Spraying and polishing robot

Abstract

The spraying and polishing robot comprises a vehicle body, a lifting assembly, a mechanical arm assembly and an abrasive blasting assembly are arranged on the vehicle body, the lifting assembly is arranged on one side of the vehicle body, the mechanical arm assembly is movably connected to the lifting assembly, and the abrasive blasting assembly is detachably connected to the end, away from the lifting assembly, of the mechanical arm assembly. The spraying and grinding assembly comprises a spraying plate and a grinding plate, a gear pump and a containing tank are arranged in the vehicle body, the two ends of the gear pump are connected with the spraying plate and the containing tank through pipelines correspondingly, the working height is changed through the lifting assembly, the working angle is changed through the mechanical arm assembly, and paint can be sucked to the spraying and grinding assembly from the containing tank through the gear pump; and the mechanical arm assembly is detachably connected with the abrasive blasting assembly, so that the abrasive blasting assembly achieves spraying operation and grinding operation within the working range. And the operation efficiency is improved through automatic spraying and polishing.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot for spraying and polishing. Background Technology

[0002] Current wall decoration mainly relies on manual labor, which is inefficient and labor-intensive. The harsh working environment also affects the health of the operators, and the quality of the work depends on the experience of the workers, thus greatly limiting the progress of wall decoration. Utility Model Content

[0003] In view of the above situation, it is necessary to provide a spraying and grinding machine to address the problems of low efficiency of manual operation and the impact of the working environment on the health of operators in the existing technology.

[0004] A painting and polishing robot includes a vehicle body, on which a lifting assembly, a robotic arm assembly, and a spraying and polishing assembly are mounted. The lifting assembly is located on one side of the vehicle body, and the robotic arm assembly is movably connected to the lifting assembly. The lifting assembly is used to drive the robotic arm assembly to rise and fall. A detachably connected spraying and polishing assembly is located at the end of the robotic arm assembly away from the lifting assembly. The spraying and polishing assembly is a spray plate or a polishing plate. The robotic arm assembly is used to change the position of the spraying and polishing assembly. A gear pump and a receiving tank are provided inside the vehicle body. The two ends of the gear pump are connected to the spray plate and the receiving tank respectively through pipelines.

[0005] The beneficial effects of this utility model are:

[0006] The working height is significantly altered by the lifting assembly and slightly by the robotic arm assembly. A gear pump draws paint from the container tank onto the spraying and grinding assembly for spraying. The robotic arm assembly and the spraying and grinding assembly are detached and connected, allowing the spraying and grinding assembly to perform spraying and grinding operations separately within its working range. Automated spraying and grinding improve work efficiency, reduce paint waste, ensure uniform wall coating, and keep construction workers away from harsh spraying environments, reducing labor intensity and significantly minimizing the health risks of paint during spraying.

[0007] Furthermore, the lifting assembly includes a first motor, a wheel and rod mechanism, a fixed plate, and a sliding plate. The first motor is located inside the vehicle body. The wheel and rod mechanism includes a worm gear, a keyway, and a lead screw. The output end of the first motor is connected to the worm gear. The worm gear meshes with the worm gear. The worm gear is movably connected to the lead screw through the keyway. The sliding plate is sleeved on the lead screw. The fixed plate is located on the vehicle body. Slide rails are provided on opposite sides of the fixed plate. The opposite sides of the sliding plate are movably connected to the two slide rails respectively. The robotic arm assembly is mounted on the sliding plate.

[0008] Furthermore, the robotic arm assembly includes a rotating mechanism and a four-degree-of-freedom robotic arm. The rotating mechanism includes a second motor, a connecting seat, and a rotating body. The second motor is fixed to the slide plate via the connecting seat. The rotating body is located above the connecting seat and connected to the second motor. One end of the four-degree-of-freedom robotic arm is connected to the rotating body, and the other end of the four-degree-of-freedom robotic arm is equipped with a third motor. The third motor is detachably connected to the spray plate or the grinding plate. The four-degree-of-freedom robotic arm enables the extension of the working distance and the transformation of the rotation angle. Each joint of the four-degree-of-freedom robotic arm is equipped with a fourth motor, which drives two adjacent connecting arms to generate relative motion.

[0009] Furthermore, the spray plate is provided with a plurality of spray holes, and a pipeline interface is provided on one side of the spray plate, wherein the spray holes are connected to the pipeline interface.

[0010] Furthermore, the side of the grinding plate facing away from the third motor is provided with sandpaper.

[0011] Furthermore, the vehicle body is equipped with several lidar sensors on its periphery, which are used to construct an environmental map.

[0012] Furthermore, the bottom of the vehicle body is provided with a walking mechanism, which includes a fifth motor and a Mecanum wheel, and the fifth motor is connected to the Mecanum wheel.

[0013] Furthermore, the vehicle body is equipped with a battery. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the spraying and polishing robot of this utility model;

[0015] Figure 2 for Figure 1 Cross-sectional view of AA in the middle;

[0016] Figure 3 This is a structural schematic diagram of the lifting assembly and the robotic arm assembly of this utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the grinding plate of this utility model.

[0018] In the diagram: 1. Vehicle body; 11. Container tank; 12. LiDAR; 13. Walking mechanism; 131. Fifth motor; 132. Mecanum wheel; 14. Battery; 2. Lifting assembly; 21. First motor; 22. Wheel and rod mechanism; 221. Worm gear; 222. Keyway; 223. Lead screw; 23. Worm; 24. Fixing plate; 25. Slide rail; 26. Slide plate; 3. Robotic arm assembly; 31. Rotation mechanism; 311. Second motor; 312. Connecting seat; 313. Rotating body; 32. Four-degree-of-freedom robotic arm; 321. Fourth motor; 33. Third motor; 41. Spray plate; 411. Spray hole; 412. Pipe interface; 42. Grinding plate; 5. Pipeline. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0020] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Furthermore, the various embodiments of the invention, the features within those embodiments, and the features of the embodiments may be freely combined without obvious conflict or contradiction.

[0022] A painting and polishing robot, such as Figure 1 and Figure 4 As shown, it includes a vehicle body 1, on which a lifting assembly 2, a robotic arm assembly 3, and a spraying and grinding assembly are provided.

[0023] Specifically, the lifting assembly 2 is located on one side of the vehicle body 1, and the robotic arm assembly 3 is slidably connected to the lifting assembly 2. The lifting assembly 2 is used to drive the robotic arm assembly 3 to lift. The lifting assembly 2 includes a first motor 21, a wheel mechanism 22, a fixed plate 24, and a sliding plate 26. The first motor 21 is located inside the vehicle body 1. The wheel mechanism 22 includes a worm gear 221, a keyway 222, and a lead screw 223. The output end of the first motor 21 is connected to the worm gear 23. The worm gear 23 is meshed with the worm gear 221. The worm gear 221 is rotatably connected to the lead screw 223 through the keyway 222. The sliding plate 26 is sleeved on the lead screw 223. The fixed plate 24 is located on the vehicle body 1. Slide rails 25 are provided on opposite sides of the fixed plate 24. The opposite sides of the sliding plate 26 are slidably connected to the two slide rails 25 respectively. The robotic arm assembly 3 is mounted on the sliding plate 26. The first motor 21 drives the worm gear 23, which in turn drives the meshing worm wheel 221. The worm wheel 221 then drives the lead screw 223, causing the slide plate 26 to rise and fall along the lead screw 223. The opposite sides of the slide plate 26 are slidably connected to the two slide rails 25, thereby enabling the slide plate 25 to drive the robotic arm assembly 3 to move up and down relative to the fixed plate 24.

