Operation device and operation robot

Abstract

The utility model relates to the technical field of operation robots, in particular to an operation device and an operation robot, and the operation device comprises a base, a rack, a base, a mechanical arm and an operation part. The rack is arranged on the base, and the rack is obliquely arranged towards the base relative to the vertical direction; the mechanical arm is arranged on the base, and the rack inclines towards the base, so that the gravity center of the mechanical arm and the gravity center of the base are close to the base, and the overall gravity center of the operation device is close to the gravity center of the base; the working piece is arranged on the mechanical arm, and the mechanical arm moves to drive the working piece to move. According to the operation device, the base serves as a whole support of the operation device, the position of the whole gravity center of the operation device is close to the position of the gravity center of the base, the base can provide more stable support for the whole operation device, the whole swing amplitude of the operation device is reduced, and the precision of the moving track of an operation piece can be improved by reducing the swing amplitude of the mechanical arm; and therefore, the spraying precision is improved, and the spraying quality can be uniform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of work robots, in particular to a work device and a work robot. BACKGROUND

[0002] Under the background of the current rapid development of manufacturing industry, spraying technology as an important part of surface treatment technology has been widely used in many fields such as automobiles, household appliances, aerospace, etc. With the continuous integration of automation and intelligent technology, the spraying equipment has undergone significant changes from manual to semi-automatic, and then to full automation, greatly improving production efficiency and coating quality. However, with the progress of technology, the existing spraying equipment still faces some problems to be solved.

[0003] In particular, in the process of pursuing high efficiency and precision spraying, a significant technical bottleneck lies in the stability control of the spraying equipment. Although the mechanical arm with a spray head of the existing spraying equipment realizes efficient spraying operation in design, the swing of the mechanical arm often leads to equipment shaking in actual operation. This instability not only affects the accurate tracking of the spraying path, but also directly reduces the uniformity and overall precision of the spraying, becoming one of the key factors restricting the high-quality coating effect. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the present application is to provide a work device and a work robot, which can improve the uniformity and overall precision of spraying.

[0005] In order to achieve the above purpose, in a first aspect, the embodiments of the present application provide a work device, comprising a base, a rack, a pedestal, a mechanical arm and a work piece. The rack is arranged on the base, and the rack is arranged on the base with respect to the vertical direction. The pedestal is arranged on the rack. The mechanical arm is arranged on the pedestal, and the rack is inclined to the base, so that the center of gravity of the mechanical arm and the center of gravity of the pedestal are close to the base. The work piece is arranged on the mechanical arm, and the mechanical arm moves to drive the work piece to move.

[0006] The work device provided by the embodiments of the present application, when the mechanical arm swings to drive the work piece to spray, the mechanical arm will drive the pedestal, the rack and the base to shake. As the support of the whole work device, the position of the center of gravity of the whole work device is close to the position of the center of gravity of the base, the base can provide more stable support for the whole work device, reduce the swing amplitude of the whole work device, and further reduce the swing amplitude of the mechanical arm. The swing amplitude of the mechanical arm is reduced, which improves the precision of the movement trajectory of the work piece, and further improves the spraying precision, and also makes the spraying quality uniform.

[0007] In one embodiment, the base comprises a work support, the work support is arranged on the frame, the work support has a first end face arranged in a horizontal direction, and the mechanical arm is arranged on the first end face.

[0008] In one embodiment, the work support comprises a first frame body, a second frame body and a third frame body, the first frame body, the second frame body and the third frame body are connected end to end to form a triangular frame structure, the first frame body is arranged horizontally, the first end face is arranged on the first frame body, and the second frame body is arranged along the frame direction and connected with the frame.

[0009] In one embodiment, the third frame body is provided with an extension plate, the extension plate is provided with an extension long hole, and the number of the extension plate is at least two.

[0010] In one embodiment, the work device further comprises a driving member, the driving member is arranged on the frame, the base is arranged on the driving member, and the driving member drives the base and the mechanical arm to move reciprocatingly on the frame.

[0011] In a second aspect, the embodiments of the present application further provide a work robot, comprising a work device as described in any of the above embodiments and a moving device; the moving device is arranged on the base, and the moving device is used to drive the base to move.

