Mechanical arm structure of building spraying robot

Abstract

The utility model relates to the technical field of mechanical arm structures, in particular to a mechanical arm structure of a building spraying robot, which improves the convenience and the flexibility of driving a spraying device to spray a higher position of a building, reduces the use limitation and improves the use convenience. Comprising a first electric rotating table and a first base, and the first base is installed at the rotating end of the first electric rotating table; the device further comprises a driving device, a spraying device, a pushing device, a first supporting arm, a supporting barrel and a second supporting arm, the bottom end of the first supporting arm is rotationally installed on the inner side wall of the first base, the top end of the first supporting arm is rotationally connected with the bottom end of the supporting barrel, the lower portion of the second supporting arm is installed in the supporting barrel in an up-down sliding mode, and the driving device is arranged on the supporting barrel. The driving device is used for driving the second supporting arm to slide up and down, a spraying device is arranged at the top end of the second supporting arm and used for spraying a building, and pushing devices are arranged on the first supporting arm and the supporting barrel.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arm structures, in particular to the robotic arm structure of a building spraying robot. Background Art

[0002] With the continuous development of automation technology, building spraying robots have been widely used in the construction industry due to their high efficiency, precision, and environmental protection characteristics. Among them, as the core component of the spraying robot, the structural design of the robotic arm is directly related to the performance and use effect of the spraying robot.

[0003] In the patent with the authorized publication number of CN209093752U in the prior art, the utility model discloses a telescopic robotic arm for a building waterproof spraying robot, which relates to the technical field of construction machinery, specifically a telescopic robotic arm for a building waterproof spraying robot, including a bottom plate. Wheels are fixedly connected to the bottom of the bottom plate, a material bucket is fixedly connected to one side of the top of the bottom plate, a base is fixedly connected to the other side of the top of the bottom plate, a first cavity is formed inside the base, and a plurality of limiting wheels are fixedly connected to the opening at the top of the first cavity.

[0004] However, it is found during the use of this robotic arm that the height limit for driving the spray nozzle to lift by using a hydraulic rod is relatively large, which reduces the convenience of using the robotic arm for spraying higher positions of buildings. Content of the Utility Model

[0005] To solve the above technical problems, the utility model provides a robotic arm structure of a building spraying robot that improves the convenience and flexibility of driving a spraying device to spray higher positions of buildings, reduces the limitations in use, and improves the convenience of use.

[0006] The robotic arm structure of the building spraying robot of the utility model includes a first electric rotating table and a first base, and the first base is installed on the rotating end of the first electric rotating table; it further includes a driving device, a spraying device, a pushing device, a first support arm, a support cylinder and a second support arm. The bottom end of the first support arm is rotatably installed on the inner side wall of the first base, the top end of the first support arm is rotatably connected to the bottom end of the support cylinder, the lower part of the second support arm is slidably installed up and down in the support cylinder, a driving device is arranged on the support cylinder, the driving device is used to drive the second support arm to slide up and down, a spraying device is arranged at the top end of the second support arm, the spraying device is used for spraying buildings, and a pushing device is arranged on the first support arm and the support cylinder, the pushing device is used to drive the first support arm and the support cylinder to swing and rotate; the pushing device drives the bottom end of the first support arm to rotate on the first base, so that the first support arm swings and adjusts to drive the support cylinder to lift and move, the pushing device drives the bottom end of the support cylinder to rotate on the top end of the first support arm, so that the support cylinder swings and adjusts to drive the spraying device to lift and adjust, and at the same time, the driving device drives the second support arm to slide upward, so that the second support arm supports the spraying device to rise and increase in height, and the first electric rotating table drives the first base to rotate horizontally, so that the first base drives the first support arm and the support cylinder to rotate horizontally and move, improving the convenience and flexibility of the robotic arm structure to drive the spraying device to spray at higher positions of the building, reducing the limitations of use, and improving the convenience of use.

[0007] Preferably, the spraying device includes a second electric rotating table, a second base, a fixing member, a nozzle and a first motor. The second electric rotating table is installed at the top end of the second support arm, the bottom end of the second base is connected to the rotating end of the second electric rotating table, the fixing member is rotatably installed on the inner side wall of the second base, the nozzle is installed on the inner side wall of the fixing member, the first motor is installed on the outer side wall of the second base, and the output end of the first motor is connected to the fixing member; the second support arm is adjusted by movement, so that the second support arm drives the nozzle to move and adjust through the second electric rotating table, the second electric rotating table drives the second base to rotate horizontally, so that the second base drives the spraying direction of the nozzle to be adjusted, and the first motor drives the fixing member to rotate, so that the fixing member drives the nozzle to swing up and down, improving the flexibility of the nozzle spraying adjustment and the convenience of using the robotic arm structure.

