CN112593683B - A spraying device and intelligent spraying robot for building decoration - Google Patents
A spraying device and intelligent spraying robot for building decoration Download PDFInfo
- Publication number
- CN112593683B CN112593683B CN202011420579.9A CN202011420579A CN112593683B CN 112593683 B CN112593683 B CN 112593683B CN 202011420579 A CN202011420579 A CN 202011420579A CN 112593683 B CN112593683 B CN 112593683B
- Authority
- CN
- China
- Prior art keywords
- flat plate
- state
- spraying
- flat
- corner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a spraying device for building decoration and an intelligent spraying robot, which comprise a foldable plate, wherein a plurality of paint nozzles are uniformly distributed on the foldable plate; the foldable plate comprises a flat plate part and a side plate, and the paint nozzles are arranged on the flat plate part and the side plate; the flat plate part is provided with two plates which are rotatably arranged; at least one side of each flat plate part is rotatably provided with the side plate, and the flat plate part and all the side plates arranged on the flat plate part form folding half bodies, namely the folding plates comprise two folding half bodies; the foldable plate can be switched among a full-flat state, a corner spraying state and a corner spraying state; the spraying device and the intelligent spraying robot for building decoration can better treat large-area wall surfaces, corner parts and corner parts by switching the spraying device among the full-flat state, the corner spraying state and the corner spraying state, and have high spraying efficiency and good quality.
Description
Technical Field
The invention relates to the technical field of building decoration equipment, in particular to a spraying device and an intelligent spraying robot for building decoration.
Background
In the building decoration process, the wall of a building needs to be sprayed with paint, the existing spraying device is generally of a single-nozzle structure, the coverage range of the paint sprayed by a nozzle is limited, the spraying efficiency of the spraying device is low, and the spraying is difficult to ensure uniformity. In addition, the existing spraying device has poor spraying quality for corner parts (parts where two walls are connected) and corner parts (parts where three walls are connected) in the building.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the spraying device and the intelligent spraying robot for building decoration, which have high efficiency and good spraying quality on corner parts and corner parts.
The technical scheme is as follows: in order to achieve the purpose, the spraying device for building decoration comprises a foldable plate, wherein a plurality of paint nozzles are uniformly distributed on the foldable plate;
the foldable plate comprises a flat plate part and a side plate, and the paint nozzles are arranged on the flat plate part and the side plate;
the flat plate part is provided with two plates which are rotatably arranged;
at least one side of each flat plate part is rotatably provided with the side plate, and the flat plate part and all the side plates arranged on the flat plate part form folding half bodies, namely the folding plates comprise two folding half bodies;
the foldable plate can be switched among a full-flat state, a corner spraying state and a corner spraying state;
all the flat plate parts and the side plates are coplanar in a full flat state;
in a corner spraying state, the two folding half bodies are perpendicular to each other, and all the flat plate parts and the side plates contained in each folding half body are coplanar;
under the corner spraying state, two the flat plate portions are installed perpendicularly, and two sides of the L-shaped assembly formed by the two flat plate portions are respectively provided with one of the side plates, and each side plate and each flat plate portion are installed perpendicularly.
Furthermore, only one side plate is arranged on each flat plate part; and the side edges of the side plates mounted on the two flat plate parts are not the same side but two opposite sides.
Further, the two flat plate portions are capable of relative translational movement; under the full flat state and the corner spraying state, the two flat plate parts are staggered with each other, and two sides of the two folding half bodies are aligned; in the corner spraying state, two sides of the two flat plate parts are aligned.
Further, the device also comprises a device seat body; each flat plate part is rotatably arranged relative to the device base; and in a folded state, the two flat plate parts respectively form an included angle of 45 degrees with the device seat body.
Further, a pulling unit is arranged between the two flat plate parts and used for driving the two flat plate parts to switch between a folded state and an unfolded state.
An intelligent spraying robot comprises the spraying device for building decoration, a moving unit and a mechanical arm; the painting apparatus for building finishing is installed at an execution end of the robot arm installed on the moving unit.
Has the advantages that: the spraying device and the intelligent spraying robot for building decoration can better treat large-area wall surfaces, corner parts and corner parts by switching the spraying device among the full-flat state, the corner spraying state and the corner spraying state, and have high spraying efficiency and good quality.
Drawings
FIG. 1 is a first perspective view of a spray coating device for building finishing in a fully flat condition;
FIG. 2 is a second perspective view of the spray coating device for building finishing in a fully flat state;
FIG. 3 is an enlarged structural view of a portion B in FIG. 2;
FIG. 4 is an enlarged structural view of portion A in FIG. 2;
fig. 5 is a structural view of a painting apparatus for finishing a building in a corner painting state;
fig. 6 is a structural view of a painting apparatus for building finishing in a corner painting state;
fig. 7 is a structural diagram of the intelligent painting robot.
In the figure: 1-a mobile unit; 11-a movable seat body; 12-a drive wheel; 13-a driven wheel; 2-a spraying device; 21-a foldable plate; 211-a flat plate portion; 212-side plate; 22-a device base; 23-a pulling unit; 24-a drive assembly; 241-a slide seat; 242-inclined plane; 243-rack portion; 244-gears; 245-a motor; 25-an electric push rod; 26-a paint nozzle; 3, a mechanical arm; 4-lifting device.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The spraying device for building decoration shown in fig. 1 and 2 comprises a foldable plate 21, wherein a plurality of paint nozzles 26 are uniformly distributed on the foldable plate 21;
the foldable plate 21 includes a flat plate portion 211 and a side plate 212, both of which are mounted with the paint nozzle 26;
the flat plate part 211 is provided with two parts which are rotatably arranged;
at least one side of each flat plate part 211 is rotatably provided with the side plates 212, and the flat plate part 211 and all the side plates 212 arranged on the flat plate part 211 form folding half bodies, namely the foldable plate 21 comprises two folding half bodies;
the foldable plate 21 can be switched among a full flat state, a corner spraying state and a corner spraying state;
in the fully flat state, as shown in fig. 1 and fig. 2, all the flat plate portions 211 and the side plates 212 are coplanar; this configuration is suitable for spraying large areas of planar wall surfaces, and because the foldable plate 21 has a large open area and the paint nozzles 26 are uniformly mounted thereon, a large area of wall surface can be sprayed simultaneously with good uniformity, high efficiency and good spraying quality.
In the corner painting state, as shown in fig. 5, the two folding half bodies are perpendicular to each other, and all the flat plate portions 211 and the side plates 212 included in each folding half body are coplanar; the form is suitable for spraying the corner part (the part where two walls are connected), and when the two folding half bodies are sprayed, the two folding half bodies are respectively parallel to the two walls which are mutually perpendicular, so that the spraying quality of the corner part wall surface can be ensured.
In the corner spraying state, as shown in fig. 6, the two flat plate portions 211 are vertically installed, two sides of the L-shaped assembly formed by the two flat plate portions 211 are respectively provided with one side plate 212, and each side plate 212 and each flat plate portion 211 are vertically installed. The shape is suitable for spraying the corner part (the part where three walls are connected), and the two flat plate parts 211, namely the side plates 212 on one side are respectively parallel to the three walls, so that the spraying quality of the corner part wall surface can be ensured.
Further, only one side plate 212 is mounted on each flat plate portion 211; and the sides of the two flat plate portions 211 on which the side plates 212 are mounted are not the same side, but two opposite sides. The two flat plate portions 211 can move in translation relative to each other; in the fully flat state and the corner spraying state, the two flat plate parts 211 are staggered with each other, and two sides of the two folding half bodies are aligned, so that the shapes of the foldable plate 21 in the fully flat state and the corner spraying state are regular shapes, and the wall body is sprayed more favorably; in the corner spraying state, two sides of the two flat plate portions 211 are aligned.
Further, the device base 22 is also included; each flat plate portion 211 is rotatably mounted with respect to the device housing 22; and in the folded state, the two flat plate portions 211 respectively form an included angle of 45 degrees with the device seat 22. A pulling unit 23 is disposed between the two flat plate portions 211, and the pulling unit 23 is configured to drive the two flat plate portions 211 to switch between a folded state and an unfolded state.
In order to realize the constant-speed and reverse movement of the two flat plate portions 211 relative to the device seat 22, a driving assembly 24 is mounted on the device seat 22 for driving the two flat plate portions 211 to move; the driving assembly 24 includes two sliding bases 241 slidably mounted with respect to the device housing 22, each sliding base 241 having a 45 ° inclined surface 242 on one side and a rack portion 243 on the other side (as shown in fig. 3); the two flat plate parts 211 are respectively and rotatably arranged on the two sliding seats 241; the driving assembly 24 further includes a gear 244 and a motor 245, the gear 244 is disposed between the two rack portions 243 of the two sliders 241 and engaged with each rack portion 243 (as shown in fig. 4). In this way, when the gear 244 is driven by the motor 245 to rotate, the two sliders 241 can move in opposite directions at a constant speed to switch the state of the two folding halves. The inclined planes 242 at the upper ends of the two device seat bodies 22 are spliced into a 90-degree conical cylinder, and two sides of the conical cylinder respectively limit the two flat plate parts 211, so that the two flat plate parts 211 are 90 degrees in a folded state.
