CN109972821A - Spray robot - Google Patents
Spray robot Download PDFInfo
- Publication number
- CN109972821A CN109972821A CN201910344622.9A CN201910344622A CN109972821A CN 109972821 A CN109972821 A CN 109972821A CN 201910344622 A CN201910344622 A CN 201910344622A CN 109972821 A CN109972821 A CN 109972821A
- Authority
- CN
- China
- Prior art keywords
- hoisting mechanism
- frame body
- spray gun
- spray
- transmission belt
- 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.)
- Granted
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention proposes a kind of spray robots, comprising: frame body, interior be equipped with of frame body promote channel；First hoisting mechanism is set to and is promoted in channel, and the first part of first hoisting mechanism is fixedly connected with frame body；Motor is promoted, is sequentially connected with first hoisting mechanism, under the driving for promoting motor, first hoisting mechanism moves in promotion channel；Spray gun, set on the second part of first hoisting mechanism, wherein, first part and second part are set to the two sides of first hoisting mechanism, channel is promoted so that under the driving for promoting motor, first hoisting mechanism is stretched out or retracted, and is relatively moved between spray gun and first hoisting mechanism.According to the technical solution of the present invention, the flexibility of coating robot coats and the adaptability to construction environment are improved, product automation degree can be improved according to construction part automatic adjusting jet-gun position in construction, reduce to artificial dependence.
Description
Technical field
The present invention relates to building machinery technical fields, in particular to a kind of spray robot.
Background technique
In existing building industry, the brushing of coating is usually artificial roller coating or spraying, semi-automatic there are also may be implemented
Spraying equipment, but automanual device structure is simple, has a single function, for example paint finishing is separated with equipment, and equipment is not
Energy autonomous, precision is not high with the degree of automation, very strong etc. to artificial dependence.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, the purpose of the present invention is to provide a kind of spray robots.
To achieve the goals above, technical solution of the present invention provides a kind of spray robot, comprising: frame body, frame body
Interior be equipped with promotes channel；First hoisting mechanism is set to and is promoted in channel, the first part of first hoisting mechanism and the fixed company of frame body
It connects；Motor is promoted, is sequentially connected with first hoisting mechanism, under the driving for promoting motor, first hoisting mechanism is logical in promotion
It is moved in road；Spray gun, set on the second part of first hoisting mechanism, wherein first part and second part are set to first and are promoted
The two sides of mechanism promote channel so that under the driving for promoting motor, first hoisting mechanism is stretched out or retracted, and spray gun is mentioned with first
It rises and is relatively moved between mechanism.
In the technical scheme, it is set to by spray gun at the second part of hoisting mechanism, spray gun and first is enable to be promoted
It being relatively moved between mechanism, i.e. relative position of the spray gun in first hoisting mechanism can change, meanwhile, the first elevator
Structure can also stretch out or retract promotion channel and may be used also so that the position of spray gun can be raised and lowered with first hoisting mechanism
To make further change in location relative to first hoisting mechanism, such as further rise when going up and down with first hoisting mechanism
Drop, or move horizontally, expand spray gun job area, to increase the flexibility of coating robot coats and to construction ring
The adaptability in border can improve product automation degree according to construction part automatic adjusting jet-gun position in construction, reduce
To artificial dependence.
Specifically, spray robot includes frame body, is equipped in frame body and promotes channel；First hoisting mechanism is set to be promoted and lead to
It is such compact-sized in road, and first hoisting mechanism can be moved being promoted in channel, i.e., first hoisting mechanism is extended or contracts
It returns and promotes channel, to expand the job area of spray robot；It is sequentially connected by promoting motor and first hoisting mechanism,
First hoisting mechanism can be driven to move in promotion channel, to improve the automatization level of product, reduced to artificial
Dependence；By the way that the first part of first hoisting mechanism to be fixedly connected with frame body, the scope of activities of hoisting mechanism can be limited,
Hoisting mechanism abjection is avoided to promote channel, to ensure that the stability and reliability of hoisting mechanism work；Spray gun setting is existed
The second part of first hoisting mechanism, the second part of first hoisting mechanism and first part are respectively arranged on first hoisting mechanism
Two sides enable second part to move relative to first part, improve the job area of spray gun, further improve flush coater
The degree of automation of device people.
Wherein, the first part of first hoisting mechanism and second part can be centrosymmetric two of belt in V belt translation
A position, can also be in rack pinion, be engaged on two positions being respectively on the rack gear of two sides on same gear.
It is to be appreciated that spray gun can carry coating, can also be connect by pipeline with the container of storage coating, and calm
Coating is extracted in device to be sprayed.
In the above-mentioned technical solutions, first hoisting mechanism specifically includes: at least two driving wheels, at least two driving wheels
One with promoted motor drive connect；Transmission belt is set around and is promoted outside the driving wheel that connect of motor drive, transmission belt and extremely
Few two driving wheels cooperation, to be moved under the drive for promoting motor.
