Omnidirectional spraying robot for floor slurry of dome building

Abstract

The invention provides an omni-directional spraying robot for floor slurry of dome buildings, and relates to the technical field of floor decoration equipment of buildings. The omni-directional spraying robot for the floor slurry of the dome building comprises a rotating unit, a lifting unit, a supporting action unit, a spraying platform and an automatic spraying unit which are sequentially connected from bottom to top. According to the omni-directional spraying robot for the floor slurry of the dome building, construction is not needed, during floor spraying operation, the automatic spraying unit can be driven to perform multi-dimensional actions through rotation of the rotation unit and lifting of the lifting unit, and then the robot fits the shape of a to-be-sprayed floor of the dome building; the slurry spraying operation is carried out on all the working faces of the dome building of the automatic spraying unit, spraying facilities do not need to be built manually, spraying gun operation does not need to be carried out manually, manpower is liberated, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of floor decoration equipment for buildings, and specifically to an omnidirectional slurry spraying robot for the floor of a dome building. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] A dome is a building of a special shape, with a dome-shaped, hemispherical or spherical top. Dome buildings are widely used in different fields, such as inflatable spherical cabins, plant growth chambers, landscape architecture, sports stadiums, etc. Dome buildings are used in many fields with their unique appearance and versatility, providing comfortable space and meeting various functional needs.

[0004] When spraying slurry on the floor of a dome building, it is necessary to temporarily build spraying facilities and then manually set up the slurry spray gun. The whole construction process is cumbersome, inefficient, and wastes manpower. In addition, the setting height is difficult to meet the requirements, and the slurry spray gun after construction is difficult to fit closely with the surface of the dome building during spraying, resulting in poor spraying effect. Summary of the invention

[0005] The purpose of the present invention is to at least solve the problem that the construction process of spraying equipment is complicated, inefficient, and wastes manpower. This purpose is achieved through the following technical solutions: The first aspect of the present invention proposes an omnidirectional slurry spraying robot for dome building floors, comprising: a rotating unit; a lifting unit, which is installed on the rotating unit and can rotate under the drive of the rotating unit; a supporting action unit, which is installed on the lifting unit and can be lifted and lowered under the drive of the lifting unit; a spraying platform, which is installed on the supporting action unit and can move in the horizontal and vertical directions under the drive of the supporting action unit; and an automatic spraying unit, which is installed on the spraying platform and is used for slurry spraying.

[0006] The omnidirectional slurry spraying robot for the floor of a dome building according to the present invention is equipped with a rotating unit, a lifting unit, a supporting action unit and a spraying platform. The rotation of the rotating unit and the lifting of the lifting unit can drive the automatic spraying unit to perform multiple degrees of freedom, thereby fitting the shape of the floor to be sprayed of the dome building, so that all working surfaces of the dome building can be sprayed in all directions, without the need to manually build spraying facilities and operate spray guns, thereby freeing up manpower and improving production efficiency.

[0007] In addition, the dome building floor slurry omnidirectional spraying robot according to the present invention may also have the following additional technical features: In some embodiments of the present invention, the supporting action unit includes a supporting arm device and a first linear driving mechanism; the lower end of the supporting arm device is hinged on the lifting unit, and the upper end of the supporting arm device is installed with the spraying platform; the lower end of the first linear driving mechanism is installed on the lifting unit, and the upper end of the first linear driving mechanism is hinged on the supporting arm device, and is used to drive the supporting arm device to rotate on the lifting unit.

[0008] In some embodiments of the present invention, the support arm device includes a telescopic arm body, a folding arm joint, a folding arm body, a second linear drive mechanism and a third linear drive mechanism; the lower end of the telescopic arm body is hinged to the lifting unit, and the upper end of the telescopic arm body is hinged to the lower end of the folding arm joint; the lower end of the folding arm body is hinged to the upper end of the folding arm joint, and the spraying platform is connected to the upper end of the folding arm joint; the lower end of the second linear drive mechanism is hinged to the telescopic arm body, and the upper end of the second linear drive mechanism is hinged to the folding arm joint; the lower end of the third linear drive mechanism is hinged to the folding arm joint, and the upper end of the third linear drive mechanism is hinged to the folding arm body.

[0009] In some embodiments of the present invention, the support arm device also includes an auxiliary adjustment mechanism and a fourth linear drive mechanism; the upper end of the auxiliary adjustment mechanism is used to install the spray platform, and the lower end of the auxiliary adjustment mechanism is connected to the folding arm body, and the action of the auxiliary adjustment mechanism is configured to drive the spray platform to move horizontally and vertically; the fourth linear drive mechanism is connected to the auxiliary adjustment mechanism and is used to drive the auxiliary adjustment mechanism to move.

