CN113083568A - Overhead spraying robot carried on crane and spraying method - Google Patents
Overhead spraying robot carried on crane and spraying method Download PDFInfo
- Publication number
- CN113083568A CN113083568A CN202110376194.5A CN202110376194A CN113083568A CN 113083568 A CN113083568 A CN 113083568A CN 202110376194 A CN202110376194 A CN 202110376194A CN 113083568 A CN113083568 A CN 113083568A
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- Prior art keywords
- spraying
- arm
- robot
- crane
- platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/625—Arrangements for supporting spraying apparatus, e.g. suction cups designed to be placed on the ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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- 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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a high-altitude spraying robot carried on a crane and a spraying method, relates to the technical field of automatic spraying, and is used for solving the technical problems of complicated structure and inconvenient operation of automatic spraying equipment. The high-altitude spraying robot carried on the crane comprises an object carrying platform, a spraying mechanical arm and a horizontal detection and holding mechanism, wherein the high-altitude spraying robot is lifted by the crane, and is kept horizontal all the time by the horizontal detection and holding mechanism in the process, so that the smooth operation of spraying can be ensured; in addition, the function of the crane is used, so that the position movement function of the high-altitude spraying equipment is omitted, and the structure of the high-altitude spraying robot is simpler; the transportation is convenient, the use and operation are flexible, the maneuverability is strong, and the manufacturing and using cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of automatic spraying, in particular to an overhead spraying robot carried on a crane and a spraying method.
Background
At present, the surface coating spraying work of tall buildings is generally realized by manual operation, the manual spraying work has high labor intensity, low efficiency and high danger, and safety accidents happen sometimes, so that the spraying work is a difficult problem in the real engineering construction. The automatic and semi-automatic spraying equipment is a development trend for spraying paint on the surface of a high building, and the automatic and semi-automatic spraying equipment needs to move up and down, left and right and back and forth of a working platform to bring a spraying tool to a preset working position so as to spray a working target. The automatic or semi-automatic spraying is realized by replacing the manual labor.
Disclosure of Invention
The invention provides an overhead spraying robot carried on a crane and a spraying method, which are used for solving at least one technical problem.
According to a first aspect of the present invention, there is provided an aerial painting robot mounted on a crane, comprising:
the loading platform is connected with the front end of the upper suspension arm of the crane through a pin and a hole;
the spraying mechanical arm is arranged on the loading platform and used for executing spraying operation; and
and the horizontal detection and holding mechanism is arranged on the loading platform and used for enabling the loading platform to be always kept horizontal when the suspension arm drives the loading platform to ascend or descend.
In one embodiment, the level detection, retention mechanism comprises:
the horizontal sensor is arranged on the carrying platform and used for detecting the inclination information of the carrying platform;
the first end of the platform connecting hanging beam is hinged with the loading platform, and the second end of the platform connecting hanging beam is connected with the pin hole of the hanging arm through a connecting pin; and
the driving arm is hinged with the loading platform at one end and is hinged with a connecting arm fixed at the second end of the platform connecting hanging beam at the other end; the telescopic driving arm can drive the first end of the platform connecting hanging beam to rotate relative to the carrying platform.
In one embodiment, the driving arm is configured as an electric push rod, and the angle between the first end of the platform connecting suspension beam and the loading platform is controlled by the extension and contraction of the electric push rod, so that the loading platform is always kept horizontal.
In one embodiment, the axis direction of the platform connecting suspension beam is parallel to the axis direction of the suspension arm, the second end of the platform connecting suspension beam is further provided with a connecting arm, and the driving arm is hinged to the connecting arm.
In one embodiment, the level detecting and maintaining mechanism further includes an electric cabinet disposed in the loading platform, the electric cabinet is connected to the level sensor and the driving arm, and the electric cabinet controls the movement of the driving arm according to the tilt information of the loading platform detected by the level sensor, so that the loading platform is always maintained horizontal.
In one embodiment, the spraying mechanical arm is connected with the electric cabinet in a wired transmission mode, so that the electric cabinet can control the spraying operation of the spraying mechanical arm.
In one embodiment, the electric control box is connected with the ground through a cable so as to provide power for the electric control box, and the electric control box is connected with the control unit on the ground through wireless communication.
