CN-122013970-A - Elevation coating robot with dynamic balancing mechanism and operation method

CN122013970ACN 122013970 ACN122013970 ACN 122013970ACN-122013970-A

Abstract

The invention discloses a facade coating robot with a dynamic balancing mechanism and an operation method, wherein the facade coating robot comprises an executing mechanism, a material conveying system and a driving and moving system, the executing mechanism comprises a coating driving piece, a transmission assembly, a coating scraping plate device and a counterweight, the transmission assembly comprises a through driving shaft, the output end of the driving shaft is connected with the coating scraping plate device and the counterweight through an open flexible transmission piece, the coating scraping plate device and the counterweight can synchronously and reversely move in the vertical direction to form the coating dynamic balancing mechanism, the material conveying system comprises a material conveying driving piece and a pumping device, the driving and moving system comprises a driving subsystem and a steering subsystem, the driving subsystem comprises a moving driving piece, a differential mechanism and a driving wheel, and the steering subsystem comprises a steering driving piece, a steering mechanism and a steering wheel. According to the invention, through the dynamic balance type lifting mechanism and the linkage control of material conveying and lifting, the problems of unstable lifting and poor material conveying matching of the existing coating robot are solved, and automatic high-quality operation of elevation coating is realized.

Inventors

ZHANG ZIANG
WANG YIFAN
MIAO FENG
LI CHAO
MO YAMEI
CHEN JUAN

Assignees

南通大学

Dates

Publication Date: 20260512
Application Date: 20260325

Claims (10)