In addition, an electric push rod 25 is arranged between each side plate 212 and the flat plate part 211 where the side plate is located so as to drive the side plates and the flat plate part to rotate relatively.
In addition, as shown in fig. 1, each flat plate portion 211 and each side plate 212 are respectively provided with a vertical distance sensor 27, and the detection direction of each vertical distance sensor 27 is perpendicular to the flat plate portion 211 or the side plate 212 where the vertical distance sensor 27 is located; as shown in fig. 2, each flat plate portion 211 is provided with lateral distance sensors 28 whose detecting directions are perpendicular to the side on which it is mounted, on three sides except for the side close to the other flat plate portion 211. The data obtained by each distance sensor can conveniently control the running controller of the robot to control the pose and the state of the spraying device 2, so that the pose and the state of the spraying device 2 are suitable for the shape of the wall surface.
An intelligent spraying robot, as shown in fig. 7, comprises the spraying device 2 for building decoration, a moving unit 1 and a mechanical arm 3; the painting device 2 for building finishing is installed at the execution end of the robot arm 3, and the robot arm 3 is installed on the moving unit 1.
The above-mentioned mechanical arm 3 may be a six-axis industrial robot.
Preferably, the spraying device 2 further comprises a lifting device 4, and the mechanical arm 3 is mounted on the moving unit 1 through the lifting device 4. Thus, the spray device 2 can have more degrees of freedom and range of motion.
Further, the moving unit 1 includes a moving seat 11, driving wheels 12 are installed on two sides of the middle of the moving seat 11, and driven wheels 13 are installed at four corners of the moving seat 11. Each driven wheel 13 can be extended and retracted relative to the movable seat 11, and the translation direction is an oblique direction, so that when the spraying operation is performed, each driven wheel 13 is extended in an oblique translation manner, so that the four driven wheels 13 are dispersed, the supporting area is increased, the supporting stability is improved, the driven wheels 13 can be retracted, the overall width of the movable unit 1 is reduced, and the passing performance of the movable seat 11 is increased.
The spraying device and the intelligent spraying robot for building decoration can better treat large-area wall surfaces, corner parts and corner parts by switching the spraying device among the full-flat state, the corner spraying state and the corner spraying state, and have high spraying efficiency and good quality.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A spraying device for building decoration is characterized by comprising a foldable plate (21), wherein a plurality of paint nozzles (26) are uniformly distributed on the foldable plate (21);
the foldable plate (21) includes a flat plate portion (211) and a side plate (212) on both of which the paint nozzle (26) is mounted;
the two flat plate parts (211) are rotatably arranged;
at least one side of each flat plate part (211) is rotatably provided with the side plate (212), the flat plate part (211) and all the side plates (212) arranged on the flat plate part form folding half bodies, namely the foldable plate (21) comprises two folding half bodies;
the foldable plate (21) can be switched among a full-flat state, a corner spraying state and a corner spraying state;
all the flat plate parts (211) and the side plates (212) are coplanar in a full flat state;
in a corner spraying state, the two folding half bodies are perpendicular to each other, and all the flat plate parts (211) and the side plates (212) contained in each folding half body are coplanar;
under the corner spraying state, the two flat plate parts (211) are vertically installed, two sides of an L-shaped assembly formed by the two flat plate parts (211) are respectively provided with one side plate (212), and each side plate (212) and each flat plate part (211) are vertically installed.
2. A painting device for building finishing according to claim 1, characterized in that only one said side plate (212) is mounted on each said flat plate portion (211); and the side edges of the two flat plate parts (211) on which the side plates (212) are arranged are not the same side but two opposite sides.
3. A painting device for building finishing according to claim 2, characterised in that said two flat plate portions (211) are relatively movable in translation; under the full flat state and the corner spraying state, the two flat plate parts (211) are staggered with each other, and two sides of the two folding half bodies are aligned; in the corner spraying state, two sides of the two flat plate parts (211) are aligned.
4. A painting device for building finishing as claimed in claim 1, characterized by further comprising a device seat (22); each flat plate part (211) is rotatably mounted relative to the device base body (22); and in a folded state, the two flat plate parts (211) respectively form an included angle of 45 degrees with the device seat body (22).
5. The painting device for building finishing according to claim 4, characterized in that a pulling unit (23) is provided between the two flat plate portions (211), and the pulling unit (23) is used for driving the two flat plate portions (211) to switch between the folded state and the unfolded state.
