CN112814338A - Smearing component and smearing robot - Google Patents
Smearing component and smearing robot Download PDFInfo
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- CN112814338A CN112814338A CN202110173820.0A CN202110173820A CN112814338A CN 112814338 A CN112814338 A CN 112814338A CN 202110173820 A CN202110173820 A CN 202110173820A CN 112814338 A CN112814338 A CN 112814338A
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- holes
- spraying
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- 239000011248 coating agent Substances 0.000 claims abstract description 88
- 238000000576 coating method Methods 0.000 claims abstract description 88
- 239000003973 paint Substances 0.000 claims abstract description 53
- 238000005507 spraying Methods 0.000 claims abstract description 47
- 238000005096 rolling process Methods 0.000 claims abstract description 43
- 239000000463 material Substances 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims abstract description 10
- 238000010422 painting Methods 0.000 claims description 45
- 238000003756 stirring Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 15
- 238000003825 pressing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000009987 spinning Methods 0.000 claims 1
- 230000010365 information processing Effects 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 239000003292 glue Substances 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000013019 agitation Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
- B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
- B01F27/90—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with paddles or arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F2101/00—Mixing characterised by the nature of the mixed materials or by the application field
- B01F2101/30—Mixing paints or paint ingredients, e.g. pigments, dyes, colours, lacquers or enamel
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
The invention discloses a smearing component for smearing paint on a smearing surface, which comprises: coating a plate; the feeding device is at least provided with a spraying cylinder, and the outer circumferential surface of the spraying cylinder is provided with at least one row of spraying holes extending towards two ends and used for spraying the coating in the spraying cylinder to the coating plate or the coating surface; and the traveling mechanism comprises an installation frame with a rolling body, the coating plate and the material spraying cylinder are arranged on the installation frame, the rolling body is attached to the coating surface and rolls to drive the coating plate to move so as to uniformly coat the coating on the coating surface, and the moving direction of the coating plate is parallel to the coating surface. According to the technical scheme, the coating operation of the inclined planes of the wall surface, the ceiling, the ground and the staircase is realized through the coating assembly, so that manual coating is completely replaced, the coating operation efficiency and the coating quality are improved, the coating cost is remarkably reduced compared with that of manual coating, and the market prospect is wide.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a smearing component and a smearing robot.
Background
At present, common automatic wall plastering equipment on the market can only paint vertical wall surfaces and cannot paint inclined planes of ceilings, floors and staircases, so that manual painting cannot be completely replaced by machines, and the wall plastering cost cannot be further reduced.
Disclosure of Invention
The invention mainly aims to provide a smearing assembly and a smearing robot, and aims to achieve smearing operation on wall surfaces, ceilings, floors and inclined planes of staircases, so that manual smearing is completely replaced, smearing efficiency is improved, and cost is reduced.
In order to achieve the above object, the present invention provides a coating assembly for coating a coating material on a coating surface, including:
coating a plate;
the feeding device is at least provided with a spraying cylinder, and the outer circumferential surface of the spraying cylinder is provided with at least one row of spraying holes extending towards two ends and used for spraying the coating in the spraying cylinder to the coating plate or the coating surface; and
the walking mechanism comprises an installation frame with a rolling body, the coating plate and the material spraying cylinder are arranged on the installation frame, the rolling body is attached to the coating surface and rolls to drive the coating plate to move so as to uniformly coat the coating on the coating surface, and the moving direction of the coating plate is parallel to the coating surface.
In an embodiment, the feeding device further includes an adjusting cylinder disposed in the material spraying cylinder, and the adjusting cylinder changes the number of the spraying holes capable of spraying the paint in a self-rotating manner to adjust the coating width.
In one embodiment, a plurality of rows of through holes are formed in the outer circumferential surface of the adjusting cylinder, the adjusting cylinder rotates to enable each row of through holes to be communicated with one row of the spraying holes, and the number or the arrangement sequence of the through holes in different rows is different.
In one embodiment, a gear ring is arranged on the outer circumferential surface of the adjusting cylinder, and a power device in transmission connection with the gear ring is arranged on the material spraying cylinder so as to drive the gear ring to rotate to drive the adjusting cylinder to rotate.
In an embodiment, a pressure detection device is arranged on the mounting frame to detect the extrusion force of the rolling body on the mounting frame.
In one embodiment, a sliding block is arranged on the mounting frame, the sliding block can selectively move along the axial direction of the rolling body, and a universal joint is arranged on the sliding block.
In one embodiment, the sliding block is provided with a distance measuring device for measuring the distance between the sliding block and two ends of the mounting frame in the axial direction of the rolling body.
In one embodiment, the smearing plate is hinged with the mounting frame, and an adjusting mechanism capable of selectively adjusting the distance from the smearing plate to the smearing surface is arranged on the smearing plate.
In addition, to achieve the above object, the present invention also provides an application robot comprising:
the movable seat is provided with a horizontally rotating turntable;
the linear moving device is arranged on the rotary table and is connected with any one of the smearing components so as to drive the smearing components to move to smear the paint on the smearing surface.
In one embodiment, the paint spraying device further comprises a paint stirring box arranged on the movable seat, the paint stirring box is communicated with the material spraying barrel through a pipeline, and a conveying pump is arranged on the pipeline.
