Multi-stage telescopic interior wall spraying robot

Abstract

The invention discloses a multi-stage telescopic interior wall spraying robot which comprises a movable chassis, and a storage tank and an energy module are fixed to the middle of the movable chassis; the telescopic machine body is arranged on the top side of the movable chassis, and the storage tank is located on the inner side of the telescopic machine body; the fixed end of the mechanical arm is connected to the edge of the top of the telescopic machine body; the spraying assembly is connected to the execution end of the mechanical arm, and the spraying assembly is connected with the material storage tank through a pipeline and sprays materials; and the integrated control system is arranged on the movable chassis and connected with the energy module, the movable chassis, the telescopic machine body, the mechanical arm and the spraying assembly so as to control intelligent collaborative operation among components, and the integrated control system is simple in structure, flexible and efficient in operation and suitable for various hollow building spraying operation scenes.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spraying operation equipment, and particularly relates to a multi-stage telescopic interior wall spraying robot. BACKGROUND

[0002] The insufficient spraying height of the interior wall spraying equipment is a prominent problem in practical application. This limitation not only affects the coverage of the operation range, but also increases the cost of manual assistance, which involves technical factors such as mechanical structure design, stability control, power system, etc. Mainly, first, the stroke limit of the lifting mechanism or telescopic arm. Most equipment relies on lifting platforms or telescopic arms to increase the spraying height, but due to the control of their own structure size and weight, the maximum extension of the telescopic arm or the maximum lifting height of the lifting platform has an upper limit. Second, the contradiction between bearing and stability. When the robot increases the spraying height, the end of the telescopic arm or the lifting platform will affect the overall center of gravity. If the height is blindly increased, the robot center of gravity may be offset, causing shaking or even tipping risk during movement or operation. Third, low space and high space are difficult to switch, and the flexibility is low, which cannot be applied to different interior height operation scenes, thereby increasing the construction difficulty and reducing the construction efficiency.

[0003] Therefore, how to provide a multi-stage telescopic interior wall spraying robot with flexible operation and convenient use is a problem that those skilled in the art need to solve. SUMMARY

[0004] Therefore, the application provides a multi-stage telescopic interior wall spraying robot, which has strong operation flexibility, can adapt to different interior building scenes, and improves the spraying operation efficiency.

[0005] In order to achieve the above purpose, the application adopts the following technical scheme: a multi-stage telescopic interior wall spraying robot, comprising:

[0006] A mobile chassis, wherein a storage tank and an energy module are fixed in the middle of the mobile chassis;

[0007] A telescopic body, wherein the telescopic body is arranged on the top side of the mobile chassis, and the storage tank is located on the inner side of the telescopic body;

[0008] A mechanical arm, wherein the fixed end of the mechanical arm is connected to the telescopic top edge of the telescopic body;

[0009] A spraying assembly, wherein the spraying assembly is connected to the execution end of the mechanical arm, and the spraying assembly is connected to the storage tank through a pipeline and sprays the material;

[0010] An integrated control system is mounted on the mobile chassis and connected to the energy module, mobile chassis, telescopic body, robotic arm, and spraying assembly to control the intelligent collaborative operation between the components.

[0011] The beneficial technical effects of this invention are: the telescopic body, used in conjunction with the robotic arm, can greatly improve the working range of the spraying components to adapt to different interior building operation scenarios. The whole is based on a mobile chassis for mobility, which is flexible and convenient to use. In specific implementation, an energy module is set on the mobile chassis to provide the power source for the equipment operation, ensuring the long-term continuous operation of the equipment.

[0012] Preferably, the mobile chassis has rotatably connected wheels around its bottom side. One end of the mobile chassis is the front end, and the other end is the rear end. The two wheels at the rear end are independently controlled electric wheels. The integrated control system is electrically connected to the two electric wheels and controls them to rotate synchronously or differentially. The two wheels at the front end are driven wheels.

[0013] The resulting technical effect is that the traveling wheels are used to realize the movement of the mobile chassis, and the electric wheels can be independently controlled in operation, providing a prerequisite for different working and traveling modes.

[0014] Preferably, it also includes a caster wheel assembly, which is floating vertically on the underside of the mobile chassis and located between the two driven wheels; when turning, the two electric wheels rotate at different speeds and cause the front end of the mobile chassis to rise, at which time the caster wheel assembly provides dominant support and can realize small-radius reversal of the mobile chassis.

[0015] The resulting technical effect is that the caster assembly can assist in the steering of the mobile chassis. The caster assembly is floating. When the mobile chassis is traveling in a straight line normally, the caster assembly does not steer. The caster assembly can only function when there is a speed difference between the two electric wheels.

[0016] Preferably, the caster assembly includes a transition seat, guide rods, a floating bracket, a spring, a limiting nut, and casters. The transition seat is detachably connected to the bottom side of the mobile chassis by bolts. The guide rods are arranged in pairs and vertically fixed to the bottom side of the transition seat. The floating bracket has sliding holes for the guide rods to slide. The spring is sleeved on the outer periphery of the guide rod, with its top end abutting against the bottom surface of the transition seat and its bottom end abutting against the top surface of the floating bracket. The limiting nut is threaded to the bottom end of the guide rod and can adjust the pre-compression stroke of the spring. The casters are connected to the bottom side of the floating bracket via wheel frames. In the forward state, the casters follow the four traveling wheels in a straight line. In the reversing state, the front end of the mobile chassis is lifted based on the differential rotation of the two electric wheels, and the spring releases pressure. The casters primarily support the load and assist the mobile chassis in achieving small-radius reversing.

[0017] The resulting technical effect is that the spring keeps the casters away from the chassis. When the differential rotation of the two electric wheels causes a slight lift, the spring releases pressure. At this time, the casters will dominate the support force and assist the chassis in achieving a small-radius reversal process. During this process, the two front wheels of the driving wheel are still in contact with the ground, but the load on them is reduced.

[0018] Preferably, the telescopic body includes a multi-level nested frame, a rail guide assembly, an anti-torsion component, and multiple sets of telescopic drive mechanisms. The rail guide assembly is disposed between two adjacent frames and is used to guide the telescopic movement of the two adjacent frames. The anti-torsion component is an L-shaped plate and is fixed to the four corner edges of the outer frame corresponding to the two adjacent frames. The inner frame corresponding to the two adjacent frames is slidably connected to the anti-torsion component on the nearest side. The telescopic drive mechanism is installed between two adjacent frames and is used to drive the inner frame of the two adjacent frames to rise and fall. The integrated control system is electrically connected to multiple sets of telescopic drive mechanisms to control the telescopic deformation of the telescopic body.

[0019] The resulting technical effect is that the telescopic fuselage is based on a multi-level nested frame. The multi-level nested frame has stable motion accuracy based on the cooperation of the rail guide component. With the use of anti-torsion components, three-dimensional constraints are achieved when the multi-level nested frame is telescopic, which solves the problem of cumulative error during multi-level telescopic. The rail guide component and the anti-torsion component work together to ensure that the multi-level frame telescopic is accurate, stable and without deviation.

[0020] Preferably, the rail guide assembly includes a slide rail and a slider. The slide rail is vertically disposed on the inner side of the outer frame of two adjacent frames. The slider is a long slider and is fixed on the outer side of the corresponding inner frame of two adjacent frames. The slider is adapted to slide and connect to the slide rail. The rail guide assembly is disposed on the middle of the side of two adjacent frames.

[0021] The resulting technical effect is that the guide rail assembly improves the telescopic movement accuracy of the multi-level frame through the cooperation of the slide rail and the slider. The guide rail assembly is set in the middle of the side of the adjacent two-level frame to improve the stability and reliability of the telescopic movement of the multi-level frame.

[0022] Preferably, the telescopic drive mechanism includes a motor, a coupling, and a ball screw. The motor is fixed to the bottom of the outer frame corresponding to the two adjacent frame levels. The screw of the ball screw is connected to the output shaft of the motor through the coupling. The nut of the ball screw is fixed to the bottom of the inner frame corresponding to the two adjacent frame levels. The motor is electrically connected to the integrated control system.

[0023] The resulting technical effect is that the ball screw is driven by a motor to achieve the expansion and contraction of adjacent frames. In practice, the expansion and contraction of multiple frames can be adjusted according to the needs of the operation to meet the height requirements of the spraying operation.

[0024] Preferably, the robotic arm is one or more of a folding robotic arm, a multi-joint robotic arm, and an extension rod robotic arm. When the robotic arm is a combined robotic arm, the spraying assembly is connected to the far end of the combined robotic arm.