[0024] Specifically, the robotic arm assembly 3 is used to change the position of spraying and polishing. The robotic arm assembly 3 includes a rotating mechanism 31 and a four-degree-of-freedom robotic arm 32. The rotating mechanism 31 includes a second motor 311, a connecting seat 312, and a rotating body 313. The second motor 311 is fixed to the slide plate 26 through the connecting seat 312. The rotating body 313 is located above the connecting seat 312 and connected to the second motor 311. One end of the four-degree-of-freedom robotic arm 32 is connected to the rotating body 313. The other end of the four-degree-of-freedom robotic arm 32 is provided with a third motor 33. The third motor 33 is detachably connected to the spray plate 41 or the polishing plate 42. Each joint of the four-degree-of-freedom robotic arm 32 is provided with a fourth motor 321. The fourth motor 321 drives the four-degree-of-freedom robotic arm 32 to generate relative motion. The second motor 211 drives the rotating body 313 to rotate, changing the horizontal position of the four-degree-of-freedom robotic arm 32. The fourth motor 321 drives the four-degree-of-freedom robotic arm 32 to change its vertical position. The third motor 33 drives the spraying and grinding assembly to change the spraying or grinding angle. It can be understood that the second motor 311, the third motor 33, and the fourth motor 321 respectively simulate the manual operation of the operator, thereby realizing automated operation.

[0025] Specifically, the end of the four-degree-of-freedom robotic arm 32 furthest from the slide plate 26 is equipped with a detachable and connectable spraying and sanding assembly. The spraying and sanding assembly is either a spraying plate 41 or a sanding plate 42. The spraying plate 41 has multiple spray holes 411, and a pipe interface 412 is provided on one side of the spraying plate 41. The spray holes 411 are connected to the pipe interface 412. The sanding plate 42 has sandpaper (not shown) on the side facing away from the third motor 33. When it is necessary to spray paint, the spraying plate 41 is connected to the third motor 33, and the paint is sprayed out from the container tank 11 and the gear pump through the spray holes 411 to realize the paint spraying operation. When it is necessary to sand the wall surface, the spraying plate 41 is separated from the third motor 33, and then the sanding plate 42 is connected to the third motor 33. The third motor 33 drives the sanding plate 42 to rotate, and the sandpaper acts on the wall surface to realize the sanding of the wall surface.

[0026] Specifically, the vehicle body is equipped with a gear pump (not shown) and a container tank 11. The two ends of the gear pump are connected to the spray plate 41 and the container tank 11 respectively via pipes 5. Multiple lidar sensors 12 are installed around the vehicle body 1. The lidar sensors 12 are used to build environmental maps. A walking mechanism 13 is installed at the bottom of the vehicle body 1. The walking mechanism 13 includes a fifth motor 131 and Mecanum wheels 132. The fifth motor 131 is connected to the Mecanum wheels 132. A battery 14 is installed inside the vehicle body 1. The gear pump draws the paint from the container tank 11 to the spray plate 41 to realize the transfer of paint. Before operation, the multiple lidar sensors 12 build a map of the working environment to accurately determine the spraying and sanding positions. The fifth motor 131 drives the Mecanum wheels 132 to move the vehicle body. The battery 14 provides power to meet the operation requirements.

[0027] In this invention, when paint needs to be sprayed, the operator pours the polished paint into the container 11. At this time, the lidar 12 automatically detects the surrounding environment and builds a map. A designated area is selected within the built map environment for operation. The fifth motor 131 drives the Mecanum wheel 132 to move to the designated position. The first motor 21 drives the worm gear 23 to rotate the worm wheel 221 (the worm wheel 221 cannot drive the worm gear 23, but the worm gear 23 can drive the worm wheel 221, providing a self-locking function). The worm wheel 221 drives the lead screw 223 to rotate, causing the slide plate 26 to rise and fall along the lead screw 223. The opposite sides of the slide plate 26 are slidably connected to two slide rails 25, thereby enabling the slide plate 25 to drive the robotic arm assembly 3 to move up and down relative to the fixed plate 24. In the event of a sudden power outage, the worm gear 23 and worm wheel 221 will self-lock, thus protecting the robotic arm assembly. The second motor 311 drives the rotating body 313 to rotate, changing the four... The horizontal position of the four-degree-of-freedom robotic arm 32 is changed by the fourth motor 321 driving the connecting arm, and the vertical position of the four-degree-of-freedom robotic arm 32 is changed by the third motor 33 driving the spraying and sanding assembly, thus changing the spraying and sanding angles. In essence, the second motor 311, the third motor 33, and the fourth motor 321 simulate manual operation. When paint needs to be sprayed, the spray plate 41 is connected to the third motor 33, and the paint in the container tank 11 is drawn to the spray plate 41 by the gear pump, realizing the transfer of paint. The paint is then sprayed out through the spray nozzles from the container tank 11 and the gear pump, realizing the paint spraying operation. This reciprocating operation achieves the effect of automatic spraying. When sanding the wall surface is required, the spray plate 41 is separated from the third motor 33, and then the sanding plate 42 is connected to the third motor 33. The third motor 33 drives the sanding plate 42 to rotate, and the sandpaper acts on the wall surface, realizing the sanding of the wall surface.