In one embodiment, the rear end of the spraying mechanical arm is fixedly connected with the carrying platform, the front end of the spraying mechanical arm is provided with a spray gun, and a coating inlet of the spray gun is connected with a coating outlet of a spraying machine on the ground so as to provide coating into the spray gun.
In one embodiment, the spray robot is a multi-joint robot.
According to a second aspect of the present invention, there is provided a painting method using the overhead painting robot mounted on a crane, comprising the steps of:
step 1: enabling a crane carrying the high-altitude spraying robot to be located at a designated position, and controlling a suspension arm of the crane to lift the high-altitude spraying robot so as to enable the high-altitude spraying robot to reach the designated position;
step 2: the horizontal detection and holding mechanism keeps the high-altitude spraying robot in a horizontal state all the time;
and step 3: the crane and the high-altitude spraying robot work cooperatively to adjust the working positions of the spraying mechanical arm and the spray gun and perform spraying work on the current working area;
and 4, step 4: and after the spraying of the current working area is finished, changing the position of the high-altitude robot through the crane to enable the spraying mechanical arm and the spray gun to be located in the next working area, and repeating the step 2 and the step 3 until the spraying operation is finished in the whole working area.
Compared with the prior art, the invention has the advantages that the high-altitude spraying robot is lifted by the crane, and the high-altitude spraying robot is kept horizontal all the time by the horizontal detection and holding mechanism in the process, so that the smooth operation of spraying can be ensured; in addition, the function of the crane is used, so that the position movement function of the high-altitude spraying equipment is omitted, and the structure of the high-altitude spraying robot is simpler; the transportation is convenient, the use and operation are flexible, the maneuverability is strong, and the manufacturing and using cost is greatly reduced.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of an aerial painting robot carried on a crane according to an embodiment of the present invention;
fig. 2 is an enlarged view of fig. 1 at I.
Reference numerals:
1-a crane; 2-a connecting pin; 3-high altitude spraying robot; 4-spraying machine; 5-a paint tank;
a-coating outlet of the spraying machine; b-a spray gun coating inlet;
301-spraying mechanical arm; 302-a carrier platform; 303-platform connection hanging beam; 304-an electric cabinet; 305-a drive arm; 306-a level sensor; 307-rotation axis; 308-a spray gun; 309-connecting arm.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and 2, according to a first aspect of the present invention, the present invention provides an overhead painting robot 3 mounted on a crane, including a loading platform 302, a painting robot arm 301, and a level detecting and holding mechanism. Wherein the loading platform 302 is connected with the front end of the upper arm of the crane 1 through a pin-hole, as shown in fig. 1. It is understood that the loading platform 302 and the front end of the upper arm of the crane 1 may be connected by a pin, or may be connected by other means such as an articulated joint.
A painting robot 301 is disposed on the stage 302 for performing a painting operation, as shown in fig. 2. And the horizontal detection and holding mechanism is arranged on the object carrying platform 302 and is used for keeping the object carrying platform 302 horizontal all the time when the suspension arm drives the object carrying platform 302 to ascend or descend. The position requirement (up-down, left-right, front-back) movement of the object carrying platform 3 of the crane 1 saves the position movement function of the high-altitude spraying robot 3, so that the high-altitude spraying robot 3 has the advantages of simpler structure, convenient transportation, flexible use and operation, strong maneuverability and greatly reduced manufacture and use cost.
As shown in fig. 1, when the boom of the crane 1 drives the loading platform 302 to ascend and descend, an included angle between the boom and a horizontal direction (an X-axis direction shown in fig. 1) may be changed, so that the aerial painting robot 3 may incline, which is not favorable for spraying. The horizontal detection and holding mechanism detects the inclination information of the high-altitude spraying robot 3 and keeps the high-altitude spraying robot in a horizontal state all the time, so that smooth execution of spraying operation can be ensured.
Specifically, as shown in fig. 2, the level detecting/holding mechanism includes a level sensor 306, a platform connection suspension beam 303, and a driving arm 305. Wherein, a level sensor 306 is arranged on the carrier platform 302 for detecting the tilt information of the carrier platform 302.