According to the technical scheme, the coating operation of the inclined planes of the wall surface, the ceiling, the ground and the staircase is realized through the coating assembly, so that manual coating is completely replaced, the coating operation efficiency and the coating quality are improved, the coating cost is remarkably reduced compared with that of manual coating, and the market prospect is wide.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a front view of the applicator assembly of the present invention;
FIG. 2 is a top plan view of the applicator assembly of the present invention;
FIG. 3 is an enlarged view of section C of FIG. 1;
FIG. 4 is a front view of the applicator assembly with the applicator plate removed;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a front view of FIG. 4 with the cartridge removed;
FIG. 7 is a top view of one of the embodiments of FIG. 6;
FIG. 8 is a top view of the alternate embodiment of FIG. 6;
FIG. 9 is a schematic structural view of a feeding device of the present invention, in which FIG. (a) is a schematic structural view of a material ejection cartridge, and FIGS. (b) and (c) are schematic structural views of an adjustment cartridge;
fig. 10 is a schematic structural view of an adjustment cylinder of the present invention, in which fig. (a) is a bottom view of the adjustment cylinder, fig. (b) is a front view of the adjustment cylinder, fig. (c) is a left view of the adjustment cylinder, fig. (d) is a right view of the adjustment cylinder, fig. (e) is a top view of the adjustment cylinder, and fig. (f) is a rear view of the adjustment cylinder;
FIG. 11 is a sectional view taken along line B-B of FIG. 10 (B);
FIG. 12 is a schematic view of the arrangement of through holes in the adjustment barrel of the present invention;
FIG. 13 is a schematic diagram of the remote control of the present invention;
FIG. 14 is a front view of the application robot of the present invention;
FIG. 15 is a top view of the painting robot of the present invention;
FIG. 16 is an internal structural view of the paint agitation tank of the present invention;
fig. 17 is an enlarged view of portion D of fig. 16;
fig. 18 is a schematic view of the use of the dauber assembly.
The reference numerals are explained below:
1. a box body; 11. a universal wheel; 12. a radial bearing; 13. a power line; 14. a foot switch; 15. a thrust bearing;
2. a box cover; 20. a feed inlet; 21. a large gear ring; 22. a first rotating motor; 23. a pinion gear; 24. a stirring motor; 25. a stirrer; 26. controlling a first switch; 27. a second control switch; 28. a circular groove; 29. a movable hole;
3. a smearing component; 301. mounting a plate; 302. a first connecting rod; 303. a universal joint; 304. a wheel axle; 305. a drum; 306. a bearing; 307. an adjusting cylinder; 308. a roller; 309. a through hole; 310. mounting holes; 311. a pressure detection device; 312. a third control switch; 313. a material spraying barrel; 314. a delivery pipe; 315. teeth; 316. a first power device; 317. spraying holes; 318. mounting a rod; 319. coating a plate; 320. a screw; 321. a nut; 322. a second connecting rod; 323. a drive gear; 324. a pipe joint; 325. a groove; 326. a slider; 327. a lead screw; 328. a second power device; 329. a distance measuring device; 330. a delivery pump; 331. a material suction pipe; 332. an elastomer;
4. a linear moving device; 41. a first linear actuator; 42. a linear actuator II; 43. controlling a switch IV;
5. a support;
6. a remote controller; 61. a PLC controller;
7. coating the surface;
8. and a movable seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention proposes a painting assembly 3 for painting a paint on a painting surface 7.
Referring to fig. 1-2, in an embodiment of the invention, the application assembly 3 includes an application plate 319, a feeding device and a traveling mechanism, the feeding device at least includes an ejection cylinder 313, and at least one row of ejection holes extending towards two ends are formed on an outer circumferential surface of the ejection cylinder 313, and are used for ejecting the paint in the ejection cylinder 313 to the application plate 319 or the application surface 7; the walking mechanism comprises an installation frame with a rolling body, the coating plate 319 and the material spraying cylinder 313 are arranged on the installation frame, the rolling body is attached to the coating surface 7 and rolls to drive the coating plate 319 to move so as to uniformly coat the coating on the coating surface 7, and the moving direction of the coating plate 319 is parallel to the coating surface 7.
In this embodiment, the painting surface 7 includes a vertical wall surface, a horizontal ceiling, a floor surface, and a slope of a staircase.
In this embodiment, when the painting surface 7 is a wall surface or a ground surface, the spraying holes may spray paint onto the painting plate 319 or the painting surface 7; when the coating surface 7 is a ceiling or an inclined surface, the spraying holes can only spray the paint on the coating surface 7, so that the paint on the coating plate 319 is prevented from dropping on the ground to influence the smooth coating operation.
According to the technical scheme, the walking mechanism is tightly attached to the smearing surface 7 to move so as to drive the smearing plate 319 to synchronously move in the same direction, so that the coating is uniformly smeared on the smearing surface 7, and therefore, no matter the smearing surface 7 is a vertical wall surface, a horizontal ground surface, a ceiling or an inclined wall surface, the rolling bodies can tightly attach to the walking mechanism to roll and drive the smearing plate 319 to synchronously move in the same direction to complete smearing operation, manual smearing is completely replaced, and compared with manual smearing, the smearing component 3 is high in smearing speed, high in efficiency, stable and reliable in smearing quality, remarkably lower in smearing cost compared with manual smearing, high in market popularization value and wide in prospect.
Generally, the paint in this embodiment refers to wall paint, floor paint, cement paint, putty and other finish paints, and of course, in other embodiments, the paint includes glue such as wall glue for wallpaper pasting besides the finish paint, and further includes concrete, in short, all liquid substances for painting buildings are included in the paint of the present invention, so it can be seen that the painting assembly 3 of the present invention has a wide application range in building construction and a wide market prospect.
In this embodiment, further, the feeding device further includes an adjusting cylinder 307 disposed in the spraying cylinder 313, as shown in fig. 4-5, the adjusting cylinder 307 changes the number of the spraying holes capable of spraying the paint in a rotation manner to adjust the painting width, after all, the painting surface 7 has a wide or narrow width, taking the wall surface as an example, the wall surface of a living room or a bedroom is generally wide, the wall surface of a bathroom or a kitchen is generally narrow, and the surface showing the wall thickness in a door opening, a corridor passageway or a balcony is definitely narrower, so that the painting operation width of the painting assembly 3 can be freely adjusted as required to avoid paint waste in order to enable the painting assembly 3 of the present invention to be suitable for painting surfaces 7 of various widths to fully and comprehensively replace manual painting.
In this embodiment, optionally, the composition and installation structure of the feeding device are as shown in fig. 9, a row of ejection holes extend along the axial direction of the ejection cylinder 313 to be arranged in a straight line, the distance between two adjacent ejection holes is equal, the middle part of the ejection cylinder 313 is provided with a pipe connector 324 for connecting a material conveying pipe 314 for conveying the coating material into the ejection cylinder 313, two adjusting cylinders 307 are respectively inserted from two ends of the ejection cylinder 313 and are limited in the ejection cylinder 313, which cannot move axially but only rotate, at the same time, the outer wall of the adjusting cylinder 307 rotates tightly against the inner wall of the ejection cylinder 313, one end of the ejection cylinder 313 is sealed, and the other end is open, so that the coating material entering the ejection cylinder 313 through the pipe connector 324 can smoothly enter the two adjusting cylinders 307, the coating material cannot flow out from two ends of the ejection cylinder 313, only after the through hole 309 is communicated with the ejection holes, the paint in the regulating cylinder 307 is ejected from the ejection hole through the through hole 309.
In this embodiment, each of the adjusting cylinders 307 is provided with through holes 309 capable of aligning with the discharge holes, the through holes 309 are provided in a plurality of rows and are uniformly distributed on the outer circumferential surface of the adjusting cylinder 307, so that the adjusting cylinder 307 rotates to enable each row of the through holes 309 to be communicated with one row of the discharge holes one by one, and the number or the arrangement order of the through holes 309 in different rows is different in order to achieve the purpose that the adjusting cylinder 307 changes the number of the discharge holes capable of discharging the coating material in a rotation manner.
For the convenience of understanding of the present invention, in this embodiment, it is assumed that 6 rows of through holes 309 are provided on the adjusting cylinder 307, the number of each row of through holes 309 is at most four, and at least 2, as shown in fig. 10 and 12, the 6 rows of through holes 309 are respectively denoted as a row, b row, c row, d row, e row, and f row, the six rows of through holes 309 are uniformly distributed circumferentially around the axis of the adjusting cylinder 307, and each row of through holes 309 extends along the axis direction of the adjusting cylinder 307, as shown in fig. 10, the a row has four through holes 309, the four through holes 309 can correspond to four ejection holes on the ejection cylinder 313 one by one, the b row and the f row each have three through holes 309, the three through holes 309 can correspond to three ejection holes on the ejection cylinder 313 one by one, the c row and the e row each have two through holes 309, the two through holes 309 can correspond to two ejection holes on the ejection cylinder 313 one by one, column d has zero through holes 309; it can also be seen from fig. 10 that the columns b and f, and the columns c and e have the same number of through holes 309 but different arrangement orders, and the columns b and c, and the columns e and f have the same arrangement order although the number of through holes 309 is different, and they all extend from the same end of the adjusting cylinder 307 to the other end, so that the application width is adjusted by the following two ways:
in the mode a, the two adjusting cylinders 307 are located at the initial positions where the a-row through holes 309 are communicated with the one-row ejection holes one by one, and then the two adjusting cylinders 307 are rotated in a manner that the f-row through holes 309 are communicated with the one-row ejection holes one by one, and the e-row through holes 309 are communicated with the one-row ejection holes one by one.
In the mode B, the two adjusting cylinders 307 are both positioned at the initial positions where the through holes 309 in the row a are communicated with the jetting holes in the row a one by one, then one of the adjusting cylinders 307 is rotated in a manner that f rows of through holes 309 are firstly communicated with one row of ejection holes one by one, and e rows of through holes 309 are then communicated with one row of ejection holes one by one, when the adjusting cylinder 307 has no through holes 309 communicating with the ejection holes (i.e. the adjusting cylinder 307 rotates 180 degrees, and the d rows block up all the four ejection holes), the other adjusting cylinder 307 is rotated in such a manner that the b rows of through holes 309 first communicate with one row of ejection holes one by one, and the c rows of through holes 309 then communicate with one row of ejection holes one by one, in this process, the number of discharge holes capable of discharging the coating material is gradually reduced, and gradually reduced from one end of the row of discharge holes, taking fig. 9 (a) as an example, two specific modes are provided, that is, a mode of decreasing from the left end of one row of ejection holes and a mode of decreasing from the right end of one row of ejection holes.
In the above embodiment, the setting manner that the adjusting cylinder 307 is provided with 6 rows of through holes 309, and the number of the through holes 309 in each row is four at most and 2 at least is only for facilitating understanding of the present invention, actually, the number of the through holes 309 in the adjusting cylinder 307 should be not less than 2 rows, and the number of the through holes 309 in each row is not more than half of the number of the jetting holes in each row at most, and may be 0 at least.
In this embodiment, further, in order to realize that the adjusting cylinder 307 can automatically rotate, as shown in fig. 9, a tooth 315 is provided on the adjusting cylinder 307, the tooth 315 forms a gear ring on the adjusting cylinder 307, as shown in fig. 11, the maximum outer diameter of the gear ring does not exceed the outer diameter of the adjusting cylinder 307; as shown in fig. 4, 5 and 9, a groove 325 and a first power device 316 are arranged on the material spraying barrel 313, a driving gear 323 is arranged on the first power device 316, the lower end of the driving gear 323 extends into the material spraying barrel 313 through the groove 325 to be meshed with the gear ring, and the first power device 316 drives the adjusting barrel 307 to rotate.
In this embodiment, the first power device 316 may be any one of an electric motor, a hydraulic motor, and a pneumatic motor.
However, the composition and installation structure of the feeding device are not limited to those shown in fig. 9, in other embodiments, a pipe joint 324 may be provided at the end of the nozzle barrel 313, and the end of the nozzle barrel 313 is sealed and the other end is open, so that the adjusting barrel 307 is inserted into the nozzle barrel 313, at this time, one of the adjusting barrels 307 is inserted into the nozzle barrel 313, cannot move axially but only rotates, one end of the adjusting barrel 307 close to the pipe joint 324 is open, so that the paint entering the nozzle barrel 313 through the pipe joint 324 can smoothly enter the adjusting barrel 307, one end of the adjusting barrel 307 far from the pipe joint 324 is sealed, and the outer wall of the adjusting barrel 307 rotates against the inner wall of the nozzle barrel 313, so that the paint cannot flow out from one end of the nozzle barrel 313, and only after the through hole 309 communicates with the nozzle hole, the paint in the adjusting barrel 307 can pass through the through hole 309 and be ejected from the nozzle hole, and the number of the through holes 309 in each row on the adjusting cylinder 307 is at most equal to the number of the ejection holes in one row.
In this embodiment, since there is only one adjusting cylinder 307 in the nozzle cylinder 313, there is only one adjusting mode of the application width, that is, the mode B.
In this embodiment, a pressure detection device 311 is further disposed on the mounting bracket to detect an extrusion force of the rolling element on the mounting bracket, when the rolling element is not in contact with the applying surface 7, the rolling element does not extrude the pressure detection device 311, and the pressure detection device 311 cannot detect a pressure, so that whether the rolling element rolls against the applying surface 7 can be determined according to whether the pressure detection device 311 detects a pressure, and therefore, in a process that the rolling element drives the applying plate 319 to move, once a pressure signal is not detected by the pressure detection device 311, the mounting bracket can be timely pressed to enable the rolling element to roll against the applying surface 7.
In this embodiment, the mounting frame is optionally composed of a first connecting rod 302 and mounting plates 301 arranged at two ends of the first connecting rod 302, and the structure is light in weight, so that the smearing component 3 can be conveniently operated, as shown in fig. 1 to 8, the spraying barrel 313 is arranged below the two mounting plates 301; in this embodiment, as shown in fig. 6 and 7, the rolling bodies include at least two parallel axles 304 penetrating through the two mounting plates 301 and rollers 305 penetrating through the axles 304, a bearing 306 is disposed between the rollers 305 and the axles 304, and the rollers 305 can roll around the axles 304 to rotate against the applying surface 7; the pressure detection devices 311 are disposed on the two mounting plates 301, as shown in fig. 3, the mounting plates 301 are provided with mounting holes 310 for mounting the wheel shafts 304, the mounting holes 310 are circular holes in a runway, when the roller 305 is not in contact with the applying surface 7, the wheel shafts 304 do not press the pressure detection devices 311, and when the roller 305 is tightly attached to the applying surface 7, the roller 305 pushes the wheel shafts 304 to move radially in the mounting holes 310 to press the pressure detection devices 311.
In this embodiment, the pressure detecting device 311 employs a pressure sensor, the pressure sensor is elastically connected to the axle 304 through an elastic body 332, the larger the pressing force of the axle 304 on the pressure sensor is, the larger the displacement of the axle 304 moving radially in the mounting hole 310 is, and the smaller the coating thickness of the coating on the coating surface 7 is, so that in order to ensure the coating thickness to be consistent, the pressure value measured by the pressure detecting device 311 should be constant.
In the present embodiment, the elastic body 332 is any one of a spring and rubber.
Normally, in order to ensure that the roller 305 rotates smoothly, the bearing 306 is tightly sleeved on the axle 304 and cannot move axially, the roller 305 is fixedly connected with the bearing 306 and cannot move axially, however, the design is not limited thereto, in other embodiments, the roller 305 may be replaced by a plurality of rollers 308, as shown in fig. 8, and the rollers 308 are uniformly distributed on the axle 304, so that the design can reduce the self weight of the rollers and facilitate the operation and control of the application assembly 3; further, in order to prevent the rolling bodies from sliding on the applying surface 7, the roller 305 and the roller 308 should be made of anti-skid and wear-resistant materials.
In this embodiment, a universal joint 303 is further provided on the mounting frame, the universal joint 303 is used for connecting a driving source for driving the smearing component 3 to move on the smearing surface 7, and a preferred driving source is the smearing robot of the present invention.
Usually, the universal joint 303 is disposed in the middle of the mounting bracket, and the distance from the universal joint 303 to both ends of the rolling element is equal, so that the pressure values detected by the pressure detection devices 311 at both ends of the rolling element are equal when the universal joint 303 is pressed to make the rolling element closely adhere to the applying surface 7, so that the applying plate 319 is uniformly applied, and the thickness of the coating applied on the applying surface 7 is equal everywhere.
In this embodiment, further, the universal joint 303 is capable of moving along the axial direction of the rolling element, so that when the applying surface 7 is narrow and located at a corner, the rolling element is hard to adhere to the applying surface 7 by moving the universal joint 303, as shown in fig. 18, when the width of the applying surface 7 is small, the rolling element is tilted near the corner by pressing the universal joint 303, and the applying assembly 3 is not capable of being applied by tilting, and in order to avoid this, the universal joint 303 is required to be capable of moving along the axial direction of the rolling element.
In this embodiment, in order to facilitate the sliding connection of the universal joint 303 and the mounting bracket, a sliding block 326 is disposed on the mounting bracket, the sliding block 326 is selectively movable along the axial direction of the rolling body, and as shown in fig. 1 to 8, when the first connecting rod 302 is designed to be parallel to the axial line of the rolling body, the sliding block 326 may be disposed on the first connecting rod 302 to slide, and at this time, the sliding block 326 is selectively movable along the axial direction of the rolling body means that the sliding block 326 may be either fixed to the first connecting rod 302 to be immovable or may slide on the first connecting rod 302.
Furthermore, in order to realize that the sliding block 326 can selectively move along the axial direction of the rolling bodies, a lead screw 327 parallel to the first connecting rod 302 can be arranged between the two mounting plates 301, one end of the lead screw 327 is connected with a second power device 328, the sliding block 326 is screwed on the lead screw 327, the lead screw 327 is driven by the second power device 328 to rotate to drive the sliding block 326 to slide on the first connecting rod 302, and when the second power device 328 does not rotate, the sliding block 326 is fixed on the first connecting rod 302 and cannot move.
In this embodiment, the second power device 328 may be any one of an electric motor, a hydraulic motor, and a pneumatic motor.
Normally, when the universal joint 303 is located at the middle position in the width direction of the applying surface 7, the universal joint 303 is pressed to make the rolling bodies cling to the applying surface 7, the pressure values detected by the pressure detecting devices 311 at both ends of the rolling bodies are equal, so that the applying plate 319 can be uniformly applied, and the thickness of the coating applied on the applying surface 7 is equal everywhere, therefore, the universal joint 303 needs to be adjusted to the middle position in the width direction of the applying surface 7 before the traveling mechanism clings to the applying surface 7 to drive the applying plate 319 to synchronously move in the same direction, the movement of the position of the universal joint 303 can be completed by manually pulling the universal joint 303 to slide on the mounting frame, of course, the control unit can also control the universal joint 303 to automatically slide on the mounting frame, preferably, the control unit controls the universal joint 303 to automatically slide on the mounting frame, therefore, manual shifting is not needed, time and labor are saved, and the position adjustment is rapid, accurate and reliable.
In this embodiment, the control unit at least includes an information processing unit, the information processing unit is configured to receive data information detected by the pressure detection device 311 and control the second power device 328 to operate, specifically, after the universal joint 303 is pressed to make the rolling element closely adhere to the applying surface 7, pressure values detected by the pressure detection devices 311 at two ends of the rolling element are unequal, and the pressure values are transmitted to the information processing unit, the information processing unit controls the second power device 328 to operate according to the difference of the pressure values to adjust the position of the universal joint 303 on the first connecting rod 302 until the pressure values detected by the pressure detection devices 311 at two ends of the rolling element are equal, so that the universal joint 303 is automatically adjusted to the middle position in the width direction of the applying surface 7.
Generally, the adjustment of the application width is performed by manually controlling the first power device 316, in the process of manually controlling the first power device 316, the eyes are required to observe the rotation position of the adjusting cylinder 307 at any time, so that the first power device 316 can be immediately controlled to stop after the application width is adjusted to a position, in order to further facilitate the operation of the worker, and to improve the automation and intelligence degree of the application assembly 3, the adjustment of the application width can also be automatically controlled by the control unit, at this time, the control unit further comprises a distance measuring device 329 arranged on the sliding block 326, as shown in fig. 7, the distance measuring device 329 is used for measuring the distance from the sliding block 326 to the two mounting plates 301 and transmitting the detected data information to the information processing unit, after the information processing unit adjusts the universal joint 303 to a middle position in the width direction of the application surface 7, the distance measuring device 329 transmits the measured distance information to the information processing unit, the information processing unit selects the smaller distance value of the two distance values as a calculated value, the calculated value is multiplied by 2 to obtain the width value of the coating surface 7, and meanwhile, the number and the positions of the spraying holes participating in spraying the coating are also obtained, then, the information processing unit controls the first power device 316 to act to drive the adjusting cylinder 307 to rotate by a certain angle to block all the spraying holes which do not participate in spraying the coating, and all the spraying holes participating in spraying the coating are communicated with the through holes 309 one by one, so that the automatic adjustment of the coating width is realized.
Generally, the distance measuring device 329 can be a laser distance measuring instrument or a laser distance measuring sensor, but in other embodiments, a rotation angle sensor can be used, and the distance from the slide 326 to the two mounting plates 301 is indirectly measured by detecting the rotation angle of the lead screw 327 or the second power device 328 through the rotation angle sensor, although the design is not limited thereto, and in other embodiments, the distance from the slide 326 to the two mounting plates 301 can also be measured by detecting the displacement of the slide 326 on the first connecting rod 302.
In this embodiment, the information processing unit is a PLC controller 61, and for the convenience of operation and control by a worker, the PLC controller 61 may be disposed on the remote controller 6, as shown in fig. 13.
Furthermore, a third control switch 312 is arranged on the remote controller 6 and is used for controlling the second power device 328 to operate, before the smearing component 3 approaches the smearing surface 7, the third control switch 312 is manually operated to roughly adjust the position of the universal joint 303 on the first connecting rod 302, then the universal joint 303 is pressed to enable the rolling body to be tightly attached to the smearing surface 7, and then the information processing unit is used for finely adjusting the position of the universal joint 303 on the first connecting rod 302, so that the problems that the smearing component 3 is inclined laterally and the rolling body cannot be tightly attached to the smearing surface 7 easily caused by directly pressing the universal joint 303 when the smearing surface 7 is narrow can be prevented.
In this embodiment, further, the smearing plate 319 is hinged to the mounting frame, and an adjusting mechanism for selectively adjusting the distance from the smearing plate 319 to the smearing surface 7 is provided on the smearing plate 319, so as to adjust the smearing thickness, after all, different smearing thicknesses of the paint on the smearing surface 7 are different, and generally, the smearing thickness of the concrete is the largest, the smearing thickness of the putty is the second, and the smearing thicknesses of the finish paint and the wall glue are the smallest.
In this embodiment, the term of selectively adjusting the distance from the applicator plate 319 to the application surface 7 means that the distance from the applicator plate 319 to the application surface 7 can be adjusted or kept constant for a long time; specifically, as shown in fig. 1 and 2, one end of the smearing plate 319 is hinged to a mounting rod 318, the mounting rod 318 is fixed to the mounting plates 301, a second connecting rod 322 is disposed between the two mounting plates 301, a screw 320 is disposed on the smearing plate 319 in a penetrating manner, the upper end of the screw 320 is fixedly connected to the second connecting rod 322, nuts 321 tightly attached to the upper and lower side surfaces of the smearing plate 319 are disposed on the screw 320, and the smearing plate 319 is fixed to the screw 320 through the two nuts 321, so that the distance between the smearing plate 319 and the smearing surface 7 is kept constant, and the distance between the smearing plate 319 and the smearing surface 7 can be adjusted by changing the positions of the two nuts 321 on the screw 320, so that the distance between the smearing plate 319 and the smearing surface 7 is adjustable.
Typically, the adjustment of the position of the nut 321 on the screw 320 is achieved by manually screwing the nut 321.
In addition, in order to achieve the above purpose, the present invention further provides a painting robot, which includes a moving seat 8 and a linear moving device 4, wherein a horizontally rotating turntable is disposed on the moving seat 8, the linear moving device 4 is disposed on the turntable, the linear moving device 4 is driven by the turntable to rotate around a vertical line, the linear moving device 4 is connected to any one of the painting assemblies 3 so as to drive the painting assembly 3 to move on one painting surface 7 for painting operation, after the painting operation of one painting surface 7 is completed, the linear moving device 4 and the painting assembly 3 are driven by the turntable to rotate to another painting surface 7 for painting operation, and after all the painting surfaces 7 of one house are painted, the moving seat 8 drives the painting robot to go to the next room for operation, therefore, a worker only needs to hold the remote controller 6 to control the smearing component 3 and the smearing robot to work, time and labor are saved, working strength is low, smearing speed is high, efficiency is high, and practicability is good.
Generally, one end of the material conveying pipe 314 is connected to the material spraying cylinder 313, and the other end is connected to a paint box, and the paint box is usually placed on the ground, so a conveying pump 330 is further installed on the material conveying pipe 314, and the paint in the paint box is pumped by the conveying pump 330 and is conveyed to the material spraying cylinder 313 through the material conveying pipe 314, in this embodiment, the paint is poured into the paint box after being uniformly stirred, of course, in other embodiments, a stirring device can be additionally arranged in the paint box, so that the paint box is upgraded into a paint stirring box, so that the stirring and storage and transportation of the paint are combined into one, which helps to reduce the volume and design cost of the painting robot, but the design is not limited thereto, in other embodiments, the paint stirring box can be arranged on the movable base 8, as shown in fig. 14, so that the paint stirring box is conveniently moved along with the painting robot, the operation is more convenient.
In this embodiment, as shown in fig. 14, the moving seat 8 is disposed at the bottom of the paint stirring tank, and the moving seat 8 has a plurality of self-locking universal wheels 11, further, as shown in fig. 16, the paint stirring tank includes a tank 1 and a stirring device, the stirring device is composed of a stirring motor 24 and a stirrer 25 disposed in the tank 1 and in transmission connection with the stirring motor 24, and further, as shown in fig. 13, the remote controller 6 is provided with a second control switch 27 for controlling the start and stop of the stirring motor 24; the turntable is arranged on the upper part of the box body 1 and comprises a box cover 2 and a power device III for driving the box cover 2 to rotate on the upper part of the box body 1, the stirring motor 24, the delivery pump 330 and the linear moving device 4 are all arranged on the box cover 2, as shown in fig. 17, the lower surface of the box cover 2 is provided with an annular groove 28 clamped on the upper edge of the box body 1, and a thrust bearing 15 and a radial bearing 12 are arranged in the annular groove 28 so as to ensure that the box cover 2 can still reliably and stably rotate on the box body 1 under a pressure-bearing condition; the third power device comprises a first rotating motor 22 and a large gear ring 21, the large gear ring 21 is arranged on the box cover 2, the first rotating motor 22 is arranged on the box body 1, a small gear ring meshed with the large gear ring 21 is installed on an output shaft of the first rotating motor 22, the first rotating motor 22 drives the large gear ring 21 to rotate, and then the large gear ring drives the box cover 2 to rotate, and further, as shown in fig. 13, a first control switch 26 is arranged on the remote controller 6 and used for controlling the first rotating motor 22 to start, stop and rotate forwards and backwards.
