A spraying intelligent robot for spraying a comprehensive paint for building

Abstract

The application provides a spraying intelligent robot for building, which comprises a main structure, a position adjusting mechanism, a paint supply mechanism and a nozzle. The main structure comprises a vehicle body assembly and a mechanical arm assembly, one end of the mechanical arm assembly is fixed on the vehicle body assembly, and the other end can be flipped and rotated. The paint supply mechanism is fixed on the main structure and connected with the nozzle through a pipeline. The position adjusting mechanism is used for adjusting the position of the nozzle and is fixed on the mechanical arm assembly; the nozzle is fixed on the position adjusting mechanism. Through cooperation of the vehicle body assembly and the mechanical arm assembly, multi-directional movement and control of the spraying direction can be realized, and the building can be sprayed comprehensively. With the help of the position adjusting mechanism, the nozzle can not only be inserted into a narrow space, but also be bent to adjust the spraying direction, so that all-directional spraying in a small space can be realized. Through the paint supply mechanism, the spraying material can be adjusted, and multiple materials can be replaced for spraying, which is convenient for spraying shapes, painting and the like of the building.

Description

Technical Field

[0001] This invention belongs to the field of architectural painting technology, specifically relating to an intelligent painting robot for comprehensive architectural painting. Background Technology

[0002] A painting robot is an industrial robot that can automatically spray paint or other coatings. A painting robot mainly consists of a robot body, a computer and a corresponding control system. Hydraulically driven painting robots also include hydraulic oil sources, such as oil pumps, oil tanks and motors. They adopt a joint structure with 5 or 6 degrees of freedom, giving the arm a large range of motion and the ability to perform complex trajectory movements.

[0003] Painting robots are generally hydraulically driven and feature fast action speed and good explosion-proof performance. They can be taught by hand or by displaying numbers at specific points.

[0004] Nowadays, painting robots are mostly used in construction, such as for painting interior and exterior walls. However, the materials being painted contain chemicals and have irritating odors, and manual painting indoors could cause poisoning or other accidents. Moreover, manual painting is not uniform enough, especially for mixed colors and painted patterns, which require more precise painting. At the same time, some buildings, such as steel structure buildings, require paint protection during use. However, for structures such as steel cages, it is difficult for robotic arms to penetrate deep into the interior to paint the inner walls of the steel structure.

[0005] Therefore, it is necessary to design a comprehensive intelligent painting robot for building applications. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent painting robot for comprehensive building spraying, which can spray a variety of materials and solve the problem that existing mechanical equipment is unable to penetrate into narrow spaces such as gaps and crevices, resulting in incomplete spraying.

[0007] The present invention is implemented as follows: a comprehensive intelligent painting robot for building spraying, comprising a main structure, an adjustment mechanism, a paint supply mechanism, and nozzles;

[0008] The main structure includes a movable vehicle body assembly and a robotic arm assembly. One end of the robotic arm assembly is fixed to the vehicle body assembly, and the other end of the robotic arm assembly is capable of flipping and rotating.

[0009] The paint supply mechanism is capable of dispensing various materials and replacing different paints. The paint supply mechanism is fixed to the main structure and connected to the nozzle through the first pipe.

[0010] The adjustment mechanism is used to adjust the position of the nozzle and is fixed on the robotic arm assembly;

[0011] The nozzle is used to spray paint and is fixed on the adjustment mechanism.

[0012] Furthermore, the main structure also includes a mounting box, bearings, and a tilting motor;

[0013] A control box assembly is provided on the upper wall of the vehicle body assembly. The mounting box is fixed on the other end of the robotic arm assembly. The bearing is fixedly embedded in the mounting box. The tilting motor is fixed in the mounting box, and its drive end is fixedly inserted through the bearing.

[0014] Furthermore, the adjustment mechanism includes a mounting frame, a sliding rod, a protective box, a slider, an electric push rod, a mounting base, a pair of first connecting rods, a pair of flip plates, a pair of second connecting rods, a flip frame, a transmission frame, a pair of spraying frames, a pair of third connecting rods, a stop block, and a spray base;