As shown in fig. 2, the first end 303a of the platform connection suspension beam 303 is hingedly connected to the carrier platform 302, and is connected thereto by a rotating shaft 307, so that the first end 303a of the platform connection suspension beam 303 can rotate relative to the carrier platform 302. As shown in fig. 1 and 2, the second end 303b of the platform connecting suspension beam 303 is provided with a lifting lug 310, and the lifting lug 310 is connected with the boom through a connecting pin 2 so as to be integrated with the boom of the crane 1, so that the boom of the crane 1 can stably drive the platform connecting suspension beam 303 and the loading platform 302 to ascend and descend when ascending and descending.
The platform connecting hanging beam 303 can be connected with cranes of various specifications and models by replacing the lifting lugs 310, so that the platform connecting hanging beam is more convenient to use and has a wider application range.
The drive arm 305 is hingedly connected at one end to the carrier platform 302 and at the other end to a connecting arm 309 which is fixed to the second end 303b of the platform connecting suspension beam 303. The actuator arm 305, when extended or retracted, drives the carrier platform 302 to rotate relative to the first end 303a of the platform attachment suspension beam 303.
Preferably, the driving arm 305 is configured as an electric push rod, and the extension and retraction of the electric push rod generates a rotation (pitch) motion between the loading platform 302 and the platform connecting suspension beam 303, so as to control an angle between the first end of the platform connecting suspension beam 303 and the loading platform 302, thereby keeping the loading platform 302 horizontal at all times.
It will be appreciated that the drive arm 305 may also be configured as a pneumatic ram, a rack-and-pinion ram, or a helical ram, among other mechanisms capable of achieving a pushing action.
In addition, the horizontal detection and holding mechanism further comprises an electric cabinet 304 arranged in the loading platform 302, the electric cabinet 304 is respectively connected with a horizontal sensor 306 and a driving arm 305, and the electric cabinet 304 controls the movement of the driving arm according to the inclination information of the loading platform 302 detected by the horizontal sensor 306, so that the loading platform 302 is always kept horizontal.
Specifically, when the boom is raised or lowered, the object carrying platform 302 will tilt accordingly, and at this time, the level sensor 306 installed on the object carrying platform 302 will detect the tilt information thereof and send a signal to the leveling control system in the electric cabinet 304, and after receiving the signal of the tilt degree of the object carrying platform 302, the leveling control system sends a motion instruction to the driving arm 305 (electric push rod) after analyzing and calculating, and controls the electric push rod 305 to extend and retract, thereby adjusting the tilt degree of the object carrying platform 302 to be in a horizontal state all the time.
As shown in fig. 1, the axial direction of the platform connection suspension beam 303 is parallel to the axial direction of the boom so that the driving arm 305 performs angular adjustment. In addition, as shown in fig. 2, the second end of the platform connecting suspension beam 303 is further provided with a connecting arm 309, and the driving arm 305 is hinged with the connecting arm 309.
The spray arm 301 is connected to the electric cabinet 304 in a wired manner so that the electric cabinet 304 can control the spraying operation of the spray arm 301. Because the high-altitude spraying robot 3 has more cables, higher working position and large span of working interval, in order to prevent the occurrence of the problems of cable folding, winding, signal attenuation and the like, the spraying mechanical arm 301 is connected with the electric cabinet 304 by a wire, and the electric cabinet 304 is connected with the ground by a cable so as to provide power for the electric cabinet 304; and the electric control box 304 and the ground control unit adopt wireless remote control.
It should be noted that the high-altitude painting robot 3 and the crane 1 are independent from each other, or may be coordinated to be controlled. Normally, the crane 1 is hydraulically controlled and the aerial painting robot 3 is electrically controlled.
The rear end of the spraying mechanical arm 301 is fixedly connected with the loading platform 302, the front end of the spraying mechanical arm 301 is provided with a spray gun 308, and a coating inlet of the spray gun 308 is connected with a coating outlet of the spraying machine 4 on the ground so as to provide coating into the spray gun 308. Under the control of the control system, the spraying mechanical arm 301 can drive the spray gun 308 to move according to a preset track, so that the preset position of the tall building is sprayed.
As shown in fig. 1, applicator 4 is located on the ground and paint can 5 is located below applicator 4, connecting suction line paint can 5 to applicator 4 via a suction line. The applicator coating outlet a is connected to the spray gun coating inlet B by a feed conduit (not shown) to supply coating to the spray gun 308.
Illustratively, the spray robot 301 is a multi-joint robot, such as a 4-joint robot. It will be appreciated that the spray arm 301 may also be in the form of other arms.
According to a second aspect of the invention, the invention provides a painting method of the overhead painting robot mounted on the crane.
Step 1: the crane 1 carrying the high-altitude spraying robot 3 is driven to a position appointed by a working field, a hydraulic working system is started, a suspension arm of the crane 1 is controlled to lift the high-altitude spraying robot 3, and the high-altitude spraying robot 3 moves to the appointed position in the vertical, horizontal and front-back positions.
Step 2: the horizontal detection and holding mechanism keeps the high-altitude spraying robot 3 in a horizontal state all the time. Specifically, when the boom of the crane 1 moves up (or down), the object carrying platform 302 tilts along with the boom, the level sensor 306 mounted on the object carrying platform 302 sends a signal to the leveling control system in the electric cabinet 304 after detecting the tilt information, and the leveling control system sends a movement instruction to the electric push rod after receiving the signal of the tilt degree of the object carrying platform 302 and after analyzing and calculating, controls the electric push rod to extend and retract, so that the object carrying platform 302 is adjusted to be in a horizontal state all the time.
And step 3: the crane 1 and the high-altitude spraying robot 3 work cooperatively under the control of the operating system, the working positions of the spraying mechanical arm 301 and the spray gun 308 are adjusted, and after the spraying machine 4 is started, the spraying mechanical arm 301 drives the spray gun 308 to perform spraying work on the building according to a preset track under the control of the control system.
And 4, step 4: after the area is sprayed, the crane 1 changes the position of the loading platform 302 to bring the spraying mechanical arm 301 and the spray gun 308 to the next working position. The carrier platform 302 is maintained level during this process by the level detection keeper. After reaching the next working position, the spray gun 308 sprays the area, and the spraying is repeated in a circulating way until the spraying work is finished in the whole working interval.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a carry on high altitude spraying robot on crane which characterized in that includes:
the loading platform is connected with the front end of the upper suspension arm of the crane through a pin and a hole;
the spraying mechanical arm is arranged on the loading platform and used for executing spraying operation; and
and the horizontal detection and holding mechanism is arranged on the loading platform and used for enabling the loading platform to be always kept horizontal when the suspension arm drives the loading platform to ascend or descend.
2. The overhead coating robot mounted on a crane according to claim 1, wherein the level detecting/holding mechanism comprises:
the horizontal sensor is arranged on the carrying platform and used for detecting the inclination information of the carrying platform;
the first end of the platform connecting hanging beam is hinged with the loading platform, and the second end of the platform connecting hanging beam is connected with the pin hole of the hanging arm through a connecting pin; and
the driving arm is hinged with the loading platform at one end and is hinged with a connecting arm fixed at the second end of the platform connecting hanging beam at the other end; the telescopic driving arm can drive the first end of the platform connecting hanging beam to rotate relative to the carrying platform.
3. The aerial spraying robot as claimed in claim 2, wherein the driving arm is configured as an electric push rod, and the angle between the first end of the platform connecting suspension beam and the loading platform is controlled by the extension and contraction of the electric push rod, so that the loading platform is always kept horizontal.
4. The aerial spraying robot as claimed in claim 2 or 3, wherein the platform connecting beam has an axis parallel to the axis of the boom, and the second end of the platform connecting beam is further provided with a connecting arm, and the driving arm is hinged to the connecting arm.
5. The aerial spraying robot as claimed in claim 2 or 3, wherein the level detecting and maintaining mechanism further comprises an electric control box disposed in the loading platform, the electric control box is connected to the level sensor and the driving arm, respectively, and the electric control box controls the movement of the driving arm according to the tilt information of the loading platform detected by the level sensor, so that the loading platform is kept level at all times.
6. The aerial painting robot as claimed in claim 5, wherein the painting robot arm is connected to the electric cabinet by wire transmission so that the electric cabinet can control the painting operation of the painting robot arm.