In this embodiment, as shown in fig. 15, a feed inlet 20 is provided on the box cover 2, so that the coating can enter the box body 1 through the feed inlet 20 to be uniformly stirred.
In this embodiment, as shown in fig. 16, a material suction pipe 331 is disposed at the material suction port of the conveying pump 330, and a lower end of the material suction pipe 331 extends into the bottom of the box 1 along the inner wall of the box 1, so as to prevent the stirrer 25 from colliding with the material suction pipe 331 when rotating.
In this embodiment, as shown in fig. 14 and 15, a support 5 is provided on the box cover 2, the linear motion device 4 includes a first linear actuator 41 and a second linear actuator 42, the fixed end of the linear actuator I41 is hinged on the support 5, the moving end of the linear actuator I41 is connected with the universal joint 303 of the smearing component 3, the fixed end of the second linear actuator 42 is hinged to the case cover 2, the moving end of the second linear actuator 42 is hinged to the fixed end of the first linear actuator 41 and used for pushing the first linear actuator 41 to swing up and down, during the process that the first linear actuator 41 starts to rotate upwards by taking the position shown in figure 14 as a starting point, the moving end of the linear actuator I41 contracts at a certain speed and then stretches out, so that the plastering assembly can move vertically and upwards, and the action is suitable for plastering operation of a vertical wall surface; during the process that the linear actuator-41 starts to rotate upwards from the position shown in fig. 14 to the level of the linear actuator-41, the moving end of the linear actuator-41 stretches at a certain speed to realize the horizontal leftward movement of the plastering assembly, which is suitable for the plastering operation on the ground, and then, during the process that the linear actuator-41 starts to rotate upwards from the horizontal position, the moving end of the linear actuator-41 contracts at a certain speed to realize the horizontal or inclined rightward movement of the plastering assembly, which is suitable for the plastering operation on the ceiling or the slope of the staircase; taking fig. 14 as an example, after all the painting surfaces 7 on the left side of the box body 1 are painted, the box cover 2 is controlled to rotate by a certain angle to sequentially finish painting operations on the painting surfaces 7 on the rear side, the right side and the front side of the box body 1, and finally, all the painting surfaces 7 in one room are finished, and then the box body can be moved to another room for painting operations.
In this embodiment, furthermore, the support 5 is composed of four quarter-ring plates, and each two quarter-ring plates are vertically and fixedly connected, as shown in fig. 14 and 15.
In this embodiment, the speed of the moving end of the linear actuator-41 contracting or expanding is controlled by the PLC controller 61, during the horizontal/vertical/oblique movement of the smearing component 3 against the smearing surface 7, as long as the real-time pressure value detected by the pressure detecting device 311 is kept constant, the smearing thickness is unchanged, the smearing quality is stable, the moving direction of the smearing component 3 is parallel to the smearing surface 7, whereas once the real-time pressure value changes, it means that the smearing thickness changes, the smearing quality is reduced, and if the pressure value is not detected, it means that the moving direction of the smearing component 3 also changes, and the PLC controller 61 immediately controls the linear actuator-41 to operate until the real-time pressure value returns to be constant.
In this embodiment, four kinds of automatic control programs are pre-implanted in the PLC controller 61:
the method comprises the following steps of 1, smearing a vertical smearing surface 7, wherein a PLC 61 automatically controls a first linear actuator 41 and a second linear actuator 42 to drive a plastering assembly to vertically move upwards, and simultaneously controls a conveying pump 330 to start;
2, smearing an inclined smearing surface 7, such as a top surface of a staircase, automatically controlling the first linear actuator 41 and the second linear actuator 42 to drive the smearing component to move upwards in an inclined manner by the PLC 61, and simultaneously controlling the conveying pump 330 to start, wherein before the program is operated, an inclination angle value of the smearing surface 7 needs to be manually set on the PLC 61;
3, a horizontal plastering surface 7 at a high position, such as a ceiling, is plastered, and the PLC controller 61 automatically controls the first linear actuator 41 and the second linear actuator 42 to drive the plastering assembly to horizontally move to gradually approach the box 1, and controls the delivery pump 330 to start;
program 4, a horizontal plastering surface 7 at a low position, such as the ground, the PLC controller 61 automatically controls the first linear actuator 41 and the second linear actuator 42 to drive the plastering assembly to horizontally move away from the box 1, and controls the delivery pump 330 to start;
the start-stop buttons of the four control programs are displayed on the touch screen of the PLC 61, and the corresponding programs can be started by clicking the corresponding control switches.