[0012] The work robot provided by the embodiments of the present application has a small shaking degree and good stability of the mechanical arm of the work device during work, can perform more accurate spraying work, and further expands the spraying work range and improves the adaptability through the arranged moving device. When it is necessary to change the work area, the work device only needs to be moved through the moving device, without the need to carry the work device, thereby saving labor and time and improving work efficiency.

[0013] In one embodiment, the moving device is a triangular track mechanism.

[0014] In one embodiment, the triangular track mechanism has a load wheel and a guide wheel, and the axis of the load wheel is at the same height as the axis of the guide wheel.

[0015] In one embodiment, the work robot further comprises a first mounting frame, the first mounting frame is mounted on the base, the moving device is mounted on the first mounting frame, the first mounting frame is a triangular frame structure suitable for the triangular track mechanism, and the first mounting frame is arranged perpendicularly to the base.

[0016] In one embodiment, the work robot further comprises a storage container, the storage container is used to store spraying materials and supply the spraying materials to the work member.

[0017] In one embodiment, the work robot further comprises a second mounting frame, which is arranged on the base away from one end of the mechanical arm, and the storage container is arranged on the second mounting frame.

[0018] In one embodiment, a strip-shaped hole is arranged on the second mounting frame, and the storage container is detachably arranged at the strip-shaped hole on the second mounting frame.

[0019] In one embodiment, the work robot further comprises a control cabinet, which is arranged on the base, and a side end surface of the control cabinet close to the rack is an inclined end surface, and the rack is connected with the inclined end surface.

[0020] In one embodiment, the work robot further comprises a visual sensor, which is arranged on the mechanical arm of the work device.

[0021] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 A structure schematic diagram of one embodiment of a work robot provided by the present application from one view angle;

[0024] Figure 2 A structure schematic diagram of one embodiment of a work robot provided by the present application from two view angles;

[0025] Figure 3 A structure schematic diagram of one embodiment of a work robot provided by the present application from three view angles;

[0026] Figure 4 A structure schematic diagram of one embodiment of a work robot provided by the present application from four view angles;

[0027] Figure 5 A structure schematic diagram of one embodiment of a work robot provided by the present application from five view angles;

[0028] Figure 6A six-view structural schematic diagram of one of the embodiments of the work robot provided in the present application;

[0029] Figure 7 A seven-view structural schematic diagram of one of the embodiments of the work robot provided in the present application.

[0030] Icon:

[0031] 1000 - work robot;

[0032] 100 - mobile device; 110 - triangular track mechanism; 112 - load wheel; 114 - guide wheel; 116 - drive wheel; 118 - tension wheel; 119 - wheel frame;

[0033] 200 - first mounting frame; 300 - storage container; 400 - second mounting frame; 500 - control cabinet;

[0034] 600 - work device;

[0035] 610 - base;

[0036] 620 - frame;

[0037] 630 - base; 632 - work support; 632a - first frame body; 632b - second frame body; 632c - third frame body; 634 - first end face;

[0038] 650 - expansion board; 660 - mechanical arm; 670 - work piece; 680 - driving piece. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0040] In the description of the present application, it should be noted that the positions or location relationships indicated by the terms “inner”, “outer” and the like are based on the positions or location relationships shown in the drawings, or the positions or location relationships commonly placed when the products of the present application are used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms “first”, “second” and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present application, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] The embodiments of the present application provide a work device 600 and a work robot 1000, the work device 600 can be used for spraying work, the work device 600 has stable gravity center during spraying work, the uncontrollable shaking range of the work device 600 body is small, the spraying position is accurate, and the spraying quality is uniform. The work device 600 can be applied to the work robot 1000, the work robot 1000 drives the work device 600 to move, so that the area of the spraying work is further expanded, and the work efficiency is improved.

[0043] In a first aspect, the embodiments of the present application provide a work device 600, as shown in Figure 1 and Figure 3 The work device 600 comprises a base 610, a rack 620, a base 630, a mechanical arm 660 and a work piece 670.

