Netting coating robot

Abstract

A netting coating robot belongs to the field of robots and is mainly composed of a robot body frame, supporting pieces, claws and rollers. According to the working principle of the robot, the lead screw motor provides main power and enables the main body to move vertically and horizontally; the hook claws are controlled by the steering engine, and when the main body reaches a designated position, the hook claws can hook a net surface, so that the main body moves more stably; due to the installation mode of the roller, the roller can roll when the robot moves up and down, so that the purpose of rolling and brushing paint is achieved; the hook claw is an arc-shaped hook claw, so that the hook claw can smoothly hook a net surface and be separated from the net surface; a clamping device is mounted at the bottom of the main body to reduce deflection generated when the main body moves left and right; the lead screw motor guarantees the movement speed of the main body, the claw and the clamping device guarantee the stability of the main body during movement, and the coating machine can move to a net face far away from the ground for coating.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mesh coating robot. Background Technology

[0002] In traditional mesh coating operations, the coating is usually applied manually. However, manual coating has many problems. For example, operators need to work at heights, posing a high safety risk; at the same time, manual coating is inefficient and it is difficult to ensure the uniformity of the coating. In addition, for some mesh surfaces far from the ground, manual coating is more difficult and may even be impossible to complete. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems in the prior art and provide a mesh coating robot that can move stably on the mesh surface and perform coating operations, aiming to realize mesh surface coating operations in an automated manner, thereby improving coating efficiency and safety.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A mesh coating robot, characterized in that it comprises:

[0006] Main framework;

[0007] The X-axis moving mechanism is mounted on the main frame and includes an X-axis moving plate and a first lead screw motor for driving the X-axis moving plate to move along the X-axis direction.

[0008] The Y-axis moving mechanism is mounted on the X-axis moving plate and includes the Y-axis moving plate and a second lead screw motor for driving the Y-axis moving plate to move along the Y-axis direction.

[0009] The hook mechanism includes left and right hook mechanisms and an upper hook mechanism. The left and right hook mechanisms are symmetrically arranged at both ends of the Y-axis moving plate, and the upper hook mechanism is located at the upper end of the X-axis moving plate. Each hook mechanism includes a hook driven by a servo motor, which is used to selectively hook onto the net surface when the robot moves.

[0010] A clamping device is provided at the bottom of the main frame for selectively clamping the mesh surface when the robot moves laterally;

[0011] The coating actuator, mounted on the main frame, is used to apply coating to the mesh surface.

[0012] The X-axis moving mechanism is connected to the main frame via a first support member; the lead screw of the first lead screw motor is connected to the X-axis moving plate via a second support member; and the lead screw of the second lead screw motor is connected to the Y-axis moving plate via a third support member.

[0013] The main frame is also provided with at least two additional slide rails parallel to the moving direction of the Y-axis moving mechanism, and the Y-axis moving plate is slidably connected to the additional slide rails.

[0014] The front end of the hook is a curved claw.

[0015] The servo motor and the grappling hook are connected by a four-bar linkage to convert the rotational motion of the servo motor into the hooking and releasing action of the grappling hook.

[0016] The clamping device includes:

[0017] The base plate is used to contact the mesh surface;

[0018] Multiple grippers, one end of which is rotatably connected to the first connector, and the middle part of which is rotatably connected to the support frame, and the support frame is fixed on the base plate;

[0019] The lead screw stepper motor is connected to the first connecting member through the lead screw, thereby driving the gripper to perform clamping and releasing actions.

[0020] The clamping device is connected to the bottom of the main frame via a second connector.

[0021] The coating actuator is a roller or brush installed at the bottom of the main frame.

[0022] Compared with the prior art, the beneficial effects achieved by the technical solution of this invention are:

[0023] 1. The robot of this invention can move and work stably on vertical or inclined net surfaces autonomously, freeing operators from high-risk and high-intensity working environments and fundamentally preventing safety accidents such as falls from heights.

[0024] 2. This invention provides multiple stability guarantees for the robot through the synergistic action of the hook mechanism and the bottom clamping device. When moving, the hook mechanism reliably hooks onto the net surface, providing a firm foothold for the robot's ascent and preventing it from tilting backward or slipping. When moving laterally, the bottom clamping device effectively clamps the net surface, greatly suppressing the robot's swaying and tilting. This "alternating fixation, step-by-step" movement ensures that the robot maintains a stable relative position with the net surface throughout the operation, allowing the roller brush to apply paint evenly and smoothly. This effectively avoids problems such as missed areas and uneven thickness that are common with traditional manual coating, significantly improving the quality of the coating process.

[0025] 3. This invention employs an X-axis and Y-axis movement mechanism driven by a lead screw motor, enabling the robot to perform precise two-dimensional planar motion on the mesh surface. The lead screw drive features high precision and high rigidity, allowing the robot to accurately locate the area requiring coating, with a controllable movement path, avoiding unnecessary back-and-forth movements and repetitive tasks.