[0015] The two ends of the slide rod are respectively fixedly inserted into the opposite side walls of the mounting frame. One end of the protective box is fixedly welded to the side wall of the mounting frame, and the other end is fixedly connected to the drive end of the flipping motor. One end of the slider is movably fitted onto the slide rod. The electric push rod is fixed inside the protective box, and its telescopic end movably passes through the protective box and the mounting frame, and is fixedly connected to the slider. One end of the mounting base is fixed to the fixing plate of the mounting frame. The first connecting rod has a first bent section and a second bent section, wherein the length of the first bent section is greater than the length of the second bent section. A pair of first connecting rods are arranged side by side. The first bent sections of the pair of first connecting rods are movably mounted on the mounting base through first pins. The flipping plate is an isosceles triangle structure. One end of the pair of flipping plates is movably fitted onto both ends of the first pins. One end of the pair of second connecting rods is respectively connected to the drive end of the first pin. The second pin is movably connected to the bottom end of the flip plate, and the other end of the second connecting rod is movably connected to the front and rear side walls of the slider respectively. The flip frame has an L-shaped structure. One end of the flip frame is movably fitted between the turning parts of a pair of first connecting rods through the third pin. One end of the transmission frame is movably fitted to the top of the flip plate through the fourth pin, and its other end is movably clamped to the flip frame through the fifth pin. One end of the spray frame has an L-shaped structure. One end of a pair of spray frames is movably mounted on the other end of the transmission frame through the sixth pin. One end of a pair of third connecting rods is movably connected to one end of the spray frame through the seventh pin, and the other end is movably connected to the second bent section of the first connecting rod. One end of the stop block is fixed between a pair of first connecting rods, one end of the spray holder is fixed to the other end of the spray frame, and the nozzle is fixedly inserted through the other end of the spray holder.

[0016] Furthermore, retaining rings are fixedly provided on the upper wall of the mounting box and the upper wall of one end of the transmission frame.

[0017] Furthermore, when the bottom end of the flip plate rotates to the left, it can come into contact with the stop block.

[0018] Furthermore, the paint supply mechanism includes a hopper, a pair of dispensing plates, a pump, and a solenoid four-way valve;

[0019] The material box has a pair of identical slots and is fixed to the vehicle body assembly. The bottom of the material box has three identical discharge ports. A pair of distribution plates are movably inserted into the pair of slots and are provided with handles. The material pump and the electromagnetic four-way valve are both fixed to the vehicle body assembly and are located in front of the material pump. The outlet end of the electromagnetic four-way valve is connected to the inlet end of the material pump through a second pipe. The other three ends of the electromagnetic four-way valve are connected to the three discharge ports of the material box through third pipes.

[0020] Furthermore, the discharge end of the material pump is connected to the nozzle after passing through the retaining ring via the first pipe.

[0021] Compared with the prior art, the advantages of the intelligent painting robot of the present invention are as follows:

[0022] 1. By cooperating with the vehicle body assembly and the robotic arm assembly, multi-directional movement and control of the spraying direction can be achieved. It can reach into spaces that are inaccessible to the robotic arm, adjust the nozzle direction, and spray the entire building.

[0023] 2. With the help of the adjustment mechanism, it can not only reach into narrow spaces, but also bend and adjust the direction of the nozzle. For example, after extending straight in, the adjustment mechanism can be controlled to drive the bend, so that the nozzle can be sprayed towards the robotic arm assembly, achieving all-round spraying in small spaces.

[0024] 3. It can quickly adjust the spraying material before and during use through the paint supply organization, and realize the replacement of various materials for spraying, which is convenient for building spraying shapes, painting, etc. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural schematic diagram of a comprehensive intelligent painting robot for building applications provided in an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 Enlarged view of region A in the middle;

[0027] Figure 3 yes Figure 1 The diagram shows the exploded structure of the intelligent painting robot.

[0028] Figure 4 yes Figure 1A three-dimensional structural diagram of the adjustment mechanism in the intelligent painting robot shown;

[0029] Figure 5 yes Figure 4 The diagram shows the exploded structure of the adjustment mechanism.

[0030] In the diagram: 1. Vehicle body assembly, 2. Robotic arm assembly, 3. Mounting box, 4. Bearing, 5. Tilting motor, 6. Mounting frame, 7. Slide bar, 8. Protective box, 9. Slider, 10. Electric push rod, 11. Mounting base, 12. First connecting rod, 13. Tilting plate, 14. Second connecting rod, 15. Tilting frame, 16. Transmission frame, 17. Spraying frame, 18. Third connecting rod, 19. Stop block, 20. Spray holder, 21. Nozzle, 22. Material box, 23. Material distribution plate, 24. Material pump, 25. Solenoid four-way valve. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] Please see Figures 1 to 3 This invention illustrates a comprehensive intelligent painting robot for building applications, comprising a main structure, an adjustment mechanism, a paint supply mechanism, and nozzles 21.