[0025] The resulting technical effect is that the choice of robotic arms is not limited to folding robotic arms, multi-joint robotic arms, or extension rod robotic arms; they can also be modular structures, offering flexible operation and a wider range of adjustment and control.

[0026] Preferably, the spraying assembly includes a spray gun, a paint delivery pipe, a compressed air delivery pipe, and a control valve group. The spray gun is fixed to the actuator end of the robotic arm and is a pneumatic spray gun. The paint delivery pipe and the compressed air delivery pipe are respectively connected to the paint channel and air channel of the spray gun. The paint delivery pipe is used to deliver paint from the storage tank. The compressed air delivery pipe is connected to an air source. The control valve group is electrically connected to the integrated control system and is installed on the pipelines of the paint delivery pipe and the compressed air delivery pipe to control the spraying state of the spray gun.

[0027] The spray gun is equipped with an atomizing plate and an air cap at the nozzle. The end of the spray gun near the paint channel is provided with a discharge port. The atomizing plate is located on the side of the nozzle away from the discharge port and is used to control the initial shape of the paint. The air cap is threaded to the nozzle and further impacts and atomizes the material sprayed from the paint port. One end of the air channel extends to the area between the atomizing plate and the air cap and introduces a compressed air source.

[0028] The resulting technical effect is that the spraying component uses a spray gun to complete the final spraying, with good atomization effect, and can control the pneumatic flow, pressure and material supply through the control valve group according to the actual operation needs, thereby realizing automatic adjustment of the atomization effect.

[0029] Preferably, it also includes auxiliary support telescopic legs, which are in multiple sets and vertically arranged around the mobile chassis. A level sensor is provided in the middle of the mobile chassis. The integrated control system is connected to the level sensor and the auxiliary support telescopic legs respectively to work together to prevent the mobile chassis from tipping over.

[0030] The resulting technical effect is that the auxiliary support telescopic legs are used to prevent the device from tilting due to instability of the center of gravity during operation. Based on the feedback data of the horizontal sensor, the integrated control system controls the extension and retraction of the auxiliary support telescopic legs around the device, so that the mobile chassis can quickly and accurately reach and maintain a horizontal and stable state, ensuring that the robot can operate safely and reliably under various working conditions. It should be noted that the horizontal sensor can only control the operation of the auxiliary support telescopic legs after detecting a certain tilt angle, so as to avoid operational interference with the previous steering adjustment. Attached Figure Description

[0031] Fig. 1 This is a schematic diagram of the main body of a multi-stage telescopic interior wall spraying robot according to the present invention;

[0032] Fig. 2 This is a partial schematic diagram of the telescopic body of a multi-stage telescopic interior wall spraying robot according to the present invention;

[0033] Fig. 3 This is a schematic diagram of the telescopic drive mechanism of a multi-stage telescopic interior wall spraying robot according to the present invention.

[0034] Fig. 4 This is a schematic diagram of the mobile chassis of a multi-stage telescopic interior wall spraying robot according to the present invention;

[0035] Fig. 5 This is a schematic diagram of the universal wheel assembly of a multi-stage telescopic interior wall spraying robot according to the present invention;

[0036] Fig. 6 This is a schematic diagram of the spray gun head structure of a multi-stage telescopic interior wall spraying robot according to the present invention.

[0037] Fig. 7 This is a structural diagram of the air cap of a multi-stage telescopic interior wall spraying robot according to the present invention.

[0038] 1. Mobile chassis, 11. Electric wheels, 12. Driven wheels, 2. Storage tank, 3. Energy module, 4. Telescopic body, 41. Multi-level nested frame, 42. Rail guide assembly, 421. Slide rail, 422. Slider, 43. Anti-torsion component, 44. Telescopic drive mechanism, 441. Motor, 442. Coupling, 443. Ball screw, 5. Robotic arm, 6. Spraying assembly, 61. Spray gun, 611. Atomizing plate, 612. Air cap, 613. Discharge port, 614. Paint channel, 615. Air channel, 7. Integrated control system, 8. Caster assembly, 81. Transition seat, 82. Guide rod, 83. Floating bracket, 84. Spring, 85. Limit nut, 86. Caster, 9. Auxiliary support telescopic legs. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] See the appendix of this invention. Figs. 1 to 7 According to an embodiment of the present invention, a multi-stage telescopic interior wall spraying robot includes:

[0041] Mobile chassis 1, with a storage tank 2 and an energy module 3 fixed in the middle of the mobile chassis 1. The storage tank 2 is used to temporarily store the materials used for spraying, and the energy module 3 can be a mobile energy module such as a solid-state battery pack, which can store energy and provide the necessary energy for the equipment to work.