In this embodiment, as shown in fig. 13, two control switches four 43 are provided on the remote controller 6, and are respectively used for controlling the linear actuator one 41 and the linear actuator two 42, so that the rolling bodies of the smearing component 3 are tightly attached to the smearing surface 7 before the program runs, when the painting device is used, an operator holds the smearing component 3 with one hand, then operates the two control switches four 43 on the remote controller 6 with the other hand to control the linear actuator one 41 and the linear actuator two 42 to move so as to enable the smearing component 3 to approach the smearing surface 7, then manually adjusts the smearing component 3 so as to enable the rolling bodies to be smoothly and tightly attached to the smearing surface 7, and then, the corresponding control program can be selected on the touch screen of the PLC controller 61 to start the smearing operation.
In this embodiment, in order to ensure that the painting operation is performed normally, the paint stirring box can only perform the paint stirring operation when the painting assembly 3 does not work.
In this embodiment, the first linear actuator 41 and the second linear actuator 42 may be any one of a push rod motor, an electric push rod, an electro-hydraulic push rod, an air cylinder, and a hydraulic cylinder.
In this embodiment, further, in order to expand the moving range of the smearing assembly 3 on the ground as much as possible, the angle of the first linear actuator 41 rotating downward should be as large as possible, and for this purpose, as shown in fig. 15 and 16, the box cover 2 is provided with a movable hole 29, the lower end of the second linear actuator 42 passes through the movable hole 29 and extends into the box body 1, and the middle of the second linear actuator 42 is hinged to the box cover 2.
In this embodiment, the remote controller 6 is in signal connection with the applying assembly 3 and the applying robot in a wired/wireless manner, and since the wired/wireless signal control technology is common knowledge, the detailed description is omitted here.
In this embodiment, the smearing robot is provided with a power line 13, and the power line 13 can supply power for the smearing component 3 and the smearing robot after being connected with a socket.
In this embodiment, after the painting operation is finished, a large amount of clean water is poured into the box 1, and then the delivery pump 330 is independently started to clean the painting assembly 3 and paint the residual paint in the robot, so as to prevent the paint from solidifying and blocking the delivery pipe 314, the spraying holes 317, the through holes 309 and the suction pipe 331, and the independent start of the delivery pump 330 can be controlled by the foot switch 14 provided on the box 1, as shown in fig. 14.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A painting assembly for applying paint to a painting surface, comprising:
coating a plate;
the feeding device is at least provided with a spraying cylinder, and the outer circumferential surface of the spraying cylinder is provided with at least one row of spraying holes extending towards two ends and used for spraying the coating in the spraying cylinder to the coating plate or the coating surface; and
the walking mechanism comprises an installation frame with a rolling body, the coating plate and the material spraying cylinder are arranged on the installation frame, the rolling body is attached to the coating surface and rolls to drive the coating plate to move so as to uniformly coat the coating on the coating surface, and the moving direction of the coating plate is parallel to the coating surface.
2. An application assembly according to claim 1, characterized in that the supply device further comprises an adjustment cylinder provided in the cartridge, which cylinder changes in a spinning manner the number of the discharge openings through which the coating material can be discharged, in order to adjust the application width.
3. The application assembly of claim 2, wherein the adjustment cylinder has a plurality of rows of through holes on its outer circumferential surface, and rotation of the adjustment cylinder causes each row of through holes to communicate with one row of the ejection holes, the number or arrangement order of the through holes being different.
4. The application assembly of claim 2 or 3, wherein the outer circumferential surface of the adjusting cylinder is provided with a gear ring, and the material spraying cylinder is provided with a power device in transmission connection with the gear ring so as to drive the gear ring to rotate to drive the adjusting cylinder to rotate.
5. An application assembly according to claim 1, characterized in that the mounting frame is provided with pressure detection means for detecting the pressing force of the rolling bodies against the mounting frame.
6. An application assembly according to claim 1 or 5, wherein a slide block is provided on the mounting frame, the slide block being selectively movable in the axial direction of the rolling bodies, and a universal joint is provided on the slide block.
7. An application assembly according to claim 6, wherein the slide block is provided with distance measuring means for measuring the distance from the slide block to both ends of the mounting frame in the axial direction of the rolling bodies.
8. An applicator assembly according to claim 1, wherein the applicator plate is hingedly connected to the mounting bracket, the applicator plate being provided with an adjustment mechanism for selectively adjusting its spacing from the applicator surface.
9. An application robot, comprising:
the movable seat is provided with a horizontally rotating turntable;
the linear moving device is arranged on the rotary table and is connected with the coating assembly of any one of claims 1 to 8 so as to drive the coating assembly to move to coat the coating on the coating surface.
10. A painting robot as claimed in claim 9, further comprising a paint stirring tank provided on the movable base, the paint stirring tank being communicated with the paint spraying barrel through a pipe, the pipe being provided with a delivery pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110173820.0A CN112814338A (en) | 2021-02-06 | 2021-02-06 | Smearing component and smearing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110173820.0A CN112814338A (en) | 2021-02-06 | 2021-02-06 | Smearing component and smearing robot |
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| CN112814338A true CN112814338A (en) | 2021-05-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110173820.0A Withdrawn CN112814338A (en) | 2021-02-06 | 2021-02-06 | Smearing component and smearing robot |
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| CN (1) | CN112814338A (en) |
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| CN113638577A (en) * | 2021-08-12 | 2021-11-12 | 烟台红卫建筑工程服务有限公司 | Reciprocating type mortar smearing device for building interior wall decoration |
| CN114351985A (en) * | 2022-01-18 | 2022-04-15 | 中交四公局第二工程有限公司 | Outer wall painting device for house construction |
| CN115288399A (en) * | 2022-09-13 | 2022-11-04 | 平煤神马建工集团有限公司 | Mortar spraying device |
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