In the technical scheme, cooperated by least two driving wheels and transmission belt, make transmission belt in the band for promoting motor
Dynamic lower movement, such structure is simple, and is conducive to transmission belt and drives spray gun mobile；Wherein, a driving wheel and promotion motor
Transmission connection, convenient for transmitting the torque for promoting motor as driving wheel to drive transmission belt, and another driving wheel is as driven
Wheel is rotated with the movement of transmission belt, convenient for providing tension for transmission belt, guarantees the stability of transmission belt work.
Further, when the quantity of driving wheel is two, under the action of first hoisting mechanism, spray gun is promoted with first
The speed that two times of mechanism rises along frame body direction.In this way, there are two-stage lift structures for first hoisting mechanism: first hoisting mechanism is
Level-one, conveyer belt are level-one.The length of conveyer belt is the hoisting depth of first hoisting mechanism, i.e., when the rising of first hoisting mechanism
When height is S, spray gun is 2S by the height that first hoisting mechanism rises.
In the above-mentioned technical solutions, the side of frame body is equipped with the fixed plate upwardly extended parallel with the direction in channel is promoted,
The first part of transmission belt is fixedly connected with fixed plate, and spray gun is set to the second part in transmission belt far from fixed plate side.
In the technical scheme, by being equipped with fixed plate in the side of frame body, the first part of transmission belt and fixed plate are solid
Fixed connection, and spray gun is set to second part of the transmission belt far from fixed plate side, is advantageously implemented transmission belt in this way to not Tongfang
The purpose promoted to movement and two-stage, i.e. edge promote the purpose that channel carries out lifting and two-stage is promoted；Specifically, in transmission belt
When moving downward, since first part is fixed in fixed plate, so that transmission belt integrally moves down, and spray gun can be with transmission
The integral position of band is moved down and is moved down, while also being moved on the belt relative to first hoisting mechanism itself, and is moved to biography
The lower end of dynamic band；When transmission belt moves upwards, since first part is fixed in fixed plate, so that transmission belt is whole to moving up
It is dynamic, and spray gun can be moved up with the integral position of transmission belt and be moved up, while also on the belt relative to first hoisting mechanism
Itself movement, and it is moved to the upper end of transmission belt, it realizes that two-stage is promoted, to be added significantly to the job area of spray gun, is promoted
The degree of automation of product, reduces to artificial dependence.
It is to be appreciated that the first part of transmission belt is the first part of first hoisting mechanism, second of transmission belt
Divide the second part of as first hoisting mechanism.
In the above-mentioned technical solutions, driving wheel is gear, and transmission belt is rack gear；Or driving wheel is belt wheel, transmission belt is same
Walk band；Or driving wheel is sprocket wheel, transmission belt is chain belt.
In the technical scheme, cooperate perhaps belt wheel and synchronous belt cooperation or sprocket wheel and chain by using rack-and-pinion
Band cooperation, such structure is all relatively simple, and accessory is widely used, easy to produce and maintenance, and transmission process is reliable and stable, has
Conducive to promotion Product Precision and the degree of automation.Specifically, gear structure is compact, high and at low cost with the mesh degree of rack gear；
Belt wheel and toothed belt transmission are steady, with small vibration；The elongation of chain belt is low, and sprocket diameter is small, large carrying capacity.
In the above-mentioned technical solutions, spray robot, further includes: hanger, set on the second part of first hoisting mechanism, and
Hanger is equipped with slide assemblies, and spray gun is set on slide assemblies, to slide under the action of slide assemblies.
In the technical scheme, by the way that hanger is arranged in first hoisting mechanism, and slide assemblies are set on hanger, are sprayed
Rifle is set on slide assemblies, so that spray gun is able to carry out sliding, so that spray gun can not only be along the longitudinal fortune for promoting channel
It is dynamic, moreover it is possible to along the transverse movement for promoting channel, to be added significantly to the job area of spray gun.
In the above-mentioned technical solutions, slide assemblies specifically include: the first guide rail is fixedly connected with hanger；First sliding block, if
In in the first guide rail, and the first sliding block is equipped with spray gun；Sliding motor is electrically connected with the first sliding block, is existed with controlling the first sliding block
Sliding on first guide rail.
In the technical scheme, slide assemblies include the first guide rail, the first sliding block and sliding motor, such structure letter
It is single, be readily produced and install, and the first sliding block is controlled by sliding motor and drives spray gun sliding, improve spray robot certainly
Dynamicization degree, reduces labor intensity, reduces product to artificial dependence.
In the above-mentioned technical solutions, spray robot further include: rotary components are set on slide assemblies, and spray gun is set to rotation
Turn on component, to be rotated in the work surface of spray gun under the action of rotary components.
In the technical scheme, by the setting of rotary components, spray gun is rotated, which not only adds spray guns
Spray range, also add the spray angle of spray gun, thus further improve flexibility that spray robot uses and from
Dynamicization degree.
In the above-mentioned technical solutions, spray robot further include: second hoisting mechanism is set on frame body, the second elevator
Structure can be relatively moved with frame body, wherein be equipped in second hoisting mechanism and promoted channel.
In the technical scheme, by the way that second hoisting mechanism is arranged, and second hoisting mechanism can be mobile relative to frame body,
It promotes channel to be arranged in second hoisting mechanism, first hoisting mechanism is being promoted in channel with second hoisting mechanism
Movement and further expansion moving range, thus yet further increase spray gun job area.
In the above-mentioned technical solutions, second hoisting mechanism specifically includes: the second guide rail being mutually slidably connected and second is slided
Block, the second sliding block, which is equipped with, promotes channel.
In the technical scheme, second hoisting mechanism includes the second sliding rail and the second sliding block, promotes channel and is arranged second
Sliding block mountain, such structure is simple, is readily produced and installs, and is easy to guarantee that the direction of motion of first hoisting mechanism keeps straight
Line is more easily controlled product, to promote Product Precision and the degree of automation.
In the above-mentioned technical solutions, spray robot further include: charging basket is set in frame body, is equipped between spray gun and charging basket
The conveying pipeline of connection；And/or mobile device, set on the bottom of frame body, to drive frame body to move；And/or power supply unit, it is set to
In frame body, to provide electric energy when spray robot operation.
In the technical scheme, by the setting of charging basket, painting is extracted directly from charging basket by conveying pipeline convenient for spray gun
Material is sprayed, i.e., spray robot can carry coating, without connecting with external feeding device, be conducive to be promoted in this way
The walking ability of spray robot Autonomy avoids the containing by external feeding device and reduces the degree of automation；Pass through
The setting of mobile device, so that spray robot can be realized walking；It is powered by power supply unit, enables spray robot
The energy needed for having walking does not need to connect external power supply by cable run, to realize autonomous, reduces to outside
Resource and artificial dependence, can also avoid cable run to the interference in spray robot use process.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the spray robot of one embodiment of the present of invention；
Fig. 2 is the decomposition texture schematic diagram of Fig. 1；
Fig. 3 is the schematic perspective view of the spray robot of one embodiment of the present of invention；
Fig. 4 is the partial enlargement structural representation in Fig. 3 at A；
Fig. 5 is the schematic cross-sectional view of the first hoisting mechanism of one embodiment of the present of invention.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 5 are as follows:
1 frame body, 12 first hoisting mechanisms, 120 transmission belts, the first part of 1202 transmission belts, the second of 1204 transmission belts
Part, 122 driving wheels, 14 promotion motors, 16 spray guns, 18 fixed plates, 20 hangers, 220 first guide rails, 222 first sliding blocks, 224
Sliding motor, 24 rotary components, 26 charging baskets, 28 mobile devices, 30 power supply units, 32 guide rails.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 5 description.
As shown in Figures 1 to 5, a kind of spray robot of the one embodiment proposed according to the present invention, comprising: frame body 1,
It is equipped in frame body 1 and promotes channel；First hoisting mechanism 12, be set to promoted channel in, the first part of first hoisting mechanism 12 with
Frame body 1 is fixedly connected；Promoted motor 14, with first hoisting mechanism 12 be sequentially connected, with promoted motor 14 driving under, first
Hoisting mechanism 12 moves in promotion channel；Spray gun 16, set on the second part of first hoisting mechanism 12, wherein first part
The two sides of first hoisting mechanism 12 are set to, with second part under the driving for promoting motor 14, first hoisting mechanism 12 is stretched out
Or it retracts and promotes channel, and relatively moved between spray gun 16 and first hoisting mechanism 12.
In this embodiment, it is set to by spray gun 16 at the second part of hoisting mechanism, spray gun 16 is enable to mention with first
It rising and is relatively moved between mechanism 12, i.e. relative position of the spray gun 16 in first hoisting mechanism 12 can change, meanwhile, the
One hoisting mechanism 12, which can also be stretched out or be retracted, promotes channel, so that the position of spray gun 16 can be 12 liters with first hoisting mechanism
High or reduction can also make further position relative to first hoisting mechanism 12 when going up and down with first hoisting mechanism 12
Variation, such as further lifting, or move horizontally, expand spray gun job area, to increase coating robot coats
Flexibility and adaptability to construction environment, can be promoted according to 16 position of construction part automatic adjusting jet-gun in construction
Product automation degree, reduces to artificial dependence.