[0010] In some embodiments of the present invention, the auxiliary adjustment mechanism includes a first connecting seat, a second connecting seat, a first fixed rod and a second fixed rod; the first connecting seat is installed at the upper end of the folding arm body, and the second connecting seat is installed at the bottom of the spray platform; the upper end of the first fixed rod is hinged to one end of the second connecting seat, and the lower end of the first fixed rod is hinged to one end of the first connecting seat; the upper end of the second fixed rod is hinged to the other end of the second connecting seat, and the lower end of the second fixed rod is hinged to the other end of the first connecting seat; one end of the fourth linear drive mechanism is hinged to the first fixed rod, and the other end of the fourth linear drive mechanism is hinged to the second fixed rod.

[0011] In some embodiments of the present invention, the supporting action unit further includes a rotating traction mechanism; the rotating traction mechanism is connected to the supporting arm device and is used to pull and support the supporting arm device.

[0012] In some embodiments of the present invention, the number of the support arm device, the first linear drive mechanism and the rotating traction mechanism are all two, and the two first linear drive mechanisms are connected to the two support arm devices one by one; the rotating traction mechanism includes a first winch, a first traction rope and a first pulley assembly; one end of the first traction rope is connected to the first winch, and the first pulley assembly is installed on one of the two support arm devices, the first traction rope passes around the first pulley assembly, and the other end of the first traction rope is connected to the other of the two support arm devices.

[0013] In some embodiments of the present invention, the supporting action unit is provided with a first connecting mechanism, and the spraying platform is provided with a second connecting mechanism detachably connected to the first connecting mechanism.

[0014] In some embodiments of the present invention, the dome building floor slurry omnidirectional spraying robot also includes a steel bar binding platform, and the steel bar binding platform is provided with a third connecting mechanism, and the third connecting mechanism is configured to be detachably connected to the first connecting mechanism.

[0015] In some embodiments of the present invention, the lifting unit includes a lifting platform, a fifth linear drive mechanism, a lifting and traction mechanism and a plurality of lifting guide columns; the lifting platform is mounted on the lifting guide columns and can be lifted and lowered along the lifting guide columns; the lower end of the fifth linear drive mechanism is installed on the rotating unit, and the upper end is connected to the lifting platform; the lifting and traction mechanism is installed on the top of one of the lifting guide columns, the lifting and traction mechanism is connected to the lifting platform, and is used to pull and support the lifting platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings: Figure 1 The schematic diagram of the structure of the omnidirectional spraying robot for floor slurry of a dome building according to an embodiment of the present invention is shown schematically (I); Figure 2 The schematic diagram (II) schematically shows the structure of the omnidirectional spraying robot for floor slurry of a dome building according to an embodiment of the present invention; Figure 3 for Figure 2 A magnified view of part a; Figure 4 A top view of an omnidirectional slurry spraying robot for a dome building floor according to an embodiment of the present invention is schematically shown; Figure 5 The schematic diagram of the structure of two supporting action units of the dome building floor slurry omnidirectional spraying robot according to the embodiment of the present invention is schematically shown; Figure 6 A schematic diagram of the structure of the auxiliary adjustment mechanism and the spraying platform of the dome building floor slurry omnidirectional spraying robot according to an embodiment of the present invention is schematically shown; Figure 7 The structural diagram of the steel bar binding platform of the omnidirectional spraying robot for floor slurry of a dome building according to an embodiment of the present invention is schematically shown.

[0017] The reference numerals are as follows: 100, rotary unit; 110, base; 120, second driving gear; 130, second rotary bearing disc; 200, lifting unit; 210, lifting platform; 220, fifth linear drive mechanism; 230, lifting traction mechanism; 231, second hoist; 232, second traction rope; 233, second pulley assembly; 240, lifting guide column; 300, support action unit; 310, support arm device; 311, telescopic arm body; 312, folding arm joint; 313, folding arm body; 314, second linear drive mechanism; 315, third linear drive mechanism; 316, mounting member; 320, first linear drive mechanism; 330, rotating traction mechanism; 331, first hoist; 332, first traction rope; 333, first pulley assembly; 340, auxiliary adjustment mechanism; 341, first connecting seat; 342, second connecting seat; 343, first fixing rod; 344, second fixing rod; 350, first connecting mechanism; 400, spraying platform; 410, second connecting mechanism; 500, automatic spraying unit; 510, spraying device; 520, spraying pipeline; 530, spraying pump; 600, auxiliary rotating unit; 610, first driving gear; 620, first slewing bearing disc; 700. Steel bar binding platform; 710. Third connecting mechanism. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0019] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0020] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0021] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as "below other elements or features" or "below other elements or features" will be subsequently oriented to "above other elements or features" or "above other elements or features". Therefore, the example term "below..." may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0022] During the construction of inflatable spherical cabins and other buildings that require capping, it is necessary to spray grouting on the inner wall in layers. The slurry can be concrete. After spraying one layer, steel bars are tied for initial support and spraying thickness mark. After one layer of slurry is dried, continue to spray the next layer of slurry.

[0023] During the construction period, the air in the cabin is seriously polluted. However, since a temporary slurry spraying structure needs to be built, the construction steps are cumbersome and time-consuming, which can easily cause health damage to the construction workers. Moreover, after the construction, the slurry spray gun needs to be set up manually for spraying. It can be said that the existing slurry spraying construction method is inefficient, wastes manpower, and harms the health of the construction workers.

[0024] In addition to the above problems, the temporary slurry spraying structure cannot cover the entire surface when spraying at high altitude, resulting in poor spraying effect. Moreover, it is difficult to fit closely with the surface of the dome building during the spraying process. The height of the spraying equipment is also difficult to meet the requirements, and the technical implementation is very difficult.

[0025] In view of this, the present embodiment provides a dome building floor slurry omnidirectional spraying robot that does not require temporary construction, can achieve multi-degree-of-freedom control, is tightly attached during spraying, and can perform spraying operations on all aspects of the dome building. Figure 1-7 The structure and operation method of the omnidirectional slurry spraying robot for the dome building floor provided in this embodiment are introduced.

[0026] Figure 1 The schematic diagram of the structure of the omnidirectional spraying robot for floor slurry of a dome building according to an embodiment of the present invention is shown (I). Figure 2 The structural diagram of the omnidirectional slurry spraying robot for the floor of a dome building according to an embodiment of the present invention is schematically shown (II). Figure 1 The front view of the dome building floor slurry omnidirectional spraying robot of this embodiment is shown, and the attached Figure 2 A three-dimensional image of the omnidirectional spraying robot for slurry on the floor of a dome building of this embodiment is shown. Combining the two can more intuitively obtain the overall picture of the omnidirectional spraying robot for slurry on the floor of a dome building provided by this embodiment.

[0027] Combined with Figure 1 and attached Figure 2 As shown in , the dome building floor slurry omnidirectional spraying robot provided in this embodiment mainly includes functional units such as a rotation unit 100, a lifting unit 200, a supporting action unit 300, a spraying platform 400 and an automatic spraying unit 500.

[0028] Among them, the rotary unit 100 of this embodiment serves as the basis of the omnidirectional slurry spraying robot for the entire dome building floor. The lifting unit 200 of this embodiment is installed on the rotary unit 100 and can rotate under the drive of the rotary unit 100. The support action unit 300 of this embodiment is installed on the lifting unit 200 and can be vertically lifted and lowered under the drive of the lifting unit 200. The support action unit 300 is configured to be able to move in at least the horizontal direction and the vertical direction. The spraying platform 400 of this embodiment is installed on the upper end of the support action unit 300 and can move in the horizontal direction and the vertical direction under the drive of the support action unit 300. The automatic spraying unit 500 of this embodiment is installed on the spraying platform 400 and is used for slurry spraying.

[0029] When spraying operation is required, the omnidirectional slurry spraying robot for the dome building floor of this embodiment is placed near the spraying operation surface, and then the automatic spraying unit 500 on the spraying platform 400 is driven to perform rotational movement, lifting movement, and movement close to or away from the operation surface to be sprayed through the rotating unit 100, the lifting unit 200, and the supporting action unit 300, so that the automatic spraying unit 500 can perform multiple degrees of freedom of movement, and then fit the shape of the floor to be sprayed of the dome building, and can perform slurry spraying operations on all operation surfaces of the dome building of the automatic spraying unit. The whole process does not require manual construction of spraying facilities and operation of spray guns, which can free up manpower and improve production efficiency.

[0030] In the above functional units, the automatic spray unit 500 of this embodiment is detachably mounted on the spray platform 400 to facilitate the functional expansion and functional replacement of the spray platform 400. The structure of the automatic spray unit 500 of this embodiment may include a spray device 510, a spray pipeline 520, a spray pump 530 and a slurry supply device (not shown in the figure), wherein only the spray device 510 is installed on the spray platform 400, the spray pipeline 520 can be installed on the supporting action unit 300, and the spray device 510 is connected to the spray and slurry supply device through the spray pipeline 520. The spray pump 530 transports the slurry in the slurry supply device to the spray device 510 via the spray pipeline 520 for spraying. Specifically, the spray device 510 can be an existing spray gun for automatically spraying slurry.

