测信号。
  4. 根据权利要求3所述的辊涂机器人，其特征在于，所述执行机构包括连接板、辊筒和挡片，所述光电开关分为第一开关、第二开关，所述辊筒可滑动地设置于所述连接板，所述挡片连接于所述辊筒，所述第一开关和所述第二开关均设置于所述连接板，所述第一开关相较于所述第二开关更靠近所述辊筒，所述连接板与所述升降机构的输出端连接。
  5. 根据权利要求1至4中的任一项所述的辊涂机器人，其特征在于，所述升降机构包括第一升降单元和第二升降单元，所述底盘上设有所述第一升降单元，所述横移机构设置于所述第一升降单元的输出端；所述伸缩机构的输出端与所述第二升降单元连接，所述第二升降单元的输出端与所述执行机构连接。
  6. 根据权利要求5所述的辊涂机器人，其特征在于，
    所述第一升降单元包括支撑架、升降架和拖链组件，所述第一升降单元的支撑架固定于所述底盘并且形成为安装部，所述第一升降单元的升降架连接至所述横移机构并且形成为活动部，所述第一升降单元的活动部沿升降方向往复运动地安装于所述第一升降单元的安装部；以及，所述第一升降单元的拖链组件包括设于所述第一升降单元的安装部的第一安装座并且包括拖链，所述第一升降单元的拖链的两端分别为安装端和连接端，所述第一升降单元的拖链的安装端绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第一升降单元的第一安装座，所述第一升降单元的拖链的连接端用以与所述第一升降单元的所述活动部转动连接或者固定连接，以将所述第一升降单元的活动部带动成沿着所述升降方向往复活动。
  7. 根据权利要求6所述的辊涂机器人，其特征在于，所述第一升降单元的拖链组件还包括：
    第一安装板，所述第一升降单元的第一安装板绕沿着所述第一升降单元的拖链的宽度方向延伸的轴线转动安装于所述第一升降单元的第一安装座；
    所述第一升降单元的拖链的安装端固定安装于所述第一升降单元的第一安装板。
  8. 根据权利要求7所述的辊涂机器人，其特征在于，所述第一升降单元的第一安装座上设置有第一安装孔，所述第一升降单元的第一安装孔沿着所述第一升降单元的拖链的宽度方向延伸，在所述第一升降单元的第一安装孔内设置有轴承；
    所述第一升降单元的第一安装板通过安装于所述轴承的第一转动轴转动安装于所述第一升降单元的第一安装座。
  9. 根据权利要求6至8中的任一项所述的辊涂机器人，其特征在于，所述第一升降单元的拖链的安装端在其转动行程上具有初始位置和翻转位置，在所述初始位置时，所述第一升降单元的拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述第一升降单元的拖链的安装端与所述拖链的主体段呈直行设置；
    所述第一升降单元的拖链的安装端被设置为能够自所述翻转位置复位至所述初始位置。
  10. 根据权利要求9所述的辊涂机器人，其特征在于，所述第一升降单元的拖链沿着上下向设置，且所述第一升降单元的拖链的安装端位于所述连接端的下方，以使得在所述第一升降单元的拖链进行返回行程中，所述第一升降单元的拖链的安装端能够在所述拖链的重力作用下，复位至所述初始位置。
  11. 根据权利要求9所述的辊涂机器人，其特征在于，所述第一升降单元的拖链的安装端设置有复位件，设置在所述第一升降单元的拖链的安装端的复位件用以在所述第一升降单元的拖链进行返回行程中，将所述第一升降单元的拖链的安装端复位至所述初始位置。
  12. 根据权利要求11所述的辊涂机器人，其特征在于，设置在所述第一升降单元的拖链的安装端的复位件为扭簧。
  13. 根据权利要求6至12中的任一项所述的辊涂机器人，其特征在于，在所述第一升降单元的拖链的连接端与所述第一升降单元的活动部转动连接的情况下，所述第一升降单元的拖链组件还包括：
    第二安装座，所述第一升降单元的第二安装座上设置有沿着所述第一升降单元的拖链的宽度方向延伸的第二安装孔；以及，
    第二安装板，所述第一升降单元的第二安装板通过第二转动轴与所述第一升降单元的第二安装座转动安装，所述第一升降单元的第二转动轴与所述第一升降单元的第二安装孔转动配合；
    所述第一升降单元的拖链的连接端安装于第一升降单元的第二安装板。
  14. 根据权利要求5所述的辊涂机器人，其特征在于，
    所述第二升降单元包括支撑架、升降架和拖链组件，所述第二升降单元的支撑架固定于所述第二升降单元的侧部处并且形成为安装部，所述第二升降单元的升降架连接至所述执行机构并且形成为活动部，所述第二升降单元的活动部沿升降方向往复运动地安装于所述第二升降单元的安装部；以及，所述第二升降单元的拖链组件包括设于所述第二升降单元的安装部的第一安装座并且包括拖链，所述第二升降单元的拖链的两端分别为安装端和连接端，所述第二升降单元的拖链的安装端绕沿着所述拖链的宽度方向延伸的轴线转动安装于所述第二升降单元的第一安装座，所述第二升降单元的拖链的连接端用以与所述第二升降单元的活动部转动连接或者固定连接，以将所述第二升降单元的活动部带动成沿着所述升降方向往复活动。
  15. 根据权利要求14所述的辊涂机器人，其特征在于，所述第二升降单元的拖链组件还包括：
    第一安装板，所述第二升降单元的第一安装板绕沿着所述第二升降单元的拖链的宽度方向延伸的轴线转动安装于所述第二升降单元的第一安装座；
    所述第二升降单元的拖链的安装端固定安装于所述第二升降单元的第一安装板。
  16. 根据权利要求15所述的辊涂机器人，其特征在于，所述第二升降单元的第一安装座上设置有第一安装孔，所述第二升降单元的第一安装孔沿着所述第二升降单元的拖链的宽度方向延伸，在所述第二升降单元的第一安装孔内设置有轴承；
    所述第二升降单元的第一安装板通过安装于所述轴承的第一转动轴转动安装于所述第二升降单元的第一安装座。
  17. 根据权利要求14至16中的任一项所述的辊涂机器人，其特征在于，所述第二升降单元的拖链的安装端在其转动行程上具有初始位置和翻转位置，在所述初始位置时，所述第二升降单元的拖链的安装端与所述拖链的主体段呈弯曲设置，在所述翻转位置时，所述第二升降单元的拖链的安装端与所述拖链的主体段呈直行设置；
    所述第二升降单元的拖链的安装端被设置为能够自所述翻转位置复位至所述初始位置。
  18. 根据权利要求17所述的辊涂机器人，其特征在于，所述第二升降单元的拖链沿着上下向设置，且所述第二升降单元的拖链的安装端位于所述连接端的下方，以使得在所述第二升降单元的拖链进行返回行程中，所述第二升降单元的拖链的安装端能够在所述拖链的重力作用下，复位至所述初始位置。
  19. 根据权利要求17所述的辊涂机器人，其特征在于，所述第二升降单元的拖链的安装端设置有复位件，设置在所述第二升降单元的拖链的安装端的复位件用以在所述第二升降单元的拖链进行返回行程中，将所述第二升降单元的拖链的安装端复位至所述初始位置。
  20. 根据权利要求19所述的辊涂机器人，其特征在于，设置在所述第二升降单元的拖链的安装端的复位件为扭簧。
  21. 根据权利要求14至20中的任一项所述的辊涂机器人，其特征在于，在所述第二升降单元的拖链的连接端与所述第二升降单元的活动部转动连接的情况下，所述第二升降单元的拖链组件还包括：
    第二安装座，所述第二升降单元的第二安装座上设置有沿着所述第二升降单元的拖链的宽度方向延伸的第二安装孔；以及，
    第二安装板，所述第二升降单元的第二安装板通过第二转动轴与所述第二升降单元的第二安装座转动安装，所述第二升降单元的第二转动轴与所述第二升降单元的第二安装孔转动配合；
    所述第二升降单元的拖链的连接端安装于第二升降单元的第二安装板。
  22. 一种辊涂方法，应用于权利要求1至21中任一项所述的辊涂机器人，其特征在于，该方法包括以下步骤：
    所述控制器通过所述伸缩机构控制所述执行机构抵持所述作业面并达到第一作业压力值；
    所述执行机构从初始位置向上运动至预设作业高度并同时以出料的形式，辊涂所述作业面；
    所述执行机构到达所述预设高度后，所述控制器通过所述伸缩机构控制所述执行机构离开所述作业面，所述横移机构带动所述执行机构水平平移，所述升降机构带动所述执行机构上升预设间距；
    所述控制器通过所述伸缩机构控制所述执行机构抵持所述作业面并达到第二作业压力值；
    所述执行机构向下运动至所述初始位置并同时以不出料的形式，辊涂所述作业面。
  23. 根据权利要求22所述的辊涂方法，其特征在于，在所述执行机构从初始位置向上运动至预设作业高度并同时以出料的形式，辊涂所述作业面的步骤中：
    所述执行机构在上升到接近所述预设作业高度前，所述伸缩机构逐渐收缩以减小所述执行机构对所述作业面的压力。
  24. 根据权利要求22或23所述的辊涂方法，其特征在于，在所述执行机构向下运动至所述初始位置并同时以不出料的形式，辊涂所述作业面的步骤中：
    所述执行机构在下降到接近所述初始位置前，所述伸缩机构逐渐收缩以减小所述执行机构对所述作业面的压力。
  25. 根据权利要求22至24中的任一项所述的辊涂方法，其特征在于，所述执行机构包括辊筒，在所述执行机构到达所述预设高度后，所述控制器通过所述伸缩机构控制所述执行机构离开所述作业面，所述横移机构带动所述执行机构水平平移，所述升降机构带动所述执行机构上升预设间距的步骤中：
    所述预设间距等于所述辊筒的直径。
  26. 根据权利要求22至24中的任一项所述的辊涂方法，其特征在于，所述执行机构包括辊筒和喷嘴，所述喷嘴处设有阀门，所述辊涂机器人包括泵料系统，所述泵料系统包括送料泵，所述喷嘴与所述送料泵通过管路连通，所述辊涂方法还包括：
    在所述辊筒开始辊涂之前，关闭所述阀门，所述送料泵先给所述喷嘴所用的所述管路充料以使得所述管路具有初始压力；打开所述阀门时，所述喷嘴能达到最大喷幅。
  27. 根据权利要求26所述的辊涂方法，其特征在于，所需作业的所述作业面的高度为B米，所述辊筒上升作业的时间为A，所述泵料系统的出料速度为S，满足S＞B/A。
  28. 根据权利要求26或27所述的辊涂方法，其特征在于，在所述辊筒上升到所述预设作业高度之前，获取所述辊筒上升的实际高度，确定所述辊筒上升的实际高度与所述预设高度的差值，当所述差值达到阈值时，控制所述阀门关闭。
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CN117552606A (zh) * 2024-01-10 2024-02-13 江苏德励达新材料股份有限公司 一种喷涂施工用角度距离辅助测量装置
CN117552606B (zh) * 2024-01-10 2024-04-02 江苏德励达新材料股份有限公司 一种喷涂施工用角度距离辅助测量装置

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