CN206701555U - Wall paint-spray robot is climbed in a kind of stable type - Google Patents
Wall paint-spray robot is climbed in a kind of stable type Download PDFInfo
- Publication number
- CN206701555U CN206701555U CN201720292850.2U CN201720292850U CN206701555U CN 206701555 U CN206701555 U CN 206701555U CN 201720292850 U CN201720292850 U CN 201720292850U CN 206701555 U CN206701555 U CN 206701555U
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- Prior art keywords
- paint
- rotating cylinder
- spring
- wheel
- spray
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- 239000007921 spray Substances 0.000 title claims abstract description 38
- 239000003973 paint Substances 0.000 claims abstract description 31
- 238000007592 spray painting technique Methods 0.000 claims abstract description 21
- 241001640558 Cotoneaster horizontalis Species 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 21
- 230000001788 irregular Effects 0.000 abstract description 7
- 239000000853 adhesive Substances 0.000 abstract description 5
- 230000001070 adhesive effect Effects 0.000 abstract description 5
- 230000000875 corresponding effect Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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- Spray Control Apparatus (AREA)
Abstract
Wall paint-spray robot is climbed in a kind of stable type for being related to climbing robot field, includes elastic wheel and rotary nozzle；Described elastic wheel includes wheel body, connecting plate, spring connecting rod and support base；Described rotary nozzle includes mechanical arm, main rotating cylinder, telescoping cylinder, secondary rotating cylinder and paint nozzle；Described wall paint-spray robot of climbing is not only able to ensure that its driving wheel is effectively attached in the irregular scope of operation, reach and avoid its driving force and the affected purpose of adhesive force, but also comprehensive spray painting operation can be implemented by the rotation of paint nozzle, it is very suitable for popularization and application.
Description
【Technical field】
Climbing robot field is the utility model is related to, stable in complex working condition environment can be made more particularly, to one kind
Industry climbs wall paint-spray robot.
【Background technology】
Known, climbing robot is also known as wall-surface mobile robot, its be it is a kind of can be in vertical wall climbing simultaneously
The automatic machinery people of related operation is completed, because vertical walls operation belongs to the category of limit operation, therefore climbing robot
Also referred to as limit operation robot, among these just comprising for carrying out spraying work to the surface of the objects such as bulk storage tank or ship
Industry climbs wall paint-spray robot；At present, found in long-term practical application, traditional car body for climbing the use of wall paint-spray robot
Structure is all the rigid body structure with four-wheel drive, i.e., four driving wheels being connected with car body are all to rigidly fix connection
, therefore its stable walking operations on leveling operation face is that there is no problem, once but its in oil storage tank, big
When the surfaces such as type ship carry out spray painting operation, by holding vessel, the irregular outer surface of ship and wall paint-spray robot rigidity car is climbed
The influence of body, different adhesive force can be produced by climbing four driving wheels of wall paint-spray robot, so as to easily occur climbing wall paint spraying machine
The phenomenon being attached in the scope of operation that some driving wheel of device people can not be stablized, and then not only have influence on and climb wall paint-spray robot
Driving force, and its overall adhesion in the scope of operation, and it is serious when also result in and climb wall paint-spray robot in operation
There is deviation in the route of traveling and the route of planning, finally make using side by corresponding economic loss；
In addition, traditional climbs wall paint-spray robot using being all that paint nozzle is fixedly mounted on into its mechanical arm front end, so
Corresponding spray painting operation is carried out by the action of control machinery arm again afterwards；However, found in long-term practical application, tradition
Climb wall paint-spray robot and can not effectively implement spray painting operation under more complicated work condition environment, such as：On storage tank
People's row ladder, the steel pipe etc. used in the anti-electric shock fence of oil storage tank, it requires the antirust that all to paint, but existing climbs wall spray painting
Robot can only be to carrying out spray painting operation before it and above, therefore it carries out climbing wall spray painting operation under complex working condition environment
When, to these be not easy face climb wall paint-spray robot shower nozzle position carry out spray painting operation must also be by manually could be complete
Into that is, traditional wall paint-spray robot of climbing can not effectively be painted to some curved portions, so even being to have used to climb wall
Paint-spray robot, also must be again by that could complete spray painting operation comprehensively after manually carrying out touch-up paint to these positions, and this not only gives
The user for climbing wall paint-spray robot brings burden, and accordingly limits the promotion and application for climbing wall paint-spray robot.