[0042] Telescopic body 4 is located on the top side of the mobile chassis 1, and storage tank 2 is located inside the telescopic body 4.

[0043] Robotic arm 5, the fixed end of robotic arm 5 is connected to the top edge of telescopic body 4;

[0044] Spraying component 6 is connected to the execution end of robotic arm 5. Spraying component 6 is connected to storage tank 2 through pipeline and sprays material.

[0045] The integrated control system 7 is mounted on the mobile chassis 1 and is connected to the energy module 3, the mobile chassis 1, the telescopic body 4, the robotic arm 5, and the spraying assembly 6 respectively, in order to control the intelligent collaborative operation between the components. The electrical box of the integrated control system contains various electronic components such as circuit boards, controllers, and drivers. These components are interconnected by wires and communicate and control with the various parts of the robot.

[0046] In other embodiments, the mobile chassis 1 is rotatably connected to the bottom of the chassis 1. One end of the mobile chassis 1 is the front end of the vehicle and the other end is the rear end. The two wheels at the rear end are independently controlled electric wheels 11. The integrated control system 7 is electrically connected to the two electric wheels 11 and controls them to rotate synchronously or differentially. The synchronous rotation of the two electric wheels enables the equipment to move in a straight line, while the differential rotation provides the basis for the subsequent turning of the equipment. The two wheels at the front end of the vehicle are driven wheels 12.

[0047] In some other embodiments, a caster wheel assembly 8 is also included. The caster wheel assembly 8 is floating vertically on the lower side of the mobile chassis 1 and located between the two driven wheels 12. This arrangement can keep the robot stable when traveling in a straight line, and at the same time, the flexible rotation of the caster wheel can achieve a small turning radius when turning. When turning, the two electric wheels 11 rotate at different speeds and cause the front end of the mobile chassis 1 to rise. At this time, the caster wheel assembly 8 provides the main support and can realize the small-radius reversal of the mobile chassis 1, which makes it convenient for the robot to turn flexibly in narrow spaces.

[0048] Omnidirectional wheels are non-powered wheels, simplifying their construction. They do not provide a driving function, but only serve as auxiliary support and guidance, which simplifies the structure (eliminating the need for a complex transmission system) and avoids driving deviations caused by unstable power output from omnidirectional wheels.

[0049] Specifically, the caster wheel assembly 8 includes a transition seat 81, guide rods 82, a floating bracket 83, a spring 84, a limiting nut 85, and casters 86. The transition seat 81 is detachably connected to the bottom side of the mobile chassis 1 by bolts. The guide rods 82 are arranged in pairs and vertically fixed to the bottom side of the transition seat 81. The floating bracket 83 has sliding holes for the guide rods 82 to slide. The spring 84 is sleeved on the outer periphery of the guide rod 82, with its top end abutting against the bottom surface of the transition seat 81 and its bottom end abutting against the top surface of the floating bracket 83. Specifically, the positioning abutment is achieved by opening annular grooves on the corresponding components at both ends of the spring, with the two ends of the spring fitting within the annular grooves to prevent radial wobble of the spring. The limiting nut 85 is threaded onto the guide rod 86. The bottom end of the guide rod 82 can adjust the pre-compression stroke of the spring 84. The guide rod is a smooth rod with a threaded section at its bottom end for connecting the limit nut. Washers and anti-loosening nuts can be added to improve the reliability of use. The caster wheel 86 is connected to the bottom side of the floating bracket 83 through the wheel frame. In the forward state, the caster wheel 86 follows the four traveling wheels to move in a straight line. In the reversing state, the front end of the moving chassis 1 is lifted based on the differential rotation of the two electric wheels. The spring releases the pressure, and the caster wheel 86 mainly supports the load and assists the moving chassis 1 in achieving a small radius reversing. At this time, the two driven wheels are still in frictional contact with the ground, but the load and friction are reduced. The main load at the front end is borne by the caster wheel.