Specifically, spray robot includes frame body 1, is equipped in frame body 1 and promotes channel；First hoisting mechanism 12, set on mentioning
It rises in channel, it is such compact-sized, and first hoisting mechanism 12 can be moved being promoted in channel, i.e., first hoisting mechanism 12 can
It stretches out or retracts and promote channel, to expand the job area of spray robot；By promoting motor 14 and the first elevator
Structure 12 is sequentially connected, and first hoisting mechanism 12 can be driven to move in promotion channel, to improve the Automated water of product
It is flat, reduce to artificial dependence；By the way that the first part of first hoisting mechanism 12 to be fixedly connected with frame body 1, can limit
The scope of activities of hoisting mechanism, avoid hoisting mechanism abjection promoted channel, thus ensure that hoisting mechanism work stability and
Reliability；Spray gun 16 is arranged in the second part of first hoisting mechanism 12, the second part of first hoisting mechanism 12 and first
Part is respectively arranged on the two sides of first hoisting mechanism 12, so that second part is moved relative to first part, improves spray gun
16 job area further improves the degree of automation of spray robot.
It is to be appreciated that spray gun 16 can carry coating, can also be connect by pipeline with the container of storage coating, and from
Coating is extracted in container to be sprayed.
As shown in figure 5, in the above-described embodiments, first hoisting mechanism 12 specifically includes: at least two driving wheels 122, until
One in few two driving wheels 122 is sequentially connected with motor 14 is promoted；Transmission belt 120 is set around and promotes the transmission of motor 14
Outside the driving wheel 122 of connection, transmission belt 120 and at least two driving wheels 122 cooperate, to move down in the drive for promoting motor 14
It is dynamic.
In this embodiment, cooperated by least two driving wheels 122 and transmission belt 120, transmission belt 120 is made to promote electricity
It is moved under the drive of machine 14, such structure is simple, and is conducive to transmission belt 120 and drives spray gun 16 mobile；Wherein, a transmission
It takes turns 122 and is sequentially connected with motor 14 is promoted, convenient for the torque as driving wheel transmitting promotion motor 14 to drive transmission belt 120,
And another driving wheel 122 is rotated as driven wheel with the movement of transmission belt 120, convenient for providing tension for transmission belt 120, is protected
Demonstrate,prove the stability that transmission belt 120 works.
Further, the quantity of driving wheel 122 be two when, under the action of first hoisting mechanism 12, spray gun 16 with
The speed that 12 2 times of first hoisting mechanism rises along 1 direction of frame body.In this way, there are two-stage lift structures for first hoisting mechanism 12:
First hoisting mechanism 12 is level-one, and conveyer belt is level-one.The length of conveyer belt is the hoisting depth of first hoisting mechanism 12, that is, is worked as
When the lifting height of first hoisting mechanism 12 is S, spray gun 16 is 2S by the height that first hoisting mechanism 12 rises.
As shown in figure 5, in the above-described embodiments, the side of frame body 1 is equipped with and promotes that the direction in channel is parallel to be upwardly extended
Fixed plate 18, the first part 1202 of transmission belt is fixedly connected with fixed plate 18, and spray gun 16 is set in transmission belt 120 far from solid
The second part of 18 side of fixed board.
In this embodiment, by being equipped with fixed plate 18, the first part 1202 of transmission belt and fixation in the side of frame body 1
Plate 18 is fixedly connected, and spray gun 16 is set to second part of the transmission belt 120 far from 18 side of fixed plate, is advantageously implemented biography in this way
The purpose that dynamic band 120 is moved to different directions and two-stage is promoted, i.e. edge promote the purpose that channel carries out lifting and two-stage is promoted；
Specifically, when transmission belt 120 moves downward, since first part is fixed in fixed plate 18 so that transmission belt 120 it is whole to
Lower movement, and spray gun 16 can be moved down with the integral position of transmission belt 120 and be moved down, at the same also on transmission belt 120 relative to
First hoisting mechanism 12 itself movement, and it is moved to the lower end of transmission belt 120；When transmission belt 120 moves upwards, due to first
Part is fixed in fixed plate 18, is moved up so that transmission belt 120 is whole, and spray gun 16 can be with the entirety of transmission belt 120
Position moves up and moves up, while moving also on transmission belt 120 relative to first hoisting mechanism 12 itself, and is moved to transmission belt
120 upper end realizes that two-stage is promoted, to be added significantly to the job area of spray gun 16, improves the degree of automation of product,
Reduce to artificial dependence.
In the above-described embodiments, driving wheel 122 is gear, and transmission belt 120 is rack gear；Or driving wheel 122 is belt wheel, transmission
Band 120 is synchronous belt；Or driving wheel 122 is sprocket wheel, transmission belt 120 is chain belt.
In this embodiment, cooperate perhaps belt wheel and synchronous belt cooperation or sprocket wheel and chain belt by using rack-and-pinion
Cooperation, such structure is all relatively simple, and accessory is widely used, easy to produce and maintenance, and transmission process is reliable and stable, favorably
In promotion Product Precision and the degree of automation.Specifically, gear structure is compact, high and at low cost with the mesh degree of rack gear；Band
Wheel and toothed belt transmission are steady, with small vibration；The elongation of chain belt is low, and sprocket diameter is small, large carrying capacity.
As shown in Fig. 2, in the above-described embodiments, spray robot, further includes: hanger 20 is set to first hoisting mechanism 12
Second part, and hanger 20 is equipped with slide assemblies, and spray gun 16 is set on slide assemblies, with sliding under the action of slide assemblies
It is dynamic.
In this embodiment, by the way that hanger 20 is arranged in first hoisting mechanism 12, and Slide Group is set on hanger 20
Part, spray gun 16 are set on slide assemblies, so that spray gun 16 is able to carry out sliding, so that spray gun 16 can not only be logical along being promoted
The longitudinal movement in road, moreover it is possible to along the transverse movement for promoting channel, be added significantly to the job area of spray gun 16.
As shown in Figure 3 and Figure 4, in the above-described embodiments, slide assemblies specifically include: the first guide rail 220, solid with hanger 20
Fixed connection；First sliding block 222 is set in the first guide rail 220, and the first sliding block 222 is equipped with spray gun 16；Sliding motor 224, with
First sliding block 222 electrical connection, to control sliding of first sliding block 222 on the first guide rail 220.
In this embodiment, slide assemblies include the first guide rail 220, the first sliding block 222 and sliding motor 224, in this way
Structure it is simple, be readily produced and install, and by sliding motor 224 control the first sliding block 222 drive spray gun 16 slide, promoted
The degree of automation of spray robot, reduces labor intensity, reduces product to artificial dependence.
In the above-described embodiments, spray robot further include: rotary components 24 are set on slide assemblies, and spray gun 16 is set to
On rotary components 24, to be rotated in the work surface of spray gun 16 under the action of rotary components 24.
In this embodiment, by the setting of rotary components 24, spray gun 16 is rotated, which not only adds sprays
The spray range of rifle 16 also adds the spray angle of spray gun 16, thus further improve spray robot use it is flexible
Property and the degree of automation.
In the above-described embodiments, spray robot further include: second hoisting mechanism is set on frame body 1, second hoisting mechanism
It can be relatively moved with frame body 1, wherein be equipped in second hoisting mechanism and promote channel.
In this embodiment, by the way that second hoisting mechanism is arranged, and second hoisting mechanism can be mobile relative to frame body 1,
It promotes channel to be arranged in second hoisting mechanism, first hoisting mechanism 12 is being promoted in channel with the second elevator
The movement of structure and further expansion moving range, to yet further increase the job area of spray gun 16.
In the above-described embodiments, second hoisting mechanism specifically includes: the second guide rail and the second sliding block being mutually slidably connected,
Second sliding block, which is equipped with, promotes channel.
In this embodiment, second hoisting mechanism includes the second sliding rail and the second sliding block, and it is sliding second to promote channel setting
Block mountain, such structure is simple, is readily produced and installs, and is easy to guarantee that the direction of motion of first hoisting mechanism 12 keeps straight
Line is more easily controlled product, to promote Product Precision and the degree of automation.
In the above-described embodiments, spray robot further include: charging basket 26 is set in frame body 1, between spray gun 16 and charging basket 26
Conveying pipeline equipped with connection；And/or mobile device 28, set on the bottom of frame body 1, to drive frame body 1 to move；And/or power supply
Device 30 is set in frame body 1, to provide electric energy when spray robot operation.
In this embodiment, it by the setting of charging basket 26, is directly taken out from charging basket 26 convenient for spray gun 16 by conveying pipeline
Coating is taken to be sprayed, i.e., spray robot can carry coating, without connecting with external feeding device, be conducive in this way
The walking ability for promoting spray robot Autonomy, avoids the containing by external feeding device and reduces the degree of automation；
By the setting of mobile device 28, so that spray robot can be realized walking；It is powered by power supply unit 30, so that flush coater
The energy needed for device people can have walking does not need to subtract by cable run connection external power supply to realize autonomous
Less to external resource and artificial dependence, cable run can also be avoided to the interference in spray robot use process.
According to the spray robot for the specific embodiment that the application proposes, full-automatic spraying can be carried out,
Including automatic spraying system, robot ambulation and route planning system, two-stage hoisting mechanism etc., it can be achieved that metope with
The spraying of ceiling, coating quality detection etc..
The spray gun 16 of automatic spraying system sets the freedom degree there are two dimension, and horizontal 360 ° with vertical aspect may be implemented
Rotation, in addition paint finishing has extension arm, and the spraying of the special-shaped metope of the window etc. that may be implemented to float is rotated in conjunction with spray head.Spray gun 16 extends
Arm mechanism, which is equipped with, can fold rotating mechanism, and equipment is facilitated to pass in and out elevator, the small spaces such as room door region.
Further, it sprays, storing, powers, navigation, walking universal class realizes full automatic spraying operation with all over the body.