[0026] 4. This invention utilizes an arc-shaped hook and a four-bar linkage, ensuring smooth and fluid hooking and releasing movements. This reduces impact and wear on the mesh surface, while also lowering the risk of the mechanism jamming, thus enhancing operational reliability. Furthermore, the invention employs multiple supports and additional slide rails to enhance the rigidity and stability of the overall structure, ensuring stable operation of all moving parts under load and movement, thereby extending the equipment's lifespan.

[0027] 5. This invention integrates advanced technologies such as mechanical design and automatic control, and provides a safe, efficient, stable and high-quality automated solution for netting coating. It effectively overcomes all the inherent defects of traditional manual methods and has broad application prospects and extremely high promotional value in many fields such as marine aquaculture, water conservancy facilities, and sports venues. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the main frame and moving system of the mesh coating robot of the present invention.

[0029] Figure 2 This is a schematic diagram showing the installation positions of the left and right hooks and the motor positions of the mesh coating robot of the present invention.

[0030] Figure 3 This is a schematic diagram of the left and right hooks of the mesh coating robot of the present invention.

[0031] Figure 4 This is a schematic diagram of the overall structure of the mesh coating robot of the present invention.

[0032] Figure 5 This is a schematic diagram of the clamping device for the mesh coating robot of the present invention.

[0033] Reference numerals: main frame (1), X-axis moving plate (2), first lead screw motor (11), first support (21), second support (22), Y-axis moving plate (3), second lead screw motor (12), third support (31), additional slide rail (13), hook (32), claw (321), four-bar linkage (322), servo motor (33), clamping device (4), gripper (41), base plate (42), support frame (421), first connector (43), second connector (44), lead screw stepper motor (45). Detailed Implementation

[0034] To make the technical problems, technical solutions and beneficial effects of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0035] like Figures 1 to 5 As shown, this embodiment provides a mesh coating robot, whose core function is to automate the coating process on the mesh surface. The robot mainly includes a main frame, a mobility system, a stabilization system, and a coating system.

[0036] I. Main Framework and Mobile System

[0037] See Figure 1 The main frame (1) serves as the basic structure of the robot, used to support and install all other functional components. The mobile system adopts a precise two-dimensional rectangular coordinate structure to achieve accurate positioning and movement of the robot within the mesh plane.

[0038] The moving system includes an X-axis moving mechanism and a Y-axis moving mechanism.

[0039] X-axis moving mechanism: The X-axis moving plate (2) is mounted on the main frame (1) via a linear slide rail pair. The first lead screw motor (11) is fixed to the main frame (1), and its lead screw is connected to the second support member (22) on the X-axis moving plate (2) via a coupling to form a threaded transmission engagement. When the first lead screw motor (11) is working, it drives the X-axis moving plate (2) to move horizontally along the X-axis direction (i.e., laterally).

[0040] Y-axis moving mechanism: The Y-axis moving plate (3) is mounted on the X-axis moving plate (2) via a linear slide rail pair. The second lead screw motor (12) is fixed to the X-axis moving plate (2), and its lead screw is connected to the third support member (31) on the Y-axis moving plate (3) via a coupling to form a threaded transmission engagement. When the second lead screw motor (12) is working, it drives the Y-axis moving plate (3) to move vertically along the Y-axis direction (i.e., longitudinal direction).

[0041] To ensure smooth movement, a first support member (21) is provided between the main frame (1) and the X-axis moving plate (2). In addition, two additional slide rails (13) are specially provided on the main frame (1) that are parallel to the moving direction of the Y-axis moving mechanism. The Y-axis moving plate (3) is slidably connected to these two additional slide rails (13) through a slider, forming a three-point support, which greatly improves the anti-overturning ability and stability when moving along the Y-axis.

[0042] The stabilization system is the key to ensuring reliable attachment and movement of the robot on the flexible mesh surface. It consists of a hook mechanism and a bottom clamping device (4).

[0043] like Figures 2-4As shown, the left and right pawl mechanisms are symmetrically installed at the left and right ends of the Y-axis moving plate (3), and the upper pawl mechanism is located at the upper end of the X-axis moving plate (2). Each pawl (32) is driven by a servo motor (33). Figure 3 As shown, the output shaft of the servo motor (33) is connected to a four-bar linkage (322), with the pawl (32) acting as the rocker arm of the four-bar linkage. The forward and reverse rotation of the servo motor (33) is converted into the swinging motion of the pawl (32) through the four-bar linkage (322), thereby realizing its actions of hooking and releasing the net surface.

[0044] Specifically, the end of the hook, namely the claw (321), is designed to have a smooth arc. This arc design allows the hook to smoothly enter and lock onto the net rope when hooking, and to easily separate from the net surface when releasing, with smooth operation and minimal damage to the net surface.

[0045] like Figure 4 and Figure 5 As shown, the clamping device (4) mainly includes four jaws (41), a base plate (42), a lead screw stepper motor (45), a first connector (43), and a second connector (44).