[0050] In some other specific embodiments, the telescopic fuselage 4 includes a multi-level nested frame 41, a rail guide assembly 42, an anti-torsion member 43, and multiple sets of telescopic drive mechanisms 44. The rail guide assembly 42 is located between two adjacent frames and is used to guide the telescopic movement of the two adjacent frames. The anti-torsion member 43 is an L-shaped plate and is fixed to the four corner edges of the outer frame corresponding to the two adjacent frames to further enhance the stability during telescopic movement and prevent the frame from twisting and shifting. The inner frame corresponding to the two adjacent frames is slidably connected to the anti-torsion member 43 on the nearest side. The telescopic drive mechanism 44 is installed between two adjacent frames and is used to drive the inner frame of the two adjacent frames to rise and fall. The integrated control system 7 is electrically connected to multiple sets of telescopic drive mechanisms to control the telescopic deformation of the telescopic fuselage 4.

[0051] In some other embodiments, the rail guide assembly 42 includes a slide rail 421 and a slider 422. The slide rail 421 is vertically disposed on the inner side of the outer frame of the two adjacent frames. The slider 422 is a long slider and is fixed on the outer side of the corresponding inner frame of the two adjacent frames. The slider 422 is adapted to slide and connect to the slide rail 421. The rail guide assembly 42 is provided in the middle of the side of the two adjacent frames to increase the movement accuracy and stability of the two adjacent frames.

[0052] In some other embodiments, the telescopic drive mechanism 44 includes a motor 441, a coupling 442, and a ball screw 443. The motor 441 is fixed to the bottom of the outer frame corresponding to the two adjacent frame levels. The screw of the ball screw 443 is connected to the output shaft of the motor 441 through the coupling 442. The nut of the ball screw 443 is fixed to the bottom of the inner frame corresponding to the two adjacent frame levels. The motor 441 is electrically connected to the integrated control system 7.

[0053] In other specific embodiments, the robotic arm 5 is one or more combinations of a folding robotic arm, a multi-joint robotic arm, and an extension rod robotic arm. When the robotic arm 5 is a combined robotic arm, the spraying assembly 6 is connected to the far end of the combined robotic arm.

[0054] Different types of robotic arms offer different operational advantages. Folding robotic arms can achieve a wide range of height increases. When higher working heights are required, folding robotic arms extend in stages via hydraulic or electric actuators. Their nested design minimizes space when retracted, facilitating transportation and storage. Multi-joint robotic arms allow for flexible adjustment of the spraying position in complex spaces. Using multiple foldable joints, multi-joint robotic arms unfold in confined spaces for high-position spraying. Their servo motors precisely control the joint rotation angles, ensuring the end effector accurately reaches the target position. Extension-type robotic arms can increase the working space. Robotic arm systems can utilize either folding or multi-joint robotic arms independently. The end of the robotic arm is connected to a spray gun, located at the farthest point of the arm.

[0055] When installing the robotic arm 5, it needs to be installed on the innermost frame of the telescopic body through a connecting bracket. The connecting bracket is fixed to the frame with bolts and nuts to ensure the reliability of the robotic arm connection.

[0056] In some other embodiments, the spraying assembly 6 includes a spray gun 61, a paint delivery pipe, a compressed air delivery pipe, and a control valve group. The spray gun 61 is fixed to the execution end of the robotic arm 5. The spray gun 61 is a pneumatic spray gun. The paint delivery pipe and the compressed air delivery pipe are respectively connected to the paint channel 614 and the air channel 615 of the spray gun 61. The paint delivery pipe is used to deliver the paint in the storage tank 2. The compressed air delivery pipe is connected to the air source. The control valve group is electrically connected to the integrated control system 7 and is installed on the pipelines of the paint delivery pipe and the compressed air delivery pipe to control the spraying state of the spray gun 61.

[0057] The nozzle of the spray gun 61 is provided with an atomizing plate 611 and an air cap 612. The end of the spray gun 61 near the paint channel 614 is provided with a discharge port 613. The atomizing plate 611 is located on the side of the nozzle away from the discharge port and is used to control the initial shape of the paint. The air cap 612 is threaded to the nozzle and further impacts and atomizes the material sprayed from the paint port. One end of the air channel 615 extends to the area between the atomizing plate 611 and the air cap 612 and introduces a compressed air source.