7. The overhead spraying robot carried on a crane according to claim 5, wherein the electric cabinet is connected with the ground by a cable so as to provide power for the electric cabinet; and the electric control box is connected with the ground control unit through wireless communication.
8. The overhead painting robot carried on a crane according to any one of claims 1 to 3, wherein a rear end of the painting robot arm is fixedly connected to the loading platform, and a front end of the painting robot arm is provided with a spray gun having a paint inlet connected to a paint outlet of a painting machine located on the ground to supply paint to the spray gun.
9. The crane-mounted high altitude painting robot of claim 5, wherein the painting robot arm is a multi-joint robot arm.
10. A painting method of an aerial painting robot carried on a crane according to any one of claims 1 to 9, comprising the steps of:
step 1: enabling a crane carrying the high-altitude spraying robot to be located at a designated position, and controlling a suspension arm of the crane to lift the high-altitude spraying robot so as to enable the high-altitude spraying robot to reach the designated position;
step 2: the horizontal detection and holding mechanism keeps the high-altitude spraying robot in a horizontal state all the time;
and step 3: the crane and the high-altitude spraying robot work cooperatively to adjust the working positions of the spraying mechanical arm and the spray gun and perform spraying work on the current working area;
and 4, step 4: and after the spraying of the current working area is finished, changing the position of the high-altitude robot through the crane to enable the spraying mechanical arm and the spray gun to be located in the next working area, and repeating the step 2 and the step 3 until the spraying operation is finished in the whole working area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110376194.5A CN113083568A (en) | 2021-04-08 | 2021-04-08 | Overhead spraying robot carried on crane and spraying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110376194.5A CN113083568A (en) | 2021-04-08 | 2021-04-08 | Overhead spraying robot carried on crane and spraying method |
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| Publication Number | Publication Date |
|---|---|
| CN113083568A true CN113083568A (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110376194.5A Pending CN113083568A (en) | 2021-04-08 | 2021-04-08 | Overhead spraying robot carried on crane and spraying method |
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| Country | Link |
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| CN (1) | CN113083568A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115921257A (en) * | 2022-12-13 | 2023-04-07 | 中建八局第四建设有限公司 | Automatic spraying construction process for steel column coating |
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| GB1038212A (en) * | 1963-03-26 | 1966-08-10 | Aeraspray Associated Ltd | Improvements in or relating to spraying apparatus |
| CA2099725A1 (en) * | 1992-06-30 | 1993-12-31 | Douglas C. Mulder | Methods and apparatus for applying powder to workpieces |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN106957033A (en) * | 2017-05-10 | 2017-07-18 | 湖北江威专用汽车有限公司 | Fork truck fly jib is hung and fork truck |
| CN207463514U (en) * | 2017-11-02 | 2018-06-08 | 中煤建筑安装工程集团有限公司 | Intelligent spray system |
| CN110847571A (en) * | 2019-12-03 | 2020-02-28 | 北京克莱明科技有限公司 | Spraying robot for tall buildings |
| CN111576811A (en) * | 2020-06-19 | 2020-08-25 | 北京克莱明科技有限公司 | Wheel type straight arm high-altitude spraying robot |
-
2021
- 2021-04-08 CN CN202110376194.5A patent/CN113083568A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1038212A (en) * | 1963-03-26 | 1966-08-10 | Aeraspray Associated Ltd | Improvements in or relating to spraying apparatus |
| CA2099725A1 (en) * | 1992-06-30 | 1993-12-31 | Douglas C. Mulder | Methods and apparatus for applying powder to workpieces |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN106957033A (en) * | 2017-05-10 | 2017-07-18 | 湖北江威专用汽车有限公司 | Fork truck fly jib is hung and fork truck |
| CN207463514U (en) * | 2017-11-02 | 2018-06-08 | 中煤建筑安装工程集团有限公司 | Intelligent spray system |
| CN110847571A (en) * | 2019-12-03 | 2020-02-28 | 北京克莱明科技有限公司 | Spraying robot for tall buildings |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115921257A (en) * | 2022-12-13 | 2023-04-07 | 中建八局第四建设有限公司 | Automatic spraying construction process for steel column coating |
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