[0028] This invention utilizes a lifting component 2 to significantly adjust the working height, and a robotic arm component 3 to slightly adjust it. A gear pump draws paint from the container tank 11 onto the spray-grinding assembly, enabling spraying operations. The robotic arm component 3 is detachably connected to the spray-grinding assembly, allowing the assembly to perform both spraying and grinding operations within its working range. Automated spraying and grinding improve work efficiency, reduce paint waste, ensure uniform wall coating, and keep workers away from harsh spraying environments, reducing labor intensity and significantly minimizing the health risks associated with paint during spraying.

[0029] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0030] The embodiments described above are merely illustrative of the implementation of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot for spraying and polishing, characterized in that: The system includes a vehicle body, on which a lifting assembly, a robotic arm assembly, and a grinding assembly are mounted. The lifting assembly is located on one side of the vehicle body, and the robotic arm assembly is movably connected to the lifting assembly. The lifting assembly is used to drive the robotic arm assembly to rise and fall. The end of the robotic arm assembly away from the lifting assembly is detachably connected to the grinding assembly, which is a spray plate or a grinding plate. The robotic arm assembly is used to change the position of the grinding assembly. The vehicle body contains a gear pump and a receiving tank. The two ends of the gear pump are connected to the spray plate and the receiving tank respectively through pipelines.

2. The spraying and polishing robot according to claim 1, characterized in that: The lifting assembly includes a first motor, a wheel and rod mechanism, a fixed plate, and a sliding plate. The first motor is located inside the vehicle body. The wheel and rod mechanism includes a worm gear, a keyway, and a lead screw. The output end of the first motor is connected to the worm gear, which meshes with the worm gear. The worm gear is movably connected to the lead screw via the keyway. The sliding plate is sleeved on the lead screw. The fixed plate is located on the vehicle body. Slide rails are provided on opposite sides of the fixed plate. The opposite sides of the sliding plate are movably connected to the two slide rails respectively. The robotic arm assembly is mounted on the sliding plate.

3. The painting and polishing robot according to claim 2, characterized in that: The robotic arm assembly includes a rotating mechanism and a four-degree-of-freedom robotic arm. The rotating mechanism includes a second motor, a connecting seat, and a rotating body. The second motor is fixed to the slide plate via the connecting seat. The rotating body is located above the connecting seat and connected to the second motor. One end of the four-degree-of-freedom robotic arm is connected to the rotating body, and the other end of the four-degree-of-freedom robotic arm is equipped with a third motor. The third motor is detachably connected to the spray plate or the grinding plate. The four-degree-of-freedom robotic arm is used to change the position of the spraying and grinding assembly. Each joint of the four-degree-of-freedom robotic arm is equipped with a fourth motor, which drives the four-degree-of-freedom robotic arm to generate relative motion.

4. The spraying and polishing robot according to claim 1, characterized in that: The spray plate is provided with a plurality of spray holes, and a pipeline interface is provided on one side of the spray plate, wherein the spray holes are connected to the pipeline interface.

5. The painting and polishing robot according to claim 3, characterized in that: The grinding plate has sandpaper on the side facing away from the third motor.

6. The spraying and polishing robot according to claim 1, characterized in that: The vehicle body is equipped with several lidar sensors around its perimeter, which are used to construct an environmental map.

7. The painting and polishing robot according to claim 1, characterized in that: The vehicle body is equipped with a walking mechanism at the bottom, which includes a fifth motor and a Mecanum wheel, with the fifth motor connected to the Mecanum wheel.

8. The painting and polishing robot according to claim 1, characterized in that: The vehicle is equipped with a battery.

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