[0031] In addition to the above functional units, the dome building floor slurry omnidirectional spraying robot of this embodiment also includes a control unit (not shown in the figure), which is respectively connected to the aforementioned rotation unit 100, lifting unit 200, support action unit 300 and automatic spraying unit 500, and is used to control the opening and closing of the above control units. The control unit can specifically be an existing control structure such as a single chip microcomputer.

[0032] Figure 3 for Figure 2 Enlarged view of part a.

[0033] Combined with Figure 3 As shown in , under the rotation adjustment based on the rotation unit 100, this embodiment further provides an auxiliary rotation unit 600 between the supporting action unit 300 and the spraying platform 400, and the auxiliary rotation unit 600 can drive the spraying platform 400 of this embodiment to rotate directly.

[0034] The reason for adopting this structural design is that, since the supporting action unit 300 is generally tilted during operation, if the spraying unit is driven to rotate by the rotation of the rotating unit 100, the spraying platform 400 will also move in the horizontal direction. In addition, when the number of the supporting action unit 300 and the spraying platform 400 in this embodiment is two as shown in the figure, the rotation of a single spraying platform 400 cannot be achieved.

[0035] Therefore, the present embodiment is additionally provided with an auxiliary rotation unit 600, which may include a first drive motor (not shown in the figure), a first drive gear 610 and a first swivel bearing disk 620. The first drive motor is installed on the top of the supporting action unit 300, and the first drive gear 610 and the first swivel bearing disk 620 are both installed on the bottom surface of the spraying platform 400. The first drive motor drives the first drive gear 610 to rotate, and the first drive gear 610 is engaged with the teeth on the outer edge of the first swivel bearing disk 620 to drive the first swivel bearing disk 620 of the present embodiment to rotate, thereby driving the spraying platform 400 located on the first swivel bearing disk 620 to rotate.

[0036] Figure 4 The top view of the omnidirectional slurry spraying robot for the floor of a dome building according to an embodiment of the present invention is schematically shown (only the part located within the outline of the base is shown).

[0037] Combined with Figure 4 As shown in the figure, in the above functional units, the rotary unit 100 of this embodiment serves as the basis of the entire dome building floor slurry omnidirectional spraying robot, and the rotary unit 100 includes a base 110, a second drive motor (not shown in the figure), a second drive gear 120, and a second slewing bearing disc 130. The second drive motor, the second slewing bearing disc 130, and the second drive gear 120 of this embodiment are all installed on the base 110.

[0038] The second slewing bearing disk 130 of this embodiment is located in the middle area of ​​the base 110, and the outer ring of the second slewing bearing disk 130 is provided with teeth. The lifting unit 200 of this embodiment is installed on the second slewing bearing disk 130, and the lifting unit 200 is coaxially arranged with the second slewing bearing disk 130 and rotates synchronously. Two second driving gears 120 are along the circumference of the second slewing bearing disk 130, and the second driving gears 120 are connected to the teeth on the second slewing bearing disk 130. It should be noted that the number of the second driving gears 120 of this embodiment can be two as shown in the figure, or only one or more than two, and this embodiment does not list them one by one.

[0039] The number of the second drive motors in this embodiment can be one, and one second drive motor can be connected to only one second drive gear 120, and the other second drive gears 120 are used as auxiliary. Alternatively, one second drive motor can be connected to multiple second drive gears 120 through a transmission chain or a transmission belt, or multiple second drive motors can be connected to multiple second drive gears 120 in a one-to-one correspondence. As long as the second drive motor can drive the second drive gear 120 to rotate, this embodiment does not impose too many restrictions on this.

[0040] Figure 5 The structural diagram of two supporting action units 300 of the omnidirectional slurry spraying robot for the floor of a dome building according to an embodiment of the present invention is schematically shown.

[0041] Combined with Figure 5 As shown in , the support action unit 300 of this embodiment includes a support arm device 310 and a first linear drive mechanism 320. The lower end of the support arm device 310 of this embodiment is hingedly mounted on the lifting unit 200, and the upper end of the support arm device 310 is installed with a spraying platform 400.

[0042] The lower end of the first linear drive mechanism 320 of this embodiment is installed on the lifting unit 200, and the upper end of the first linear drive mechanism 320 is hinged on the support arm device 310, and is used to drive the support arm device 310 to rotate on the lifting unit 200. In this way, the support action unit 300 of this embodiment can drive the spraying platform 400 of this embodiment to move in the horizontal direction and the vertical direction, so that the automatic spraying unit 500 on the spraying platform 400 can approach or move away from the working surface to be sprayed.