[0008] Preferably, the driving device includes a support member, a gear, a second motor and a rack. The support member is installed on the outer side wall of the support cylinder, the gear is rotatably installed on the inner side wall of the support member, the second motor is installed on the outer side wall of the support member, the output end of the second motor is connected to the gear, the rack is arranged on the outer side wall of the second support arm, and the rack meshes with the gear; the second motor drives the gear to rotate, so that the gear drives the second support arm to lift and move through meshing with the rack, improving the convenience of the up and down sliding adjustment of the second support arm.

[0009] Preferably, it further includes a bottom plate and a guide rail. The guide rail is installed at the top of the bottom plate, and the bottom of the first electric rotating table is horizontally slidably installed on the guide rail; by horizontally sliding and adjusting the first electric rotating table on the guide rail, the convenience of the lateral translation adjustment of the nozzle is improved.

[0010] Preferably, it further includes a lead screw and a third motor. The lead screw is rotatably installed on the inner side wall of the bottom plate, the third motor is installed on the outer side wall of the bottom plate, the output end of the third motor is connected to the lead screw, and the bottom of the first electric rotating table is in threaded fit on the outer side wall of the lead screw; by driving the lead screw to rotate through the third motor, the lead screw drives the first electric rotating table to move horizontally.

[0011] Preferably, the pushing device includes multiple groups of first hydraulic cylinders and multiple groups of second hydraulic cylinders. The fixed ends of the multiple groups of first hydraulic cylinders are all rotatably installed on the outer side wall of the rotating end of the first electric rotating table, the moving ends of the multiple groups of first hydraulic cylinders are all rotatably connected to the outer side wall of the first support arm, the fixed ends of the multiple groups of second hydraulic cylinders are all rotatably installed on the outer side wall of the first support arm, and the moving ends of the multiple groups of second hydraulic cylinders are all rotatably connected to the outer side wall of the support cylinder; by controlling the telescopic length of the multiple groups of first hydraulic cylinders, the convenience of the swinging and rotating adjustment of the first support arm is improved, and by controlling the telescopic length of the multiple groups of second hydraulic cylinders, the convenience of the swinging and rotating adjustment of the support cylinder is improved.

[0012] Preferably, it further includes a cushion block. The cushion block is installed on the outer side wall of the first support arm; by providing the cushion block, the support contact effect between the support cylinder and the first support arm after the support cylinder swings downward for storage is improved, and the storage stability of the support cylinder is improved.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows: by driving the bottom end of the first support arm to rotate on the first base through the pushing device, the first support arm swings and adjusts to drive the support cylinder to move up and down. By driving the bottom end of the support cylinder to rotate on the top end of the first support arm through the pushing device, the support cylinder swings and adjusts to drive the spraying device to move up and down. At the same time, by driving the second support arm to slide upward through the driving device, the second support arm supports the spraying device to rise, and by driving the first base to rotate horizontally through the first electric rotating table, the first base drives the first support arm and the support cylinder to rotate and move horizontally, improving the convenience and flexibility of the robotic arm structure to drive the spraying device to spray at a higher position of the building, reducing the limitations in use, and improving the convenience in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is an isometric structural schematic diagram of the present utility model;

[0015] Figure 2 is an isometric partial structural schematic diagram of the connection between the fixing member and the nozzle, etc.;

[0016] Figure 3It is an axonometric partial structural schematic diagram of the connection between the second support arm and the rack, etc.;

[0017] Figure 4 It is an axonometric structural schematic diagram of the connection between the support cylinder and the second support arm, etc.;

[0018] Figure 5 It is an axonometric partial structural schematic diagram of the connection between the first electric rotating table and the first base, etc.

[0019] Reference numerals in the drawings: 1. First electric rotating table; 2. First base; 3. First support arm; 4. Support cylinder; 5. Second support arm; 6. Second electric rotating table; 7. Second base; 8. Fixing member; 9. Sprayer; 10. First motor; 11. Support member; 12. Gear; 13. Second motor; 14. Rack; 15. Bottom plate; 16. Guide rail; 17. Lead screw; 18. Third motor; 19. First hydraulic cylinder; 20. Second hydraulic cylinder; 21. Pad. Detailed implementation manners

[0020] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0021] Embodiment 1

[0022] As Figures 1 to 5 shown, the robotic arm structure of the building spraying robot of the present invention includes a first electric rotating table 1 and a first base 2, and the first base 2 is installed on the rotating end of the first electric rotating table 1; it further includes a driving device, a spraying device, a pushing device, a first support arm 3, a support cylinder 4 and a second support arm 5. The bottom end of the first support arm 3 is rotatably installed on the inner side wall of the first base 2, the top end of the first support arm 3 is rotatably connected to the bottom end of the support cylinder 4, the lower part of the second support arm 5 is slidably installed up and down in the support cylinder 4, a driving device is arranged on the support cylinder 4, the driving device is used to drive the second support arm 5 to slide up and down, a spraying device is arranged at the top end of the second support arm 5, the spraying device is used for spraying the building, and a pushing device is arranged on the first support arm 3 and the support cylinder 4, and the pushing device is used to drive the first support arm 3 and the support cylinder 4 to swing and rotate;

[0023] As Figure 2As shown in the figure, the spraying device includes a second electric rotating table 6, a second base 7, a fixing member 8, a spray head 9 and a first motor 10. The second electric rotating table 6 is installed at the top end of the second support arm 5. The bottom end of the second base 7 is connected to the rotating end of the second electric rotating table 6. The fixing member 8 is rotatably installed on the inner side wall of the second base 7. The spray head 9 is installed on the inner side wall of the fixing member 8. The first motor 10 is installed on the outer side wall of the second base 7, and the output end of the first motor 10 is connected to the fixing member 8;

[0024] In this embodiment, the bottom end of the first support arm 3 is driven by a pushing device to rotate on the first base 2, so that the first support arm 3 swings and adjusts to drive the support cylinder 4 to move up and down. The bottom end of the support cylinder 4 is driven by a pushing device to rotate on the top end of the first support arm 3, so that the support cylinder 4 swings and adjusts to drive the spraying device to lift and adjust. At the same time, the second support arm 5 is driven by a driving device to slide upward, so that the second support arm 5 supports the spraying device to rise. The first electric rotating table 1 drives the first base 2 to rotate horizontally, so that the first base 2 drives the first support arm 3 and the support cylinder 4 to rotate horizontally, improving the convenience and flexibility of the robotic arm structure to drive the spraying device to spray at a higher position of the building, reducing the limitations of use, and improving the convenience of use.

[0025] Embodiment 2

[0026] On the basis of Embodiment 1, as Figure 3 shown, the driving device includes a support member 11, a gear 12, a second motor 13 and a rack 14. The support member 11 is installed on the outer side wall of the support cylinder 4. The gear 12 is rotatably installed on the inner side wall of the support member 11. The second motor 13 is installed on the outer side wall of the support member 11, and the output end of the second motor 13 is connected to the gear 12. The rack 14 is arranged on the outer side wall of the second support arm 5, and the rack 14 meshes with the gear 12;

[0027] As Figure 4 shown, it further includes a bottom plate 15 and a guide rail 16. The guide rail 16 is installed at the top end of the bottom plate 15. The bottom of the first electric rotating table 1 is horizontally slidably installed on the guide rail 16;

[0028] As Figure 1 shown, it further includes a lead screw 17 and a third motor 18. The lead screw 17 is rotatably installed on the inner side wall of the bottom plate 15. The third motor 18 is installed on the outer side wall of the bottom plate 15, and the output end of the third motor 18 is connected to the lead screw 17. The bottom of the first electric rotating table 1 is fitted and screwed on the outer side wall of the lead screw 17;

[0029] As Figure 1As shown in the figure, the pushing device includes multiple groups of first hydraulic cylinders 19 and multiple groups of second hydraulic cylinders 20. The fixed ends of the multiple groups of first hydraulic cylinders 19 are all rotatably installed on the outer side wall of the rotating end of the first electric rotating table 1, and the moving ends of the multiple groups of first hydraulic cylinders 19 are all rotatably connected to the outer side wall of the first support arm 3. The fixed ends of the multiple groups of second hydraulic cylinders 20 are all rotatably installed on the outer side wall of the first support arm 3, and the moving ends of the multiple groups of second hydraulic cylinders 20 are all rotatably connected to the outer side wall of the support cylinder 4;

[0030] As Figure 1 shown in the figure, it further includes a cushion block 21, and the cushion block 21 is installed on the outer side wall of the first support arm 3;

[0031] In this embodiment, the second support arm 5 is moved and adjusted, so that the second support arm 5 drives the spray head 9 to move and adjust through the second electric rotating table 6. The second electric rotating table 6 drives the second base 7 to rotate horizontally, so that the second base 7 drives the spraying direction of the spray head 9 to be adjusted. The first motor 10 drives the fixing member 8 to rotate, so that the fixing member 8 drives the spray head 9 to swing up and down, improving the flexibility of the spray head 9 spraying adjustment and the convenience of using the robotic arm structure. The second motor 13 drives the gear 12 to rotate, so that the gear 12 drives the second support arm 5 to move up and down through the engagement with the rack 14, improving the convenience of the up and down sliding adjustment of the second support arm 5.

[0032] For the robotic arm structure of the building spraying robot of the present invention, during operation, the pushing device drives the bottom end of the first support arm 3 to rotate on the first base 2, so that after the first support arm 3 swings and adjusts, it drives the support cylinder 4 to move up and down. The pushing device drives the bottom end of the support cylinder 4 to rotate on the top end of the first support arm 3, so that after the support cylinder 4 swings and adjusts, it drives the spraying device to move up and down. At the same time, the driving device drives the second support arm 5 to slide up, so that the second support arm 5 supports the spraying device to rise. The first electric rotating table 1 drives the first base 2 to rotate horizontally, so that the first base 2 drives the first support arm 3 and the support cylinder 4 to rotate horizontally.

[0033] The first electric rotating table 1, the second electric rotating table 6, the first motor 10, the second motor 13, the third motor 18, the first hydraulic cylinder 19 and the second hydraulic cylinder 20 of the robotic arm structure of the building spraying robot of the present invention are purchased on the market. Those skilled in the industry only need to install and operate according to the attached user manual, and there is no need for those skilled in the art to carry out creative labor.

[0034] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the technical principle of the present invention, several improvements and modifications can still be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A mechanical arm structure of a building spray painting robot, comprising a first electric rotating platform (1) and a first base (2), wherein the first base (2) is mounted on the rotating end of the first electric rotating platform (1); characterized in that: The invention also comprises a driving device, a spraying device, a pushing device, a first supporting arm (3), a supporting cylinder (4) and a second supporting arm (5), wherein the bottom end of the first supporting arm (3) is rotatably mounted on the inner wall of the first base (2), the top end of the first supporting arm (3) is rotatably connected to the bottom end of the supporting cylinder (4), the lower part of the second supporting arm (5) is slidably mounted in the supporting cylinder (4), the supporting cylinder (4) is provided with a driving device, the driving device is used to drive the second supporting arm (5) to slide up and down, the top end of the second supporting arm (5) is provided with a spraying device, the spraying device is used to spray the building, and the first supporting arm (3) and the supporting cylinder (4) are provided with a pushing device, the pushing device is used to drive the first supporting arm (3) and the supporting cylinder (4) to swing and rotate.

2. The mechanical arm structure of the building spraying robot according to claim 1, characterized in that: The spraying device comprises a second electric rotating platform (6), a second base (7), a fixing member (8), a spray head (9) and a first motor (10); the second electric rotating platform (6) is mounted on the top of the second supporting arm (5); the bottom of the second base (7) is connected to the rotating end of the second electric rotating platform (6); the fixing member (8) is rotatably mounted on the inner wall of the second base (7); the spray head (9) is mounted on the inner wall of the fixing member (8); the first motor (10) is mounted on the outer wall of the second base (7); and the output end of the first motor (10) is connected to the fixing member (8).

3. The mechanical arm structure of the building spraying robot according to claim 1, characterized in that: The driving device comprises a support member (11), a gear (12), a second motor (13) and a rack (14); the support member (11) is mounted on the outer wall of the support cylinder (4); the gear (12) is rotatably mounted on the inner wall of the support member (11); the second motor (13) is mounted on the outer wall of the support member (11); an output end of the second motor (13) is connected to the gear (12); the rack (14) is arranged on the outer wall of the second support arm (5), and the rack (14) is meshed with the gear (12).

4. The mechanical arm structure of the building spraying robot according to claim 1, characterized in that: It also comprises a bottom plate (15) and a guide rail (16), wherein the guide rail (16) is mounted on the top of the bottom plate (15), and the bottom of the first electric rotating platform (1) is horizontally slidably mounted on the guide rail (16).

5. The mechanical arm structure of the building spray painting robot as claimed in claim 4, characterized in that: The invention also comprises a lead screw (17) and a third motor (18), wherein the lead screw (17) is rotatably mounted on the inner wall of the base plate (15), the third motor (18) is mounted on the outer wall of the base plate (15), the output end of the third motor (18) is connected to the lead screw (17), and the bottom of the first electric rotating platform (1) is screwed on the outer wall of the lead screw (17).

6. The mechanical arm structure of the building spraying robot according to claim 1, characterized in that: The pushing device comprises a plurality of groups of first hydraulic cylinders (19) and a plurality of groups of second hydraulic cylinders (20); the fixed ends of the plurality of groups of first hydraulic cylinders (19) are rotatably mounted on the outer side wall of the rotating end of the first electric rotating platform (1); the movable ends of the plurality of groups of first hydraulic cylinders (19) are rotatably connected to the outer side wall of the first supporting arm (3); the fixed ends of the plurality of groups of second hydraulic cylinders (20) are rotatably mounted on the outer side wall of the first supporting arm (3); and the movable ends of the plurality of groups of second hydraulic cylinders (20) are rotatably connected to the outer side wall of the supporting cylinder (4).

7. The mechanical arm structure of the building spray painting robot according to claim 1, characterized in that: It also includes a cushion block (21), which is mounted on the outer side wall of the first support arm (3).

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