[0034] The main structure includes a movable vehicle body assembly 1 and a robotic arm assembly 2. One end of the robotic arm assembly 2 is fixed to the vehicle body assembly 1 and is located near the center of the left end. The other end of the robotic arm assembly 2 can be flipped and rotated.

[0035] The paint supply mechanism can dispense a variety of materials and replace different paints. The paint supply mechanism is fixed to the main structure and is connected to the nozzle 21 through the first pipe.

[0036] The adjustment mechanism is used to adjust the position of the nozzle 21, and it is fixed on the robotic arm assembly 2;

[0037] Nozzle 21 is used to spray paint and is fixed on the adjustment mechanism.

[0038] Specifically, the aforementioned main structure also includes:

[0039] Mounting box 3 is fixedly mounted on the other end of robotic arm assembly 2;

[0040] Bearing 4 is fixedly embedded in the rear side wall of the mounting box 3;

[0041] The flip motor 5 is fixedly installed inside the mounting box 3, and the drive end is fixedly inserted through the bearing 4.

[0042] As a preferred option, in order to meet the equipment usage requirements, the vehicle body component 1 is driven by an electric motor, and the control box is equipped with a wireless module, a control module, a programming module, etc.

[0043] For details, please refer to Figure 4 and Figure 5 The aforementioned shifting structure includes:

[0044] Mounting bracket 6 has a concave structure and a fixing plate is fixedly installed at the center of the left side wall;

[0045] The slide rod 7 has its two ends fixedly inserted into the opposite side walls of the mounting bracket 6, near the center of the top.

[0046] The protective box 8 is fixedly welded to the right side wall of the mounting frame 6 at one end, and fixedly connected to the drive end of the flipping motor 5 at the other end.

[0047] Slider 9, one end of which is movably fitted onto slider 7;

[0048] Electric push rod 10 is fixedly installed inside the protective box 8, and its telescopic end moves through the protective box 8 and the mounting bracket 6 respectively, and is fixedly connected to the right side wall of the slider 9.

[0049] Mounting base 11, one end of which is fixedly mounted on the fixing plate;

[0050] The first link 12, a pair of first links 12, are both V-shaped structures, with a first bent section and a second bent section, and the length of the first bent section is greater than the length of the second bent section. One end of the pair of first links 12 is movably mounted on the other end of the mounting base 11 through the first pin, and they are located on the front and rear sides respectively and are symmetrical to each other.

[0051] The flip plate 13, a pair of flip plates 13, are both isosceles triangular structures, and one end of the pair of flip plates 13 is movably fitted onto both ends of the first pin.

[0052] The second connecting rod 14, one end of each pair of second connecting rods 14 is movably connected to the bottom end of the flip plate 13 via a second pin, and the other end of each pair of second connecting rods 14 is movably connected to the front and rear side walls of the slider 9 at an incline.

[0053] The tilting frame 15 has an L-shaped structure, and one end of the tilting frame 15 is movably fitted into the turning part of the first connecting rod 12 through the third pin.

[0054] The transmission frame 16 has one end movably fitted between the top ends of the flip plate 13 via the fourth pin, and the other end movably locked to the turning part of the flip frame 15 near one end via the fifth pin.

[0055] The spray frame 17, one end of each of the two spray frames 17 is an L-shaped structure, and the sixth pin is movably mounted on the other end of the transmission frame 16 at the turning part of the two spray frames 17 near one end, and is located on the front and rear sides respectively and symmetrically.

[0056] The third link 18, one end of each of the three third links 18 is movably connected to one end of the spray frame 17 via the seventh pin, and the other end is movably connected to the other end of the first link, and they are located symmetrically on the front and rear sides respectively.

[0057] Stop 19, one end of which is fixedly placed between the first linkage rods and near the other end;

[0058] Sprayer 20, one end of which is fixedly placed between the other end of the spray frame 17;

[0059] The aforementioned nozzle 21 is fixedly inserted into the other end of the spray base 20.

[0060] The adjustment mechanism allows the nozzle 21 to be inserted into a small space, bend, and rotate, adjusting its orientation to spray the opposite side walls of the building. This eliminates the need for a large amount of material to be attached to the mobile device, thus improving the spraying quality. Furthermore, to meet the movement requirements, the nozzle 21 can rotate up to 90 degrees. When the bottom of the flip plate 13 rotates to the left, it can contact the stop block 19 for a limiting action.

[0061] Specifically, the aforementioned paint supply mechanism includes a material bin 22, a pair of dispensing plates 23, a material pump 24, and a solenoid four-way valve 25.

[0062] The material bin 22 has a rectangular box structure, and the upper walls of both sides have a pair of identical slots at equal intervals along the center, each connected to the lower wall. The material bin 22 is fixedly mounted on the upper right wall of the vehicle body assembly 1, and the bottom of the left side wall of the material bin 22 has three identical discharge ports at equal intervals. A pair of distribution plates 23 are movably inserted into the slots, and a handle is provided at the center of the upper wall of the distribution plate 23. The material pump 24 is fixedly mounted on the upper left wall of the vehicle body assembly 1, located behind the centerline. The electromagnetic four-way valve 25 is fixedly mounted on the upper left wall of the vehicle body assembly 1, located in front of the material pump 24. The outlet of the electromagnetic four-way valve 25 is connected to the inlet of the material pump 24 through a second pipe, and the other three ends of the electromagnetic four-way valve 25 are connected to the discharge ports of the material bin 22 through third pipes.

[0063] Through paint supply organizations, various materials can be applied and quickly replaced for spraying, thereby enhancing the spraying effect and enabling painting and spraying on flat buildings.

[0064] Furthermore, retaining rings are fixedly installed on the upper wall of the mounting box 3 and one end of the upper wall of the transmission frame 16. The discharge end of the material pump 24 is connected to the nozzle 21 through a pipe passing through the retaining rings.

[0065] The working principle and process of the intelligent painting robot in this embodiment are as follows:

[0066] The vehicle body component 1 can be moved and cooperates with the bending and flipping joints of the robotic arm component 2 to drive the adjustment mechanism to move and achieve the painting of the building surface.

[0067] Before use, the material distribution plate 23 in the paint supply mechanism can be inserted into the material box 22 to divide it into three spaces for loading different colors of paint; or the material distribution plate 23 can be disassembled for unified loading of paint; then the connection between the pipeline connected to the relative space in the material box 22 can be controlled by the electromagnetic four-way valve 25, and the corresponding paint can be drawn by the material pump 24 and delivered to the nozzle 21 for spraying.

[0068] Secondly, when the space of the building to be sprayed is small and it is difficult to spray the entire area when a single drive device rotates relative to the object, the adjustment mechanism can be extended into the building by using the mechanical arm assembly 2; by driving the electric push rod 10 in the protective box 8 to extend and retract, the slider 9 can be driven to slide left and right on the slide rod 7 on the mounting frame 6.

[0069] When slider 9 slides to the left, electric push rod 10 extends and drives; through second connecting rod 14, it drives flip plate 13 to flip to the left at the bottom end and to the right at the top end on mounting base 11; that is, the top end of flip plate 13 drives transmission frame 16 to flip to the right and pulls flip frame 15 to the right, lifting the other end and causing first connecting rod 12 to be flipped upward at a certain angle on mounting base 11; at the same time, transmission frame 16 applies force to drive spray frame 17 and point connecting rod to lift nozzle 21 on spray base 20 to be horizontal with mounting frame 6. At this time, the bottom end of flip plate 13 is in contact with stop block 19, limiting the flipping movement of flip plate 13, and limiting first connecting rod 12 to prevent it from flipping upward.

[0070] When the slider 9 moves to the right, the electric push rod 10 retracts; this causes the top of the flip plate 13 to flip to the left and the bottom to flip to the right; then, with the limit of one end of the transmission frame 16 and the first connecting rod 12, the end connected to the spray frame 17 flips downward, and with the limit of the third connecting rod 18, the nozzle 21 can be rotated 90 degrees, mimicking the bending state of a finger. At this time, the first connecting rod 12 also rotates at a certain angle relative to the mounting base 11.

[0071] The nozzle 21 can be adjusted by extending it into the space using the adjustment mechanism, or the rotating motor 5 in the mounting box 3 can be driven to rotate the adjustment structure through the bearing 4, adjusting the angle of the upper and lower positions, and cooperating with the inward bending and adjustment of the nozzle 21 to achieve comprehensive spraying within a certain space.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A comprehensive intelligent painting robot for building applications, characterized in that: This includes the main structure, adjustment mechanism, paint supply mechanism, and nozzles; The main structure includes a movable vehicle body assembly (1) and a robotic arm assembly (2). One end of the robotic arm assembly (2) is fixed to the vehicle body assembly (1), and the other end of the robotic arm assembly (2) can be flipped and rotated. The paint supply mechanism can dispense a variety of materials and replace different paints. The paint supply mechanism is fixed on the main structure and connected to the nozzle (21) through the first pipe. The adjustment mechanism is used to adjust the position of the nozzle (21), which is fixed on the robotic arm assembly (2); The nozzle (21) is used to spray paint and is fixed on the adjustment mechanism; The main structure also includes a mounting box (3), a bearing (4), and a tilting motor (5); The upper wall of the vehicle body assembly (1) is provided with a control box assembly, the mounting box (3) is fixed on the other end of the robotic arm assembly (2), the bearing (4) is fixedly embedded in the mounting box (3), the flipping motor (5) is fixed in the mounting box (3), and its drive end is fixedly inserted through the bearing (4); The adjustment mechanism includes a mounting frame (6), a slide bar (7), a protective box (8), a slider (9), an electric push rod (10), a mounting base (11), a pair of first connecting rods (12), a pair of flip plates (13), a pair of second connecting rods (14), a flip frame (15), a transmission frame (16), a pair of spray frames (17), a pair of third connecting rods (18), a stop block (19), and a spray base (20). The two ends of the slide rod (7) are respectively fixedly inserted into the opposite side walls of the mounting frame (6). One end of the protective box (8) is fixedly welded to the side wall of the mounting frame (6), and the other end is fixedly connected to the drive end of the flip motor (5). One end of the slider (9) is movably fitted onto the slide rod (7). The electric push rod (10) is fixed inside the protective box (8), and its telescopic end moves through the protective box (8) and the mounting frame (6) respectively, and is fixedly connected to the slider. One end of the mounting base (11) is fixed to the mounting frame (6). On the fixed plate of the first connecting rod (12), the first connecting rod (12) has a first bent section and a second bent section, wherein the length of the first bent section is greater than the length of the second bent section. A pair of first connecting rods (12) are arranged side by side. The first bent sections of the pair of first connecting rods (12) are respectively movably mounted on the mounting base (11) through the first pin. The flip plate (13) is an isosceles triangle structure. One end of the pair of flip plates (13) is respectively movably fitted onto the two ends of the first pin. One end of the pair of second connecting rods (14) is respectively mounted on the second pin. The shaft is movably connected to the bottom end of the flip plate (13), and the other end of the second connecting rod (14) is movably connected to the front and rear side walls of the slider (9) respectively. The flip frame (15) has an L-shaped structure. One end of the flip frame (15) is movably fitted between the turning parts of a pair of first connecting rods (12) through the third pin. One end of the transmission frame (16) is movably fitted to the top of the flip plate (13) through the fourth pin, and the other end is movably clamped to the flip frame (15) through the fifth pin. One end of the spraying frame (17) is L-shaped. The structure is as follows: one end of each pair of spray frames (17) is movably mounted on the other end of the transmission frame (16) via a sixth pin; one end of each pair of third connecting rods (18) is movably connected to one end of each spray frame (17) via a seventh pin, and the other end is movably connected to the second bent section of the first connecting rod; one end of the stop block (19) is fixed between the pair of first connecting rods; one end of the spray holder (20) is fixed on the other end of the spray frame (17); and the nozzle (21) is fixedly inserted through the other end of the spray holder (20).

2. The intelligent painting robot as described in claim 1, characterized in that: The upper wall of the mounting box (3) and the upper wall of one end of the transmission frame (16) are both fixedly provided with retaining rings.

3. The intelligent painting robot as described in claim 1, characterized in that: When the bottom end of the flip plate (13) rotates to the left, it can come into contact with the stop block (19).

4. The intelligent painting robot as described in claim 2, characterized in that: The paint supply mechanism includes a hopper (22), a pair of dispensing plates (23), a pump (24), and a solenoid four-way valve (25). The material box (22) has a pair of slots with the same structure. The material box (22) is fixed on the vehicle body assembly (1). The bottom of the material box (22) is provided with three outlets with the same structure. A pair of material distribution plates (23) are respectively movably inserted into the pair of slots. The material distribution plates (23) are provided with handles. The material pump (24) and the electromagnetic four-way valve (25) are both fixed on the vehicle body assembly (1) and located in front of the material pump (24). The outlet end of the electromagnetic four-way valve (25) is connected to the inlet end of the material pump (24) through a second pipe. The other three ends of the electromagnetic four-way valve (25) are respectively connected to the three outlets of the material box (22) through third pipes.

5. The intelligent painting robot as described in claim 4, characterized in that: The discharge end of the material pump (24) is connected to the nozzle (21) through the first pipe and the retaining ring.

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