Controllable mechanical arm and control system of building spraying robot

Abstract

The invention discloses a controllable mechanical arm of a building spraying robot and a control system, and relates to the technical field of mechanical arms, the controllable mechanical arm comprises a robot body, a spraying execution end, a first position sensor and a second position sensor, the robot body comprises a trolley, a guide frame, a first sliding frame, an upper axial arm and a lower axial arm, a direction control mechanical arm is arranged between the spraying execution end and the robot body and comprises a connecting frame body and a turnover assembly, the connecting frame body is in sliding connection with one side of an upper axial arm and one side of a lower axial arm, and the turnover assembly is arranged between the connecting frame body and the spraying execution end. The air pressure sensor detects that the air pressure is reduced, the air pressure sensor detects that a numerical value is fed back to the controller, and after the controller receives that the air pressure numerical value is reduced to be lower than a preset numerical value, the controller works to give an alarm, so that potential safety hazards caused by abrasion and breakage of the second pull wire and the first pull wire are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, in particular to a controllable mechanical arm and a control system of a building spraying robot. Background Art

[0002] Plastering on the surface of building walls is a process of smoothing mortar onto the surface of building walls to form a layer of plaster on the wall surface. The plaster layer can play the role of thermal insulation, heat insulation, moisture resistance, weathering resistance and sound insulation. The external plaster layer can prevent the structural parts of the building or structure from being eroded by adverse factors such as wind, rain, snow, sun, humidity and harmful gases in the surrounding environment, thereby extending the service life of the building or structure.

[0003] Plastering the surface of building walls is a heavy manual labor. Manual plastering is to put mortar on the plastering board first, and then smooth the mortar on the wall surface through the plastering board. This process is cumbersome, and the manual labor intensity is high and the efficiency is low, so the labor cost is high, so various semi-automatic plastering equipment have emerged. For example, the invention disclosed in the existing patent application No.: 201510729328.1 discloses a building surface spraying robot, including a spray gun, a spray machine, a large scraper, a walking trolley and a control system. The spray gun is connected to the spray machine through a hose, and a support arm is provided at the front end of the walking trolley. The large scraper is vertically slidably installed on the support arm through a guide sliding assembly.

[0004] When the above-mentioned building surface spraying robot is in use, the building height is mostly several meters, so the arm span of the robot arm is relatively long, resulting in serious wear of the transmission structure. It is difficult for users to detect the wear of the transmission structure of the robot arm, which poses certain safety hazards. Summary of the invention

[0005] The object of the present invention is to provide a controllable mechanical arm and a control system of a building spraying robot to solve the problems raised in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a controllable mechanical arm of a building spraying robot, comprising a robot body, a spraying execution end, a position sensor 1 and a position sensor 2, the robot body comprising a trolley, a guide frame, a sliding frame 1 and upper and lower axial arms, a control mechanical arm is arranged between the spraying execution end and the robot body, the control mechanical arm comprises a connecting frame body slidably connected to one side of the upper and lower axial arms and a flipping assembly arranged between the connecting frame body and the spraying execution end, two pull wires 2 are fixedly installed on the top of the connecting frame body, two pull wires 1 are fixedly installed on the top of the upper and lower axial arms, and a safety brake assembly is arranged between the two pull wires 2 and the two pull wires 1 and the guide frame.

[0007] Preferably, the guide frame is fixedly installed on one side of the top of the trolley, the sliding frame 1 is slidably installed inside the guide frame, one end of the sliding frame 1 is fixedly connected to the upper and lower axial arms, both sides of the top of the sliding frame 1 are fixedly installed with limit frames 1, and the limit frame 1 extends to the top of the guide frame and is fixedly connected to the upper and lower axial arms, the position sensor 2 is fixedly installed on the top of the guide frame, and the position sensor 1 is fixedly installed on the top of the connecting frame.

[0008] Preferably, a forward and reverse motor 1, a forward and reverse motor 2 and two mounting frames 1 are fixedly installed on the top of the trolley, two winding frames are rotatably inserted between the two mounting frames 1, one end of the two winding frames are respectively fixedly connected to the output ends of the forward and reverse motor 1 and the forward and reverse motor 2, and a brake 1 is sleeved on the outer side of the other end of the two winding frames, and the brake 1 is fixedly installed on the top of the trolley, one end of the two pull wires 2 are fixedly connected to one of the winding frames, one end of the two pull wires 1 are fixedly connected to the other winding frame, and a pulley 1 is arranged on the outer side of the two pull wires 2, and the pulley 1 is fixedly connected to the upper and lower axial arms.