[0043] Specifically, the first linear drive mechanism 320 of this embodiment may be an oil cylinder, and of course may also be an electric cylinder or a pneumatic cylinder, etc., which are not listed one by one in this embodiment.

[0044] Combine again with Figure 5As shown in , in some examples, the present embodiment designs the support arm device 310 to include functional structures such as a telescopic arm body 311, a folding arm joint 312, a folding arm body 313, a second linear drive mechanism 314 and a third linear drive mechanism 315.

[0045] Among them, the lower end of the telescopic arm body 311 of this embodiment is hinged to the lifting unit 200 through a hinge seat and other structures, and the upper end of the telescopic arm body 311 of this embodiment is hinged to the lower end of the folding arm joint 312. The lower end of the folding arm body 313 of this embodiment is hinged to the upper end of the folding arm joint 312, and the spraying platform 400 of this embodiment is connected to the upper end of the folding arm joint 312. The lower end of the second linear drive mechanism 314 of this embodiment is hinged to the telescopic arm body 311, and the upper end of the second linear drive mechanism 314 is hinged to the folding arm joint 312. The lower end of the third linear drive mechanism 315 of this embodiment is hinged to the folding arm joint 312, and the upper end of the third linear drive mechanism 315 is hinged to the folding arm body 313.

[0046] In specific actions, the height of the spraying platform 400 can be adjusted by extending and retracting the telescopic arm 311, and the distance between the spraying platform 400 and the working surface to be sprayed can also be adjusted when the telescopic arm 311 of this embodiment is tilted. This embodiment does not make too many restrictions on the structural form of the telescopic arm 311, and any telescopic arm on a heavy machine can be used as the telescopic arm 311 of this embodiment, such as the telescopic arm structure on a crane.

[0047] When the second linear drive mechanism 314 and the third linear drive mechanism 315 of the present embodiment are extended and retracted, the folding arm joint 312 of the present embodiment can be driven to rotate on the telescopic arm body 311, and the folding arm body 313 of the present embodiment can be driven to rotate on the folding arm joint 312 of the present embodiment, thereby realizing multi-level adjustment of the spraying platform 400 of the present embodiment.

[0048] Specifically, the second linear drive mechanism 314, the folding arm joint 312 and the telescopic arm body 311 of this embodiment can be regarded as a multi-link structure, and the third linear drive mechanism 315, the folding arm joint 312 and the folding arm body 313 of this embodiment can be regarded as another multi-link structure.

[0049] Similarly, similar to the above-mentioned first linear drive mechanism 320, the second linear drive mechanism 314 and the third linear drive mechanism 315 of this embodiment can also be structures such as oil cylinders, which will not be described in detail in this embodiment.

[0050] Combine again with Figure 5As shown in , it can be seen that there are two support arm devices 310 and first linear drive mechanisms 320 in this embodiment, and the two first linear drive mechanisms 320 are connected to the two support arm devices 310 in a one-to-one correspondence. The first support arm device 310 of this embodiment is designed to be two, and the two first support arm devices 310 are respectively installed on both sides of the top of the lifting unit 200, and the two first support arm devices 310 are arranged opposite to each other. One of the first support arm devices 310 can be located at the original initial position of the other first support arm device 310 by rotating 180° under the drive of the rotating unit 100, so that when spraying dome building structures such as inflatable ball cabins, it only takes 180° to achieve spraying of the entire working surface of the dome building without rotating 360°, which greatly improves the construction efficiency.

[0051] Based on the structures of the two supporting arm devices 310, in order to further improve the stability of the supporting arm device 310 of this embodiment, the supporting action unit 300 is also designed to include a rotating traction mechanism 330. The rotating traction mechanism 330 of this embodiment is connected to the supporting arm device 310 and is used to traction and support the supporting arm device 310.

[0052] Furthermore, this embodiment also improves the structure of the rotating traction mechanism 330, so that each rotating traction device is connected to two support arm devices 310 respectively, and the support arm devices 310 themselves are used to achieve traction and fixation.

[0053] Specifically, the rotating traction mechanism 330 of the present embodiment includes a first hoist 331, a first traction rope 332 and a first pulley assembly 333. Among them, one end of the first traction rope 332 of the present embodiment is connected to the first hoist 331, the first pulley assembly 333 of the present embodiment is installed on one of the two support arm devices 310, the first traction rope 332 of the present embodiment passes around the first pulley assembly 333, and the other end of the first traction rope 332 of the present embodiment is connected to the other of the two support arm devices 310. That is, one end of each first traction rope 332 of the present embodiment is retracted and released by the first hoist 331, the middle of the first traction rope 332 is supported by one of the support arm devices 310, and the other end of the first traction rope 332 is supported by the other support arm device 310. The first traction rope 332 is cleverly used to connect the two support arm devices 310, and the gravity of one of the support arm devices 310 is used to support and traction the other support arm device. The structure is clever and the traction support has better stability.

[0054] Of course, the number of traction mechanisms in this embodiment can be greater, for example Figure 5 The rear side not shown in the figure is also equipped with two traction mechanisms which are symmetrical to the two traction mechanisms in the figure, forming an additional Figure 3Accordingly, the four first hoists 331 in the embodiment of the present invention are combined again with the attached Figure 2 As shown in , the support arm device 310 can be provided with a mounting member 316 , and both ends of the mounting member 316 are provided with a first pulley assembly 333 for the first traction rope 332 to pass through.

[0055] Figure 6 The schematic diagram of the structure of the auxiliary adjustment mechanism 340 and the spraying platform 400 of the omnidirectional spraying robot for slurry on the floor of a dome building according to an embodiment of the present invention is schematically shown.

[0056] Combined with Figure 5 And attached Figure 6 As shown in the figure, in order to avoid the direct rigid connection between the top of the folding arm joint 312 and the spraying platform 400 of this embodiment affecting the stability of the structure, and to further facilitate the adjustment of the position of the spraying platform 400, the support wall device is also designed to include an auxiliary adjustment mechanism 340 and a fourth linear drive mechanism (not shown in the figure).

[0057] The upper end of the auxiliary adjustment mechanism 340 of this embodiment is used to install the spraying platform 400, and the lower end of the auxiliary adjustment mechanism 340 is connected to the folding arm body 313. The action of the auxiliary adjustment mechanism 340 is configured to drive the spraying platform 400 to move horizontally and to lift vertically. The fourth linear drive mechanism of this embodiment is connected to the auxiliary adjustment mechanism 340 and is used to drive the auxiliary adjustment mechanism 340 to move.

[0058] In some examples, the auxiliary adjustment mechanism 340 of this embodiment includes a first connection seat 341 , a second connection seat 342 , a first fixing rod 343 , and a second fixing rod 344 .

[0059] Specifically, the first connecting seat 341 of the present embodiment is installed on the upper end of the folding arm body 313, and the second connecting seat 342 is installed on the bottom of the spraying platform 400. The upper end of the first fixed rod 343 of the present embodiment is hinged to one end of the second connecting seat 342, and the lower end of the first fixed rod 343 is hinged to one end of the first connecting seat 341. The upper end of the second fixed rod 344 of the present embodiment is hinged to the other end of the second connecting seat 342, and the lower end of the second fixed rod 344 is hinged to the other end of the first connecting seat 341. One end of the fourth linear drive mechanism of the present embodiment is hinged to the first fixed rod 343, and the other end of the fourth linear drive mechanism is hinged to the second fixed rod 344. Similarly, the fourth linear drive mechanism of the present embodiment can also be a hydraulic cylinder.

[0060] That is, a four-bar structure is formed by the first connecting seat 341, the second connecting seat 342, the first fixing rod 343 and the second fixing rod 344, and the four-bar structure is used as the support of the spraying platform 400, and the four-bar is fixed or driven by the hydraulic cylinder to provide stable support and can withstand large loads and torques. The hydraulic cylinder can realize the motion control of the four-bar, including fixing the four-bar or driving the four-bar to move. The hydraulic system can provide precise force adjustment and motion control, making the mechanism movement more stable and controllable.

[0061] In addition, the combination of the four-bar linkage and the hydraulic system can achieve a variety of functions. For example, by fixing the four-bar linkage with a hydraulic cylinder, the mechanism can be locked in a specific position so that it is not interfered with by the outside world. By driving the four-bar linkage with a hydraulic cylinder, the mechanism can be extended, rotated, and other movements, which has greater flexibility and application range. Moreover, compared with other supporting structures, the four-bar linkage is relatively compact and occupies less space.

[0062] Figure 7 The structural diagram of the steel bar binding platform 700 of the omnidirectional spraying robot for floor slurry of a dome building according to an embodiment of the present invention is schematically shown.

[0063] Combined with Figure 2 and 7 As shown in , the omnidirectional spraying robot for floor slurry of dome building of this embodiment also includes a steel bar tying platform 700. The reason for configuring the steel bar tying platform 700 is that, for the construction of structures such as inflatable ball cabins, it is necessary to tie the outer wall steel bars after spraying slurry on the inner wall. If the steel bar platform is built again, a lot of time will be wasted. Therefore, this embodiment directly uses the omnidirectional spraying robot for floor slurry of dome building to tie the steel bars, which is multi-purpose.

[0064] In order to facilitate the disassembly and assembly of the spraying platform 400 and the steel bar binding platform 700 of this embodiment, in this embodiment, the support action unit 300 is provided with a first connection mechanism 350, and the spraying platform 400 is provided with a second connection mechanism 410 detachably connected to the first connection mechanism 350. Further, the steel bar binding platform 700 is provided with a third connection mechanism 710, and the third connection mechanism 710 is configured to be detachably connected to the first connection mechanism 350.

[0065] Optionally, the first connecting mechanism 350, the second connecting mechanism 410 and the third connecting mechanism 710 of the present embodiment may all be structures such as connecting plates or connecting rods with connecting holes, and the first connecting mechanism 350 of the present embodiment may be assembled and connected with the second connecting mechanism 410 or the third connecting mechanism 710 by connecting the connecting plates or connecting rods by structures such as bolts. Of course, there may be many specific connection methods, such as hanging connection and the like.

[0066] Combined with the attachment again Figure 1-3 As shown in , in order to improve the structural stability of the lifting unit 200 during lifting, the lifting unit 200 is designed in this embodiment to include a lifting platform 210, a fifth linear drive mechanism 220, a lifting traction mechanism 230 and a plurality of lifting guide columns 240. Among them, the lifting platform 210 of this embodiment is mounted on the lifting guide column 240 and can be lifted and lowered along the lifting guide column 240. The lower end of the fifth linear drive mechanism 220 of this embodiment is installed on the rotary unit 100, and the upper end is connected to the lifting platform 210. The lifting traction mechanism 230 of this embodiment is installed on the top of one of the lifting guide columns 240, and the lifting traction mechanism 230 is connected to the lifting platform 210 and is used to pull and support the lifting platform 210.

[0067] In this way, the lifting guide column 240 is used to guide the lifting of the lifting platform 210, and the lifting traction mechanism 230 is used to improve the stability of the lifting platform 210 during the lifting process, ensuring smooth and accurate lifting.

[0068] Optionally, the lifting and traction mechanism 230 of this embodiment includes a second winch 231, a second traction rope 232 and a second pulley assembly 233. In this embodiment, the top of the fifth linear drive mechanism 220 is designed to extend out of the lifting platform, so that the second pulley assembly 233 can be installed on the top of the fifth linear drive mechanism 220 to install and traction the second traction rope 232, the second traction rope 232 passes around the second pulley assembly 233, and the two ends of the second traction rope 232 are connected to the two second winches 231 located on the lifting platform 210 in a one-to-one correspondence.

[0069] The lifting and traction mechanism 230 can not only improve the lifting stability of the lifting unit 200, but also use the top of the fifth linear drive mechanism 220 as the installation base of the second pulley assembly 233, which has an ingenious structure and multiple uses.

[0070] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An omnidirectional spraying robot for floor slurry of dome building, characterized in that: include: Rotary unit (100); a lifting unit (200), the lifting unit (200) being mounted on the rotating unit (100) and being capable of rotating under the drive of the rotating unit (100); a supporting action unit (300), the supporting action unit (300) being mounted on the lifting unit (200) and being capable of being lifted and lowered under the drive of the lifting unit (200); a spraying platform (400), the spraying platform (400) being mounted on the supporting action unit (300) and being capable of moving in a horizontal direction and a vertical direction under the drive of the supporting action unit (300); and An automatic spraying unit (500), the automatic spraying unit (500) is installed on the spraying platform (400) and is used for slurry spraying.

2. The dome building floor slurry omnidirectional spraying robot according to claim 1 is characterized in that: The supporting action unit (300) comprises a supporting arm device (310) and a first linear driving mechanism (320); The lower end of the support arm device (310) is hingedly mounted on the lifting unit (200), and the upper end of the support arm device (310) is mounted with the spraying platform (400); The lower end of the first linear drive mechanism (320) is mounted on the lifting unit (200), and the upper end of the first linear drive mechanism (320) is hingedly mounted on the support arm device (310). The first linear drive mechanism (320) is used to drive the support arm device (310) to rotate on the lifting unit (200).

3. The dome building floor slurry omnidirectional spraying robot according to claim 2 is characterized in that: The support arm device (310) comprises a telescopic arm body (311), a folding arm joint (312), a folding arm body (313), a second linear drive mechanism (314) and a third linear drive mechanism (315); The lower end of the telescopic arm (311) is hingedly mounted on the lifting unit (200), and the upper end of the telescopic arm (311) is hingedly connected to the lower end of the folding arm joint (312); The lower end of the folding arm body (313) is hinged to the upper end of the folding arm joint (312), and the spraying platform (400) is connected to the upper end of the folding arm joint (312); The lower end of the second linear drive mechanism (314) is hinged to the telescopic arm body (311), and the upper end of the second linear drive mechanism (314) is hinged to the folding arm joint (312); The lower end of the third linear drive mechanism (315) is hinged to the folding arm joint (312), and the upper end of the third linear drive mechanism (315) is hinged to the folding arm body (313).

4. The dome building floor slurry omnidirectional spraying robot according to claim 3 is characterized in that: The support arm device (310) further comprises an auxiliary adjustment mechanism (340) and a fourth linear drive mechanism; The upper end of the auxiliary adjustment mechanism (340) is used to install the spraying platform (400), and the lower end of the auxiliary adjustment mechanism (340) is connected to the folding arm body (313). The action of the auxiliary adjustment mechanism (340) is configured to drive the spraying platform (400) to move horizontally and to lift vertically; The fourth linear drive mechanism is connected to the auxiliary adjustment mechanism (340) and is used to drive the auxiliary adjustment mechanism (340) to move.

5. The dome building floor slurry omnidirectional spraying robot according to claim 4 is characterized in that: The auxiliary adjustment mechanism (340) comprises a first connecting seat (341), a second connecting seat (342), a first fixing rod (343) and a second fixing rod (344); The first connection seat (341) is installed on the upper end of the folding arm body (313), and the second connection seat (342) is installed on the bottom of the spraying platform (400); The upper end of the first fixing rod (343) is hinged to one end of the second connecting seat (342), and the lower end of the first fixing rod (343) is hinged to one end of the first connecting seat (341); The upper end of the second fixing rod (344) is hinged to the other end of the second connecting seat (342), and the lower end of the second fixing rod (344) is hinged to the other end of the first connecting seat (341); One end of the fourth linear drive mechanism is hinged to the first fixed rod (343), and the other end of the fourth linear drive mechanism is hinged to the second fixed rod (344).

6. The omnidirectional spraying robot for floor slurry of a dome building according to any one of claims 2 to 5, characterized in that: The supporting action unit (300) further comprises a rotating traction mechanism (330); The rotating traction mechanism (330) is connected to the support arm device (310), and is used to tractionally support the support arm device (310).

7. The dome building floor slurry omnidirectional spraying robot according to claim 6, characterized in that: The number of the support arm device (310), the first linear drive mechanism (320) and the rotation traction mechanism (330) are all two, and the two first linear drive mechanisms (320) are connected to the two support arm devices (310) in a one-to-one correspondence; The rotating traction mechanism (330) comprises a first hoist (331), a first traction rope (332) and a first pulley assembly (333); One end of the first traction rope (332) is connected to the first hoist (331), the first pulley assembly (333) is installed on one of the two support arm devices (310), the first traction rope (332) passes around the first pulley assembly (333), and the other end of the first traction rope (332) is connected to the other of the two support arm devices (310).

8. The dome building floor slurry omnidirectional spraying robot according to claim 1, characterized in that: The supporting action unit (300) is provided with a first connecting mechanism (350), and the spraying platform (400) is provided with a second connecting mechanism (410) detachably connected to the first connecting mechanism (350).

9. The omnidirectional slurry spraying robot for dome building floor according to claim 8, characterized in that: The dome building floor slurry omnidirectional spraying robot further comprises a steel bar binding platform (700), wherein the steel bar binding platform (700) is provided with a third connection mechanism (710), and the third connection mechanism (710) is configured to be detachably connected to the first connection mechanism (350).

10. The dome building floor slurry omnidirectional spraying robot according to claim 1, characterized in that: The lifting unit (200) comprises a lifting platform (210), a fifth linear drive mechanism (220), a lifting traction mechanism (230), and a plurality of lifting guide columns (240); The lifting platform (210) is sleeved on the lifting guide column (240) and can be lifted and lowered along the lifting guide column (240); The lower end of the fifth linear drive mechanism (220) is mounted on the rotary unit (100), and the upper end is connected to the lifting platform (210); The lifting and traction mechanism (230) is installed on the top of one of the lifting guide columns (240); the lifting and traction mechanism (230) is connected to the lifting platform (210) and is used to provide traction and support for the lifting platform (210).

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