Specifically, as depicted in figs. 1 and 2, the spray robot of the application includes frame body 1, is equipped with to be promoted in frame body 1 and lead to
Road, promotes that be equipped in channel can be along the first hoisting mechanism 12 that moves up and down of promotion channel, as shown in figure 5, first hoisting mechanism
12 move up and down along the guide rail 32 promoted in channel.
As shown in Figure 3 and Figure 4, first hoisting mechanism 12 is equipped with the hanger 20 that is laterally arranged, be installed on hanger 20 with
The first perpendicular sliding rail of channel is promoted, is slideably equipped with the first sliding block 222 on the first sliding rail, spray gun 16 passes through rotary components
24 are arranged on the first sliding block 222, and the first sliding block 222 is driven by sliding motor 224 and slided along the first sliding rail, such knot
Structure keeps spray gun 16 upper and lower with moving up and down for first hoisting mechanism 12, and sliding on the first sliding rail with the first sliding block 222
It is dynamic and move horizontally, it can also be rotated with the rotation of rotary components 24 to different angle, to realize horizontal with vertical aspect
360 ° of rotations, expand the job area of spray gun 16.
As shown in figure 5, further, first hoisting mechanism 12 is set as two-stage hoisting mechanism and stretching as paint finishing
It is long-armed.
First hoisting mechanism 12 is divided for two parts, and 12 first part of first hoisting mechanism and frame body 1 fix the first elevator
The second part of structure 12 and the first part of first hoisting mechanism 12 set up separately in the left and right sides of first hoisting mechanism 12, hanger 20
It is arranged on the second part of first hoisting mechanism 12 with spray gun 16, to be transported up and down with the second part of first hoisting mechanism 12
It is dynamic.
As shown in figure 5, specifically, the second part of first hoisting mechanism 12 is equipped with transmission belt 120 and matches with transmission belt 120
Two driving wheels 122 closed, wherein being driving wheel with promoting motor 14 to be connected, the other is driven wheel；The first of transmission belt
Part 1202 is fixedly connected with the fixed plate 18 on frame body 1, and the second part 1204 of transmission belt is movable, and spray gun 16 is connected to biography
On the second part 1204 of dynamic band；In this way in the case where promoting motor 14 and driving, rotated with the driving wheel 122 that motor 14 is connect is promoted,
So that transmission belt 120 moves therewith, and since the first part 1202 of transmission belt is fixed, as shown in figure 5, in driving wheel
When rotating clockwise, the second part 1204 of transmission belt can be moved down integrally, realize moving down for first hoisting mechanism 12, fixed
Spray gun 16 on 120 second part of transmission belt moves down therewith, simultaneously as spray gun 16 and 120 fixed position of transmission belt itself
It is being moved down also relative to first hoisting mechanism 12 is whole, that is, is realizing dual displacement；When driving wheel rotates counterclockwise, transmission belt
Second part 1204 can integrally move up, realize that first hoisting mechanism 12 moves up, be fixed on 120 second part of transmission belt
On spray gun 16 move up therewith, simultaneously as spray gun 16 and 120 fixed position of transmission belt itself are also relative to first hoisting mechanism
12 entirety are moving up, to realize that the two poles of the earth are promoted, and then realize that two-stage is promoted to ceiling metope, carry out ceiling spraying, together
When, because being that two-stage is promoted, storage is smaller, is easily accessible elevator, the small area of space such as secondary room；In addition, single motor is realized
Two-stage is promoted, and structure is simple, reliably, at low cost.
The advantages of this specific embodiment, is as follows:
It can be used for inner wall of building to spray automatically, distinguishing feature full-automatic spraying, spray robot can be ensured not
Along scheduled circuit automatic running and wall surface spraying can be completed in the case where needing manually.
Digitlization spraying, high efficiency, high quality.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, effectively mentions
The flexibility of coating robot coats and the adaptability to construction environment have been risen, can have been adjusted automatically according to construction part in construction
Burners Positions are saved, product automation degree is improved, reduces to artificial dependence.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of spray robot characterized by comprising
Frame body, interior be equipped with of the frame body promote channel；
First hoisting mechanism is set in the promotion channel, and the first part of the first hoisting mechanism is fixed with the frame body
Connection；
Motor is promoted, is sequentially connected with the first hoisting mechanism, under the driving for promoting motor, described first is promoted
Mechanism moves in the promotion channel；
Spray gun, set on the second part of the first hoisting mechanism, wherein the first part and the second part are set to institute
The two sides of first hoisting mechanism are stated, under the driving for promoting motor, the first hoisting mechanism stretches out or described in retracting
Channel is promoted, and is relatively moved between the spray gun and the first hoisting mechanism.
2. spray robot according to claim 1, which is characterized in that the first hoisting mechanism specifically includes:
At least two driving wheels, one at least two driving wheel connect with the promotion motor drive；
Transmission belt is set around outside the driving wheel connecting with the promotion motor drive, the transmission belt and at least two biographies
Driving wheel cooperation, to be moved under the drive for promoting motor.
3. spray robot according to claim 2, which is characterized in that the side of the frame body is equipped with to be led to described promoted
The fixed plate that the direction in road upwardly extends in parallel, the first part of the transmission belt are fixedly connected with the fixed plate, the spray
Rifle is set to the second part in the transmission belt far from the fixed plate side.
4. spray robot according to claim 3, which is characterized in that
The driving wheel is gear, and the transmission belt is rack gear；Or
The driving wheel is belt wheel, and the transmission belt is synchronous belt；Or
The driving wheel is sprocket wheel, and the transmission belt is chain belt.
5. spray robot according to claim 1, which is characterized in that further include:
Hanger, set on the second part of the first hoisting mechanism, and the hanger is equipped with slide assemblies, and the spray gun is set to
On the slide assemblies, to be slided under the action of the slide assemblies.
6. spray robot according to claim 5, which is characterized in that the slide assemblies specifically include:
First guide rail is fixedly connected with the hanger；
First sliding block is set in first guide rail, and first sliding block is equipped with the spray gun；
Sliding motor is electrically connected with first sliding block, to control sliding of first sliding block on first guide rail.
7. spray robot according to claim 5, which is characterized in that further include:
Rotary components are set on the slide assemblies, and the spray gun is set on the rotary components, in the rotary components
It is rotated in the work surface of the spray gun under effect.
8. spray robot according to claim 1, which is characterized in that further include:
Second hoisting mechanism is set on the frame body, and the second hoisting mechanism can be relatively moved with the frame body,
Wherein, the promotion channel is equipped in the second hoisting mechanism.
9. spray robot according to claim 8, which is characterized in that the second hoisting mechanism specifically includes:
The second guide rail and the second sliding block being mutually slidably connected, second sliding block are equipped with the promotion channel.
10. spray robot according to claim 1, which is characterized in that further include:
Charging basket is set in the frame body, and the conveying pipeline being connected to is equipped between the spray gun and the charging basket；And/or
Mobile device, set on the bottom of the frame body, to drive the frame body to move；And/or
Power supply unit is set in the frame body, to provide electric energy when spray robot operation.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344622.9A CN109972821B (en) | 2019-04-26 | 2019-04-26 | Spraying robot |
| AU2020263464A AU2020263464A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| US17/606,702 US20220314256A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| PCT/CN2020/087069 WO2020216382A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| EP20794811.8A EP3960961A4 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| JP2021563659A JP2022530156A (en) | 2019-04-26 | 2020-04-26 | Painted robots, control methods and computer readable storage media |
| SG11202111861PA SG11202111861PA (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| CA3138027A CA3138027A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344622.9A CN109972821B (en) | 2019-04-26 | 2019-04-26 | Spraying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109972821A true CN109972821A (en) | 2019-07-05 |
| CN109972821B CN109972821B (en) | 2021-07-30 |
Family
ID=67086564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910344622.9A Active CN109972821B (en) | 2019-04-26 | 2019-04-26 | Spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109972821B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110725515A (en) * | 2019-12-17 | 2020-01-24 | 广东博智林机器人有限公司 | Rail transfer mechanism, paint scraping and smearing mechanism and paint scraping and smearing robot |
| WO2020216382A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Spraying robot, control method, and computer readable storage medium |
| WO2020215528A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Lifting component and spraying robot |
| CN112031344A (en) * | 2020-08-19 | 2020-12-04 | 刘玲 | Building wall spraying robot based on machine vision |
| CN114439196A (en) * | 2022-03-07 | 2022-05-06 | 广东博智林机器人有限公司 | Liftable single-upright-column system and wall surface processing robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337352A (en) * | 2007-07-05 | 2009-01-07 | 中国国际海运集装箱(集团)股份有限公司 | Inner-face painting robot |
| CN102921582A (en) * | 2012-11-02 | 2013-02-13 | 珠海真晟机电设备有限公司 | Spraying manipulator |
| CN104723053A (en) * | 2013-12-20 | 2015-06-24 | 珠海格力电器股份有限公司 | stroke amplifying device |
| CN204819565U (en) * | 2015-06-23 | 2015-12-02 | 东莞沁峰机器人有限公司 | Flexible arm of high -efficient multistage linkage |
| US20150375390A1 (en) * | 2014-03-06 | 2015-12-31 | Encore Automation | Robotic system for applying surface finishes to large objects |
| CN105619417A (en) * | 2016-02-27 | 2016-06-01 | 山东思创机器人科技有限公司 | Automatic five-axis spraying robot |
| CN106744468A (en) * | 2015-11-24 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of double-deck retractor device |
| CN106863331A (en) * | 2017-03-14 | 2017-06-20 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
| CN107053205A (en) * | 2017-04-25 | 2017-08-18 | 佛山市奥通工业科技有限公司 | A kind of spray robot |
| CN206642931U (en) * | 2017-02-20 | 2017-11-17 | 杭州宜麦科技有限公司 | A kind of automatic spraying device |
| CN207469690U (en) * | 2017-11-15 | 2018-06-08 | 深圳广田机器人有限公司 | Material spray robot |
| CN108499788A (en) * | 2018-06-06 | 2018-09-07 | 苏州莱锦机电自动化有限公司 | A kind of robot for spraying |
-
2019
- 2019-04-26 CN CN201910344622.9A patent/CN109972821B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337352A (en) * | 2007-07-05 | 2009-01-07 | 中国国际海运集装箱(集团)股份有限公司 | Inner-face painting robot |
| CN102921582A (en) * | 2012-11-02 | 2013-02-13 | 珠海真晟机电设备有限公司 | Spraying manipulator |
| CN104723053A (en) * | 2013-12-20 | 2015-06-24 | 珠海格力电器股份有限公司 | stroke amplifying device |
| US20150375390A1 (en) * | 2014-03-06 | 2015-12-31 | Encore Automation | Robotic system for applying surface finishes to large objects |
| CN204819565U (en) * | 2015-06-23 | 2015-12-02 | 东莞沁峰机器人有限公司 | Flexible arm of high -efficient multistage linkage |
| CN106744468A (en) * | 2015-11-24 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of double-deck retractor device |
| CN105619417A (en) * | 2016-02-27 | 2016-06-01 | 山东思创机器人科技有限公司 | Automatic five-axis spraying robot |
| CN206642931U (en) * | 2017-02-20 | 2017-11-17 | 杭州宜麦科技有限公司 | A kind of automatic spraying device |
| CN106863331A (en) * | 2017-03-14 | 2017-06-20 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
| CN107053205A (en) * | 2017-04-25 | 2017-08-18 | 佛山市奥通工业科技有限公司 | A kind of spray robot |
| CN207469690U (en) * | 2017-11-15 | 2018-06-08 | 深圳广田机器人有限公司 | Material spray robot |
| CN108499788A (en) * | 2018-06-06 | 2018-09-07 | 苏州莱锦机电自动化有限公司 | A kind of robot for spraying |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020216382A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Spraying robot, control method, and computer readable storage medium |
| WO2020215528A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Lifting component and spraying robot |
| CN110725515A (en) * | 2019-12-17 | 2020-01-24 | 广东博智林机器人有限公司 | Rail transfer mechanism, paint scraping and smearing mechanism and paint scraping and smearing robot |
| CN110725515B (en) * | 2019-12-17 | 2022-02-22 | 广东博智林机器人有限公司 | Scrape and smear coating mechanism and become rail mechanism and scrape and smear coating robot thereof |
| CN112031344A (en) * | 2020-08-19 | 2020-12-04 | 刘玲 | Building wall spraying robot based on machine vision |
| CN112031344B (en) * | 2020-08-19 | 2022-07-15 | 山东鼎安升机器人有限公司 | Building wall spraying robot based on machine vision |
| CN114439196A (en) * | 2022-03-07 | 2022-05-06 | 广东博智林机器人有限公司 | Liftable single-upright-column system and wall surface processing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109972821B (en) | 2021-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109972821A (en) | Spray robot | |
| CN110017011B (en) | Spraying robot | |
| CN109972822A (en) | Spray robot | |
| CN102334959B (en) | Cleaning equipment for outer wall of low-rise building | |
| CN110043010B (en) | Spray gun assembly and spraying robot | |
| CN103266751B (en) | Robot | |
| CN110017010A (en) | Spray robot | |
| CN109972820A (en) | Lifting assembly and spray robot | |
| CN110056167A (en) | Spray gun assembly and spray robot | |
| CN210045456U (en) | Spray gun assembly and spraying robot | |
| CN109107808B (en) | Control system for plate paint spraying robot | |
| CN209855167U (en) | Spraying robot | |
| CN106013745A (en) | Automatic plastering equipment | |
| CN110404712A (en) | Spray robot and paint finishing | |
| CN202198540U (en) | Device for cleaning outer walls of low-rise buildings | |
| CN210002805U (en) | Spraying robot | |
| CN110644738A (en) | Spraying robot | |
| KR20090037637A (en) | A machine system maintaining the exterior of a building, which has a flexible frame | |
| CN210195170U (en) | Spray gun assembly and spraying robot | |
| CN210002808U (en) | Spray gun assembly and spraying robot | |
| CN212041185U (en) | Workpiece spraying and processing device | |
| CN210002810U (en) | Lifting assembly and spraying robot | |
| CN206881982U (en) | A kind of body of a motor car paint spraying apparatus | |
| CN214416772U (en) | Interior decoration finishing spraying device | |
| CN210195169U (en) | Spray gun assembly and spraying robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |