All-terrain spraying robot based on chain type rotating rail lifting mechanism

Abstract

The utility model relates to the technical field of spraying equipment, in particular to an all-terrain spraying robot based on a chain type rotating rail lifting mechanism, which comprises a lifting mechanism transmission system, a stirring conveying system, a spraying mechanical arm and a deformation mechanical arm. A lifting motor of the lifting mechanism transmission system drives a worm to operate, the worm drives a transmission worm gear to rotate, a coaxial transmission pinion which rotates synchronously is arranged on the transmission worm gear, and a transmission large gear and the transmission pinion are meshed to rotate to drive a rotating rail lifting mechanism to ascend and descend. According to the chain type turning rail lifting mechanism, the turning rail lifting mechanism mainly ascends through spiral movement and matching of precise parts which can be meshed in four directions and are matched with internal threads, and compared with a traditional hydraulic lifting table, the chain type turning rail lifting mechanism has the advantages of being small in size, convenient and fast to overhaul and disassemble, high in lifting efficiency and concentrated in function. And when parts go wrong, a single part in the whole part can be replaced, so that the device is more economical and applicable.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying equipment, in particular to an all-terrain spraying robot based on a chain-type rotary track lifting mechanism. Background Art

[0002] At present, the more common equipment in modern interior decoration is vertical wall or manual handheld spraying devices, which are more restricted and have some rigid problems in technology and spraying quality. The traditional lifting mechanism occupies a large area, has a large volume and a heavy weight, and it is difficult to work in a limited space.

[0003] In response to the problem of complex terrain, in order to facilitate the daily transportation of equipment and adapt to various terrains during interior decoration, and to break through the limitations of traditional spraying equipment and lifting mechanisms, it is necessary to create a spraying robot that can solve the construction difficulties in narrow working spaces, the difficulty in ensuring the quality of manual spraying, and the complex construction terrain, while ensuring the quality of spraying. Utility Model Content

[0004] In view of the shortcomings or deficiencies of the above-mentioned prior art, the utility model provides an all-terrain spraying robot based on a chain-type rotary track lifting mechanism to solve the problems raised in the above-mentioned background technology.

[0005] The purpose of this utility model is achieved through the following technical solutions:

[0006] An all-terrain spraying robot based on a chain-type rotary rail lifting mechanism, comprising a lifting mechanism transmission system, a stirring and conveying system, a spraying mechanical arm, and a deformation mechanical arm;

[0007] The lifting mechanism transmission system includes a lifting motor, which drives the worm to rotate, and the worm drives the transmission worm wheel to rotate. The transmission worm wheel is provided with a coaxial transmission pinion that rotates synchronously. The transmission large gear meshes with the transmission pinion to rotate and drive the rotary rail lifting mechanism to rise and fall;

[0008] The rotary rail lifting mechanism includes a plurality of rail lifting devices. The interior of the transmission gear is a hollow structure, and its internal shape is adapted to the external shapes of the plurality of rail lifting devices. The plurality of rail lifting devices are engaged in four directions through the internal shape of the transmission gear, and are coiled on a spindle arranged inside the transmission gear to form a straight rod for lifting;

[0009] A rail lifting device, one side of which is a semi-arc-shaped side protrusion, and the other side is a side groove adapted to the side protrusion. Two left and right adjacent rail lifting devices are laterally connected through the side protrusion and the side groove. One end of the rail lifting device is provided with an upper protrusion, and the other end is provided with a lower groove adapted to the upper protrusion. Two upper and lower adjacent rail lifting devices are connected up and down through the upper protrusion and the lower groove. When multiple rail lifting devices are wound, the upper and lower adjacent rail lifting devices are meshed and connected. The rail lifting device is provided with an internal thread inside, which is connected with the external thread of the mandrel after being coiled onto the mandrel;

[0010] The stirring and conveying system includes a stirring and conveying motor, the stirring and conveying motor drives the belt wheel to rotate and drives the meshing belt transmission, the belt wheel rotates and drives the transmission shaft to rotate through the meshing belt, the stirring pinion is coaxial with the transmission shaft, the stirring pinion is meshed with the stirring gear, the stirring gear is coaxial with the rotating shaft, the feed screw is fixed on the transmission shaft and rotates coaxially with the transmission shaft, and the stirring plate is fixed on the rotating shaft and rotates synchronously with the rotating shaft;

[0011] The engineering liquid stirred by the stirring plate is pushed by the feed screw to the liquid transmission channel, and a one-way check valve is provided on the liquid transmission channel, and the one-way check valve is connected to the single screw pump;

[0012] The air passes through the air filter and twin-screw air compressor on the air transmission channel, and then is transmitted to the air storage tank. The air storage tank is connected to the single screw pump. The air is mixed with the engineering liquid and then transported to the reel device through the single screw pump. The reel device is connected to the spraying robot arm.

[0013] The deformable mechanical arm includes an upper arm body and a lower arm body. The lower arm body is a trapezoidal structure as a whole, and the bottom is a foot-shaped tripod. The upper arm body and the lower arm body are connected by a steering gear. The mechanical arm motor drives the upper arm body and the lower arm body to rotate and deform. A Mecanum wheel is installed on the top of the deformable mechanical arm. When the upper arm body and the lower arm body are in a retracted state, their positions are higher than the Mecanum wheel.

[0014] The upper arm body is provided with a groove to accommodate the foot-shaped tripod when the lower arm body is retracted;

[0015] There is an external inspection port on the air storage tank.

[0016] The beneficial effects of the utility model are:

[0017] 1. In order to solve the problem of narrow terrain, the chain-type rotary rail lifting mechanism of this equipment is mainly composed of precision parts that can mesh in four directions and are equipped with internal threads, which achieve ascent through spiral motion and coordination. Compared with the traditional hydraulic lifting platform, the chain-type rotary rail lifting mechanism has the advantages of small size, convenient maintenance and disassembly, high lifting efficiency and concentrated functions.

[0018] 2. When a part has a problem, a single part of the overall assembly can be replaced, which is more economical and practical.

[0019] 3. During operation, the motor drives the worm gear and coaxial gear to move, with an accurate average transmission ratio, reliable operation and high efficiency; it has large power transmission and strong overload capacity. The motor first drives the worm gear to rotate and drives the gear to perform axial rotational motion. The number of turns of the gear can be controlled to control the feed amount of the spiral riser part. The feed amount of the spiral riser part determines the degree to which the nozzle rises and pulls up the hose. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the conveying system in the mixing conveying system;

[0022] Figure 3 It is a structural schematic diagram of the lifting mechanism transmission system;

[0023] Figure 4 It is a structural schematic diagram of the spraying robot arm;

[0024] Figure 5 It is a front view of a local part of the stirring system in the stirring and conveying system;

[0025] Figure 6 It is a side view of a local component of a mixing system in a mixing and conveying system;

[0026] Figure 7 It is a front view of some parts of the lifting mechanism transmission system;

[0027] Figure 8 It is a side view of a partial component of the lifting mechanism transmission system;

[0028] Figures 9 to 11 This is a schematic diagram of the orbital lifting device. DETAILED DESCRIPTION

[0029] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0030] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0031] An all-terrain spraying robot based on a chain-type rotary rail lifting mechanism, characterized in that it includes a lifting mechanism transmission system 100, a stirring and conveying system 200, a spraying mechanical arm 300, and a deformation mechanical arm 400;

[0032] like Figure 3 , Figure 7 , Figure 8 As shown, the lifting mechanism transmission system 100 includes a lifting motor 110, the lifting motor 110 drives the worm 120 to operate, the worm 120 drives the transmission worm wheel 130 to rotate, the transmission worm wheel 130 is provided with a coaxial transmission pinion 140 that rotates synchronously, and the transmission large gear 150 meshes with the transmission pinion 140 to rotate and drive the rotary track lifting mechanism 160 to rise and fall;

[0033] The rotary track lifting mechanism 160 includes a plurality of track lifting devices 180. The interior of the transmission gear 150 is a hollow structure, and its internal shape is adapted to the external shape of the plurality of track lifting devices 180. The plurality of track lifting devices 180 are engaged in four directions through the internal shape of the transmission gear 150, and are coiled on the mandrel 170 disposed inside the transmission gear 150 to form a straight rod for lifting. The mandrel 170 is designed with an external thread to provide a travel guide for winding and unwinding for the rotary track lifting mechanism, and it can be engaged in four directions to ensure rigidity.

[0034] The rail lifting device 180 has a semi-arc-shaped side protrusion 181 on one side and a side groove 182 adapted to the side protrusion 181 on the other side. Two left and right adjacent rail lifting devices 180 are laterally connected via the side protrusion 181 and the side groove 182. An upper protrusion 183 is provided at one end of the rail lifting device 180, and a lower groove 184 adapted to the upper protrusion 183 is provided at the other end. Two upper and lower adjacent rail lifting devices 180 are connected up and down via the upper protrusion 183 and the lower groove 184. When multiple rail lifting devices 180 are wound, the upper and lower adjacent rail lifting devices 180 are meshed and connected. An internal thread is provided inside the rail lifting device 180, which is connected to the external thread of the mandrel 170 after being coiled onto the mandrel 170.