1. The utility model provides a facade coating robot that possesses dynamic balance mechanism, includes main part support (1) that possess mortar and hold storehouse (10), install actuating mechanism (2) and conveying system (3) on main part support (1), and install in drive moving system (4) of main part support (1) bottom, its characterized in that: The coating dynamic balancing mechanism comprises an actuating mechanism (2), a coating driving part (5), a transmission assembly (6), a coating scraping plate device (7) and a counterweight (8), wherein the transmission assembly (6) comprises a driving shaft (61) which is driven to rotate by the coating driving part (5), an output end (610) is arranged on the driving shaft (61), the output end (610) is connected with the coating scraping plate device (7) and the counterweight (8) by an open flexible transmission part (62), and the coating scraping plate device (7) and the counterweight (8) are respectively connected with two ends of the open flexible transmission part (62), so that when the driving shaft (61) rotates, the coating scraping plate device (7) and the counterweight (8) can synchronously and reversely move in the vertical direction to form the coating dynamic balancing mechanism; The material conveying system (3) comprises a material conveying driving piece (31) and a pumping device (32), wherein a material inlet of the pumping device (32) is communicated with the mortar accommodating bin (10), and a material outlet of the pumping device is communicated with a mortar inlet of the coating scraper device (7) through a mortar conveying pipe (33), and the material conveying driving piece (31) drives the pumping device (32) to operate; The driving and moving system (4) comprises a driving subsystem (4.1) and a steering subsystem (4.2), wherein the driving subsystem (4.1) comprises a moving driving piece, a differential mechanism and a driving wheel, the moving driving piece is in driving connection with the differential mechanism, the differential mechanism is in driving connection with a wheel shaft of the driving wheel, the steering subsystem (4.2) comprises an independent steering driving piece (44), a steering mechanism (45) and a steering wheel (46), the steering driving piece (44) is in driving connection with the steering mechanism (45), and the steering mechanism (45) is connected with the steering wheel (46) and is used for controlling the steering angle of the steering wheel (46).
2. The facade coating robot with the dynamic balancing mechanism according to claim 1, wherein the output end (610) comprises at least two first chain wheels fixedly mounted on the driving shaft (61) and symmetrically distributed along the axial direction of the driving shaft (61), and the open flexible transmission member (62) is at least two open chains respectively wound on the corresponding first chain wheels.
3. The fagade coating robot with the dynamic balancing mechanism according to claim 1, wherein the coating driving piece (5) is in transmission connection with the driving shaft (61) through a closed flexible transmission piece (63).
4. The facade coating robot with dynamic balancing mechanism according to claim 3, wherein the closed flexible transmission member (63) is a closed chain, a driving sprocket (64) is connected to an output shaft of the coating driving member (5), a second sprocket (65) is connected to a shaft end of the driving shaft (61), and the driving sprocket (64) is in transmission connection with the second sprocket (65) through the closed chain.
5. The facade coating robot with dynamic balancing mechanism according to claim 1, characterized in that the counterweight (8) is slidably mounted on the main body support (1) through a slide block and a guide rail (11), the guide rail (11) being arranged in a vertical direction.
6. The facade coating robot with dynamic balancing mechanism according to claim 1, characterized in that it comprises a coating lifting guide (9), the coating scraper device (7) being guided in a vertical movement by the coating lifting guide (9).
7. The facade coating robot with a dynamic balancing mechanism according to claim 6, wherein the coating scraper device (7) comprises a scraper seat (71), a scraper (72) and a discharging box (73), the scraper seat (71) is arranged on the coating lifting guide device (9) and is in traction connection through the open flexible transmission piece (62), the scraper (72) is obliquely arranged at the front end of the scraper seat (71) so as to form an acute construction angle with a facade to be coated, the discharging box (73) is arranged on the scraper seat (71) and is abutted against the mortar conveying pipe (33), and a discharging opening of the discharging box (73) extends to a mortar bearing surface of the scraper (72).
8. The facade coating robot with dynamic balancing mechanism according to claim 7, wherein the coating lifting guide device (9) comprises a guide post (91) and a guide sleeve (92), the guide post (91) is vertically fixed on the main body support (1), the guide sleeve (92) is embedded on the scraper seat (71), and the guide sleeve (92) is slidingly sleeved on the guide post (91).
9. The fagade coating robot with dynamic balancing mechanism according to claim 1, wherein the steering mechanism (45) is a connecting rod steering mechanism and comprises a connecting rod assembly (450), and the connecting rod assembly (450) is connected with a steering knuckle of the steering wheel (46).
10. The method for coating a facade coating robot equipped with a dynamic balancing mechanism according to claim 7, comprising the steps of: Step S1, driving a steering mechanism (45) through a steering driving piece (44) of a steering subsystem (4.2), and adjusting the gesture of a coating robot to enable a scraper (72) of a coating scraper device (7) to keep a preset included angle of 69 degrees with a vertical surface to be coated; Step S2, starting a material conveying system (3), driving a pumping device (32) by a material conveying driving piece (31) to rotate at a first rotating speed, conveying mortar from a mortar accommodating bin (10) to a discharging box (73) of a coating scraper device (7) through a mortar conveying pipe (33), and enabling the mortar to flow from a discharging hole to a mortar bearing surface of a scraper (72); Step S3, starting an executing mechanism (2), driving a driving shaft (61) to rotate by a coating driving piece (5) at a second rotating speed, driving a coating scraping plate device (7) to ascend at a uniform speed along a vertical direction by an open flexible transmission piece (62), synchronously and reversely descending a counterweight (8) along the vertical direction under the traction of the other end of the open flexible transmission piece (62) to form dynamic balance, and enabling a scraping plate (72) to coat at a constant pressure opposite surface not less than 34N; Step S4, in the rising process of the coating scraper device (7), monitoring the second rotating speed of the coating driving piece (5) in real time through a controller of the coating robot, and dynamically adjusting the rotating speed of the material conveying driving piece (31) according to the corresponding relation between the preset mortar conveying amount and the coating speed, so that the mortar conveying amount of the pumping device (32) and the rising speed of the scraper (72) are kept synchronous, and mortar is ensured to uniformly cover the mortar bearing surface of the scraper (72); And S5, stopping the execution mechanism (2) and the material conveying system (3) after the coating scraper device (7) rises to a preset height, transversely moving the coating robot to the next construction station by matching a driving subsystem (4.1) and a steering subsystem (4.2) of the driving moving system (4), and repeating the steps S1 to S4 until the coating of the whole vertical face is completed.

Description

Elevation coating robot with dynamic balancing mechanism and operation method Technical Field The invention belongs to the technical field of elevation coating building construction equipment, and particularly relates to an elevation coating robot with a dynamic balancing mechanism and an operation method. Background The existing coating robot is mainly designed for outdoor building scenes, a lifting mechanism of the existing coating robot is mainly driven by a hydraulic cylinder or driven by a single track chain, stress points are single in the lifting process, so that a scraping plate moves unstably, vibration and clamping phenomenon are easy to occur, coating evenness is seriously affected, meanwhile, a mechanical balance design is lacking between the scraping plate and a driving system, motor load is large, energy consumption is high, lifting speed is difficult to be constant, and uniformity of coating thickness cannot be guaranteed. In the aspect of material conveying, the conventional equipment adopts a centrifugal pump or a plunger pump to convey mortar, and because the mortar has the characteristics of high viscosity and solid particles, the conventional pumping device is easy to generate pressure pulsation and leakage, so that the mortar conveying capacity and the scraper operation speed cannot be matched in real time, and when the scraper lifting speed changes, the material conveying capacity cannot be synchronously adjusted, and the conditions of standing area slurry and missing smearing are easy to occur. Disclosure of Invention The invention aims to: in order to overcome the defects in the prior art, the invention provides the elevation coating robot with the dynamic balancing mechanism and the operation method, and solves the problems of unstable elevation and poor material conveying matching of the traditional coating robot by means of the dynamic balancing type lifting mechanism and the material conveying and lifting linkage control, so that the automatic high-quality operation of elevation coating is realized. In order to achieve the purpose, the elevation coating robot with the dynamic balancing mechanism comprises a main body support with a mortar accommodating bin, an executing mechanism and a material conveying system which are arranged on the main body support, and a driving and moving system which is arranged at the bottom of the main body support, wherein the executing mechanism comprises a coating driving piece, a transmission assembly, a coating scraping plate device and a counterweight; the transmission assembly comprises a driving shaft which is driven to rotate by the coating driving piece, an output end is arranged on the driving shaft, the output end is connected with the coating scraper device and the counterweight by an open flexible transmission piece, and the coating scraper device and the counterweight are respectively connected to two ends of the open flexible transmission piece, so that when the driving shaft rotates, the coating scraper device and the counterweight can synchronously and reversely move in the vertical direction to form a coating dynamic balancing mechanism; The material conveying system comprises a material conveying driving piece and a pumping device, wherein a material inlet of the pumping device is communicated with a mortar accommodating bin, and a material outlet of the pumping device is communicated with a mortar inlet of the coating scraper device through a mortar conveying pipe; The driving and moving system comprises a driving subsystem and a steering subsystem, wherein the driving subsystem comprises a moving driving piece, a differential mechanism and driving wheels, the moving driving piece is in driving connection with the differential mechanism, the differential mechanism is in transmission connection with wheel shafts of the driving wheels, the steering subsystem comprises an independent steering driving piece, a steering mechanism and steering wheels, the steering driving piece is in driving connection with the steering mechanism, and the steering mechanism is connected with the steering wheels and used for controlling steering angles of the steering wheels. The output end comprises at least two first chain wheels fixedly mounted on the driving shaft and symmetrically distributed along the axial direction of the driving shaft, and the open flexible transmission part is at least two open chains which are respectively wound on the corresponding first chain wheels. Further, the coating driving piece is in transmission connection with the driving shaft through a closed flexible transmission piece. Further, the closed flexible transmission part is a closed chain, a driving sprocket is connected to an output shaft of the coating driving part, a second sprocket is connected to the shaft end of the driving shaft, and the driving sprocket is in transmission connection with the second sprocket through the closed chain. Further, the counterweight i