[0046] The base plate (42) is used to contact the mesh surface during clamping. One end of the gripper (41) is rotatably connected to the first connector (43), and the middle part of the gripper (41) is rotatably connected to the support frame (421), which is fixed on the base plate (42). A lead screw stepper motor (45) drives a vertical lead screw, which is threadedly engaged with a first connector (43). When clamping is required, the lead screw stepper motor (45) rotates forward, driving the first connector (43) to move away from the base plate (42) through the lead screw. The first connector (43) then drives the gripper (41) to clamp through the lever principle. When loosening is required, the stepper motor rotates in reverse. The entire clamping device (4) is fixed to the bottom of the robot's main frame (1) through the second connector (44), clamping the mesh surface when the robot moves laterally, greatly reducing the overall tilt of the robot.

[0047] In this embodiment, the coating actuator is a roller brush installed at the bottom of the main frame (1). As the robot moves up and down along the Y-axis, the roller brush rolls close to the mesh surface, evenly coating the mesh surface with the pre-applied coating. It is understood that in other embodiments, the coating actuator may also be a roller or other form of coating device.

[0048] The basic workflow of this mesh coating robot is as follows: It is achieved through the orderly control of various motors and servo motors by a controller: During one stroke of longitudinal movement, the left and right claws hook onto the mesh surface, the upper claw releases from the lower clamping device, and the main body moves upward via a lead screw stepper motor. When it reaches its limit position, the upper claw hooks onto the mesh, the lower clamping device clamps, and then the left and right claws release, and the robot moves back to its limit position via the lead screw stepper motor. Repeating this process achieves longitudinal movement. During one stroke of lateral movement, the upper claw hooks onto the mesh surface, the lower clamping device clamps, and the left and right claws release. The lead screw stepper motor controls the lateral movement of the main body. After reaching the designated position, the left and right claws hook onto the mesh surface, and the upper claw releases from the lower clamping device. Repeating this process achieves lateral movement.

[0049] Through the above-described structure and movement method, the mesh coating robot of the present invention can move stably on the mesh surface and perform coating operations, improving coating efficiency and safety, and solving many problems existing in traditional manual coating.

Claims

1. A mesh coating robot, characterized in that, include: Main framework (1); The X-axis moving mechanism is installed on the main frame (1) and includes an X-axis moving plate (2) and a first lead screw motor (11) for driving the X-axis moving plate to move along the X-axis direction. The Y-axis moving mechanism is mounted on the X-axis moving plate (2) and includes the Y-axis moving plate (3) and a second lead screw motor (12) for driving the Y-axis moving plate to move along the Y-axis direction. The hook mechanism includes a left and right hook mechanism and an upper hook mechanism. The left and right hook mechanisms are symmetrically arranged at both ends of the Y-axis moving plate (3), and the upper hook mechanism is located at the upper end of the X-axis moving plate (2). Each hook mechanism includes a hook (32) driven by a servo motor (33) for selectively hooking onto the net surface when the robot moves. A clamping device (4) is provided at the bottom of the main frame (1) for selectively clamping the mesh surface when the robot moves laterally; The coating actuator is mounted on the main frame (1) and is used to apply coating to the mesh surface.

2. The mesh coating robot as described in claim 1, characterized in that: The X-axis moving mechanism is connected to the main frame (1) via a first support member (21); the lead screw of the first lead screw motor (11) is connected to the X-axis moving plate (2) via a second support member (22); the lead screw of the second lead screw motor (12) is connected to the Y-axis moving plate (3) via a third support member (31).

3. The mesh coating robot as described in claim 2, characterized in that: The main frame (1) is also provided with at least two additional slide rails (13) that are parallel to the moving direction of the Y-axis moving mechanism, and the Y-axis moving plate (3) is slidably connected to the additional slide rails (13).

4. The mesh coating robot as described in claim 3, characterized in that: The front end of the hook (32) is a curved claw part (321).

5. The mesh coating robot as described in claim 4, characterized in that: The servo motor (33) and the pawl (32) are connected by a four-bar linkage (322) to convert the rotational motion of the servo motor (33) into the hooking and releasing action of the pawl (32).

6. The mesh coating robot as described in claim 1, characterized in that: The clamping device (4) includes: The base plate (42) is used to contact the mesh surface; Multiple grippers (41), one end of the gripper (41) is rotatably connected to the first connector (43), the middle part of the gripper (41) is rotatably connected to the support frame (421), and the support frame (421) is fixed on the base plate (42); A lead screw stepper motor (45) is connected to the first connector (43) via a lead screw, thereby driving the gripper (41) to perform clamping and releasing actions.

7. The mesh coating robot as described in claim 6, characterized in that: The clamping device (4) is connected to the bottom of the main frame (1) via a second connector (44).

8. The mesh coating robot as described in claim 1, characterized in that: The coating actuator is a roller or brush installed at the bottom of the main frame (1).

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