[0035] like Figure 2 , Figure 5 , Figure 6 As shown, the stirring and conveying system 200 includes a stirring and conveying motor 210, the stirring and conveying motor 210 drives the pulley 220 to rotate and drive the meshing belt 240 to drive, the pulley 220 rotates through the meshing belt 240 to drive the transmission shaft 250 to rotate, the stirring pinion 251 is coaxial with the transmission shaft 250, the stirring pinion 251 is meshed with the stirring large gear 261 for transmission, the stirring large gear 261 is coaxial with the rotating shaft 260, the feed screw 270 is fixed on the transmission shaft 250, and rotates coaxially with the transmission shaft 250, so as to stir and convey the engineering liquid, and the stirring plate 280 is fixed on the rotating shaft 260, and rotates synchronously with the rotating shaft 260, so as to stir the engineering liquid and prevent it from solidifying;

[0036] like Figure 2As shown, the engineering liquid stirred by the stirring plate 280 is pushed to the liquid transmission channel by the feed screw 270. The liquid transmission channel is provided with a one-way check valve 310, and the one-way check valve 310 is connected to the single screw pump 320; the one-way check valve 310 of the engineering liquid delivery pipeline can prevent the engineering liquid from flowing back and maintain the cleanliness of the engineering liquid.

[0037] The air passes through the air filter 330 and the twin-screw air compressor 340 on the air transmission channel, and is then transmitted to the air storage tank 350. The air passes through the air filter 330, which can effectively filter out small particles in the air.

[0038] The air storage tank 350 is provided with an air inlet and an air outlet. The high-pressure air compressed by the twin-screw air compressor 340 enters the air storage tank 350 through the air inlet. When the high-pressure air and engineering coating need to be mixed into a uniform gas-liquid two-phase body, the air storage tank 350 will deliver the high-pressure air to the single-screw pump 320. The air storage tank 350 is also provided with an observation and external inspection port to facilitate observation of the environment inside the tank.

[0039] After the air and the engineering liquid are mixed, they form a gas-liquid two-phase body that is not easy to generate noise, and then are transported to the reel device 360 ​​through the single screw pump 320. The reel device 360 ​​is connected to the spraying robot arm 300 and finally transmitted to the spraying robot arm;

[0040] like Figure 4 As shown, the deformable robot arm 400 includes an upper arm body 410 and a lower arm body 420. The lower arm body 420 is a trapezoidal structure as a whole, and the bottom is a foot-shaped tripod. The upper arm body 410 and the lower arm body 420 are rotatably connected through a steering gear 430. The robot arm motor 440 drives the upper arm body 410 and the lower arm body 420 to rotate and deform. A Mecanum wheel 450 is installed on the top of the deformable robot arm 400. When the upper arm body 410 and the lower arm body 420 are in a retracted state, their positions are higher than the Mecanum wheel 450.

[0041] The upper arm body 410 is provided with a groove capable of accommodating the foot-shaped tripod when the lower arm body 420 is retracted;

[0042] When the robot arm is folded, the wheels on the robot arm will contact the ground, turning it into a small four-wheeled robot. Due to the precise design of the arm body, it will not collide or interfere with itself when folded and unfolded, reducing unnecessary wear. When unfolded, it can be transformed into a four-legged robot, providing stable support and mobility; because the four legs are designed to unfold downward, the feet touch the ground first, effectively avoiding direct collision between the robot arm and the ground, reducing the impact and wear on the equipment, and the unfolding action is simple and efficient, reducing adjustment time and improving work efficiency; the robot arm joints are driven by servos, which can flexibly cope with various complex terrains and meet the needs of most construction environments.

[0043] In view of the problem of narrow terrain, the chain-type rotary rail lifting mechanism of this equipment is mainly composed of precision parts that can mesh in four directions and are equipped with internal threads to achieve the rise through spiral motion and cooperation. Compared with the traditional hydraulic lifting platform, the chain-type rotary rail lifting mechanism has the advantages of small size, convenient maintenance and disassembly, high lifting efficiency, and concentrated functions. The core parts of this mechanism realize multi-directional mutual meshing, ensuring the overall mechanical strength of the lifting. In addition, when there is a problem with one of the parts, a single part of the overall component can be replaced, which is more economical and applicable, and more suitable for this project. When working, the motor drives the worm gear and coaxial gear to move, the average transmission ratio is accurate, the operation is reliable, and the efficiency is high; the transmission power is large and the overload capacity is strong. The motor first drives the worm gear to rotate and drives the gear to perform axial rotation. The number of turns of the gear can be controlled to control the feed amount of the spiral lifting rod parts. The feed amount of the spiral lifting rod parts determines the degree of the nozzle rising and pulling up the hose.