[0058] After the paint is sprayed from the outlet 613, it is atomized through the cooperation of the atomizing plate and the air cap. The atomizing plate is responsible for "feeding" the paint and determining its initial shape, while the air cap is responsible for "exerting force" to completely atomize the paint. The atomizing plate directly contacts and initially disperses the paint, controlling its spray pattern. As the "exit carrier" of the paint, the atomizing plate determines the initial spray state of the paint (e.g., columnar or fan-shaped) through its own structure (e.g., nozzle shape and diameter), providing the basic shape for subsequent atomization. The air cap provides a high-speed airflow, further breaking the paint into fine particles. As an "airflow controller," the air cap forms a high-speed, directional airflow (annular, fan-shaped, etc.) through specially designed air channels and nozzles, using the impact force of the airflow to break up and disperse the paint particles, ultimately forming a uniform mist.

[0059] A pneumatic proportional valve and an air flow sensor are installed on the compressed air pipeline. The pneumatic proportional valve precisely adjusts the flow rate and pressure of the compressed air based on control signals from the controller, thereby changing the air velocity. The air flow sensor monitors the compressed air flow rate in real time and feeds the flow signal back to the controller. The controller calculates the required compressed air flow rate and pressure based on preset atomization effect parameters and coating type, and then controls the pneumatic proportional valve to adjust them, achieving automatic adjustment of the atomization effect.

[0060] With a microcontroller at its core, it receives data from sensors such as paint type sensors (e.g., by identifying RFID tags on paint containers to obtain paint type information) and air flow sensors. Combined with a preset atomization effect model, it calculates the optimal compressed air adjustment parameters and controls the pneumatic proportional valve and nozzle adjustment mechanism to achieve automatic optimization of the atomization effect.

[0061] In some other embodiments, auxiliary support telescopic legs 9 are also included. Multiple sets of auxiliary support telescopic legs 9 are vertically arranged around the perimeter of the mobile chassis 1. A level sensor is located in the center of the mobile chassis 1. The integrated control system 7 is connected to the level sensor and the auxiliary support telescopic legs 9 respectively to work together to prevent the mobile chassis from tipping over. Anti-slip rubber pads are installed on the bottom of the auxiliary support telescopic legs 9 to increase friction with the ground, enhance support, increase the contact area between the support legs and the ground, increase friction, and make the support more stable. They can also adapt to a certain degree of unevenness in the ground and act as a buffer, reducing damage to the ground. When the robot body is raised to a certain height, the auxiliary support telescopic legs extend and support the ground, preventing the robot from tilting or swaying during the spraying operation. After the auxiliary support telescopic legs extend, the support range at the four corners is further expanded, increasing the number of support points. This allows the chassis to better withstand various loads when stationary, especially when the robotic arm is extended significantly or carrying heavy objects, effectively preventing the chassis from tilting or tipping over and ensuring the robot maintains a stable posture during spraying and other operations.

[0062] It should be noted that the integrated control system 7 includes a motion module for controlling the movement of the mobile chassis 1, a robotic arm module for controlling the operation of the robotic arm 5, and a spraying control module for controlling the spraying status. The three work together to achieve automated and intelligent operation.

[0063] This invention features a multi-level nested frame structure, coupled with rail guide components and anti-torsion structures, allowing for flexible and stable extension. It maintains high-precision linear motion during lifting and lowering, effectively preventing deviation and swaying, thus providing a stable foundation for spraying operations and ensuring precise and efficient operation of the robotic arm and spray gun. The machine body employs a modular design, with the paint storage tank as the central point, symmetrically distributing core components such as the control system and power system. This achieves efficient collaboration between systems while fully utilizing internal space. The spraying system achieves precise operation through the collaboration of sensors and intelligent components. A flow sensor intelligently adjusts the paint flow, a pressure sensor links with a proportional valve to regulate pressure, the nozzle works with pneumatic components to optimize atomization, and the drive mechanism adjusts the spray gun posture based on tilt and distance sensors, comprehensively ensuring spraying quality and efficiency.

[0064] The specific automated spraying process is as follows:

[0065] After completing the spraying of one area, the robot moves to the next work point according to the planned path and realizes a fully automated process. This is achieved through the coordinated efforts of multiple links, including sensor perception, control system decision-making, and actuator linkage.

[0066] First, confirm the completion of the spraying signal for the current area.

[0067] The robot first needs to know that "the current area has been painted", which is a prerequisite for triggering subsequent actions and relies on a multi-dimensional perception and feedback mechanism.

[0068] The integrated control system calls the path planning for the next work point.

[0069] After receiving the "Current area completed" signal, the main control system immediately initiates the "path planning call" process.

[0070] The mobile mechanism starts and travels along the planned route.

[0071] The chassis system moves along a path through the drive system, and its core function is to ensure high-precision positioning and smooth driving of the mobile chassis.

[0072] Dynamic monitoring and correction during movement

[0073] To prevent deviations caused by uneven ground or load changes during movement, the system will perform real-time closed-loop control.

[0074] Positioning and attitude calibration after reaching the next work point

[0075] After the robot arrives at the "approximate area" of the next work point, it needs to perform high-precision positioning and attitude adjustment to ensure that the initial position and angle of the spray gun / robotic arm are consistent with the preset process requirements.

[0076] Start-up and process cycle of the next area spraying

[0077] After completing the positioning and attitude calibration, the system automatically starts the spraying process for the next area and enters the "real-time monitoring - anomaly handling" state.

[0078] This invention supports intelligent collaborative operation of a mobile chassis, robotic arm, and spraying components. It establishes a real-time data link through wireless communication, enabling each module to form a "dynamic response closed loop." Specifically, the mobile chassis handles movement, the robotic arm handles precision operations, and the spraying components handle coating application, ultimately achieving "on-demand collaboration and seamless coordination." Furthermore, it supports a human-machine interface, allowing operators to manually control and set parameters via a touchscreen or remote control, while simultaneously viewing system operating status and fault information.

[0079] The apparatus and methods disclosed in the embodiments are described in a relatively simple manner since they correspond to the methods disclosed in the embodiments. For relevant details, please refer to the description in the method section.

[0080] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-stage telescopic interior wall spraying robot, characterized in that, include: A mobile chassis (1) is fixed with a storage tank (2) and an energy module (3); Telescopic body (4), the telescopic body (4) is disposed on the top side of the mobile chassis (1); The fixed end of the robotic arm (5) is connected to the telescopic top edge of the telescopic body (4); Spraying assembly (6), the spraying assembly (6) is connected to the execution end of the robotic arm (5), the spraying assembly (6) is connected to the storage tank (2) through a pipeline and sprays material; An integrated control system (7) is installed on the mobile chassis (1) and connected to the energy module (3), the mobile chassis (1), the telescopic body (4), the robotic arm (5), and the spraying assembly (6) respectively, so as to control the intelligent collaborative operation between the components.

2. The multi-stage telescopic interior wall spraying robot according to claim 1, characterized in that, The mobile chassis (1) has rotatably connected wheels around its bottom side. One end of the mobile chassis (1) is the front end of the vehicle, and the other end of the mobile chassis (1) is the rear end. The two wheels at the rear end are independently controlled electric wheels (11). The integrated control system (7) is electrically connected to the two electric wheels (11) and controls them to rotate synchronously or differentially. The two wheels at the front end of the vehicle are driven wheels (12).

3. The multi-stage telescopic interior wall spraying robot according to claim 2, characterized in that, It also includes a caster wheel assembly (8), which is floating up and down on the lower side of the mobile chassis (1) and located between the two driven wheels (12); when turning, the two electric wheels (11) rotate at different speeds and cause the front end of the mobile chassis (1) to rise. At this time, the caster wheel assembly (8) provides the main support and can realize the small-radius reversal of the mobile chassis (1).

4. The multi-stage telescopic interior wall spraying robot according to claim 3, characterized in that, The universal wheel assembly (8) includes a transition seat (81), guide rods (82), a floating bracket (83), a spring (84), a limiting nut (85), and universal wheels (86). The transition seat (81) is detachably connected to the bottom side of the mobile chassis (1) by bolts. The guide rods (82) are arranged in pairs and vertically fixed to the bottom side of the transition seat (81). The floating bracket (83) is provided with sliding holes for the guide rods (82) to slide. The spring (84) is sleeved on the outer periphery of the guide rods (82) and its top end is positioned and abuts against the bottom surface of the transition seat (81), while its bottom end is positioned and abuts against the bottom surface of the transition seat (81). The top surface of the floating bracket (83) is positioned and abutted. The limiting nut (85) is threaded to the bottom end of the guide rod (82) and can adjust the pre-compression stroke of the spring (84). The universal wheel (86) is connected to the bottom side of the floating bracket (83) through the wheel frame. In the forward state, the universal wheel (86) follows the four walking wheels and moves in a straight line. In the reversing state, the front end of the moving chassis (1) is lifted based on the differential rotation of the two electric wheels, and the spring releases the pressure. The universal wheel (86) mainly supports the load and assists the moving chassis (1) in realizing small-radius reversing.