[0044] As shown in Figure 1 or Figure 4 The rack 620 is arranged on the base 610, and the rack 620 is arranged on the base 610 relative to the vertical direction. Exemplarily, the rack 620 is fixedly arranged on the base 610 by welding, clamping or bolt connection and the like. However, in another embodiment, the rack 620 is hingedly installed on the base 610, so that the rack 620 can rotate towards the base 610. For the convenience of understanding and describing the technical scheme of the present application, the following will take the rack 620 fixedly arranged on the base 610 as an example to describe the technical scheme.

[0045] As shown in Figure 3 and Figure 4 The base 630 is arranged on the rack 620. The base 630 is fixedly arranged on the rack 620, of course, in another embodiment, the base 630 is movably arranged on the rack 620.

[0046] As shown in Figure 3 and Figure 4As shown, the mechanical arm 660 is arranged on the base 630, and the frame 620 is inclined towards the base 610, so that the center of gravity of the mechanical arm 660 and the center of gravity of the base 630 are close to the center of gravity of the base 610, so as to realize that the position of the overall center of gravity of the working device 600 is close to the position of the center of gravity of the base 610, that is, the position of the overall center of gravity of the working device 600 is almost coincident with the position of the center of gravity of the base 610, thereby improving the stability of the working device 600.

[0047] The working member 670 is used for spraying work, and the working member 670 is, for example, a spray head. The spray head can be provided with a valve body, so that the working member 670 performs spraying work. Of course, the working member 670 can also be other components, such as a welding gun, so that the working member 670 can perform welding work. The working member 670 can also be a cutting mechanism, so that the working member 670 can perform cutting work. For the convenience of understanding and description, the technical solutions of the working member 670 as a spray head are described below.

[0048] The working member 670 is arranged on the mechanical arm 660, and the mechanical arm 660 moves to drive the working member 670 to move, so as to drive the working member 670 to perform spraying work. The arrangement of the mechanical arm 660 expands the working range of the working member 670.

[0049] The working device 600 provided by the embodiment of the present application can reduce the swing amplitude of the mechanical arm 660 when the mechanical arm 660 swings to drive the working member 670 to perform spraying work. The base 610 serves as the support of the working device 600 as a whole, the position of the overall center of gravity of the working device 600 is close to the position of the center of gravity of the base 610, the base 610 can provide more stable support for the working device 600 as a whole, thereby reducing the swing amplitude of the working device 600 as a whole, and further reducing the swing amplitude of the mechanical arm 660. The reduction of the swing amplitude of the mechanical arm 660 can improve the precision of the moving track of the working member 670, thereby improving the spraying precision, and also can make the spraying quality uniform.

[0050] By arranging the frame 620 to be inclined towards the base 610, and designing the centers of gravity of the mechanical arm 660 and the base 630 to be close to the center of gravity of the base 610, the overall center of gravity of the working device 600 is lowered and close to the center of gravity of the base 610. This design significantly enhances the stability of the working device 600 during work, and reduces the swing caused by external factors (such as wind force, vibration, etc.) and internal factors (such as the action of the mechanical arm 660).

[0051] Due to the improved overall stability of the work device 600, the swing range of the mechanical arm 660 when swinging the work piece 670 for spraying work is effectively controlled. This directly leads to the improvement of the precision of the moving track of the work piece 670, and further makes the spraying position more accurate, meeting the needs of high-precision spraying work. The stable mechanical structure and precise spraying position control enable the paint to be uniformly distributed on the target surface during the spraying process, avoiding uneven spraying caused by shaking or position deviation, thereby ensuring the consistency and uniformity of the spraying quality.

[0052] As shown in Figure 4 In one embodiment, the base 630 includes a work support 632, which is arranged on the frame 620 and has a first end face 634 arranged in a horizontal direction, and the mechanical arm 660 is arranged on the first end face 634.

[0053] Exemplarily, the mechanical arm 660 is fixedly arranged on the work support 632 by welding, clamping or bolt connection, etc.

[0054] The horizontally arranged first end face 634 provides a stable and flat mounting basis for the mechanical arm 660, which helps to improve the stability of the mechanical arm 660 during work.

[0055] By arranging the mechanical arm 660 on the horizontal first end face 634 of the work support 632, the overall center of gravity position of the work device 600 can be more accurately controlled. This layout helps to better align or approach the center of gravity of the mechanical arm 660 and the work piece 670 with the center of gravity of the base 610 and the frame 620, thereby further optimizing the center of gravity distribution and improving the stability and anti-overturning ability of the work device 600 during work.

[0056] A stable mechanical structure is the key to ensure spraying precision. The horizontal first end face 634 of the work support 632 provides an accurate positioning reference for the mechanical arm 660, so that the mechanical arm 660 can maintain higher precision and stability during movement and spraying. This not only improves the accuracy of the spraying position, but also reduces the phenomenon of repeated spraying or missed spraying caused by shaking or deviation, thereby improving the spraying efficiency and quality.

[0057] As shown in Figure 1 and Figure 3As shown, in one embodiment, the work support 632 includes a first frame body 632a, a second frame body 632b, and a third frame body 632c. The first frame body 632a, the second frame body 632b, and the third frame body 632c are connected end to end to form a triangular frame structure. The first frame body 632a is horizontally arranged, and the first end surface 634 is arranged on the first frame body 632a. The second frame body 632b is arranged along the direction of the rack 620 and connected to the rack 620. The third frame body 632c connects the first frame body 632a and the second frame body 632b, improving the connection strength of the work support 632 and improving the deformation resistance and load capacity.

[0058] Exemplarily, the first frame body 632a, the second frame body 632b, and the third frame body 632c are fixedly arranged by welding, clamping, riveting, or bolt connection.

[0059] A triangle is one of the most stable structures in geometry. The work support 632 is connected end to end by the first frame body 632a, the second frame body 632b, and the third frame body 632c to form a triangular frame structure. This design greatly enhances the stability and deformation resistance of the work support 632. During the spraying operation, even if subjected to external forces (such as wind, vibration, etc.), the work support 632 can maintain good stability, thereby ensuring the precise operation of the mechanical arm 660 and the work piece 670.

[0060] The triangular frame structure can form an effective force transmission path between the frame bodies. In particular, the second frame body 632b is arranged along the direction of the rack 620 and connected to the rack 620. This design enables the work support 632 to better withstand and transmit the weight and operating force from the mechanical arm 660 and the work piece 670, reducing stress concentration and deformation, and improving the load capacity and durability of the overall structure.

[0061] The stable work support 632 provides reliable support and positioning for the mechanical arm 660 and the work piece 670. During the spraying operation, the mechanical arm 660 can more accurately move and position the work piece 670, thereby improving the precision of the spraying position and the uniformity of the spraying quality. This not only improves the efficiency of the spraying operation, but also reduces the waste rate and repeated operation cost due to precision problems.

[0062] The triangular frame structure of the work support 632 has good versatility and adaptability. By adjusting the length and angle of each frame body, it can adapt to mechanical arms 660 of different sizes and shapes. This design enables the work device 600 to perform well in a wider range of fields and scenarios.

[0063] As Figure 3As shown, in one embodiment, the third frame body 632c is provided with an expansion plate 650, and the expansion plate 650 is provided with an expansion long hole. The number of expansion plates 650 is at least two.

[0064] As shown, the number of expansion plates 650 is two. In another embodiment, the number of expansion plates 650 is three. Of course, in other embodiments, the number of expansion plates 650 can also be set to four, five, or six, etc. Figure 1

[0065] The expansion long hole of the expansion plate 650 can be used to install some other expansion components, such as a shielding plate, a searchlight, or a heater, etc. The shielding plate is trumpet-shaped, which can prevent the atomized spraying material from drifting to other areas during spraying operation, so as to avoid affecting the previously sprayed area.

[0066] The searchlight can emit light to illuminate the spraying area.

[0067] The heater can heat the spraying area to accelerate the solidification of the spraying material.

[0068] The presence of the expansion plate 650 makes the work device 600 easily adapt to different working environments and operation requirements. By simply replacing or adding expansion components such as shielding plates, searchlights, or heaters, etc., the work device 600 can be quickly transformed to adapt to specific spraying tasks, thereby greatly improving its adaptability and expandability.

[0069] The expansion plate 650 can be more conveniently replaced or added with corresponding components, improving the adaptability and expandability of the work device 600. Moreover, when expansion components are needed, the expansion components can be installed on the expansion long hole of the expansion plate 650, and if the expansion components are not needed, the expansion components can be removed from the expansion plate 650. The expansion plate 650 can conveniently install and remove the expansion components, saving installation and removal time, improving efficiency, and removing the expansion components can reduce the load of the work device 600.

[0070] The design of the expansion long hole on the expansion plate 650 makes the installation and removal of the expansion components convenient. The operator does not need complicated tools or steps to quickly fix the expansion components on the expansion plate 650 or remove them from it. This design not only saves installation and removal time, but also reduces the operation difficulty and improves the work efficiency. When some expansion components are not needed, they can be easily removed from the expansion plate 650, thereby reducing the load of the work device 600. This helps to reduce the energy consumption and wear of the device, prolong its service life, and possibly improve the accuracy and efficiency of the spraying operation.

[0071] As shown, the number of expansion plates 650 is two. In another embodiment, the number of expansion plates 650 is three. Of course, in other embodiments, the number of expansion plates 650 can also be set to four, five, or six, etc. Figure 1 and Figure 2 ​As shown, in one embodiment, the work device 600 further comprises a driving member 680, which is arranged on the frame 620, and the base 630 is arranged on the driving member 680, and the driving member 680 drives the base 630 and the mechanical arm 660 to reciprocate on the frame 620.

[0072] By arranging the driving member 680, the base 630 and the mechanical arm 660 can be driven to reciprocate on the frame 620, thereby significantly improving the activity range of the mechanical arm 660 and the spraying range. This enables the work device 600 to cover a larger working area and meet the needs of work pieces 670 of different sizes and shapes.

[0073] The design of the driving member 680 enables the work device 600 to be flexibly adjusted according to different working environments and work requirements.

[0074] For example, the driving member 680 is a guide rail mechanism, which is arranged on the frame 620 along the length direction of the frame 620, and the second frame body 632b of the base 630 is slidingly installed on the guide rail, so that the base 630 can reciprocate along the length direction of the frame 620, thereby improving the activity range of the mechanical arm 660 and expanding the spraying range of the work piece 670.

[0075] In another embodiment, the driving member 680 is a telescopic member, which can be telescoped, and the telescopic member is arranged on the frame 620 along the length direction of the frame 620, and the second frame body 632b is arranged on the telescopic end of the telescopic member, and the telescopic member can drive the second frame body 632b to reciprocate along the length direction of the frame 620. For example, the telescopic member includes but is not limited to a hydraulic telescopic rod, a pneumatic telescopic rod, an electric telescopic rod, a threaded screw mechanism or a linear motor, etc.

[0076] In another embodiment, the driving member 680 is a gear and rack mechanism, the rack of the gear and rack mechanism is arranged on the frame 620 along the length direction of the frame 620, the gear of the gear and rack mechanism is rotatably installed on the second frame body 632b and engaged with the rack, and the gear is driven to rotate by a motor. The second frame body 632b is slidingly installed on the frame 620, and the gear and rack mechanism drives the second frame body 632b to reciprocate on the frame 620 along the length direction of the frame 620.

[0077] In a second aspect, the embodiments of the present application provide a work robot 1000, as shown in the drawings, Figure 1 The work robot 1000 comprises a moving device 100 and the work device 600 of any of the above embodiments.

[0078] The mobile device 100 is arranged on the base 610, and the mobile device 100 is used to drive the base 610 to move. The mobile device 100 can drive the base 610 to move, which means that the work robot 1000 can move freely in the work area as needed without frequent manual position adjustment, thereby improving the spraying efficiency. The work robot 1000 can quickly move between different positions, reducing the time wasted due to position adjustment, so that the spraying work is more continuous and efficient. The spraying work often involves contact with harmful substances, and the use of the work robot 1000 can effectively avoid direct contact of personnel with harmful substances, reducing the risk of occupational diseases.

[0079] The work robot 1000 provided by the embodiment of the present application has a small shaking degree and good stability during work of the mechanical arm 660 of the work device 600, can perform more accurate spraying work, and further expands the spraying work range and improves the adaptability by arranging the mobile device 100. When it is necessary to change the work area, the work device 600 only needs to be moved by the mobile device 100, without the need to carry the work device 600, thereby saving labor and time and improving work efficiency.

[0080] As shown in Figure 1 In one embodiment, the mobile device 100 is a triangular track mechanism 110. However, in another embodiment, the mobile device 100 is a wheel driving mechanism. The technical solutions of the present application will be described below by taking the triangular track mechanism 110 as an example.

[0081] The triangular track mechanism 110 can easily cope with various complex terrains, such as rugged ground, slopes, and even small steps. This design significantly improves the obstacle crossing ability of the work robot 1000, so that it can work efficiently in more scenarios.

[0082] As shown in Figure 4 and Figure 7 The triangular track mechanism 110 has a large contact area with the ground, which helps to distribute the weight of the robot itself and reduce the pressure on the unit area, thereby improving the stability of the robot during work, and also enabling the work robot 1000 to withstand a larger load without being easily deformed or damaged. This enables the work robot 1000 to maintain stable performance and reliability when carrying a heavier spraying device or working for a long time.

[0083] The larger contact area also means greater friction, which helps the robot maintain a stable posture on slopes or smooth ground and prevent slipping or losing control. Due to the large contact area, the triangular track mechanism 110 can significantly reduce the ground pressure on the ground, reducing damage to the ground and being more suitable for working on fragile or sensitive ground.

[0084] AsFigure 3 and Figure 4 As shown in

[0085] The load wheels 112 can improve the carrying capacity of the working robot 1000. In an example, two load wheels 112 are provided. In another example, three load wheels 112 are provided. The guide wheels 114 are used to guide the rotation of the track.

[0086] As shown in Figure 3 and Figure 4 In an example, the triangular track mechanism 110 further includes a wheel frame 119, a drive wheel 116, and a tension wheel 118. The wheel frame 119 is a triangular frame structure.

[0087] The tension wheel 118, the guide wheel 114, and the load wheel 112 are arranged on the wheel frame 119 at the same height, and the drive wheel 116 is arranged on the wheel frame 119 in a triangular distribution with the tension wheel 118, the guide wheel 114, and the load wheel 112. The wheel frame 119 is a triangular frame structure, and the drive wheel 116, the tension wheel 118, the guide wheel 114, and the load wheel 112 are arranged in a triangular distribution on the wheel frame 119. This layout not only makes the track run more smoothly, but also reduces the wear and deviation of the track during rotation, prolonging the service life of the track.

[0088] The track is mounted on the drive wheel 116, the tension wheel 118, the guide wheel 114, and the load wheel 112.

[0089] The drive wheel 116 is used to drive the rotation of the track.

[0090] The tension wheel 118 is used to tension the track. The arrangement of the tension wheel 118 ensures the tight state of the track, avoiding the situation of relaxation or falling off during rotation, further improving the working efficiency and stability of the working robot 1000.

[0091] In an example, as shown in Figure 6 and Figure 7 Two triangular track mechanisms 110 are provided, and the two triangular track mechanisms 110 are arranged on both sides of the base 610, respectively.

[0092] The arrangement of the load wheels 112 and the guide wheels 114, and their axes at the same height, makes the contact area of the track with the ground larger. This design not only improves the adhesion of the working robot 1000 with the ground, but also significantly enhances the stability of the robot during operation, especially on uneven or inclined ground.

[0093] As shown in Figure 4 to Figure 6 In one embodiment, the working robot 1000 further comprises a first mounting frame 200, which is mounted on the base 610. For example, the first mounting frame 200 is fixedly arranged on the base 610 by welding, clamping, riveting or bolting.

[0094] The moving device 100 is mounted on the first mounting frame 200. For example, the moving device 100 is fixedly arranged on the first mounting frame 200 by welding, clamping, riveting or bolting. The moving device 100 moves to drive the first mounting frame 200 to move, and the first mounting frame 200 moves to drive the base 610 to move.

[0095] The first mounting frame 200 is a triangular frame structure adapted to the triangular track mechanism 110. The first mounting frame 200 is arranged perpendicularly to the base 610, which ensures that the triangular track mechanism 110 is parallel to the ground, thereby increasing the contact area between the triangular track mechanism 110 and the ground. This layout is conducive to reducing energy loss and frictional resistance in the transmission process, and improving the transmission efficiency and moving speed of the robot. At the same time, the perpendicular arrangement also makes the structure of the robot more compact and reasonable, and occupies less space.

[0096] The first mounting frame 200 is designed as a triangular frame structure adapted to the triangular track mechanism 110. This design not only makes the first mounting frame 200 more matched with the triangular track mechanism 110 in structure, but also improves the adaptability of the robot to different terrains and working environments. The triangular structure itself has good stability and load-bearing capacity, which can enhance the overall performance of the robot.

[0097] As shown in Figure 4 to Figure 6 In one embodiment, the working robot 1000 further comprises a material storage container 300, which is used to store the spraying material and supply the spraying material to the working member 670.

[0098] The material storage container 300 has an internal pressure. The spraying material in the material storage container 300 flows to the working member 670 under the action of the pressure. The internal pressure in the material storage container 300 can be generated by an air compressor or the like. In another embodiment, a fluid pump is arranged between the material storage container 300 and the working member 670, which extracts the spraying material and supplies it to the working member 670.

[0099] The material storage container 300 is, for example, a storage barrel, a storage tank or a storage shell, etc.

[0100] By pressurizing the storage container 300 or by using a fluid pump to extract and supply the coating material, a stable and controlled flow of the coating material to the workpiece 670 can be ensured. This setup reduces interruptions and delays during the coating process, thereby improving overall coating efficiency.

[0101] like Figure 4 to Figure 6 As shown, in one embodiment, the robot 1000 further includes a second mounting frame 400. A robotic arm 660 is disposed at one end of a base 610, while the second mounting frame 400 and a storage container 300 are disposed at the opposite end of the base 610. The second mounting frame 400 is disposed at the end of the base 610 away from the robotic arm 660, and the storage container 300 is disposed on the second mounting frame 400. During operation, the robotic arm 660 causes the base 610 to sway. The second mounting frame 400 and the storage container 300 act as counterweights on the base 610, balancing both ends of the base 610, improving its stability, and reducing swaying. This stable base 610 provides a stable foundation for the operation of the robotic arm 660 and the workpiece 670, improving operational accuracy and quality.

[0102] In one embodiment, the second mounting bracket 400 is provided with a strip-shaped hole, and the storage container 300 is detachably mounted on the strip-shaped hole on the second mounting bracket 400.

[0103] For example, the storage container 300 is installed at the slot of the second mounting bracket 400 by means of bolts or snap-fit.

[0104] For example, the forward direction of the work robot 1000 is horizontal, and the forward direction is from the storage container 300 to the robotic arm 660. The length direction of the strip hole is set along the forward direction.

[0105] The storage container 300 can be adjusted in position along the length of the slot at the second mounting bracket 400, allowing the storage container 300 to be adjusted in position in the forward direction or in the reverse direction of the forward direction. For example, if the storage container 300 initially stores more spraying material, the storage container 300 is unlocked from the second mounting bracket 400, and the position of the storage container 300 is adjusted in the positive direction or in the reverse direction of the forward direction, so that the weights at the front and rear ends of the base 610 are matched, and then the storage container 300 is locked on the second mounting bracket 400. As the spraying material in the storage container 300 gradually decreases, the counterweight effect of the storage container 300 gradually weakens, and the position of the storage container 300 on the second mounting bracket 400 needs to be adjusted. The storage container 300 is unlocked from the second mounting bracket 400, and the position of the storage container 300 is adjusted in the positive direction or in the reverse direction of the forward direction, so that the weights at the front and rear ends of the base 610 are matched, so that the stability of the base 610 is restored, and the working accuracy of the mechanical arm 660 and the working member 670 is ensured.

[0106] As shown in Figure 4 and Figure 5 In one embodiment, the working robot 1000 further includes a control cabinet 500, which is arranged on the base 610. The side end face of the control cabinet 500 close to the rack 620 is an inclined end face. The rack 620 is connected to the inclined end face of the control cabinet 500, which increases the mounting strength of the rack 620, further improves the carrying capacity of the mechanical arm 660, and enables the rack 620 to bear the load caused by the greater acceleration of the mechanical arm 660.

[0107] The control cabinet 500 is used to control electrical components such as the mechanical arm 660 and the moving device 100.

[0108] The inclined end face of the control cabinet 500 is connected to the rack 620. This design can more effectively disperse and bear the force and pressure transmitted by the rack 620. Compared with the traditional vertical or planar connection method, the inclined end face provides the rack 620 with a larger contact area and a more stable support point, thereby significantly enhancing the mounting strength of the rack 620.

[0109] Due to the enhanced mounting strength of the rack 620, the mechanical arm 660 can more stably mount and move heavy objects during operation. This arrangement enables the mechanical arm 660 to carry heavier loads, expanding the application range of the working robot 1000 and enabling it to handle heavier and more complex spraying tasks.

[0110] In one embodiment, the working robot 1000 further comprises a visual sensor arranged on the mechanical arm 660 of the working device 600. The visual sensor is electrically connected to the control cabinet 500, and is configured to acquire image information and send the image information to the control cabinet 500, and the control cabinet 500 adjusts the moving route of the mechanical arm 660 and the opening and closing of the working piece 670 according to the image information.

[0111] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0112] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A work device characterized by comprising: Comprising: a base (610); a frame (620) disposed on the base (610), the frame (620) being disposed on the base (610) in an inclined manner relative to a vertical direction; a base seat (630) disposed on the frame (620); a mechanical arm (660) disposed on the base seat (630), the frame (620) being inclined toward the base (610) so that a center of gravity of the mechanical arm (660) and a center of gravity of the base seat (630) are close to the base (610); a work piece (670) disposed on the mechanical arm (660), the mechanical arm (660) moving to drive the work piece (670) to move.

2. The work device according to claim 1, characterized in that, The base seat (630) comprises: a work support (632) disposed on the frame (620), the work support (632) having a first end surface (634) disposed in a horizontal direction, the mechanical arm (660) being disposed on the first end surface (634).

3. The work device according to claim 2, characterized in that, The work support (632) comprises a first frame body (632a), a second frame body (632b) and a third frame body (632c), the first frame body (632a), the second frame body (632b) and the third frame body (632c) being connected end to end to form a triangular frame structure, the first frame body (632a) being disposed horizontally, the first end surface (634) being disposed on the first frame body (632a), the second frame body (632b) being disposed along the frame (620) and connected with the frame (620).

4. The work device according to claim 3, characterized in that The third frame body (632c) is provided with an extension plate (650), the extension plate (650) being provided with an extension long hole, the number of the extension plate (650) being at least two.

5. The work device according to any one of claims 1 to 4, characterized by Further comprising: a driving piece (680) disposed on the frame (620), and the base seat (630) being disposed on the driving piece (680), the driving piece (680) driving the base seat (630) and the mechanical arm (660) to move reciprocatingly on the frame (620).

6. A work robot characterized by comprising: Comprising: the work device (600) according to any one of claims 1 to 5; a moving device (100) disposed on the base (610), the moving device (100) being used to drive the base (610) to move.

7. The work robot according to claim 6, characterized in that, The moving device (100) is a triangular track mechanism (110).

8. The work robot according to claim 7, characterized by The triangular track mechanism (110) has a load wheel (112) and a guide wheel (114), an axis of the load wheel (112) and an axis of the guide wheel (114) being at the same height.

9. The work robot according to claim 7, characterized by Further comprising: A first mounting frame (200) is mounted on the base (610), the mobile device (100) is mounted on the first mounting frame (200), the first mounting frame (200) is a triangular frame structure adapted to the triangular track mechanism (110), and the first mounting frame (200) is vertically arranged with the base (610).

10. The work robot according to claim 6, characterized by Further comprising: A storage container (300) is used to store the spraying material and supply the spraying material to the working member (670).

11. The work robot according to claim 10, characterized by Further comprising: A second mounting frame (400) is arranged on the base (610) away from one end of the mechanical arm (660), and the storage container (300) is arranged on the second mounting frame (400).

12. The work robot according to claim 11, characterized by A strip-shaped hole is arranged on the second mounting frame (400), and the storage container (300) is detachably mounted on the strip-shaped hole of the second mounting frame (400).

13. The work robot according to claim 6, characterized by Further comprising: A control cabinet (500) is arranged on the base (610), one side end surface of the control cabinet (500) is an inclined end surface, and the rack (620) is connected with the inclined end surface.

14. The work robot of claim 6, wherein, Further comprising: A visual sensor is arranged on the mechanical arm (660) of the working device (600).

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