6. An intelligent painting robot, characterized in that it comprises a painting device (2) for building finishing according to any one of claims 1 to 5, further comprising a mobile unit (1) and a robot arm (3); the spraying device (2) for building decoration is installed at the execution end of the mechanical arm (3), and the mechanical arm (3) is installed on the moving unit (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011420579.9A CN112593683B (en) | 2020-12-07 | 2020-12-07 | A spraying device and intelligent spraying robot for building decoration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011420579.9A CN112593683B (en) | 2020-12-07 | 2020-12-07 | A spraying device and intelligent spraying robot for building decoration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112593683A CN112593683A (en) | 2021-04-02 |
| CN112593683B true CN112593683B (en) | 2022-03-04 |
Family
ID=75188925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011420579.9A Active CN112593683B (en) | 2020-12-07 | 2020-12-07 | A spraying device and intelligent spraying robot for building decoration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112593683B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224451B (en) * | 2007-01-18 | 2010-09-08 | 中国国际海运集装箱(集团)股份有限公司 | Spraying device, spraying system and method for spraying container |
| CN105107660A (en) * | 2015-09-01 | 2015-12-02 | 江苏新光数控技术有限公司 | Large-area paint spraying robot for vehicle surface spraying |
| CN105178580A (en) * | 2015-09-22 | 2015-12-23 | 黄灿灿 | Mechanical arm type full-automatic painting machine |
| CN205036054U (en) * | 2015-10-18 | 2016-02-17 | 西安外事学院 | Ceiling coating machine for building decoration |
| CN210508270U (en) * | 2019-08-13 | 2020-05-12 | 陕西工业职业技术学院 | Spraying head for spraying building exterior wall coating |
| CN210875935U (en) * | 2019-08-26 | 2020-06-30 | 厦门市思科科技有限公司 | Mechanical arm spraying equipment |
| CN110778076B (en) * | 2019-11-27 | 2021-11-30 | 广东博智林机器人有限公司 | Spraying device and spraying robot |
| CN111719825A (en) * | 2020-06-30 | 2020-09-29 | 共享智能装备有限公司 | Building outer wall flush coater |
| CN111871648B (en) * | 2020-07-03 | 2021-11-16 | 广东博智林机器人有限公司 | Nozzle device and spraying equipment |
-
2020
- 2020-12-07 CN CN202011420579.9A patent/CN112593683B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112593683A (en) | 2021-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102004033640B4 (en) | Inking system | |
| CN110076754B (en) | Mobile parallel mechanism with multiple motion modes and control method thereof | |
| CN112593683B (en) | A spraying device and intelligent spraying robot for building decoration | |
| CN112593678B (en) | Intelligent robot for building wall spraying | |
| CN112593679B (en) | Wall spraying method and intelligent spraying system for building decoration | |
| EP3665047B1 (en) | Inline vertical tack-off machine for automobile side panels | |
| KR20100021239A (en) | Curve traveling type spray painting apparatus | |
| WO1989010240A1 (en) | Industrial robot unit | |
| CN114475859B (en) | Folding and unfolding structure of wheeled mobile robot | |
| CN114508218B (en) | Indoor spraying robot | |
| CN112593684B (en) | Intelligent spraying robot for building interior wall | |
| CN215889253U (en) | Roller coating device and roller coating equipment | |
| JPS62279861A (en) | Mobile type automatic spry raining equipment | |
| CN218091863U (en) | Spraying equipment for building external wall heat-insulating layer | |
| CN113603035A (en) | Overturning platform and overturning method | |
| JP2000210603A (en) | Automatic coating device | |
| KR20220031295A (en) | Turnover apparatus with lifting arm | |
| CN109129441A (en) | There are two types of the parallel institutions of a three mobile rotational motion modes for tool | |
| CN218891842U (en) | Multi-axis translation type workbench | |
| CN116532269B (en) | Building construction material spraying treatment equipment | |
| CN220590476U (en) | Spraying device and production line | |
| CN221046402U (en) | Movable paint spraying device | |
| CN112706169A (en) | Robot system suitable for cleaning rocket storage tank | |
| CN209158381U (en) | There are two types of the four-freedom parallel mechanisms of motor pattern for tool | |
| CN213644778U (en) | Paint repairing and drying equipment and drying room |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220124 Address after: 201999 Room 101, No.8, 1st floor, No.9, 1st floor, No.10, Lane 1518, Youyi Road, Baoshan District, Shanghai Applicant after: Shanghai Jinbao Technology Group Co.,Ltd. Address before: 301900 Hewan West Park, Zhongchang South Avenue, Jizhou, Tianjin Applicant before: Li Chaoyang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |