WO2023134283A1 - Appareil de pulvérisation et de plâtrage, et robot de pulvérisation et de plâtrage - Google Patents

Appareil de pulvérisation et de plâtrage, et robot de pulvérisation et de plâtrage Download PDF

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Publication number
WO2023134283A1
WO2023134283A1 PCT/CN2022/130721 CN2022130721W WO2023134283A1 WO 2023134283 A1 WO2023134283 A1 WO 2023134283A1 CN 2022130721 W CN2022130721 W CN 2022130721W WO 2023134283 A1 WO2023134283 A1 WO 2023134283A1
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WO
WIPO (PCT)
Prior art keywords
spray gun
overflow
scraper
spraying device
plastering
Prior art date
Application number
PCT/CN2022/130721
Other languages
English (en)
Chinese (zh)
Inventor
韩雪峤
李建明
乔垒
李铁芳
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.)
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Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2023134283A1 publication Critical patent/WO2023134283A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—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
    • 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
    • E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present application relates to the technical field of construction robots, in particular, to a spraying device and a spraying robot.
  • Spraying machines and plastering machines can automatically realize spraying and automatic scraping, but due to the need for two machines to work together, limited by the small area of general residential products, it is difficult for two-machine joint operations to construct in a small space.
  • the field is also relatively difficult, and they affect each other during operation.
  • the cost of spraying and scraping the finished products of the double machine is also relatively high.
  • the overall length of the machine is the dimension in the length direction of the chassis and the width of the actuator in this direction.
  • the length of the chassis is currently about 700 and the fuselage is not stable, so the width of the actuator is very limited.
  • Some embodiments of the present application provide a spraying device, which can at least be used to improve the problem that the related actuators cannot realize spraying and scraping at the same time.
  • Some other embodiments of the present application provide a spraying robot, the spraying robot includes the above-mentioned spraying device, and the spraying robot has all the characteristics of the spraying device.
  • a spraying device which may include:
  • the plastering board is arranged inclined along the up and down direction, and is used for plastering from bottom to top on the working surface;
  • An overflow tank located at the rear side of the plastering board, is used to collect excess slurry when the plastering board is performing plastering operations, and one end of the overflowing tank in the length direction has a discharge port;
  • a spray gun for spraying slurry on the working surface the spray gun is movable relative to the overflow tank, and the moving direction of the spray gun is the same as the length direction of the overflow tank;
  • the scraper is movable relative to the overflow tank, the moving direction of the scraper is the same as the length direction of the overflow tank, and at least part of the scraper extends into the overflow tank , for discharging the slurry in the overflow tank from the outlet;
  • a drive unit arranged in the overflow tank and connected with the transmission of the spray gun
  • connection state There is a connection state and a separation state between the spray gun and the scraper plate, and in the connection state, the drive unit drives the spray gun and the scraper plate to move along the length direction of the overflow chute ; In the separated state, the drive unit drives the spray gun to move along the length direction of the overflow chute independently.
  • the spraying device provided according to some embodiments of the present application may also have the following additional technical features:
  • the spraying device may include a plastering base, and the plastering board and the overflow tank may be installed on the plastering base.
  • the spray gun may be provided with a first locking piece, and the scraper may be provided with a second locking piece, when the first locking piece and the second locking piece cooperate , the spray gun and the scraper can be in the connected state;
  • the spraying device can also include an unlocking mechanism, which can be used to drive the second locking member to disengage from the first locking member, so that the spray gun and the scraper plate can be switched to the separated state .
  • the first locking part and the second locking part can be locked with each other, and can also be unlocked under the drive of the unlocking mechanism, which can meet the matching requirements of the spray gun and the scraper.
  • the first locking member may be an engaging block
  • the second locking member may be an engaging pin
  • the engaging block may have a latch that cooperates with the engaging pin. slot, and the engaging pin is movably arranged on the scraping plate.
  • the engaging block and the engaging pin have a simple structure and take up little space, which can satisfy the functions of locking and unlocking while reducing the requirement for space and utilizing the space more fully.
  • the movement direction of the spray gun is taken as the first direction, and the direction perpendicular to the first direction is taken as the second direction, and the locking slots may include The wide-diameter section and the narrow-diameter section, the unlocking mechanism may include a push rod that can expand and contract in the second direction, and the push rod can push the engaging pin out of the wide-diameter section in the second direction, so When the spray gun moves, the push rod escapes from the wide-diameter section or enters the wide-diameter section from the narrow-diameter section;
  • the width of the push rod may be d1, the width of the narrow diameter section may be d2, and the width of the engaging pin may be d3, satisfying: d1 ⁇ d2 ⁇ d3.
  • the narrow-diameter section can limit the lateral movement of the engaging pin, and when the push rod pushes the engaging pin in the second direction, it can The engaging pin is released from the wide-diameter section, and since the width of the narrow-diameter section is greater than that of the push rod, the push rod will not interfere with the movement of the engaging block.
  • the spraying device may also include:
  • a guide rail is fixed on the rear side of the overflow trough, and the spray gun and the scraper plate can be slidably arranged on the guide rail.
  • the guide rail can guide the movement of the spray gun and the scraper, and the guide rail is arranged on the rear side of the overflow tank, which can save space.
  • the drive unit may include a drive mechanism and a transmission mechanism, the drive mechanism may be arranged at one end of the guide rail and under the overflow chute, and the transmission mechanism may include Transmission ring and a plurality of guide wheels, the plurality of guide wheels can be arranged on the rear side of the overflow tank, the transmission ring can be wound around the plurality of guide wheels, and the spray gun and the transmission ring can be fixed connected, the output end of the drive mechanism can be connected with the guide wheel.
  • the guide wheel can guide the rotation path of the transmission ring, and it is arranged on the back side of the overflow tank together with the transmission ring, which can effectively use the rear side space, and the transmission ring can drive the spray gun to move to meet the operation requirements.
  • the plurality of guide wheels can be divided into a driving wheel, a first driven wheel, a second driven wheel, a third driven wheel and a fourth driven wheel, and the driving wheel can be connected to the The output end of the driving mechanism, the driving wheel may be located at the rear side of the overflow chute and located at the lower side, the first driven wheel and the second driven wheel may be located at one end of the guide rail and located at the On the rear side of the overflow chute, the third driven wheel and the fourth driven wheel may be located at the other end of the guide rail and at the rear side of the overflow chute.
  • the overflow chute may further include a bracket, the bracket may be connected to the top of the overflow chute, and the part of the driving ring above the guide rail may be covered by the Block support.
  • the transmission ring may be a chain, and the guide wheel may be a sprocket;
  • the drive ring may be a drive belt
  • the guide wheel may be a pulley
  • the chain sprocket cooperates or the driving belt cooperates with the pulley to realize transmission and guidance.
  • the spraying device may further include a first in-position sensor and a second in-position sensor, the first in-position sensor may be arranged at one end in the length direction of the overflow trough, and the The second in-position sensor can be arranged at the other end in the length direction of the overflow chute, and the first in-position sensor and the second in-position sensor can be used to limit the transverse direction of the spray gun in the length direction of the overflow chute respectively. shift limit position.
  • the moving range of the spray gun can be effectively limited, so that the spray gun can move within a required range, and the spray gun can be connected or separated from the scraper plate according to the position of the spray gun.
  • the spray port of the spray gun may be located above the overflow tank.
  • the spray port When the spray gun is working, in addition to the slurry sprayed towards the wall, the spray port will overflow the remaining material, or when the spray gun has just switched from the working state to the stop state, the spraying port of the spray gun will also overflow the remaining material.
  • the overflow trough below the material port receives the remaining material in this part, and recovers the remaining material overflowing from the spray port to avoid polluting the environment and equipment.
  • a spraying robot and the spraying robot may include:
  • the lifting mechanism is arranged on the chassis;
  • the rotating mechanism is arranged at the output end of the lifting mechanism
  • the recovery hopper is arranged on the chassis;
  • the spraying device can be connected to the output end of the rotating mechanism
  • the spraying robot can include a working state and a slurry recovery state.
  • the spray gun and the scraper plate can be in a separated state, and the lifting mechanism can drive the spraying device to rise.
  • the driving unit can drive the spray gun to spray material left and right on the working surface, and the plastering board can scrape the slurry on the working surface; when the slurry is recovered, the spray gun and the scraping material
  • the plate can be in a connected state, the lifting mechanism can drive the spraying device to rise above the recovery hopper, the rotating mechanism can drive the spraying device to tilt toward the recovery hopper, and the driving unit can drive The scraper scrapes off the slurry in the overflow tank and makes the slurry fall into the recovery hopper.
  • the spraying robot can not only spray and smooth the working surface, but also scrape off the overflow, without occupying additional installation space, and can meet the space requirements and stability of the actual operation Require.
  • the recycling hopper may be located on the right side of the chassis, the driving unit may include a driving mechanism, and the driving mechanism may be located on the lower left side of the overflow chute.
  • the space under the overflow chute can have different sizes, and when the recovery hopper is located on the right side of the chassis, the space at the bottom left of the overflow chute is larger than that at the bottom right, and it can be used to install the drive mechanism.
  • the utilization rate of the space is improved, so that the driving mechanism can function without occupying additional external space.
  • a spraying device which may include:
  • the plastering board is arranged inclined along the up and down direction, and is used for plastering from bottom to top on the working surface;
  • the overflow tank the rear side of the plastering board, is used to collect excess slurry when the plastering board is performing plastering operations, and one end of the overflow tank in the length direction has a discharge port;
  • a spray gun for spraying slurry on the working surface the spray gun is movable relative to the overflow tank, and the moving direction of the spray gun is the same as the length direction of the overflow tank;
  • the scraper is movable relative to the overflow tank, the moving direction of the scraper is the same as the length direction of the overflow tank, at least part of the scraper extends into the overflow tank, and Discharging the slurry in the overflow tank from the outlet;
  • the driving unit is a common driving source for the movement of the spray gun and the scraper relative to the overflow tank.
  • connection state there may be a connection state and a separation state between the spray gun and the scraper plate
  • the drive unit drives the spray gun and the scraper plate together moving along the length direction of the overflow tank; in the separated state, the driving unit drives the spray gun to move along the length direction of the overflow tank alone.
  • the scraper can be integrated with the spray gun, and the drive unit can be connected to either the scraper or the spray gun to drive the scraper Both the plate and the lance move relative to the overflow chute.
  • Fig. 1 is the schematic diagram of the spraying robot that the embodiment of the present application provides;
  • Figure 2 is an exploded view of the spraying device
  • Fig. 3 is a front view of the spray gun and the scraper being arranged together after the plastering board is hidden in the spraying device;
  • Fig. 4 is an axonometric view of the separation of the spray gun and the scraper after the plastering board is hidden in the spraying device;
  • Figure 5 is an exploded view of Figure 4.
  • Fig. 6 is a schematic diagram of the unlocking mechanism and the first limit sensor
  • FIG. 7 is a schematic diagram of another viewing angle of FIG. 6;
  • Figure 8 is a view of the rear side of Figure 4.
  • Fig. 9 is a partially enlarged view of part A of Fig. 8.
  • Fig. 10 is a partially enlarged view of part B of Fig. 8;
  • Figure 11 is a schematic diagram of the positions of the spray gun, the scraper and the chain;
  • Fig. 13 is a schematic diagram of another viewing angle of Fig. 12;
  • Fig. 14 is a schematic diagram of an engaging block, an engaging pin and a push rod
  • Figure 15 is a schematic diagram of the arrangement of guide wheels and chains.
  • Icons 1000-spraying robot; 1001-chassis; 1002-lifting mechanism; 1003-rotating mechanism; 1004-recovery hopper; 20- overflow tank; 21- support block; 212- convex ridge; 22- limit piece; 23- horizontal shield; 30- spray gun; 312-narrow diameter section; 32-first mounting plate; 321-first section; 322-second section; 33-first slider; 40-scraper plate; 401-large sub-board; 402-small sub-board; 41 -second locking piece; 42-second mounting plate; 421-third section; 422-fourth section; 43-second slider; 50-drive unit; 51-drive mechanism; 511-motor; 512-reducer ;513-synchronous belt; 52-transmission mechanism; 521-transmission ring; 5211-flexible casing; 522-guiding wheel; 5221-driving wheel; Driven wheel; 5225-fourth driven wheel; 55-bearing; 60-guide rail; 71-first in-position sensor; 72-second in-
  • 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.
  • the embodiment of the present application provides a spraying robot 1000, including:
  • Lifting mechanism 1002 the lifting mechanism 1002 is arranged on the chassis 1001;
  • Rotating mechanism 1003, the rotating mechanism 1003 is arranged at the output end of the lifting mechanism 1002;
  • recovery hopper 1004 the recovery hopper 1004 is arranged on the chassis 1001;
  • the spraying device 100 is connected to the output end of the rotating mechanism 1003 .
  • the chassis can refer to the chassis of the AGV trolley used by general construction robots, which can be automatically moved and positioned to facilitate transfer in different places;
  • the lifting mechanism can choose a mechanism that can perform multi-level lifting, such as the general spraying robot.
  • the rotating mechanism can use a rotary cylinder or other mechanism that can drive the spraying device 100 to rotate, and the recovery hopper can be used to accept the slurry scraped from the spraying device 100.
  • the recovery hopper can be used to accept the slurry scraped from the spraying device 100.
  • the spraying device 100 of the present application includes:
  • the plastering board 10 is arranged obliquely along the up and down direction, and is used for plastering from bottom to top on the work surface;
  • the overflow tank 20 is located on the rear side of the plastering board 10, and is used to collect excess slurry when the plastering board 10 is performing plastering operations.
  • One end of the overflow tank 20 in the length direction has a discharge port;
  • the spray gun 30 is used to spray the slurry to the working surface, and the spray gun is movable relative to the overflow tank 20, and the moving direction of the spray gun is the same as the length direction of the overflow tank;
  • the scraper 40 is movable relative to the overflow chute, the moving direction of the scraper is the same as the length direction of the overflow chute, and at least part of the scraper extends into the overflow chute 20 for making the overflow chute 20
  • the slurry in the discharge port is discharged;
  • the driving unit 50 is arranged on the overflow tank 20 and connected with the spray gun 30 in transmission;
  • the drive unit 50 drives the spray gun 30 to move along the length direction of the overflow chute 20 together with the scraper 40; in the separated state, the drive unit 50 The drive lances 30 are individually moved along the length of the overflow chute 20 .
  • the driving unit 50 is a common driving source for the movement of the spray gun 30 and the scraper 40 relative to the overflow tank 20 .
  • the spraying robot 1000 includes a working state and a slurry recovery state.
  • the spray gun 30 and the scraper plate 40 are in a separated state
  • the lifting mechanism 1002 drives the spraying device 100 to rise
  • the driving unit 50 drives the spray gun 30 to the left and right of the working surface.
  • Spray material (wherein, the front and rear changes of the spray gun traverse can refer to the position of the spray gun in Fig. 3 and Fig. 4).
  • the plastering board 10 scrapes the slurry on the working surface;
  • the plate 40 is in the connected state, the lifting mechanism 1002 drives the spraying device 100 to rise above the recycling hopper 1004, the rotating mechanism 1003 drives the spraying device 100 to tilt toward the recycling hopper 1004, and the driving unit 50 drives the scraper 40 to sweep the overflow tank 20
  • the slurry is scraped off and allowed to fall into the recovery hopper 1004.
  • the spray port of the spray gun is located above the overflow tank. When the spray gun is working, in addition to the slurry sprayed towards the wall, the spray port will overflow the remaining material, or when the spray gun has just switched from the working state to the stop state, the spraying port of the spray gun will also overflow the remaining material.
  • the overflow trough below the material port receives the remaining material in this part, and recovers the remaining material overflowing from the spray port to avoid polluting the environment and equipment.
  • the spraying device 100 includes a plastering base 11, the plastering board 10 and the overflow tank 20 are installed on the plastering base 11, and the plastering base 11 is directly connected with the output end of the rotating mechanism 1003. , the plastering base 11 gradually rises, while the spray gun 30 sprays material, and the plastering board 10 can upwardly smooth the slurry on the work surface. At this time, the slurry on the plastering board 10 gradually accumulates and overflows into the overflow tank 20 from between the plastering board and the working surface, and the dripped slurry during spraying by the spray gun 30 can also fall into the overflow tank within 20.
  • the spraying robot 1000 can be switched to the slurry recovery state, and the slurry in the overflow tank 20 can be scraped off by the scraper 40 , and the slurry can be recycled after falling into the recovery hopper 1004 .
  • the lower part of the recovery hopper 1004 can be installed with a drive assembly, which is used to drive the recovery hopper 1004 to protrude forward to accept the slurry to be recovered, and can drive the recovery hopper 1004 to retract, so as to avoid affecting the normal operation of the spraying device 100 .
  • the spraying robot 1000 can not only realize the spraying and smoothing work on the working surface, but also can realize the scraping of the overflow, without occupying additional installation space, and can meet the space requirements and requirements of the actual operation. Stability requirements.
  • the recovery hopper 1004 of the present application is on the right side of the chassis 1001, and in conjunction with Fig. 2 to Fig. 4 and Fig. 5, the drive unit 50 includes a drive mechanism 51 (shown in Fig. 5), and the drive mechanism 51 is located in the overflow trough 20 on the lower left side (shown in Figures 2 to 4).
  • the driving mechanism 51 can be arranged on the lower right side of the overflow tank 20 .
  • the spray gun can be driven by the drive unit alone, moving from the left side to the right side of the viewing angle in the figure, and can also move from the right side to the left side , by moving back and forth to achieve back and forth spraying on the working surface.
  • the scraper plate remains stationary on the left side, so as to prevent the slurry in the overflow tank from being pushed out of the overflow tank to cause pollution to the fuselage and the construction environment.
  • the space below the overflow chute 20 can have different sizes, and when the recovery hopper 1004 is located on the right side of the chassis 1001, the space S at the lower left of the overflow chute 20 is larger than the space T at the lower right.
  • Installing the drive mechanism 51 in use can improve the utilization rate of the space, which not only enables the drive mechanism 51 to play a role, but also does not need to occupy additional external space.
  • the plastering base 11 can refer to the base of the plastering mechanism of the related actuator. The overall length of the plastering base is greatly limited, and the installation requirements cannot be met simply by expanding the space.
  • the drive mechanism 51 can be arranged in this space to effectively utilize the relevant structures. Reduce the difficulty of transformation and save costs. From Figure 3, it can be clearly seen that compared with the overflow chute, the drive unit only occupies a small part of the space downward, and does not take up space in the length direction of the overflow chute, while the bottom corresponds to the space S. In this limited space Among them, the installation requirements of the driving parts for the spray gun traverse drive are met. It can be seen from Figure 4 that the shape of the scraper matches the contour of the overflow tank. When the spray gun is connected with the scraper, the scraper can move from left to right with the spray gun to clean the overflow tank Scrape off the slurry inside.
  • the spraying device 100 also includes:
  • the guide rail 60 is fixed on the rear side of the overflow tank 20 , and the spray gun 30 and the scraper 40 can be slidably arranged on the guide rail 60 .
  • the guide rail 60 can guide the movement of the spray gun 30 and the scraper 40, and the guide rail 60 is arranged at the rear side of the overflow tank 20, which can save space.
  • This embodiment only adopts a guide rail 60, which can ensure the consistency of the moving directions of the spray gun 30 and the scraper 40.
  • a track can also be set as the guide rail 60 for the spray gun 30 and the scraper 40 respectively.
  • the first slider and the second slider in this article need to be installed on a guide rail respectively and distributed up and down, and the two guide rails are arranged side by side to avoid interference.
  • the positions of the corresponding engaging blocks and engaging pins are adjusted accordingly to meet the matching requirements.
  • the drive unit 50 includes a drive mechanism 51 and a transmission mechanism 52, the drive mechanism 51 is arranged at one end of the guide rail 60 and below the overflow chute 20, and the transmission mechanism 52 includes a transmission ring 521 and a plurality of guide wheels 522, a plurality of guide wheels 522 are arranged on the rear side of the overflow chute 20, and the transmission ring 521 is wound around the plurality of guide wheels 522.
  • the driving mechanism 51 of the present embodiment adopts a motor and a reducer, both of which are fixed on the underside of the overflow chute 20 and fixed with the sidewall of the overflow chute 20, so as to ensure the stability of the connection, and the output of the reducer The end is then connected with the driving wheel 5221 below.
  • the output end of the motor is below the overflow trough 20 and faces the front side, and is driven and matched with the input end of the reducer through a synchronous belt.
  • the output end of the speed reducer is below the overflow tank 20 and towards the rear side, so that the space occupied in the front and rear directions can be reduced.
  • the guide wheel 522 can guide the rotation path of the transmission ring 521, and is arranged on the rear side of the overflow tank 20 together with the transmission ring 521, which can effectively use the rear side space, and the transmission ring 521 can drive the spray gun 30 to move to meet the operation requirements.
  • the guide rail 60, the guide wheel 522 and the transmission ring 521 are all arranged in the rear space of the overflow tank 20, the slurry can be blocked by the overflow tank 20 during the spraying operation to prevent the components in the rear space from being polluted.
  • the top of the overflow tank 20 has a horizontal shutter, which can protect the chains, brackets, guide rails and other structures below in the vertical direction, and prevent the slurry from infiltrating.
  • a plurality of guide wheels 522 are divided into driving wheel 5221, first driven wheel 5222, second driven wheel 5223, third driven wheel 5224 and fourth driven wheel 5225, driving wheel 5221 is connected At the output end of the driving mechanism 51, the driving wheel 5221 is located at the rear side and the lower side of the overflow chute 20, the first driven wheel 5222 and the second driven wheel 5223 are located at one end of the guide rail 60 and are located at the rear side of the overflow chute 20, The third driven wheel 5224 and the fourth driven wheel 5225 are located at the other end of the guide rail 60 and at the rear side of the overflow chute 20 .
  • the second driven wheel 5223 is located between the motor and the reducer and above the two, which can guide the chain and prevent it from interfering with the motor and reducer. Use the free space above.
  • the movement stroke of the spray gun 30 can be satisfied, and it can be combined with the driving mechanism 51 to be reasonably arranged in a limited space.
  • the first in-position sensor 71 and the cylinder 82 below are all arranged on the same connecting seat 90 and arranged on the horizontal plate of the connecting seat in turn, so that the moving direction of the spray gun can be complied with.
  • the spray gun passes the first in-position sensor 71, it will After being detected, when the spray gun drives the scraper to move to be detected by the first in-position sensor 71, the piston rod of the cylinder can just snap into the slot of the engaging block below.
  • the vertical plate on the connecting seat 90 can be provided with the bearing 55 used by the first driven wheel 5222 and the second driven wheel 5223 , and the vertical plate of the connecting seat 90 can be connected with the overflow tank 20 .
  • the right side wall of the connection seat is matched with the inner side of the right side wall of the overflow trough, and the whole is on the upper side of the motor and the reducer, which can meet the installation and fixing requirements of the above-mentioned many components
  • the limited space should be used as much as possible to reduce the occupation of the space behind the plastering base.
  • the overflow chute 20 further includes a support block 21 connected to the top of the overflow chute 20 , and the part of the drive ring 521 above the guide rail 60 is supported by the support block 21 .
  • the number of supporting blocks 21 in this embodiment is multiple and distributed at intervals, so that the driving ring 521 can be supported in sections, and the driving ring 521 can be prevented from drooping and interfering with the guide rail 60 as much as possible.
  • a limit piece can also be provided on the overflow trough 20, and the limit piece is located on the lower side of the part of the drive ring 521 below the guide rail, which can prevent the part of the drive ring below the guide rail from sagging and interfere with other mechanisms.
  • the transmission ring 521 is a chain, and the guide wheel 522 is a sprocket wheel;
  • the transmission ring 521 is a transmission belt
  • the guide wheel 522 is a pulley
  • the chain sprocket cooperates or the driving belt cooperates with the pulley to realize transmission and guidance.
  • the present embodiment adopts the cooperation of the chain and the sprocket, and its size in the width direction is smaller than that of the pulley and the transmission belt, which can further reduce the space occupied.
  • the scheme of the pulley and the transmission belt can also be effective, and it cannot be interpreted restrictively as necessarily inferior to the scheme of the sprocket and the chain.
  • the supporting block 21 is provided with raised ridges, which can form cooperation with the rollers of the chain, so that rolling friction is formed between the chain and the supporting block 21, reducing resistance and ensuring smooth rotation of the chain.
  • a flexible cover can be set outside the chain, as shown in Figure 5, to cover the chain to prevent the lubricating oil on the chain or debris generated by friction from falling, so as to avoid affecting the guide rail to a certain extent, and avoid spray guns and scrapers sliding is blocked.
  • the spraying device 100 of the present application also includes a first in-position sensor 71 and a second in-position sensor 72, the first in-position sensor 71 is arranged at one end in the length direction of the overflow chute 20, the second in-position sensor The second in-position sensor 72 is arranged at the other end of the overflow trough 20 in the length direction.
  • the first in-position sensor 71 and the second in-position sensor 72 are respectively used to limit the limit position of the spray gun 30 traversing in the length direction of the overflow chute 20 .
  • the first in-position sensor 71 and the second in-position sensor 72 can adopt detection parts such as photoelectric switches and travel switches.
  • the range of movement of the spray gun 30 can be effectively limited, so that the spray gun 30 can move within the required range, and it can be connected with the scraper plate 40 according to the position of the spray gun 30. Connect or separate.
  • the second in-position sensor 72 can identify the first mounting plate and send a feedback signal to the controller of the spraying robot to control The controller can control the reverse rotation of the motor so that the chain drives the spray gun to move to the right.
  • the first in-position sensor 71 can recognize that the spray gun is in place.
  • the spray gun 30 is provided with a first locking member 31, and the scraper 40 is provided with a second locking member 41.
  • the spraying device 100 also includes an unlocking mechanism 80 (as shown in FIGS.
  • the spray gun 30 and the scraper 40 are switched to the separated state.
  • the first locking part 31 and the second locking part 41 can be locked with each other, and can also be unlocked under the driving of the unlocking mechanism 80 , which can meet the matching requirements of the spray gun 30 and the scraper 40 .
  • the scraper plate of this embodiment is shown in Figure 13. It is formed by stacking multiple sub-plates.
  • the large sub-plate can completely fit the outline of the groove wall and the bottom of the overflow tank, and the small sub-plate can strengthen the outer surface of the large sub-plate.
  • the structural strength of the board ensures that it is not easy to deform when scraping the overflow, ensures the stability of the scraping of the slurry, and prevents part of the slurry from being not scraped due to deformation, which will cause the slurry to be scraped when the scraper returns. to the left end of the overflow chute.
  • the first locking member 31 is an engaging block
  • the second locking member 41 is an engaging pin
  • the engaging block has a slot for engaging the engaging pin
  • the engaging pin is movably arranged on
  • the scraper 40 can only enter and exit from the slot in the axial direction, and cannot escape from the slot in the lateral movement direction of the spray gun, so as to ensure the reliability in the connected state.
  • the profile of the clamping groove and the clamping pin fits, which can prevent the movement of the scraper from lagging due to the gap between the clamping groove and the clamping pin when the spray gun drives the scraper to move laterally.
  • the nozzle of the spray gun 30 is connected to the first slider 33 through the first mounting plate 32, and the lower end of the first mounting plate 32 also has a mounting seat 91 for connecting the chain, and the scraper 40 is connected to the second mounting plate 42 through the second mounting plate 42.
  • the two sliding blocks 43 are connected, the first sliding block 33 and the second sliding block 43 are both slidably disposed on the guide rail 60 , the engaging block is connected to the first sliding block 33 , and the engaging pin is connected to the second sliding block 43 .
  • the engaging block and the engaging pin have a simple structure and take up little space, which can satisfy the functions of locking and unlocking while reducing the requirement for space and utilizing the space more fully.
  • the engaging pin in addition to being cylindrical, can also be in other shapes such as prisms and special shapes, as long as it can ensure that when engaging with the card slot, there will be no hysteresis when the spray gun drives the scraper to move That's it.
  • the first mounting plate has a first section and a second section
  • the second mounting plate has a third section and a fourth section
  • the first section can be connected with the first slider
  • the second section can be connected with the spray gun (as shown in Figure 13, the upwardly bent part of the second section is connected with the bent plate on the spray gun through the knob, so that the spray gun can be replaced separately by disassembling the knob, which is convenient for maintenance)
  • the second section is bent forward and then connected to the spray gun
  • the third section can be connected to the second slider
  • the fourth section is bent forward and then connected to the scraper (as shown in Figure 13
  • the fourth section also uses a knob to connect with the scraper to facilitate regular replacement of the scraper to ensure the reliability of the scraper), so that both the spray gun and the scraper can work in front of the overflow tank, And each can complete the connection with the first slider and the second slider, and at the same time, it is convenient to disassemble and
  • the slot includes Distributed wide-diameter section 311 and narrow-diameter section 312
  • the unlocking mechanism 80 includes a push rod 81 that can expand and contract in the second direction, and the push rod 81 can push the engaging pin out of the wide-diameter section 311 in the second direction.
  • the push rod 81 escapes from the wide diameter section 311 from the narrow diameter section 312 or enters the wide diameter section 311 .
  • the width of the push rod 81 is d1
  • the width of the narrow-diameter section 312 is d2
  • the width of the locking pin is d3, satisfying: d1 ⁇ d2 ⁇ d3.
  • the width of the push rod 81 By designing the width of the push rod 81, the width of the narrow-diameter section 312 and the width of the engaging pin, when the push rod 81 is not working, the narrow-diameter section 312 can limit the lateral movement of the engaging pin, and the push rod 81 pushes the locking pin in the second direction.
  • the engaging pin When the pin is engaged, the engaging pin can be released from the wide-diameter section 311 in the axial direction (that is, the Y direction in Figure 12), and since the width of the narrow-diameter section 312 is greater than the width of the push rod 81, the push rod 81 will not interfere with the engagement block movement, the spray gun can move directly to the left side of Figure 14 when it is moving laterally, and the scraper will not be driven because the engaging pin has broken away from the draw-in groove.
  • one end of the engagement pin has a spring (installed in the second slider), and the unlocking mechanism 80 uses a cylinder 82 to drive the push rod 81.
  • the cylinder 82 pushes the push rod 81 to move, the engagement pin moves in the axial direction, so that The spring is compressed, and the engaging pin is disengaged from the wide-diameter section 311. At this time, the push rod 81 keeps pressing on the engaging pin.
  • the driving mechanism 51 drives the spray gun 30 to move to the left in FIG.
  • the spray gun 30 moves from left to right to the first position sensor 71, the push rod 81 gradually enters the wide diameter section 311 from the narrow diameter section 312. Since there is no interference, the spray gun can move to the left under the control of the controller after it is in place. sports. When the slurry needs to be scraped off, the spray gun moves to the position of triggering the first in-position sensor.
  • the cylinder 82 reversely drives the push rod 81, so that the push rod 81 retreats and retracts, and the restoring force of the spring makes the engaging pin re-enter.
  • the driving mechanism 51 drives the spray gun 30 to move again, the engaging block can drag the engaging pin to move together, so that the spray gun can drive the scraper 40 to move together.
  • the spring of the locking pin can also be designed so that it will not bounce back after one press (you can refer to the principle of the commonly used fan shift button), and the locking pin can keep the position separated from the wide diameter section 311.
  • the cylinder 82 can drive the push rod 81 to retreat and disengage from the wide-diameter section 311, and then the driving mechanism 51 can drive the spray gun 30 to move independently.
  • the narrow-diameter section 312 can be removed from the card slot, and the wide-diameter section is in the shape of a hole, which makes it easier to process the structure during production.
  • the spray gun 30 When the engaging block needs to cooperate with the engaging pin to drive the scraper 40 to move, the spray gun 30 first moves to the position of the first in-position sensor 71, then after detecting that the spray gun 30 is in place, the cylinder 82 pushes the push rod 81 out again , press the locking pin once and withdraw it again, at this time the spring can be reset, so that the locking pin is pushed out and snapped into the slot, and then the movement of the spray gun 30 can be transmitted to the scraper plate 40 .
  • the cylinder can be modified correspondingly, so that the drive of the cylinder can unlock structures such as the Zhan type coupler.
  • the connection and separation scheme adopted in this embodiment has low requirements on the cylinder, and a short-stroke cylinder can be used to facilitate the unlocking work in a limited space.
  • Those skilled in the art can select components according to requirements.
  • the spraying and plastering integrated machine can be produced only when the spraying and plastering are integrated.
  • the corresponding actuators must realize the alarming of the left and right feed axes, the arrangement of the overflow scraping mechanism, and the horizontal position of the spray gun 30 within a limited size.
  • the layout of the shifting and wiping plate turning mechanism, etc. In the related art, there is no transverse movement mechanism of the spray gun 30 on the single machine of the scraping machine, and the length of the whole machine is close to the limit, and the integrated spraying machine realizes the functions of the scraping machine and the spraying machine at the same time. Increasing the traverse mechanism of the spray gun 30 has been impossible to realize.
  • the spray gun 30 and the scraper 40 are driven by the same drive unit 50, and the mutual locking of the spray gun 30 and the scraper 40 is realized through the first locking member 31 and the second locking member 41, and the unlocking structure Unlock the first locking part 31 and the second locking part 41, so that the spraying device 100 has two working modes, one is to drive the spray gun 30 to spray material laterally, and the other is to drive the spray gun 30 to drive the scraper 40 to move together To scrape off the slurry in the overflow tank 20.
  • the scraper 40 and the spray gun 30 are integrally arranged, and the drive unit 50 is connected to any one of the scraper 40 or the spray gun 30 to drive both the scraper 40 and the spray gun 30 relative to the overflow.
  • the tank 20 moves.
  • the layout of the parts required for the two functions of spraying and scraping can be realized in a limited space.
  • the overall structure is compact, does not occupy additional space, and does not affect the original scraper.
  • the spraying device 100 of the present application can independently drive the spray gun 30 to carry out lateral movement spraying through the separate driving unit 50, or can drive the spray gun 30 and the scraper plate 40 together after the spray gun 30 is connected to the scraper plate 40.
  • movement to realize the scraping of excess slurry in the overflow chute 20 there is no need to separately configure the traverse drive mechanism 51 for the spray gun 30 or the scraper plate 40, and the structure can be effectively simplified while realizing spraying and plastering, without It needs to occupy additional installation space, and does not affect the stability of the spraying robot 1000 using the spraying device 100 .
  • the application provides a spraying device and a spraying robot.
  • the spraying device includes a plastering board, which is arranged obliquely along the up and down direction; an overflow groove is located at the rear side of the plastering board, and is used for plastering operations on the plastering board.
  • one end in the length direction of the overflow tank has a discharge port; the spray gun is movable relative to the overflow tank, and the moving direction of the spray gun is the same as the length direction of the overflow tank; the scraper plate is relatively The overflow tank is movable, and the moving direction of the scraper is the same as the length direction of the overflow tank, which is used to discharge the slurry in the overflow tank from the discharge port; and the drive unit is arranged on the overflow tank and is connected with the The transmission connection of the spray gun; there is a connection state and a separation state between the spray gun and the scraper.
  • the spraying device can effectively simplify the structure while realizing spraying and plastering, does not need to occupy additional installation space, and does not affect the stability of a spraying robot using the spraying device.
  • the spraying device and spraying robot of the present application are reproducible and can be used in various industrial applications.
  • the spraying device and the spraying robot of the present application can be used in the technical field of construction robots.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)

Abstract

La présente demande se rapporte au domaine technique des robots de construction, et concerne un appareil de pulvérisation et de plâtrage et un robot de pulvérisation et de plâtrage. L'appareil de pulvérisation et de plâtrage comprend : une plaque de plâtrage, disposée obliquement dans la direction haut-bas ; une rainure de trop-plein, située sur le côté arrière de la plaque de plâtrage et utilisée pour collecter la laitance en excès lorsque la plaque de plâtrage effectue une opération de plâtrage, un orifice d'évacuation étant formé dans une extrémité de la rainure de trop-plein dans le sens de la longueur ; un pistolet de pulvérisation, le pistolet de pulvérisation étant agencé de façon mobile par rapport à la rainure de trop-plein, et le sens de déplacement du pistolet de pulvérisation étant le même que le sens de la longueur de la rainure de trop-plein ; une plaque de raclage, disposée mobile par rapport à la rainure de trop-plein, le sens de déplacement de la plaque de raclage étant le même que le sens de la longueur de la rainure de trop-plein, et la plaque de raclage étant utilisée pour évacuer la laitance dans la rainure de trop-plein à partir de l'orifice d'évacuation ; et une unité d'entraînement, disposée dans la rainure de trop-plein et en liaison de transmission avec le pistolet de pulvérisation. Un état lié et un état séparé sont établis entre le pistolet de pulvérisation et la plaque de raclage. Selon l'appareil de pulvérisation et de plâtrage, la structure peut être efficacement simplifiée tandis que la pulvérisation et le plâtrage sont mis en œuvre, aucun espace de montage supplémentaire n'a besoin d'être utilisé, et la stabilité du robot de pulvérisation et de plâtrage utilisant l'appareil de pulvérisation et de plâtrage n'est pas affectée.
PCT/CN2022/130721 2022-01-17 2022-11-08 Appareil de pulvérisation et de plâtrage, et robot de pulvérisation et de plâtrage WO2023134283A1 (fr)

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CN202210049408.2A CN116480103A (zh) 2022-01-17 2022-01-17 喷抹装置及喷抹机器人
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CN112012440A (zh) * 2020-08-13 2020-12-01 广东博智林机器人有限公司 抹灰装置和具有其的抹灰设备
CN113482293A (zh) * 2021-07-29 2021-10-08 中国一冶集团有限公司 高效砂浆喷抹一体化装置及其工作方法

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EP0607995A1 (fr) * 1993-01-22 1994-07-27 Gerhard Mendler Dispositif de crépissage de murs de bâtiments
CN104213703A (zh) * 2014-09-17 2014-12-17 扬州柳工建设机械有限公司 一种砂浆喷抹机及利用砂浆喷抹机进行墙面粉砂浆的方法
CN207727934U (zh) * 2018-01-15 2018-08-14 蒋学凯 墙面施工机器人用抹墙装置
CN109972826A (zh) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 喷涂机器人
CN210002805U (zh) * 2019-05-21 2020-01-31 广东博智林机器人有限公司 喷涂机器人
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CN113482293A (zh) * 2021-07-29 2021-10-08 中国一冶集团有限公司 高效砂浆喷抹一体化装置及其工作方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117988532A (zh) * 2024-04-07 2024-05-07 山西省建筑科学研究院集团有限公司 一种建筑墙体保温系统修复保温砂浆涂抹装置
CN117988532B (zh) * 2024-04-07 2024-06-04 山西省建筑科学研究院集团有限公司 一种建筑墙体保温系统修复保温砂浆涂抹装置

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