[0044] In order to solve the problem of spraying quality, we designed the equipment conveying system. The engineering liquid is pushed from the single screw to the single screw pump, passing through the curved pipe on the way. A check valve is set at the front end of the curved pipe to prevent the liquid from flowing back and ensure the spraying quality. The gas enters the twin screw pump through the air filter and enters the gas storage tank after compression. The engineering liquid is mixed with the compressed gas to form a gas-liquid two-phase body that is not easy to generate noise. The two-phase body is transported upward after passing through the reel recovery device and finally transmitted to the spraying robot arm.

[0045] The above contents are only embodiments of the present invention. The common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. It is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific implementations. Without departing from the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the present invention.

Claims

1. An all-terrain spraying robot based on a chain-type rotary rail lifting mechanism, characterized in that: It comprises a lifting mechanism transmission system (100), a stirring and conveying system (200), a spraying mechanical arm (300), and a deformation mechanical arm (400); The lifting mechanism transmission system (100) comprises a lifting motor (110), the lifting motor (110) drives a worm (120) to operate, the worm (120) drives a transmission worm wheel (130) to rotate, the transmission worm wheel (130) is provided with a coaxial transmission pinion (140) that rotates synchronously, and a transmission gear (150) meshes with the transmission pinion (140) to rotate and drive the rotary rail lifting mechanism (160) to lift and lower; The rotational rail lifting mechanism (160) comprises a plurality of rail lifting devices (180); the interior of the transmission gear (150) is a hollow structure, the internal shape of which is adapted to the external shapes of the plurality of rail lifting devices (180); the plurality of rail lifting devices (180) are four-way meshed through the internal shape of the transmission gear (150), and are coiled on a spindle (170) disposed inside the transmission gear (150) to form a straight rod for lifting; The rail lifting device (180) has a semi-arc-shaped side protrusion (181) on one side and a side groove (182) adapted to the side protrusion (181) on the other side. Two left-right adjacent rail lifting devices (180) are laterally connected to the side groove (182) via the side protrusion (181). One end of the rail lifting device (180) is provided with an upper protrusion (183), and the other end is provided with a lower groove (184) adapted to the upper protrusion (183). Two upper and lower adjacent rail lifting devices (180) are connected up and down via the upper protrusion (183) and the lower groove (184). When a plurality of rail lifting devices (180) are wound, the upper and lower adjacent rail lifting devices (180) are meshed and connected. An internal thread is provided inside the rail lifting device (180), and after being wound onto the spindle (170), it is connected to the external thread of the spindle (170); The stirring and conveying system (200) comprises a stirring and conveying motor (210), wherein the stirring and conveying motor (210) drives a pulley (220) to rotate and drives a meshing belt (240) for transmission, wherein the pulley (220) rotates through the meshing belt (240) to drive a transmission shaft (250) to rotate, wherein a stirring pinion (251) is coaxial with the transmission shaft (250), wherein the stirring pinion (251) meshes with a stirring gear (261) for transmission, wherein the stirring gear (261) is coaxial with a rotating shaft (260), wherein a feed screw (270) is fixed on the transmission shaft (250) and rotates coaxially with the transmission shaft (250), and wherein a stirring plate (280) is fixed on the rotating shaft (260) and rotates synchronously with the rotating shaft (260); The engineering liquid stirred by the stirring plate (280) is pushed by the feeding screw (270) to the liquid transmission channel, and a one-way check valve (310) is provided on the liquid transmission channel. The one-way check valve (310) is connected to a single screw pump (320); The air passes through an air filter (330) and a twin-screw air compressor (340) on the air transmission channel and is then transmitted to an air storage tank (350). The air storage tank (350) is connected to the single-screw pump (320). The air is mixed with the engineering liquid and then transported to a reel device (360) through the single-screw pump (320). The reel device (360) is connected to the spraying robot arm (300); The deformable mechanical arm (400) comprises an upper arm body (410) and a lower arm body (420); the lower arm body (420) is a trapezoidal structure as a whole, and the bottom is a foot-shaped tripod; the upper arm body (410) and the lower arm body (420) are rotationally connected via a steering gear (430); a mechanical arm motor (440) drives the upper arm body (410) and the lower arm body (420) to rotate and deform; a Mecanum wheel (450) is installed at the top of the deformable mechanical arm (400); when the upper arm body (410) and the lower arm body (420) are in a retracted state, their positions are higher than the Mecanum wheel (450); The upper arm body (410) is provided with a groove capable of accommodating the foot-shaped tripod when the lower arm body (420) is recovered; The air storage tank (350) is provided with an external inspection port for observation.

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