An indoor spraying robot

Abstract

The application discloses an indoor spraying robot, which comprises a chassis assembly, a mechanical arm, a nozzle assembly and a pumping assembly; the chassis assembly comprises a vehicle frame, traveling wheels arranged on the vehicle frame, a driving wheel assembly and a follow-up wheel; the mechanical arm comprises a large arm support, a large arm, a large arm motor I and a large arm motor II; the nozzle assembly comprises a nozzle seat, nozzle branch pipes, nozzle mounting seats and nozzles; a mounting plate is fixedly arranged on a connecting shaft at the end of the mechanical arm, and the nozzle seat is fixedly mounted on the mounting plate; a hollow cavity is arranged in the nozzle seat, six nozzle branch pipes are uniformly distributed on the nozzle seat in a circumferential direction and are communicated with the hollow cavity of the nozzle seat; the end of each nozzle branch pipe is provided with a nozzle mounting seat for mounting a nozzle; the pumping assembly comprises a pipeline connected with the inlet of the nozzle seat and a coating pump for pressurized conveying of the coating in the pipeline; the spraying robot can carry out indoor wall spraying operation by means of the mechanical arm carrying the nozzles.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of building automation decoration equipment, in particular to an indoor spraying robot. BACKGROUND

[0002] In the construction and decoration industry, it is often necessary to paint the surface of indoor walls and ceilings to improve aesthetics and functionality. Existing indoor surface painting is mainly done by manual brushing, spraying or rolling, regardless of the method used, workers need to operate manually. Because some functional coatings and pigments have strong irritability due to their chemical properties, they can cause serious harm to workers' health during construction. If protective devices are worn, it will affect manual operation and reduce the quality of painting. In addition, manual operation is not only inefficient, but also has a huge workload, especially for large indoor painting in large spaces and high floors, special scaffolding needs to be erected to complete high-position painting, which greatly increases the construction difficulty, cost and time input. To solve the above problems, a spraying robot, also known as a paint spraying robot, appears in the prior art, which is an industrial robot that can automatically spray paint or other coatings. The existing spraying robot generally carries a paint tank for storing paint, and when the paint is used up, manual refilling is generally required. SUMMARY

[0003] Therefore, the purpose of the present application is to design an indoor spraying robot that can carry out indoor wall spraying operations through a mechanical arm with a spray nozzle. At the same time, it can easily hold and carry a paint bucket through a feeding assembly, and when the paint is used up, the paint bucket can be pushed out to replace a new one, greatly improving the automation level of the spraying operation.

[0004] The indoor spraying robot of the present application comprises a chassis assembly, a mechanical arm, a nozzle assembly and a pumping assembly.

[0005] The chassis assembly comprises a vehicle frame, a traveling meandering wheel arranged on the vehicle frame, a drive wheel assembly and a follower wheel.

[0006] The mechanical arm comprises a large arm support, a large arm, a large arm motor I and a large arm motor II. The large arm support is vertically fixed to the vehicle frame, the large arm is rotatably connected to the large arm support through a large arm shaft, and a connecting shaft is installed at the end of the large arm through a bearing. The large arm motor I and the large arm motor II are symmetrically arranged on both sides of the large arm support, a drive sprocket is fixed on the large arm, and the large arm motor I is used to drive the drive sprocket to rotate, so that the entire large arm rotates around the large arm shaft. The large arm motor II drives the connecting shaft to rotate through a gear set and a transmission chain.

[0007] The nozzle assembly comprises a nozzle seat, nozzle branch pipes, nozzle mounting seats and nozzles; an installation plate is fixedly arranged on the connecting shaft of the mechanical arm end, and the nozzle seat is fixedly installed on the installation plate; a hollow cavity is arranged in the nozzle seat, six nozzle branch pipes are uniformly distributed on the nozzle seat in the circumferential direction and are communicated with the hollow cavity of the nozzle seat; the end of the nozzle branch pipe is provided with a nozzle mounting seat for mounting the nozzle; the pumping assembly comprises a pipeline connected with the inlet of the nozzle seat and a paint pump for pressurized conveying of the paint in the pipeline;

[0008] Further, the driving wheel assembly comprises two walking driving motors, a gear shifting cylinder, a driving wheel shaft, a first gear, a second gear, a double gear, a chain wheel and a driving wheel; the driving wheel is fixedly installed on the outer end of the driving wheel shaft; the first gear and the second gear are sleeved on the driving wheel shaft; an engaging sleeve is arranged between the first gear and the second gear; the engaging sleeve is provided with internal splines matched with the driving wheel shaft, and the end faces of the engaging sleeve are provided with end face teeth matched with the end face teeth of the first gear and the second gear; the double gear is installed on the side of the first gear and the second gear, the large gear is engaged with the first gear, and the small gear is engaged with the second gear; the gear shifting cylinder is connected to the engaging sleeve through a gear shifting arm to drive the engaging sleeve to slide left and right;

[0009] Further, the front part of the frame is provided with an obstacle surmounting assembly, the obstacle surmounting assembly comprises two shoulder supports arranged on the frame, two obstacle arms, an obstacle wheel shaft, an obstacle motor I and an obstacle motor II; the inner ends of the two obstacle arms are rotatably connected to the two shoulder supports, one of the inner ends of the two obstacle arms is fixedly installed with a swing arm gear, the obstacle motor I drives the swing arm gear to rotate through a gear set, thereby driving the obstacle arm to swing relative to the shoulder support; the obstacle wheel shaft is hinged between the outer ends of the two obstacle arms, and a friction cylinder and an obstacle rim are fixedly installed on the obstacle wheel shaft; a belt wheel is also fixedly installed on the obstacle wheel shaft, and the obstacle motor II drives the belt wheel to rotate through a synchronous belt, thereby realizing the rotation of the obstacle wheel shaft;

[0010] Further, the middle part of the frame is provided with a feeding assembly, the feeding assembly comprises two feeding wheel groups arranged opposite to each other in the middle part of the frame; the feeding wheel group comprises a support, a plurality of feeding wheels arranged side by side on the support and a feeding driving motor; the feeding driving motor drives the feeding wheels to rotate synchronously through a belt transmission mechanism.

[0011] The beneficial effects of the present application are as follows:

[0012] 1. The indoor spraying robot of the present application can realize the climbing of indoor steps by using the obstacle surmounting assembly, thereby greatly improving the passing performance of the robot.

[0013] 2. The indoor spraying robot of the present application can realize the automatic replacement of paint buckets by using the feeding assembly, thereby greatly improving the automation level of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0015] Figure 1 This is a schematic diagram of the structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of the present invention;

[0017] Figure 3 This is a schematic diagram of the obstacle-crossing component of the present invention;

[0018] Figure 4 This is a schematic diagram of the structure of the robotic arm of the present invention;

[0019] Figure 5 This is a schematic diagram of the feeding component of the present invention;

[0020] Figure 6 This is a schematic diagram of the drive wheel assembly of the present invention;

[0021] Figure 7 This is a schematic diagram of the nozzle assembly of the present invention. Detailed Implementation

[0022] like Figure 1 , 2 As shown, an indoor painting robot of this embodiment includes a chassis assembly 4, an obstacle-crossing assembly 1, a feeding assembly 2, a robotic arm 3, a nozzle assembly 5, and a pumping assembly.

[0023] The chassis assembly 4 includes a frame, two traveling wheels 7 located on both sides of the front of the frame, two drive wheel assemblies located on both sides of the middle of the frame, and two follower wheels 6 located on both sides of the rear of the frame.

[0024] like Figure 6As shown in the figure, the driving wheel assembly comprises two walking driving motors (41, 42), a gear shifting cylinder 44, a driving wheel shaft 49, a first gear 45, a second gear 46, a double gear 48, a chain wheel 47 and a driving wheel 40; the driving wheel 40 is fixedly installed on the outer end of the driving wheel shaft 49; the first gear 45 and the second gear 46 are sleeved on the driving wheel shaft 49; an engaging sleeve is arranged between the first gear 45 and the second gear 46; the engaging sleeve is provided with internal splines matched with the driving wheel shaft 49, and the two end faces of the engaging sleeve are provided with end face teeth matched with the end face teeth of the first gear 45 and the second gear 46; the double gear 48 is installed on the side of the first gear 45 and the second gear 46, and the large gear is engaged with the first gear 45, and the small gear is engaged with the second gear 46; the gear shifting cylinder 44 is connected to the engaging sleeve through a gear shifting arm 43; the rotating shafts of the two walking driving motors are each provided with a gear engaged with the first gear 45 to simultaneously drive the first gear 45 to rotate; when the gear shifting cylinder 44 drives the engaging sleeve to slide towards the first gear 45, the end face teeth of the engaging sleeve are engaged with the first gear 45, so that the first gear 45 can drive the driving wheel shaft 49 to rotate through the engaging sleeve to realize the fast movement of the robot; when the gear shifting cylinder 44 drives the engaging sleeve to slide towards the second gear, the end face teeth of the engaging sleeve are engaged with the second gear, at this time, the power of the first gear 45 is transmitted to the second gear through the double gear 48, and the second gear transmits the power to the driving wheel shaft 49 through the engaging sleeve, thereby realizing the slow movement of the robot. The chain wheel 47 fixed on the driving wheel shaft 49 transmits the power to the advancing reel 7 through a chain, so that the advancing reel 7 can rotate synchronously with the driving wheel on the same side.

[0025] As shown in the figure, Figure 3 The obstacle crossing assembly 1 comprises two shoulder supports 12 arranged on the frame, two obstacle crossing arms 16, an obstacle crossing shaft, an obstacle crossing motor I 11 and an obstacle crossing motor II 17; the inner ends of the two obstacle crossing arms 16 are rotatably connected to the two shoulder supports 12, one of the inner ends of the two obstacle crossing arms 16 is fixedly installed with a swing arm gear 13, the obstacle crossing motor I 11 drives the swing arm gear 13 to rotate through a gear set, thereby driving the obstacle crossing arm 16 to swing relative to the shoulder support 12; the obstacle crossing shaft is hingedly connected between the outer ends of the two obstacle crossing arms 16, and the obstacle crossing shaft is fixedly installed with a friction cylinder 14 and six obstacle crossing reels 15; a belt wheel is also fixedly installed on the obstacle crossing shaft, and the obstacle crossing motor II 17 drives the belt wheel to rotate through a synchronous belt, thereby realizing the rotation of the obstacle crossing shaft; when the robot needs to climb a step during indoor movement, the obstacle crossing motor I 11 can be used to drive the obstacle crossing arm 16 to swing and support on the step, and then the obstacle crossing motor II 17 is used to drive the friction cylinder 14 and the six obstacle crossing reels 15 to rotate, so that the robot as a whole climbs onto the step, thereby greatly improving the passing performance of the robot.

[0026] As shown in the figure, Figure 6As shown, the feeding assembly 2 includes two feeding wheel groups 23 arranged oppositely in the middle of the frame; the feeding wheel group 23 includes a support 22, five feeding wheels arranged side by side on the support 22 and two feeding drive motors 21; the feeding drive motor 21 drives the feeding wheels to rotate synchronously through a belt transmission mechanism; the present spraying robot can be used in cooperation with a paint bucket of a set specification; when paint spraying is needed, the robot can be moved to align the feeding assembly 2 with the paint bucket; the distance between the two feeding wheel groups 23 is slightly smaller than the outer diameter of the paint bucket; the feeding wheels can be made of elastic material; the feeding drive motor 21 drives the feeding wheels to rotate to enable the paint bucket to enter between the two feeding wheel groups 23; of course, universal wheels can be arranged at the bottom of the paint bucket to move the paint bucket by clamping the paint bucket with the feeding assembly 2; when the paint in the paint bucket is used up, the feeding drive motor 21 drives the feeding wheels to reverse to push out the paint bucket.

[0027] As shown in Figure 4 , the mechanical arm 3 includes a large arm support, a large arm 36, a large arm motor I 31 and a large arm motor II 37; the large arm support is vertically fixed to the frame, the large arm 36 is rotatably connected to the large arm support through a large arm rotating shaft 34, and a connecting shaft 38 is installed at the end of the large arm through a bearing; the large arm motor I 31 and the large arm motor II 37 are symmetrically arranged on both sides of the large arm support; a driving sprocket 33 is fixed on the large arm 36; the large arm motor I 31 drives the driving sprocket 33 to rotate through a gear transmission mechanism and a transmission chain 32, so that the whole large arm 36 rotates around the large arm rotating shaft; a transition sprocket is installed on the large arm rotating shaft 34 through a bearing; a driven sprocket is fixedly installed on the connecting shaft 38; the transition sprocket and the driven sprocket are connected by a chain; the large arm motor II 37 drives the transition sprocket to rotate through a gear set and a transmission chain 35, thereby finally driving the connecting shaft 38 to rotate.

[0028] As shown in Figure 7 , the nozzle assembly 5 includes a nozzle seat 51, nozzle branch pipes 52, nozzle mounting seats 53 and nozzles 55; an installation plate is fixedly arranged on the connecting shaft at the end of the mechanical arm 3, and the nozzle seat 51 is fixedly installed on the installation plate; the nozzle seat 51 is internally provided with a hollow cavity; six nozzle branch pipes 52 are uniformly distributed in the circumferential direction on the nozzle seat 51 and communicate with the hollow cavity of the nozzle seat 51; the end of the nozzle branch pipe 52 is provided with a nozzle mounting seat 53 for mounting a nozzle; the nozzle mounting seat is provided with three nozzle mounting ports; the pumping assembly includes a pipeline connected with the inlet of the nozzle seat 51 and a paint pump for pressurized conveying of paint in the pipeline; the feeding end of the pipeline is located inside the paint bucket, and the paint pump is installed on the frame; one end of the other pipeline is connected to the outlet of the paint pump, and the other end penetrates through the large arm support and the large arm to communicate with the nozzle seat 51 (the large arm support and the large arm are both made of rectangular pipes, and the pipeline can penetrate through the inside of the pipes).

[0029] The above merely describes the preferred embodiments of the present application, and is not used to limit the present application, and various changes and modifications can be made by those skilled in the art based on the present application; any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An indoor spray painting robot, characterized in that: It includes at least a chassis assembly, a robotic arm, a nozzle assembly, and a pumping assembly; The chassis assembly includes a frame, a travel wheel mounted on the frame, a drive wheel assembly, and follower wheels; The robotic arm includes a boom support, a boom, boom motor I, and boom motor II. The boom support is vertically fixed to the vehicle frame, and the boom is rotatably connected to the boom support via a boom pivot. A connecting shaft is mounted at the end of the boom via a bearing. Boom motor I and boom motor II are symmetrically arranged on both sides of the boom support. A drive sprocket is fixed on the boom, and boom motor I drives the drive sprocket to rotate, causing the entire boom to rotate around the boom pivot. Boom motor II drives the connecting shaft to rotate via a gear set and a transmission chain. The nozzle assembly includes a nozzle seat, nozzle branch pipes, a nozzle mounting base, and a nozzle; a mounting plate is fixedly mounted on the connecting shaft at the end of the robotic arm, and the nozzle seat is fixedly mounted on the mounting plate; the nozzle seat has a hollow cavity inside, and six nozzle branch pipes are evenly distributed on the nozzle seat along the circumference and communicate with the hollow cavity of the nozzle seat; the end of the nozzle branch pipe is provided with a nozzle mounting base for mounting the nozzle; the pumping assembly includes a pipeline connected to the inlet of the nozzle seat and a paint pump for pressurizing and conveying the paint in the pipeline; The drive wheel assembly includes two drive motors, a shift cylinder, a drive wheel shaft, a first gear, a second gear, a double gear, a sprocket, and a drive wheel. The drive wheel is fixedly mounted on the outer end of the drive wheel shaft. The first and second gears are loosely fitted onto the drive wheel shaft. A coupling sleeve is provided between the first and second gears. The double gear is mounted on the side of the first and second gears, with its larger gear meshing with the first gear and its smaller gear meshing with the second gear. The shift cylinder is connected to the coupling sleeve via a shift arm. The two drive motors simultaneously drive the first gear to rotate. The sprocket fixed on the drive wheel shaft transmits power to the traveling wheel via a chain, enabling the traveling wheel to rotate synchronously with the drive wheel on the same side. The frame is provided with a feeding assembly in the middle for clamping and carrying the paint bucket. The feeding assembly includes two feeding wheel sets opposite each other in the middle of the frame. Each feeding wheel set includes a bracket, several feeding wheels arranged side by side on the bracket, and a feeding drive motor. The feeding drive motor drives the feeding wheels to rotate synchronously through a belt transmission mechanism.

2. The indoor spraying robot according to claim 1, characterized in that: The front of the vehicle frame is equipped with an obstacle-crossing assembly, which includes two shoulder supports mounted on the frame, two obstacle-crossing arms, an obstacle-crossing wheel axle, an obstacle-crossing motor I, and an obstacle-crossing motor II. The inner ends of the two obstacle-crossing arms are rotatably connected to the two shoulder supports. One obstacle-crossing arm has a swing arm gear fixedly mounted on its inner end. The obstacle-crossing motor I drives the swing arm gear to rotate through a gear set, thereby causing the obstacle-crossing arm to swing relative to the shoulder support. The obstacle-crossing wheel axle is hinged between the outer ends of the two obstacle-crossing arms. A friction cylinder and an obstacle-crossing wheel are fixedly mounted on the obstacle-crossing wheel axle. A pulley is also fixed on the obstacle-crossing wheel axle. The obstacle-crossing motor II drives the pulley to rotate through a synchronous belt, thereby realizing the rotation of the obstacle-crossing wheel axle.

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