[0009] Preferably, the safety brake assembly includes a sliding groove, a moving plate, four roller groups and a pneumatic cylinder. The two pull wires 2 and the two pull wires 1 pass through the four roller groups respectively. Each roller group includes pulley 2 and pulley 3. Pulley 2 is fixedly connected to the guide frame, and pulley 3 is fixedly connected to the moving plate. The sliding groove is formed at the top of the guide frame, and the moving plate is arranged inside the sliding groove. The pneumatic cylinder is fixedly installed on the top of the moving plate. A connecting plate is fixedly connected between the pneumatic cylinder housing and the guide frame. A plurality of limit frames 2 are fixedly installed on the top of the moving plate. A mounting frame 2 is sleeved on the outer side of the limit frame 2, and the mounting frame 2 is fixedly connected to the guide frame.

[0010] Preferably, the outer sides of the pull wire 2 and the pull wire 1 are both sleeved with elastic air storage parts, the outer sides of the elastic air storage parts are fixedly sleeved with an air guide part 1, one side of the air guide part 1 is fixedly installed with an air pressure sensor, a mounting frame 3 is fixedly connected between the air guide part 1 and the moving plate, and friction parts are provided on the tops of the pull wire 2 and the pull wire 1, and the friction parts are fixedly connected to the guide frame.

[0011] Preferably, the flipping assembly includes a forward and reverse motor five fixedly connected to one side of the connecting frame, a transmission horizontal shaft fixedly installed at the output end of the forward and reverse motor five, and a brake three sleeved on the outside of the transmission horizontal shaft, one end of the transmission horizontal shaft is rotatably connected to the connecting frame, the brake three is fixedly connected to the connecting frame, reserved grooves are opened on both sides of the connecting frame, a pneumatic cylinder three is arranged inside the reserved groove, the pneumatic cylinder three is fixedly connected to the connecting frame, and a plug-in frame is fixedly installed on the piston end of the pneumatic cylinder three.

[0012] Preferably, the spray execution end includes a mounting frame four fixedly mounted on the outside of the transmission horizontal axis, a supporting shell fixedly connected to one side of the mounting frame four, and two mounting frames five arranged on both sides of the reserved groove. The mounting frame five is fixedly connected to the supporting shell, and a card slot is provided on the side of the mounting frame five close to the plug-in frame, and protective shells are fixedly installed on both sides of the upper and lower axial arms.

[0013] Preferably, a mounting frame five is fixedly installed inside the support shell, and reciprocating screws are rotatably connected to the inner wall of the support shell on both sides of the mounting frame five, and moving seats are provided on the outer sides of the two reciprocating screws through nut sub-sleeves, and a gear one is fixedly sleeved on the end of the outer side of the reciprocating screw away from the mounting frame five, and the gear one is meshed with a gear two, and forward and reverse motors three are fixedly installed on both sides of the support shell, and the gear two is fixedly installed on the outer sides of the adjacent forward and reverse motors three output ends.

[0014] Preferably, the moving seat is slidably installed inside the supporting shell, a forward and reverse motor four is fixedly installed on the top of the moving seat, a spray gun is fixedly installed on the output end of the forward and reverse motor four, a brake two is sleeved on the output end of the forward and reverse motor four, the brake two is fixedly installed on the top of the moving seat, a pneumatic cylinder two is fixedly inserted on the mounting frame five, and a scraper is fixedly installed on the piston end of the pneumatic cylinder two.

[0015] A robotic arm control system includes a controller fixedly installed on the top of a trolley, wherein the controller includes a wireless communication module, a digital-to-analog conversion module electrically connected to the wireless communication module, a wear calculation module and a motion simulation module electrically connected to the output end of the digital-to-analog conversion module, a command generation module electrically connected to the output end of the motion simulation module, and a safety warning module electrically connected to the output end of the wear calculation module, wherein the output end of the safety warning module is electrically connected to the command generation module, and the output end of the command generation module is electrically connected to the wireless communication module.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present application, when the spray robot is constructing the wall, multiple air pressure sensors are controlled to work. When the second and one part of the wire are worn to a certain extent, the air pressure inside the elastic air storage component will be reduced during the process of the worn positions of the second and first wires passing through the elastic air storage component. The air pressure sensor detects the reduction in air pressure, and the air pressure sensor detects the value fed back to the controller. After the controller receives the air pressure value that drops below the preset value, the controller will sound an alarm to reduce the safety hazard caused by the wear and breakage of the second and first wires.

[0017] 2. In the present application, the control system calculates the up and down movement speed of the spraying execution end according to the data fed back by the position sensor 1. When the downward movement speed of the spraying execution end exceeds the preset speed, the control system controls the pneumatic cylinder to work and contract, and the pneumatic cylinder drives the moving plate to move up, and the moving plate drives the pulley 3 to move up, so that the pull wire 1 and the pull wire 2 are partially moved up and contacted with the friction part, and the pull wire 1 and the pull wire 2 are braked to stop, so as to avoid the spraying execution end from moving down quickly and out of control, and reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the guide frame of the present invention; Figure 3 It is a structural schematic diagram of the pulley three of the present invention; Figure 4 It is a structural schematic diagram of the second mounting frame of the present invention; Figure 5 It is a structural schematic diagram of the air guide member 1 of the present invention; Figure 6 It is a structural schematic diagram of the connecting frame of the present invention; Figure 7 It is a structural schematic diagram of the plug-in rack of the present invention; Figure 8 It is a structural schematic diagram of the mounting frame 5 of the present invention; Fig. 9 It is a structural schematic diagram of the supporting shell of the present invention; Fig.10 It is a structural schematic diagram of the U-shaped frame of the present invention; Fig.11 Schematic diagram of the control system of the present invention.

[0019] Numbers in the figure: 1. Robot body; 11. Carriage; 12. Guide frame; 13. Sliding frame 1; 14. Upper and lower axial arms; 15. Limiting frame 1; 16. Pulling wire 1; 17. Winding frame; 18. Mounting frame 1; 19. Forward and reverse motor 1; 110. Forward and reverse motor 2; 111. Pulling wire 2; 112. Pulley 1; 113. Pulley 2; 114. Sliding groove; 115. Pneumatic cylinder; 116. Limiting frame 2; 117. Mounting frame 2; 118. Moving plate; 119. Pulley 3; 120. Air guide part 1; 121. Elastic air storage part; 122. Air pressure sensor; 123. Brake 1; 124. Friction part; 125. Mounting frame 3; 126. U-shaped frame; 2. Controller; 21. Wireless communication module; 22. Digital analog Conversion module; 23. Motion simulation module; 24. Command generation module; 25. Wear calculation module; 26. Safety warning module; 3. Spraying execution end; 31. Support shell; 32. Mounting frame four; 33. Mounting frame five; 34. Reciprocating screw; 35. Moving seat; 36. Gear one; 37. Gear two; 38. Forward and reverse motor three; 39. Pneumatic cylinder two; 310. Scraper; 311. Forward and reverse motor four; 312. Brake two; 313. Spray gun; 4. Direction control robot arm; 41. Connecting frame; 42. Forward and reverse motor five; 43. Transmission horizontal axis; 44. Brake three; 45. Reserved slot; 46. Pneumatic cylinder three; 47. Plug-in rack; 48. Card slot; 49. Protective shell; 5. Position sensor one; 6. Position sensor two. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Example: Figure 1-Figure 11 As shown, the present invention provides a technical solution of a controllable mechanical arm and a control system of a building spraying robot: After the trolley 11 is pushed to the working position, the position of the trolley 11 is restricted, and the feed ports of the two spray guns 313 are connected to the sandblasting machine. This is an application of the prior art, such as the technical means provided by the public document of patent application number: CN105317201B.

[0022] Specifically, a guide frame 12 is fixedly installed on one side of the top of the trolley 11, and a sliding frame 13 is slidably installed inside the guide frame 12, so the upper and lower axial arms 14 fixedly connected at one end of the sliding frame 13 slide in the up and down directions under the support of the guide frame 12, and limit frames 15 are fixedly installed on both sides of the top of the sliding frame 13. The limit frames 15 extend to the top of the guide frame 12 and are fixedly connected to the upper and lower axial arms 14. The limit frames 15 that can only move up and down are fixedly connected to the upper and lower axial arms 14. Under the action of the sliding frame 13 and the two limit frames 15, the upper and lower axial arms 14 slide up and down stably on one side of the guide frame 12; a position sensor 26 is fixedly installed on the top of the guide frame 12. The position sensor The position sensor 26 detects the distance between the top of the guide frame 12 and the ceiling of the building. A position sensor 5 is fixedly installed on the top of the connecting frame 41. The position sensor 5 detects the distance between the connecting frame 41 and the ceiling of the building. The detection results of the position sensor 15 and the position sensor 26 are fed back to the controller 2. The controller 2 stores a control system which is pre-set and consists of a wireless communication module 21, a digital-to-analog conversion module 22, a motion simulation module 23, a command generation module 24, a wear calculation module 25, a safety warning module 26 and other modules. The control system controls the robot body 1, the sandblasting machine, the spray execution end 3 and the control robot arm 4 to work according to the feedback data of the position sensor 15 and the position sensor 26.