【The content of the invention】
In order to overcome the shortcomings of in background technology, the utility model discloses a kind of stable type to climb wall paint-spray robot, institute
The wall paint-spray robot of climbing stated is not only able to ensure that its driving wheel is effectively attached in the irregular scope of operation, so as to avoid it
Driving force and adhesive force are affected, but also can be by the purpose for being rotated up to comprehensive spray painting of paint nozzle, and its is non-
It is adapted to promotion and application.
For achieving the above object, the utility model adopts the following technical scheme that：
Wall paint-spray robot is climbed in a kind of stable type, includes elastic wheel and rotary nozzle；Described elastic wheel includes car
Take turns body, connecting plate, spring connecting rod and support base；The road wheel end outer side of lid Middle face of the wheel body and the one of connecting plate
End is fixedly connected, and the other end of connecting plate is corresponding with car body be hinged by bearing pin；The middle part of the connecting plate passes through axle and spring
One side end of connecting rod is hinged, and the opposite side shaft of the spring connecting rod is provided with annular groove, movable successively in annular groove groove
Spring A, the bottom of support base and spring B are socketed, and spring A and the diameter of spring B are more than the aperture of support base bottom through hole；Institute
The top for the support base stated is corresponding with car body to be fixedly connected；
Described rotary nozzle includes main rotating cylinder, mechanical arm, telescoping cylinder, secondary rotating cylinder and paint nozzle；Described master
Rotating cylinder includes base and the rotating disk being connected to by rotary shaft on base, and the base, which is correspondingly fixed on, climbs wall paint-spray robot
The upper side of car body, the upper side of the rotating disk is corresponding with the bottom of mechanical arm be hinged, and the top of the mechanical arm is rotated by pair
Cylinder is connected with paint nozzle；One end of described telescoping cylinder is corresponding with the rotating disk side wall of main rotating cylinder be hinged, the other end and machine
Middle side part is corresponding be hinged under the arm body of tool arm.
Further, to be laterally or longitudinally fixed on the top end of mechanical arm, secondary rotating cylinder turns described secondary rotating cylinder
Shaft end head is fixedly connected with paint nozzle.
Further, described wheel end cap is fixedly connected with connecting plate by the multiple screws circumferentially arranged.
Further, described connecting plate is in the small water-drop-shaped in the big one end in one end or Pear-Shaped structure.
Due to using technical scheme as described above, the utility model has the advantages that：
It is easily fabricated that wall paint-spray robot is climbed in stable type described in the utility model, is easy to use, and described climbs wall spray painting
Robot is linked together wheel and car body by the way of flexible connection, and this connected mode has each driving moment
There is respective elastic floating section, so that when climbing wall paint-spray robot in irregular outer surface progress spray painting operation, its
Each driving wheel can be unaffected come effective guarantee adhesive force using respective elastic floating section and then also effective
It ensure that and climb wall paint-spray robot in operation in the irregular scope of operation, its overall driving force, adhesive force can be filled
Distribution is waved, i.e., described wall paint-spray robot of climbing is not only able to stable in irregular operation general work, and its spray painting
Work quality and efficiency can also be accordingly improved, while this also correspondingly reduces what application side to be born by operation error
Financial burden risk；
In addition, described wall paint-spray robot of climbing also is connected using main rotating cylinder as the base of mechanical arm with car body, and
Reach the purpose for utilizing main rotating cylinder driving mechanical arm all-directional rotation with this, while using secondary rotating cylinder as paint nozzle
Base is connected with mechanical arm, and reaches the purpose for driving paint nozzle to carry out 360 degree of rotary operations using secondary rotating cylinder with this, this
The routine work that tradition climbs wall paint-spray robot can not only be completed, but also can be by the action of major and minor rotating cylinder come band
Dynamic paint nozzle completes position and the curved portion progress spray painting operation for being not easy face to some and climbing wall paint-spray robot shower nozzle, i.e.,
Described wall paint-spray robot of climbing can smoothly complete spray painting work to complex job face, and also nothing in complex working condition environment
Artificial progress touch-up paint operation need to be reused, therefore described wall paint-spray robot of climbing is very suitable for popularization and application.
【Brief description of the drawings】
Fig. 1 is schematic diagram of the present utility model；
Fig. 2 is the schematic diagram of the elastic wheel；
Fig. 3 is Fig. 1 A to schematic diagram.
In figure：1st, wheel body；2nd, wheel end cap；3rd, connecting plate；4th, bearing pin；5th, car body；6th, axle；7th, spring connecting rod；
8th, spring A；9th, support base；10th, spring B；11st, mechanical arm；12nd, main rotating cylinder；13rd, telescoping cylinder；14th, secondary rotating cylinder；15th, paint
Shower nozzle.
【Embodiment】
The utility model can be explained in more detail by the following examples, open the purpose of this utility model is intended to protect
All changes and improvements protected in the scope of the utility model, the utility model are not limited to the following examples：
Wall paint-spray robot is climbed in stable type with reference to described in accompanying drawing 1~3, includes elastic wheel and rotary nozzle；Described
Elastic wheel includes wheel body 1, connecting plate 3, spring connecting rod 7 and support base 9；Wheel end cap 2 in the wheel body 1
It is fixedly connected in the middle part of lateral surface with one end of connecting plate 3, as needed, 2 center of wheel end cap can be surrounded one week by corresponding
Wheel end cap 2 and connecting plate 3 are fixed together by multiple screws of arrangement；The other end of the connecting plate 3 passes through bearing pin 4
Corresponding with car body 5 be hinged, i.e., connecting plate 3 can be that the center of circle is rotated with bearing pin 4；As needed, connecting plate 3 can be set
For the small water-drop-shaped in the big one end in one end or Pear-Shaped structure, its big end is corresponding to be connected with wheel end cap 2, and small end corresponds to and car body 5
Connection；The middle part of the connecting plate 3 is hinged by axle 6 and a side end of spring connecting rod 7, i.e., connecting plate 3 is in action, energy
Enough corresponding actions of synchronous drive spring connecting rod 7；
The opposite side shaft of the spring connecting rod 7 is provided with annular groove, the pivot bush unit spring A successively in annular groove groove
8th, the bottom of support base 9 and spring B 10, and spring A 8 and the diameter of spring B 10 are more than the aperture of the bottom through hole of support base 9,
The top of the support base 9 is corresponding with car body 5 to be fixedly connected, that is, ensure that the spring connecting rod 7 that connected plate 3 drives can prop up
Support and smoothly moved left and right under the position-limiting action of seat 9, due to the corresponding left and right for being distributed in support base 9 of spring A 8 and spring B 10,
And support base 9 is fixed on car body 5, therefore when wheel body 1 is being advanced in the irregular scope of operation, drive can connect accordingly
Fishplate bar 3 carries out a certain amount of rotary motion centered on bearing pin 4, and drives spring connecting rod 7 to carry out left and right shifting accordingly simultaneously
Dynamic, now, it is left that the corresponding conflict power between spring A 8 or spring B 10 and support base 9 can just play control spring connecting rod 7
The effect of momentum is moved to right, so as to reach the rotation amount of control wheel body 1 and connecting plate 3, ensures that wheel body 1 can be with respect to car
Body 5 carries out left and right or the up and down purpose of resilient movement；
Described rotary nozzle includes mechanical arm 11, main rotating cylinder 12, telescoping cylinder 13, secondary rotating cylinder 14 and paint nozzle
15；Described main rotating cylinder 12 includes the base for being located at bottom and the rotating disk that base top is connected to by rotary shaft, and position
Base in bottom is correspondingly fixed on the upper side of car body 5 for climbing wall paint-spray robot, and the upper side of rotating disk and mechanical arm 11
Bottom it is corresponding be hinged, i.e., mechanical arm 11 can carry out the spinning movement of 360 degree of left and right in the case where the rotation of main rotating cylinder 12 drives；
The top of described mechanical arm 11 is fixed on machinery by the connection corresponding with paint nozzle 15 of secondary rotating cylinder 14, i.e., secondary rotating cylinder 14
The top of arm 11, and rotary shaft of the paint nozzle 15 then with secondary rotating cylinder 14 is fixedly connected, so as to drive secondary rotation in mechanical arm 11
When turning the movement of cylinder 14, paint nozzle 15 can carry out 360 degree of rotation, this effective guarantor in the case where the action of secondary rotating cylinder 14 drives
Having hindered paint nozzle 15 being capable of spray painting work of the comprehensive completion to complex job face；
As needed, can be in be laterally or longitudinally fixed on the top end of mechanical arm 11 by the cylinder body of secondary rotating cylinder 14
Portion, be fixed together the rotation shaft end head of secondary rotating cylinder 14 is corresponding with paint nozzle 15, i.e., when secondary rotating cylinder 14 acts,
Its rotary shaft can drive the rotation that paint nozzle 15 carries out 360 degree on direction laterally or longitudinally, comprehensive so as to complete
The purpose of spray painting operation；The rotating disk side wall of one end angle Zhi Yuzhu rotating cylinders 12 of described telescoping cylinder 13 is corresponding be hinged, stretches
The other end angle branch of cylinder 13 is corresponding with middle side part under the arm body of mechanical arm 11 be hinged, i.e., mechanical arm 11 is not only able in telescoping cylinder 13
Flexible drive under carry out 90 degree of action of rising and falling up and down, but also can main rotating cylinder 12 and telescoping cylinder 13 drive similarly hereinafter
Step drives secondary rotating cylinder 14 and paint nozzle 15 to carry out corresponding left and right, upper and lower movement；Because paint nozzle 15 can be in pair
360 degree of rotations are carried out under the drive of rotating cylinder 14, therefore have effectively ensured that paint nozzle 15 can be by control machinery arm
11st, comprehensive spray painting operation is realized in the action of telescoping cylinder 13 and secondary rotating cylinder 14；
In addition, to adapt to the requirement in different spaces operation, the mechanical arm 11 of Collapsible structure can be used, i.e., is reached with this
To adjustable far and near purpose；, can be by respective line by paint nozzle 15 and corresponding paint vehicle for ease of take out paint spray painting
Case is connected together, and as needed, the paint vehicle case can be fixed on car body 5, can be also placed on accordingly according to being actually needed
Active workings in.
The non-detailed portion of the utility model is prior art, therefore the utility model is not described in detail.
Claims (4)
1. wall paint-spray robot is climbed in a kind of stable type, it is characterized in that：Include elastic wheel and rotary nozzle；Described elastic wheel
Include wheel body (1), connecting plate (3), spring connecting rod (7) and support base (9)；The wheel end cap of the wheel body (1)
(2) it is fixedly connected in the middle part of lateral surface with one end of connecting plate (3), the other end of connecting plate (3) by bearing pin (4) and climbs wall spray painting
Robot car body (5) is corresponding be hinged；Cut with scissors by a side end of axle (6) and spring connecting rod (7) at the middle part of the connecting plate (3)
Connect, the opposite side shaft of the spring connecting rod (7) is provided with annular groove, in annular groove groove successively pivot bush unit spring A (8), branch
The bottom through hole and spring B (10) of seat (9) are supportted, and spring A (8) and the diameter of spring B (10) are more than support base (9) bottom through hole
Aperture；The top of described support base (9) is corresponding with car body (5) to be fixedly connected；
Described rotary nozzle includes mechanical arm (11), main rotating cylinder (12), telescoping cylinder (13), secondary rotating cylinder (14) and spray painting spray
Head (15)；Described main rotating cylinder (12) includes base and the rotating disk being connected to by rotary shaft on base, and the base is corresponding
The upper side of car body (5) is fixed on, the upper side of the rotating disk is corresponding with the bottom of mechanical arm (11) be hinged, the mechanical arm (11)
Top be connected by secondary rotating cylinder (14) with paint nozzle (15)；One end of described telescoping cylinder (13) and main rotating cylinder (12)
Rotating disk side wall it is corresponding be hinged, the other end is corresponding with middle side part under the arm body of mechanical arm (11) to be hinged.
2. wall paint-spray robot is climbed in stable type according to claim 1, it is characterized in that：Described secondary rotating cylinder (14) is with horizontal stroke
To or be vertically fixed in the top ends of mechanical arm (11), the rotation shaft end head and paint nozzle (15) of secondary rotating cylinder (14) are fixed
Connection.
3. wall paint-spray robot is climbed in stable type according to claim 1, it is characterized in that：Described wheel end cap (2) is with connecting
Fishplate bar (3) is fixedly connected by the multiple screws circumferentially arranged.
4. wall paint-spray robot is climbed in stable type according to claim 1, it is characterized in that：Described connecting plate (3) is in one end
The big small water-drop-shaped in one end or Pear-Shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292850.2U CN206701555U (en) | 2017-03-24 | 2017-03-24 | Wall paint-spray robot is climbed in a kind of stable type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292850.2U CN206701555U (en) | 2017-03-24 | 2017-03-24 | Wall paint-spray robot is climbed in a kind of stable type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206701555U true CN206701555U (en) | 2017-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292850.2U Expired - Fee Related CN206701555U (en) | 2017-03-24 | 2017-03-24 | Wall paint-spray robot is climbed in a kind of stable type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206701555U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263303A (en) * | 2018-11-05 | 2019-01-25 | 许辰 | A kind of spray head mobile device of draw-bar box type spray drawing machine |
-
2017
- 2017-03-24 CN CN201720292850.2U patent/CN206701555U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263303A (en) * | 2018-11-05 | 2019-01-25 | 许辰 | A kind of spray head mobile device of draw-bar box type spray drawing machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 |