5. The multi-stage telescopic interior wall spraying robot according to claim 1, characterized in that, The telescopic fuselage (4) includes a multi-level nested frame (41), a rail guide assembly (42), an anti-torsion component (43), and multiple sets of telescopic drive mechanisms (44). The rail guide assembly (42) is located between two adjacent frames and is used to guide the telescopic movement of the two adjacent frames. The anti-torsion component (43) is an L-shaped plate and is fixed to the four corner edges of the outer frame corresponding to the two adjacent frames. The inner frame corresponding to the two adjacent frames is slidably connected to the anti-torsion component (43) on the side closest to it. The telescopic drive mechanism (44) is installed between two adjacent frames and is used to drive the inner frame of the two adjacent frames to rise and fall. The integrated control system (7) is electrically connected to multiple sets of telescopic drive mechanisms to control the telescopic deformation of the telescopic fuselage (4).

6. The multi-stage telescopic interior wall spraying robot according to claim 5, characterized in that, The rail guide assembly (42) includes a slide rail (421) and a slider (422). The slide rail (421) is vertically arranged on the inner side of the outer frame of the two adjacent frames. The slider (422) is a long slider and is fixed on the outer side of the corresponding inner frame of the two adjacent frames. The slider (422) is adapted to slide and connect to the slide rail (421). The rail guide assembly (42) is provided in the middle of the side of the two adjacent frames.

7. The multi-stage telescopic interior wall spraying robot according to claim 5, characterized in that, The telescopic drive mechanism (44) includes a motor (441), a coupling (442), and a ball screw (443). The motor (441) is fixed at the bottom of the outer frame corresponding to the two adjacent frames. The screw of the ball screw (443) is connected to the output shaft of the motor (441) through the coupling (442). The nut of the ball screw (443) is fixed at the bottom of the inner frame corresponding to the two adjacent frames. The motor (441) is electrically connected to the integrated control system (7).

8. The multi-stage telescopic interior wall spraying robot according to claim 1, characterized in that, The robotic arm (5) is one or more of a folding robotic arm, a multi-joint robotic arm, and an extension rod robotic arm. When the robotic arm (5) is a combined robotic arm, the spraying assembly (6) is connected to the far end of the combined robotic arm.

9. The multi-stage telescopic interior wall spraying robot according to claim 1, characterized in that, The spraying assembly (6) includes a spray gun (61), a paint delivery pipe, a compressed air delivery pipe, and a control valve group. The spray gun (61) is fixed to the execution end of the robotic arm (5). The spray gun (61) is a pneumatic spray gun. The paint delivery pipe and the compressed air delivery pipe are respectively connected to the paint channel (614) and the air channel (615) of the spray gun (61). The paint delivery pipe is used to deliver the paint in the storage tank (2). The compressed air delivery pipe is connected to the air source. The control valve group is electrically connected to the integrated control system (7) and installed on the pipelines of the paint delivery pipe and the compressed air delivery pipe to control the spraying state of the spray gun (61). The spray gun (61) is provided with an atomizing plate (611) and an air cap (612) at the nozzle. The spray gun (61) is provided with a discharge port (613) at the end near the paint channel (614). The atomizing plate (611) is located on the side of the nozzle away from the discharge port and is used to control the initial shape of the paint. The air cap (612) is threaded to the nozzle and further impacts and atomizes the material sprayed from the paint nozzle. One end of the air channel (615) extends to the area between the atomizing plate (611) and the air cap (612) and introduces a compressed air source.

10. A multi-stage telescopic interior wall spraying robot according to any one of claims 1-9, characterized in that, It also includes auxiliary support telescopic legs (9), which are arranged in multiple sets and vertically around the mobile chassis (1). A level sensor is provided in the middle of the mobile chassis (1). The integrated control system (7) is connected to the level sensor and the auxiliary support telescopic legs (9) respectively to work together to avoid the mobile chassis from tipping over.

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