[0023] In addition, two pull wires 111 are fixedly installed on the top of the connecting frame 41, two pull wires 16 are fixedly installed inside the upper and lower axial arms 14, and a forward and reverse motor 19, a forward and reverse motor 110 and two mounting frames 18 are fixedly installed on the top of the trolley 11, and two winding racks 17 are rotatably passed through the two mounting racks 18, one end of the two winding racks 17 is respectively fixedly connected to the output ends of the forward and reverse motor 19 and the forward and reverse motor 110, and one end of the two pull wires 111 is fixedly connected to the winding rack 17 fixedly installed at the output end of the forward and reverse motor 110, so when the forward and reverse motor 110 works forward and drives the winding rack 17 to rotate, the pull wire 111 is wound, and when the forward and reverse motor 110 works reversely, the pull wire 111 is unwound; One end of the two pull wires 16 is fixedly connected to a reel-up frame 17 fixedly installed at the output end of a forward and reverse motor 19. When the forward and reverse motor 19 rotates forward, the pull wire 16 is reeled, and when the forward and reverse motor 19 rotates reversely, the pull wire 16 is unreeled.

[0024] Because pulley 112 is provided on the outer side of the two pull wires 111, pulley 112 is fixedly connected to the upper and lower axial arms 14, and pulley 112 supports and changes the direction of pull wire 111 to avoid friction between pull wire 111 and the upper and lower axial arms 14; the safety brake assembly includes four roller groups, each roller group includes pulley 2 113 and pulley 3 119, and the roller group supports and changes the direction of pull wire 2 111 or pull wire 1 16; so when pull wire 2 111 is wound up, the connecting frame 41 moves up, and the spraying execution end 3 installed on one side of the connecting frame 41 moves up; when pull wire 2 111 is unwound, the connecting frame 41 and the spraying execution end 3 move down under the action of gravity; when pull wire 16 is wound up, the upper and lower axial arms 14 move up, and when pull wire 16 is unwound, the upper and lower axial arms 14 move down under the action of gravity.

[0025] The working method of the spraying robot composed of the robot body 1, the spraying execution end 3, and the control robot arm 4 of the present application is as follows: Step 1: Position sensor 2 6 works to detect the distance between the guide frame 12 and the building ceiling, and position sensor 1 5 works to detect the distance between the control robot arm 4 and the building ceiling; Step 2: The control system controls the sandblasting machine to supply paint to the spray gun 313, and the spray gun 313 sprays the paint onto the wall, and controls the two forward and reverse motors 38 fixedly installed inside the support shell 31 in the spray execution end 3 to work. Since the output end of the forward and reverse motors 38 is fixedly installed with a gear 2 37, and both sides of the mounting frame 5 33 fixedly installed inside the support shell 31 are rotatably connected to the inner wall of the support shell 31, a reciprocating screw rod 34 is rotatably connected, and a gear 1 36 is fixedly sleeved at one end of the outer side of the reciprocating screw rod 34 away from the mounting frame 5 33, and the gear 1 36 is meshed with the gear 2 37. Under the transmission action of the gear 1 36 and the gear 2 37, the forward and reverse motors 38 can drive the reciprocating screw rod 34 to rotate, and a moving seat 35 is provided on the outer side of the reciprocating screw rod 34 through a nut pair, and the moving seat 35 is slidably connected to the support shell 31 and can only move horizontally inside the support shell 31, and the rotating reciprocating screw rod 34 drives the moving seat 35 to reciprocate; When the two moving seats 35 move toward the mounting frame 5 33 at the same time, and the moving seats 35 move to the outer end of the reciprocating screw rod 34 to change direction, the forward and reverse motor 3 38 stops working; Subsequently, the control system controls the brake 2 312 fixedly installed on the top of the moving seat 35 to stop working, and a spray gun 313 is fixedly installed on the output end of the forward and reverse motor 4 311. When the brake 2 312 set on the output end of the forward and reverse motor 4 311 stops working, the spray gun 313 loses its limit, the forward and reverse motor 4 311 works forward, and the forward and reverse motor 4 311 drives the spray gun 313 to rotate, and sprays the interval between the two spray guns 313, ensuring that the spraying construction is carried out on part of the wall at one time, thereby reducing the construction time; Subsequently, the forward and reverse motor 4 311 works in reverse, the spray gun 313 is reset, and the forward and reverse motor 38 continues to work, so that the moving seat 35 is away from the mounting frame 5 33. When the moving seat 35 is reset, the sandblasting machine stops working and completes a spraying work.

[0026] Step 3: The control system controls the forward and reverse motor 2 110 to work forward for a period of time and then stop working, the pull wire 2 111 is wound up to a certain length, and the pull wire 2 111 drives the connecting frame 41 and the spraying execution end 3 to move up a distance.

[0027] Step 4: Repeat the above steps 2 and 3.

[0028] Step 5: After the control system calculates the height of the robot arm 4 on one side of the upper and lower axial arm 14 according to the feedback result of the position sensor 1 5 to reach the preset height, after the step 3 is completed, the control system controls the robot body 1 to perform step 6.

[0029] Step six is ​​as follows: the forward and reverse motor 19 rotates forward for a period of time, the pull wire 16 fixed to the upper and lower axial arms 14 is wound up, the upper and lower axial arms 14 move up, the connecting frame 41 receives the upward force, and the forward and reverse motor 2 110 synchronously reverses for a period of time, so that the pull wire 2 111 is unwound to a certain length, so that the connecting frame 41 can move up together with the upper and lower axial arms 14, and the relative position between the upper and lower axial arms 14 and the connecting frame 41 remains unchanged.

[0030] Step 7: Repeat step 2.

[0031] Step 8: Repeat the above steps 6 and 7.

[0032] The control system determines that the upper and lower axial arms 14 have moved up to the preset position according to the detection results of the position sensor 2 6 and the working times and durations of the forward and reverse motors 19 and 2 110, and then performs the following step 9: Since reserved grooves 45 are provided on both sides of the connecting frame body 41, the pneumatic cylinder three 46 arranged inside the reserved groove 45 is fixedly connected to the connecting frame body 41, and the two mounting frames five 33 arranged on both sides of the reserved groove 45 are fixedly connected to the supporting shell 31, and the card slot 48 is formed on the mounting frame five 33. When the pneumatic cylinder three 46 is in an extended state, the plug-in frame 47 is partially arranged inside the two card slots 48, the mounting frame four 32 cannot rotate, and the supporting shell 31 cannot rotate.

[0033] At this time, the control system controls the pneumatic cylinder three 46 to work and retract, the mounting frame four 32 loses its fixation, and the supporting shell 31 can rotate.

[0034] Step ten: The control system controls the forward and reverse motor 5 42 fixedly installed on one side of the connecting frame 41 to rotate forward for a period of time. Since the outer fixed sleeve of the transmission horizontal shaft 43 fixed to the output end of the forward and reverse motor 5 42 is provided with a mounting frame 4 32, the mounting frame 4 32 is fixedly connected to the supporting shell 31. At this time, the supporting shell 31 rotates to make the spray gun 313 rotate upward.

[0035] Step 11: proceed to step 2, spray the wall near the corner to avoid the situation where the wall near the ceiling cannot be automatically sprayed due to the space occupied by the spray gun 313 itself, thereby ensuring the quality of the wall spraying.

[0036] Step 12: Control the forward and reverse motor 5 42 to work in reverse, so that the support shell 31 returns to a horizontal state; control the pneumatic cylinder 3 46 to work and extend, so that the plug-in frame 47 is partially inserted into the slot 48 opened in the mounting frame 4 32 and the support shell 31 is limited.

[0037] Step 13: The control system controls the air pressure cylinder 2 39 fixedly inserted on the mounting frame 5 33 to work and extend, and the scraper 310 fixedly installed at the piston end of the air pressure cylinder 2 39 moves to contact the wall surface.

[0038] Step 14: The control system controls the forward and reverse motor 19 to work in reverse, the pull wire 16 is unwound, and the upper and lower axial arms 14 move downward. At the same time, the forward and reverse motor 2 110 is controlled to work in forward rotation, and the pull wire 2 111 is reeled in. During the descent of the upper and lower axial arms 14, the relative position between the spraying execution end 3 and the upper and lower axial arms 14 remains unchanged; When the upper and lower axial arms 14 move down and reset, the forward and reverse motor 19 stops working, and then the forward and reverse motor 2 110 reverses and the pull wire 2 111 is unwound, and the control robot arm 4 and the spray execution end 3 move down and reset. During the downward movement of the spray execution end 3, the scraper 310 smoothes the paint on the wall to ensure the quality of the wall construction.

[0039] Step 15: The control system controls the pneumatic cylinder three 46 to contract so that the support shell 31 can rotate, and then controls the forward and reverse motor five 42 to work forward, so that the mounting frame four 32 and the support shell 31 fixed by the mounting frame four 32 rotate 90°, so that the spray gun 313 enters the protective shell 49 fixed on the upper and lower axial arms 14, and then the brake three 44 arranged on the outer side of the transmission horizontal axis 43 works, and the brake three 44 fixed on the connecting frame 41 limits the transmission horizontal axis 43, so that the mounting frame four 32 is braked and limited, ensuring that the spray gun 313 is stably stored in the protective shell 49, protecting the spray gun 313, and avoiding collision damage to the spray gun 313 during the movement of the spray robot composed of the robot body 1, controller 2, spray execution end 3, control robot arm 4 and other structures, thereby reducing economic losses.

[0040] A safety brake assembly is installed on the guide frame 12. The two pull wires 111 and the two pull wires 16 in the safety brake assembly are sleeved with elastic gas storage members 121 on the outside, and a U-shaped frame 126 is arranged on the top of the pull wire 111. The U-shaped frame 126 is arranged inside the pulley 113 through which the pull wire 111 passes. Under the action of the U-shaped frame 126 and the pulley 113, even if the control robot arm 4 moves up to the top of the guide frame 12, the position of the pull wire 111 between the pulley 113 and the pulley 119 remains horizontal; between the U-shaped frame 126 and the pulley 113, the pull wire 111 is located between the pulley 113 and the pulley 119. Under the action of the roller group composed of 13 and pulley three 119, the pull wire two 111 and the two pull wires one 16 horizontally penetrate the elastic gas storage member 121 on the outside, and the air guide member one 120 fixedly sleeved on the outside of the elastic gas storage member 121 is fixedly connected with the moving plate 118 with the mounting frame three 125, so the air pressure sensor 122 is fixedly installed on one side of the air guide member one 120 to move synchronously with the moving plate 118, and the air pressure sensor 122 is fixedly installed on one side of the air guide member one 120, and the air pressure sensor 122 detects the air pressure value inside the elastic gas storage member 121 and feeds it back to the control system; When the spray robot is constructing the wall, multiple air pressure sensors 122 are controlled to work. When the wire 2 111 and the wire 1 16 are partially worn to a certain extent, the worn positions of the wire 2 111 and the wire 1 16 pass through the elastic air storage component 121, which will reduce the air pressure inside the elastic air storage component 121. The air pressure sensor 122 detects the reduced air pressure, and the air pressure sensor 122 detects the value fed back to the controller 2. After the controller 2 receives the air pressure value that drops below the preset value, the controller 2 sounds an alarm to reduce the safety hazard caused by the wear and breakage of the wire 2 111 and the wire 1 16.

[0041] In addition, friction members 124 are provided at the tops of the pull wire 111 and the pull wire 16. The friction members 124 are fixedly connected to the guide frame 12 and cannot move up and down. The sliding groove 114 in the safety brake assembly is formed at the top of the guide frame 12, and the moving plate 118 is arranged inside the sliding groove 114. The pulley 113 is fixedly connected to the guide frame 12, and the pulley 119 is fixedly connected to the moving plate 118. Since the pneumatic cylinder 115 is fixedly installed on the top of the moving plate 118 and a connecting plate is fixedly connected between the shell of the pneumatic cylinder 115 and the guide frame 12, the pneumatic cylinder 115 can control the moving plate 118 to move up and down when it works; a plurality of limit frames 116 are fixedly installed on the top of the moving plate 118, and the mounting frame 117 set on the outer side of the limit frame 116 is fixedly connected to the guide frame 12. Under the support and limitation of the plurality of limit frames 116, the moving plate 118 can only move up and down; The control system calculates the up and down movement speed of the spray execution end 3 based on the data fed back by the position sensor 5. When the downward movement speed of the spray execution end 3 exceeds the preset speed, the control system controls the pneumatic cylinder 115 to work and contract, and the pneumatic cylinder 115 drives the moving plate 118 to move upward, and the moving plate 118 drives the pulley three 119 to move upward, so that the pull wire 16 and the pull wire two 111 are partially moved up and contacted with the friction part 124, and the pull wire 16 and the pull wire two 111 are braked to stop, so as to avoid the spray execution end 3 from moving downward quickly and out of control, thereby reducing safety hazards.

[0042] In addition, such as Figure 1 As shown, the other ends of the two winding racks 17 are both provided with brakes 123, which are fixedly mounted on the top of the trolley 11. After each operation of the forward and reverse motors 19 and 110, the brakes 123 are controlled to limit the winding racks 17 to ensure the working stability of the robot body 1.

[0043] A brake 2 312 is sleeved on the outer side of the output end of the forward and reverse motor 4 311. The brake 2 312 fixed by the moving seat 35 works after the forward and reverse motor 4 311 finishes working, and stops working before the forward and reverse motor 4 311 works. The setting of the brake 2 312 ensures the working stability of the spray gun 313.

[0044] The robotic arm control system is edited and stored in the controller 2 in advance. The wireless communication module 21 cooperates with the wireless communicators provided on the structures such as the forward and reverse motor 1 19, the forward and reverse motor 2 110, the pneumatic cylinder 115, the pneumatic pressure sensor 122, the forward and reverse motor 5 42, the pneumatic cylinder 3 46, the forward and reverse motor 38, and the pneumatic cylinder 2 39 to realize the data communication requirements. The digital-to-analog conversion module 22 electrically connected to the wireless communication module 21 converts the communication data into calculation parameters. The motion simulation module 23 electrically connected to the output end of the digital-to-analog conversion module 22 stores the control model trained in advance. The control mode generates relevant results according to the calculation parameters. The command generation module 24 electrically connected to the output end of the motion simulation module 23 generates control instructions according to the relevant results. The control instructions are sent to the relevant equipment by the command generation module 24 through the wireless communication module 21 electrically connected to the output end; The air pressure data fed back to the controller 2 by the air pressure sensor 122 is converted by the digital-to-analog conversion module 22 and then transmitted to the wear calculation module 25 electrically connected to the output end. The wear calculation module 25 calculates the wear of the pull wire 2 111 and the pull wire 1 16 based on the air pressure data. When the wear data of the pull wire 2 111 and the pull wire 1 16 is greater than the preset data, the safety warning module 26 fixed at the output end of the wear calculation module 25 controls the alarm on the controller 2 to work. At the same time, the safety warning module 26 controls the command generation module 24 to generate corresponding control instructions, so that the pneumatic cylinder 115 works to brake the pull wire 16 and the pull wire 2 111.

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A controllable mechanical arm of a building spraying robot, comprising a robot body (1), a spraying execution end (3), a position sensor 1 (5) and a position sensor 2 (6), wherein the robot body (1) comprises a trolley (11), a guide frame (12), a sliding frame 1 (13) and upper and lower axial arms (14), characterized in that: A control robot arm (4) is arranged between the spraying execution end (3) and the robot body (1), and the control robot arm (4) comprises a connecting frame (41) slidably connected to one side of the upper and lower axial arms (14) and a flip assembly arranged between the connecting frame (41) and the spraying execution end (3), two pull wires (111) are fixedly installed on the top of the connecting frame (41), and two pull wires (16) are fixedly installed on the top of the upper and lower axial arms (14), and a safety brake assembly is arranged between the two pull wires (111) and the two pull wires (16) and the guide frame (12), and a U-shaped frame (126) is arranged on the top of the pull wire (111).

2. The controllable mechanical arm of a building spraying robot according to claim 1, characterized in that: The guide frame (12) is fixedly mounted on one side of the top of the trolley (11); the sliding frame 1 (13) is slidably mounted inside the guide frame (12); one end of the sliding frame 1 (13) is fixedly connected to the upper and lower axial arms (14); both sides of the top of the sliding frame 1 (13) are fixedly mounted with a limit frame 1 (15); the limit frame 1 (15) extends to the top of the guide frame (12) and is fixedly connected to the upper and lower axial arms (14); the position sensor 2 (6) is fixedly mounted on the top of the guide frame (12); and the position sensor 1 (5) is fixedly mounted on the top of the connecting frame (41).

3. The controllable mechanical arm of a building spraying robot according to claim 1, characterized in that: A forward and reverse motor 1 (19), a forward and reverse motor 2 (110) and two mounting frames 1 (18) are fixedly mounted on the top of the trolley (11); two winding frames (17) are rotatably arranged between the two mounting frames 1 (18); one end of the two winding frames (17) is fixedly connected to the output ends of the forward and reverse motor 1 (19) and the forward and reverse motor 2 (110), respectively; a brake 1 (123) is sleeved on the outer side of the other end of the two winding frames (17); the brake 1 (123) is fixedly mounted on the top of the trolley (11); one end of the two pull wires 2 (111) is fixedly connected to one of the winding frames (17); one end of the two pull wires 1 (16) is fixedly connected to the other winding frame (17); a pulley 1 (112) is arranged on the outer side of the two pull wires 2 (111); the pulley 1 (112) is fixedly connected to the upper and lower axial arms (14).

4. The controllable mechanical arm of a building spraying robot according to claim 1, characterized in that: The safety brake assembly comprises a sliding groove (114), a moving plate (118), four roller groups and a pneumatic cylinder (115), the two pull wires 2 (111) and the two pull wires 1 (16) respectively pass through the four roller groups, each roller group comprises a pulley 2 (113) and a pulley 3 (119), the pulley 2 (113) is fixedly connected to the guide frame (12), the pulley 3 (119) is fixedly connected to the moving plate (118), the sliding groove (114) is formed on the guide frame (1 2) top, the moving plate (118) is arranged inside the sliding groove (114), the pneumatic cylinder (115) is fixedly installed on the top of the moving plate (118), a connecting plate is fixedly connected between the shell of the pneumatic cylinder (115) and the guide frame (12), a plurality of limiting frames (116) are fixedly installed on the top of the moving plate (118), the outer side of the limiting frame (116) is provided with a mounting frame (117), and the mounting frame (117) is fixedly connected to the guide frame (12).

5. The controllable mechanical arm of a building spraying robot according to claim 1, characterized in that: The outer sides of the pull wire 2 (111) and the pull wire 1 (16) are both sleeved with an elastic air storage part (121), and the outer side of the elastic air storage part (121) is fixedly sleeved with an air guide part 1 (120), and one side of the air guide part 1 (120) is fixedly mounted with an air pressure sensor (122), and a mounting frame 3 (125) is fixedly connected between the air guide part 1 (120) and the moving plate (118), and the tops of the pull wire 2 (111) and the pull wire 1 (16) are both provided with a friction part (124), and the friction part (124) is fixedly connected to the guide frame (12).

6. The controllable mechanical arm of a building spraying robot according to claim 1, characterized in that: The flip assembly comprises a forward and reverse motor five (42) fixedly connected to one side of a connecting frame (41), a transmission transverse shaft (43) fixedly installed at the output end of the forward and reverse motor five (42), and a brake three (44) sleeved on the outer side of the transmission transverse shaft (43), one end of the transmission transverse shaft (43) is rotatably connected to the connecting frame (41), the brake three (44) is fixedly connected to the connecting frame (41), both sides of the connecting frame (41) are provided with reserved grooves (45), a pneumatic cylinder three (46) is arranged inside the reserved groove (45), the pneumatic cylinder three (46) is fixedly connected to the connecting frame (41), and a plug-in frame (47) is fixedly installed on the piston end of the pneumatic cylinder three (46).

7. The controllable mechanical arm of a building spraying robot according to claim 6, characterized in that: The spraying execution end (3) comprises a mounting frame four (32) fixedly sleeved on the outer side of a transmission transverse shaft (43), a supporting shell (31) fixedly connected to one side of the mounting frame four (32), and two mounting frames five (33) arranged on both sides of the reserved groove (45), wherein the mounting frame five (33) is fixedly connected to the supporting shell (31), a slot (48) is provided on one side of the mounting frame five (33) close to the plug-in frame (47), and protective shells (49) are fixedly installed on both sides of the upper and lower axial arms (14).

8. The controllable mechanical arm of a building spraying robot according to claim 7, characterized in that: A mounting frame five (33) is fixedly mounted inside the support shell (31), and reciprocating screw rods (34) are rotatably connected to the inner wall of the support shell (31) on both sides of the mounting frame five (33), and a moving seat (35) is provided on the outer sides of the two reciprocating screw rods (34) through a nut pair sleeve, and a gear one (36) is fixedly sleeved on the end of the outer side of the reciprocating screw rod (34) away from the mounting frame five (33), and the gear one (36) is meshed with a gear two (37), and a forward and reverse motor three (38) is fixedly mounted on both sides of the support shell (31), and the gear two (37) is fixedly mounted on the outer side of the output end of the adjacent forward and reverse motor three (38).

9. The controllable mechanical arm of a building spraying robot according to claim 8, characterized in that: The moving seat (35) is slidably mounted inside the supporting shell (31); a forward and reverse motor four (311) is fixedly mounted on the top of the moving seat (35); a spray gun (313) is fixedly mounted on the output end of the forward and reverse motor four (311); a brake two (312) is sleeved on the output end of the forward and reverse motor four (311); the brake two (312) is fixedly mounted on the top of the moving seat (35); a pneumatic cylinder two (39) is fixedly inserted on the mounting frame five (33); a scraper (310) is fixedly mounted on the piston end of the pneumatic cylinder two (39).

10. A robot arm control system, suitable for a controllable robot arm of a building spraying robot as claimed in any one of claims 1 to 9, comprising a controller (2) fixedly mounted on the top of a trolley (11), characterized in that: The controller (2) comprises a wireless communication module (21), a digital-to-analog conversion module (22) electrically connected to the wireless communication module (21), a wear calculation module (25) and a motion simulation module (23) electrically connected to the output end of the digital-to-analog conversion module (22), a command generation module (24) electrically connected to the output end of the motion simulation module (23), and a safety warning module (26) electrically connected to the output end of the wear calculation module (25), wherein the output end of the safety warning module (26) is electrically connected to the command generation module (24), and the output end of the command generation module (24) is electrically connected to the wireless communication module (21).

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