CN109972821B - Spraying robot - Google Patents
Spraying robot Download PDFInfo
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- CN109972821B CN109972821B CN201910344622.9A CN201910344622A CN109972821B CN 109972821 B CN109972821 B CN 109972821B CN 201910344622 A CN201910344622 A CN 201910344622A CN 109972821 B CN109972821 B CN 109972821B
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- belt
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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
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- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a spraying robot, comprising: the frame body is internally provided with a lifting channel; the first lifting mechanism is arranged in the lifting channel, and the first part of the first lifting mechanism is fixedly connected with the frame body; the lifting motor is in transmission connection with the first lifting mechanism, so that the first lifting mechanism moves in the lifting channel under the driving of the lifting motor; the spray gun is arranged on the second part of the first lifting mechanism, wherein the first part and the second part are arranged on two sides of the first lifting mechanism, so that the first lifting mechanism extends out of or retracts into the lifting channel under the driving of the lifting motor, and the spray gun and the first lifting mechanism move relatively. By the technical scheme, the spraying flexibility of the spraying robot and the adaptability to the construction environment are improved, the position of the spray gun can be automatically adjusted according to the construction position during construction, the automation degree of products is improved, and the dependence on workers is reduced.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a spraying robot.
Background
In the existing building industry, coating is generally manually rolled or sprayed, and some devices capable of realizing semi-automatic spraying are provided, but the semi-automatic devices are simple in structure and single in function, for example, a spraying system is separated from the devices, the devices cannot automatically walk, the precision and the automation degree are not high, the dependence on manpower is strong, and the like.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
In view of the above, the present invention provides a painting robot.
In order to achieve the above object, an aspect of the present invention provides a painting robot including: the frame body is internally provided with a lifting channel; the first lifting mechanism is arranged in the lifting channel, and the first part of the first lifting mechanism is fixedly connected with the frame body; the lifting motor is in transmission connection with the first lifting mechanism, so that the first lifting mechanism moves in the lifting channel under the driving of the lifting motor; the spray gun is arranged on the second part of the first lifting mechanism, wherein the first part and the second part are arranged on two sides of the first lifting mechanism, so that the first lifting mechanism extends out of or retracts into the lifting channel under the driving of the lifting motor, and the spray gun and the first lifting mechanism move relatively.
In the technical scheme, the spray gun is arranged at the second part of the lifting mechanism, so that the spray gun can move relative to the first lifting mechanism, namely the relative position of the spray gun on the first lifting mechanism can be changed, and meanwhile, the first lifting mechanism can also extend out of or retract into the lifting channel, so that the position of the spray gun can be lifted or lowered along with the first lifting mechanism, and further position change, such as further lifting or horizontal movement, can be made relative to the first lifting mechanism when the spray gun is lifted along with the first lifting mechanism, so that the working range of the spray gun is enlarged, the spraying flexibility and the adaptability to the construction environment of the spraying robot are increased, the position of the spray gun can be automatically adjusted according to the construction position during construction, the automation degree of products is improved, and the dependence on workers is reduced.
Specifically, the spraying robot comprises a frame body, wherein a lifting channel is arranged in the frame body; the first lifting mechanism is arranged in the lifting channel, so that the structure is compact, and the first lifting mechanism can move in the lifting channel, namely the first lifting mechanism can extend out of or retract into the lifting channel, so that the operation range of the spraying robot is expanded; the lifting motor is in transmission connection with the first lifting mechanism, so that the first lifting mechanism can be driven to move in the lifting channel, the automation level of a product is improved, and the dependence on manpower is reduced; the first part of the first lifting mechanism is fixedly connected with the frame body, so that the moving range of the lifting mechanism can be limited, the lifting mechanism is prevented from falling out of a lifting channel, and the working stability and reliability of the lifting mechanism are ensured; the spray gun is arranged on the second part of the first lifting mechanism, and the second part and the first part of the first lifting mechanism are respectively arranged on two sides of the first lifting mechanism, so that the second part can move relative to the first part, the operation range of the spray gun is enlarged, and the automation degree of the spraying robot is further improved.
The first part and the second part of the first lifting mechanism can be two positions which are centrosymmetric of a belt in belt transmission, and can also be two positions which are respectively positioned on racks on two sides and meshed on the same gear in gear and rack transmission.
It will be appreciated that the spray gun may be self-contained or may be connected by tubing to a reservoir for storing the paint and drawing the paint from the reservoir for spraying.
In the above technical solution, the first lifting mechanism specifically includes: one of the at least two driving wheels is in transmission connection with the lifting motor; the transmission belt is wound outside the transmission wheels which are in transmission connection with the lifting motor, and the transmission belt is matched with the at least two transmission wheels to move under the driving of the lifting motor.
In the technical scheme, the at least two transmission wheels are matched with the transmission belt, so that the transmission belt is driven by the lifting motor to move, the structure is simple, and the transmission belt is favorable for driving the spray gun to move; one driving wheel is in transmission connection with the lifting motor, so that the driving wheel can transmit the torque of the lifting motor to drive the driving belt, and the other driving wheel can rotate along with the movement of the driving belt as the driven wheel, so that tension can be provided for the driving belt, and the working stability of the driving belt can be ensured.
Further, when the number of the transmission wheels is two, the spray gun rises along the direction of the frame body at the speed twice that of the first lifting mechanism under the action of the first lifting mechanism. Thus, the first lifting mechanism has a two-stage lifting structure: the first lifting mechanism is one-level, and the conveying belt is one-level. The length of the conveyor belt is the lifting height of the first lifting mechanism, namely when the lifting height of the first lifting mechanism is S, the height of the spray gun lifted by the first lifting mechanism is 2S.
In above-mentioned technical scheme, one side of support body is equipped with the fixed plate that upwards extends with the direction parallel of promoting the passageway, the first portion and the fixed plate fixed connection of drive belt, and the spray gun is located the second part of keeping away from fixed plate one side in the drive belt.
In the technical scheme, the fixing plate is arranged on one side of the frame body, the first part of the transmission belt is fixedly connected with the fixing plate, and the spray gun is arranged on the second part of one side of the transmission belt, which is far away from the fixing plate, so that the purposes of moving the transmission belt to different directions and lifting the transmission belt in two stages, namely, the purposes of lifting along the lifting channel and lifting in two stages, can be realized; specifically, when the transmission belt moves downwards, the first part is fixed on the fixed plate, so that the transmission belt moves downwards integrally, the spray gun can move downwards along with the downward movement of the whole position of the transmission belt, and simultaneously moves on the transmission belt relative to the first lifting mechanism to move to the lower end of the transmission belt; when the drive belt upward movement, because the first portion is fixed on the fixed plate for the whole rebound of drive belt, and the spray gun can shift up along with the whole position of drive belt, still moves for first hoist mechanism self on the drive belt simultaneously, and moves to the upper end of drive belt, realizes the two-stage promotion, thereby has increased the operation scope of spray gun by a wide margin, has promoted the degree of automation of product, has reduced the reliance to the manual work.
It will be appreciated that the first portion of the belt is a first portion of the first lifting mechanism and the second portion of the belt is a second portion of the first lifting mechanism.
In the technical scheme, the transmission wheel is a gear, and the transmission belt is a rack; or the transmission wheel is a belt wheel and the transmission belt is a synchronous belt; or the driving wheel is a chain wheel and the driving belt is a chain belt.
In this technical scheme, through adopting the rack and pinion cooperation, perhaps band pulley and hold-in range cooperation, perhaps sprocket and chain belt cooperation, such structure is all comparatively simple, and the accessory is used extensively, is convenient for produce and maintain, and transmission process is reliable and stable, is favorable to promoting product precision and degree of automation. Particularly, the gear has compact structure, high meshing degree with the rack and low cost; the belt wheel and the synchronous belt are stably driven, and the vibration is small; the chain belt has low elongation, small diameter of the chain wheel and large bearing capacity.
In the above technical solution, the spraying robot further includes: the hanging rack is arranged on the second part of the first lifting mechanism, a sliding assembly is arranged on the hanging rack, and the spray gun is arranged on the sliding assembly to slide under the action of the sliding assembly.
In this technical scheme, through set up the stores pylon on first hoist mechanism to set up the slip subassembly on the stores pylon, on the slip subassembly was located to the spray gun, make the spray gun slide like this, thereby the spray gun not only can follow the longitudinal motion who promotes the passageway, can also follow the lateral motion who promotes the passageway, has increased the operation scope of spray gun by a wide margin.
In the above technical solution, the sliding assembly specifically includes: the first guide rail is fixedly connected with the hanging rack; the first sliding block is arranged in the first guide rail, and a spray gun is arranged on the first sliding block; and the sliding motor is electrically connected with the first sliding block so as to control the first sliding block to slide on the first guide rail.
In this technical scheme, the slip subassembly includes first guide rail, first slider and sliding motor, such simple structure, easily production and installation, and drive the spray gun through the first slider of sliding motor control and slide, has promoted spraying robot's degree of automation, has reduced intensity of labour, has reduced the dependence of product to manual work.
In the above technical solution, the painting robot further includes: the rotating assembly is arranged on the sliding assembly, and the spray gun is arranged on the rotating assembly and rotates in the working face of the spray gun under the action of the rotating assembly.
In this technical scheme, through rotating assembly's setting for the spray gun can rotate, has so not only increased the spraying scope of spray gun, has still increased the spraying angle of spray gun, thereby has further promoted flexibility and the degree of automation that spraying robot used.
In the above technical solution, the painting robot further includes: the second lifting mechanism is arranged on the frame body and can move relative to the frame body, and a lifting channel is arranged in the second lifting mechanism.
In this technical scheme, through setting up second hoist mechanism, and second hoist mechanism can remove for the support body, promote the passageway and set up in second hoist mechanism for first hoist mechanism can further enlarge the migration range along with second hoist mechanism's removal in promoting the passageway, thereby further increase the operation scope of spray gun again.
In the above technical solution, the second lifting mechanism specifically includes: the second guide rail and the second sliding block are in sliding connection with each other, and a lifting channel is arranged on the second sliding block.
In this technical scheme, second hoist mechanism includes second slide rail and second slider, promotes the passageway setting at second slider mountain, such simple structure, easily production and installation, and easily guarantee that first hoist mechanism's direction of motion keeps the straight line, makes the product change in the control to promote product precision and degree of automation.
In the above technical solution, the painting robot further includes: the charging basket is arranged in the frame body, and a material conveying pipeline communicated with the charging basket is arranged between the spray gun and the charging basket; and/or the moving device is arranged at the bottom of the frame body so as to drive the frame body to move; and/or the power supply device is arranged in the frame body to provide electric energy for the spraying robot during operation.
According to the technical scheme, the charging bucket is arranged, so that the spray gun can directly extract the coating from the charging bucket through the material conveying pipeline for spraying, namely the spraying robot can carry the coating by itself and does not need to be connected with an external feeding device, the independent walking capability of the spraying robot is favorably improved, and the reduction of the automation degree due to the limitation of the external feeding device is avoided; through the arrangement of the moving device, the spraying robot can walk; the power supply device supplies power, so that the spraying robot can be provided with energy required for walking, an external power supply is not required to be connected through a cable line, autonomous walking is realized, dependence on external resources and manpower is reduced, and interference of the cable line to the spraying robot in the using process can be avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic perspective view of a painting robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of the exploded structure of FIG. 1;
FIG. 3 is a schematic perspective view of a painting robot in accordance with one embodiment of the present invention;
FIG. 4 is an enlarged partial schematic view of FIG. 3 at A;
fig. 5 is a schematic cross-sectional view of a first lifting mechanism of an embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
1 rack, 12 first lifting mechanism, 120 conveyor belt, 1202 first part of conveyor belt, 1204 second part of conveyor belt, 122 drive wheel, 14 lifting motor, 16 spray gun, 18 fixed plate, 20 hanging rack, 220 first guide rail, 222 first slide block, 224 sliding motor, 24 rotating assembly, 26 charging basket, 28 moving device, 30 power supply device, 32 guide rail.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Some embodiments according to the invention are described below with reference to fig. 1 to 5.
As shown in fig. 1 to 5, a painting robot according to one embodiment of the present invention includes: the frame body 1 is internally provided with a lifting channel; the first lifting mechanism 12 is arranged in the lifting channel, and the first part of the first lifting mechanism 12 is fixedly connected with the frame body 1; the lifting motor 14 is in transmission connection with the first lifting mechanism 12, so that the first lifting mechanism 12 moves in the lifting channel under the driving of the lifting motor 14; and the spray gun 16 is arranged on the second part of the first lifting mechanism 12, wherein the first part and the second part are arranged on two sides of the first lifting mechanism 12, so that the first lifting mechanism 12 extends out of or retracts into the lifting channel under the driving of the lifting motor 14, and the relative movement between the spray gun 16 and the first lifting mechanism 12 is generated.
In this embodiment, the spray gun 16 is disposed at the second portion of the lifting mechanism, so that the spray gun 16 can move relative to the first lifting mechanism 12, that is, the relative position of the spray gun 16 on the first lifting mechanism 12 can be changed, and at the same time, the first lifting mechanism 12 can also extend out of or retract into the lifting passage, so that the position of the spray gun 16 can be raised or lowered along with the first lifting mechanism 12, and further position change, such as further raising or lowering, or horizontal movement, can be made relative to the first lifting mechanism 12 when the spray gun is raised or lowered along with the first lifting mechanism 12, so that the working range of the spray gun is expanded, thereby increasing the flexibility of spraying and adaptability to the construction environment of the spraying robot, and the position of the spray gun 16 can be automatically adjusted according to the construction location during construction, thereby increasing the degree of automation of products, and reducing dependence on workers.
Specifically, the spraying robot comprises a frame body 1, wherein a lifting channel is arranged in the frame body 1; the first lifting mechanism 12 is arranged in the lifting channel, so that the structure is compact, and the first lifting mechanism 12 can move in the lifting channel, namely the first lifting mechanism 12 can extend out of or retract into the lifting channel, so that the working range of the spraying robot is expanded; the lifting motor 14 is in transmission connection with the first lifting mechanism 12, so that the first lifting mechanism 12 can be driven to move in the lifting channel, the automation level of a product is improved, and the dependence on manpower is reduced; the first part of the first lifting mechanism 12 is fixedly connected with the frame body 1, so that the moving range of the lifting mechanism can be limited, the lifting mechanism is prevented from falling out of a lifting channel, and the working stability and reliability of the lifting mechanism are ensured; the spray gun 16 is arranged on the second part of the first lifting mechanism 12, and the second part and the first part of the first lifting mechanism 12 are respectively arranged on two sides of the first lifting mechanism 12, so that the second part can move relative to the first part, the operation range of the spray gun 16 is enlarged, and the automation degree of the spraying robot is further improved.
It will be appreciated that the spray gun 16 may be self-contained or may be connected by tubing to a reservoir for storing the paint and drawing the paint from the reservoir for spraying.
As shown in fig. 5, in the above embodiment, the first lifting mechanism 12 specifically includes: at least two driving wheels 122, wherein one of the at least two driving wheels 122 is in transmission connection with the lifting motor 14; the transmission belt 120 is wound outside the transmission wheels 122 in transmission connection with the lifting motor 14, and the transmission belt 120 is matched with at least two transmission wheels 122 to move under the driving of the lifting motor 14.
In this embodiment, the belt 120 is moved by the lifting motor 14 through the cooperation of at least two driving wheels 122 and the belt 120, which is simple in structure and facilitates the movement of the lance 16 by the belt 120; one of the driving wheels 122 is in driving connection with the lifting motor 14, so as to be used as a driving wheel for transmitting the torque of the lifting motor 14 to drive the transmission belt 120, and the other driving wheel 122 is used as a driven wheel for rotating along with the movement of the transmission belt 120, so as to provide tension for the transmission belt 120 and ensure the working stability of the transmission belt 120.
Further, when the number of the transmission wheels 122 is two, the spray gun 16 is raised in the direction of the frame body 1 at twice the speed of the first elevating mechanism 12 by the first elevating mechanism 12. Thus, the first lift mechanism 12 has a two-stage lift structure: the first lifting mechanism 12 is a first stage and the conveyor belt is a first stage. The length of the conveyor belt is the lifting height of the first lifting mechanism 12, that is, when the lifting height of the first lifting mechanism 12 is S, the height at which the spray gun 16 is lifted by the first lifting mechanism 12 is 2S.
As shown in fig. 5, in the above embodiment, one side of the frame body 1 is provided with the fixing plate 18 extending upward in parallel with the direction of the lifting passage, the first portion 1202 of the belt is fixedly connected to the fixing plate 18, and the spray gun 16 is provided at the second portion of the belt 120 on the side away from the fixing plate 18.
In this embodiment, by providing the fixing plate 18 on one side of the frame body 1, the first portion 1202 of the belt is fixedly connected to the fixing plate 18, and the spray gun 16 is provided on the second portion of the belt 120 on the side far from the fixing plate 18, which is beneficial to achieve the purposes of moving the belt 120 in different directions and two-stage lifting, i.e. lifting along the lifting channel and two-stage lifting; specifically, as the belt 120 moves downward, the belt 120 moves downward as a whole due to the first portion being fixed to the fixed plate 18, and the spray gun 16 can move downward as the whole position of the belt 120 moves downward while also moving on the belt 120 relative to the first lifting mechanism 12 itself to the lower end of the belt 120; when the transmission belt 120 moves upwards, the first part is fixed on the fixing plate 18, so that the transmission belt 120 moves upwards as a whole, the spray gun 16 can move upwards along with the upward movement of the whole position of the transmission belt 120, and simultaneously moves on the transmission belt 120 relative to the first lifting mechanism 12 and moves to the upper end of the transmission belt 120, so that two-stage lifting is realized, the operation range of the spray gun 16 is greatly increased, the automation degree of products is improved, and the dependence on labor is reduced.
In the above embodiment, the transmission wheel 122 is a gear, and the transmission belt 120 is a rack; or the transmission wheel 122 is a belt wheel, and the transmission belt 120 is a synchronous belt; or the transmission wheel 122 is a chain wheel and the transmission belt 120 is a chain belt.
In this embodiment, through adopting the rack and pinion cooperation, perhaps band pulley and hold-in range cooperation, perhaps sprocket and chain belt cooperation, such structure is all comparatively simple, and the accessory is used extensively, is convenient for production and maintenance, and transmission process is reliable and stable, is favorable to promoting product precision and degree of automation. Particularly, the gear has compact structure, high meshing degree with the rack and low cost; the belt wheel and the synchronous belt are stably driven, and the vibration is small; the chain belt has low elongation, small diameter of the chain wheel and large bearing capacity.
As shown in fig. 2, in the above embodiment, the painting robot further includes: and a hanging rack 20 arranged on the second part of the first lifting mechanism 12, wherein a sliding component is arranged on the hanging rack 20, and the spray gun 16 is arranged on the sliding component so as to slide under the action of the sliding component.
In this embodiment, the spray gun 16 is provided on the slide assembly by providing the hanger 20 on the first lifting mechanism 12 and providing the slide assembly on the hanger 20, such that the spray gun 16 can slide, and thus the spray gun 16 can move not only in the longitudinal direction of the lifting channel but also in the lateral direction of the lifting channel, thereby greatly increasing the operating range of the spray gun 16.
As shown in fig. 3 and 4, in the above embodiment, the sliding assembly specifically includes: a first guide rail 220 fixedly connected with the hanger 20; the first sliding block 222 is arranged in the first guide rail 220, and the spray gun 16 is arranged on the first sliding block 222; and a sliding motor 224 electrically connected to the first slider 222 to control the sliding of the first slider 222 on the first guide rail 220.
In this embodiment, the sliding assembly includes the first guide rail 220, the first slider 222 and the sliding motor 224, and such a structure is simple, easy to produce and install, and the first slider 222 is controlled by the sliding motor 224 to drive the spray gun 16 to slide, so that the automation degree of the spraying robot is improved, the labor intensity is reduced, and the dependence of the product on the labor is reduced.
In the above embodiment, the painting robot further includes: a rotating assembly 24 is provided on the sliding assembly, and the spray gun 16 is provided on the rotating assembly 24 to rotate within the working plane of the spray gun 16 under the action of the rotating assembly 24.
In this embodiment, the spray gun 16 can rotate through the rotation assembly 24, which not only increases the spraying range of the spray gun 16, but also increases the spraying angle of the spray gun 16, thereby further improving the flexibility and automation degree of the spraying robot.
In the above embodiment, the painting robot further includes: the second lifting mechanism is arranged on the frame body 1 and can move relative to the frame body 1, wherein a lifting channel is arranged in the second lifting mechanism.
In this embodiment, by providing a second lifting mechanism that is movable relative to the frame 1, the lifting channel is provided within the second lifting mechanism such that the first lifting mechanism 12 can further expand the range of movement within the lifting channel as the second lifting mechanism moves, thereby further increasing the operating range of the lance 16.
In the above embodiment, the second lifting mechanism specifically includes: the second guide rail and the second sliding block are in sliding connection with each other, and a lifting channel is arranged on the second sliding block.
In this embodiment, the second lifting mechanism includes the second slide rail and the second slider, and the lifting channel is set up in the second slider mountain, and such simple structure easily produces and installs, and easily guarantees that the direction of motion of first lifting mechanism 12 keeps the straight line, makes the product easier to control to promote product precision and degree of automation.
In the above embodiment, the painting robot further includes: the charging basket 26 is arranged in the frame body 1, and a communicated material conveying pipeline is arranged between the spray gun 16 and the charging basket 26; and/or the moving device 28 is arranged at the bottom of the frame body 1 to drive the frame body 1 to move; and/or a power supply device 30, which is arranged in the frame body 1 to provide electric energy when the spraying robot runs.
In this embodiment, the arrangement of the material barrel 26 is convenient for the spray gun 16 to directly extract the coating from the material barrel 26 through the material conveying pipeline for spraying, that is, the spraying robot can carry the coating by itself without being connected with an external feeding device, so that the self-independent walking capability of the spraying robot is favorably improved, and the reduction of the automation degree due to the inhibition of the external feeding device is avoided; through the arrangement of the moving device 28, the spraying robot can walk; the power supply device 30 supplies power, so that the spraying robot can be provided with energy required by walking, an external power supply is not required to be connected through a cable line, autonomous walking is realized, dependence on external resources and manpower is reduced, and interference of the cable line to the spraying robot in the using process can be avoided.
According to the spraying robot provided by the embodiment of the application, the full-automatic spraying can be carried out,
the automatic spraying system comprises an automatic spraying system, a robot walking and route planning system, a secondary lifting mechanism and the like, and can realize spraying of the wall and the ceiling, spraying quality detection and the like.
The spray gun 16 of the automatic spraying system is provided with two-dimensional freedom degrees, and can realize 360-degree rotation in the horizontal and vertical aspects, and in addition, the spraying system is provided with an extension arm, and spraying of special-shaped walls such as bay windows and the like can be realized by combining with the rotation of a spray head. The spray gun 16 extends arm mechanism and is equipped with can folding rotary mechanism, makes things convenient for equipment business turn over elevator, narrow and small space region such as room door.
Furthermore, the spraying, storing, power supplying, navigating and walking are integrated, so that the full-automatic spraying operation is realized.
Specifically, as shown in fig. 1 and fig. 2, the spraying robot of the present application includes a frame body 1, a lifting channel is provided in the frame body 1, a first lifting mechanism 12 capable of moving up and down along the lifting channel is provided in the lifting channel, and as shown in fig. 5, the first lifting mechanism 12 moves up and down along a guide rail 32 in the lifting channel.
As shown in fig. 3 and 4, the first lifting mechanism 12 is provided with a transversely-arranged hanger 20, the hanger 20 is fixedly provided with a first slide rail perpendicular to the lifting channel, the first slide rail is slidably provided with a first slide block 222, the spray gun 16 is arranged on the first slide block 222 through the rotating assembly 24, and the first slide block 222 is driven by the sliding motor 224 to slide along the first slide rail, so that the spray gun 16 can move up and down along with the up-and-down movement of the first lifting mechanism 12, can horizontally move along with the sliding of the first slide block 222 on the first slide rail, and can rotate to different angles along with the rotation of the rotating assembly 24, thereby realizing 360-degree rotation in the horizontal and vertical directions, and expanding the operating range of the spray gun 16.
Further, as shown in FIG. 5, the first lifting mechanism 12 is provided as a two-stage lifting mechanism and serves as an extension arm of the spray coating system.
The first elevating mechanism 12 is divided into two parts, a second part of the first elevating mechanism 12, which fixes the first elevating mechanism 12 with the frame body 1, and the first part of the first elevating mechanism 12 are separately provided at left and right sides of the first elevating mechanism 12, and the hanger 20 and the spray gun 16 are provided at the second part of the first elevating mechanism 12 so as to move up and down with the second part of the first elevating mechanism 12.
As shown in fig. 5, in particular, the second part of the first lifting mechanism 12 is provided with a belt 120 and two driving wheels 122 cooperating with the belt 120, wherein the driving wheel is connected to the lifting motor 14, and the driven wheel is connected to the other lifting motor; the first part 1202 of the transmission belt is fixedly connected with a fixed plate 18 on the frame body 1, the second part 1204 of the transmission belt can move, and the spray gun 16 is connected on the second part 1204 of the transmission belt; thus, under the driving of the lifting motor 14, the driving wheel 122 connected with the lifting motor 14 rotates, so that the driving belt 120 moves along with the driving wheel, and as the first part 1202 of the driving belt is fixed, as shown in fig. 5, when the driving wheel rotates clockwise, the second part 1204 of the driving belt moves downward integrally, so that the first lifting mechanism 12 moves downward, the spray gun 16 fixed on the second part of the driving belt 120 moves downward accordingly, and meanwhile, as the fixed part of the spray gun 16 and the driving belt 120 moves downward integrally relative to the first lifting mechanism 12, double displacement is realized; when the driving wheel rotates anticlockwise, the second part 1204 of the transmission belt moves upwards integrally to realize the upward movement of the first lifting mechanism 12, the spray gun 16 fixed on the second part of the transmission belt 120 moves upwards along with the upward movement, and meanwhile, the fixed part of the spray gun 16 and the transmission belt 120 moves upwards integrally relative to the first lifting mechanism 12, so that two-pole lifting is realized, two-stage lifting is further realized to a ceiling wall surface to perform ceiling spraying, and meanwhile, because two-stage lifting is adopted, the storage size is smaller, and the lifting device can easily enter small space areas such as an elevator and a secondary horizontal position; in addition, the single motor realizes two-stage lifting, and has simple structure, reliability and low cost.
The advantages of this embodiment are as follows:
the automatic spraying device can be used for automatically spraying the inner wall of a building, has the remarkable characteristic of full-automatic spraying, and can ensure that the spraying robot can automatically run along a preset line and finish wall surface spraying without manpower.
Digital spraying, high efficiency and high quality.
The technical scheme of the invention is described in detail in combination with the attached drawings, and by the technical scheme of the invention, the spraying flexibility and the adaptability to the construction environment of the spraying robot are effectively improved, the position of the spray gun can be automatically adjusted according to the construction position during construction, the automation degree of products is improved, and the dependence on workers is reduced.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A painting robot, comprising:
the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body;
the first lifting mechanism is arranged in the lifting channel and comprises a first part and a second part, the first part of the first lifting mechanism is arranged in the lifting channel and fixedly connected with the frame body, the second part is slidably arranged on the first part along the vertical direction, a fixing plate is arranged at the upper end of the first part, and the second part comprises:
at least two driving wheels which are arranged oppositely at intervals along the vertical direction;
the transmission belt is wound and adapted outside the at least two transmission wheels, the transmission belt is respectively defined as a first belt-shaped part and a second belt-shaped part relative to the belt-shaped parts at two sides of the at least two transmission wheels, the first belt-shaped part is configured to be fixed with the fixing plate, the second belt-shaped part is configured to be connected with a spray gun, and the spray gun is used for spraying;
the lifting motor is arranged on the second part and is in driving connection with one of the at least two driving wheels, and the driving wheels drive the driving belt to move under the action of the lifting motor;
when the driving wheel drives the whole driving belt to move towards the second direction, the second part moves towards the second direction relative to the first part, the second strip-shaped part carries the spray gun to move towards the second direction, and the first direction and the second direction are two vertically opposite directions.
2. The painting robot of claim 1, wherein the first lifting mechanism comprises in particular:
at least two driving wheels, wherein one of the at least two driving wheels is in transmission connection with the lifting motor;
and the transmission belt is wound outside the transmission wheels in transmission connection with the lifting motor, and is matched with the at least two transmission wheels to move under the driving of the lifting motor.
3. The painting robot of claim 2, wherein a fixing plate extending upward in parallel with the direction of the lifting channel is provided on one side of the frame body, the first portion of the belt is fixedly connected to the fixing plate, and the spray gun is provided on a second portion of the belt on a side away from the fixing plate.
4. A painting robot according to claim 3,
the transmission wheel is a gear, and the transmission belt is a rack; or
The transmission wheel is a belt wheel, and the transmission belt is a synchronous belt; or
The driving wheel is a chain wheel, and the driving belt is a chain belt.
5. The painting robot of claim 1, further comprising:
the hanging rack is arranged on the second part of the first lifting mechanism, a sliding assembly is arranged on the hanging rack, and the spray gun is arranged on the sliding assembly and slides under the action of the sliding assembly.
6. A painting robot as claimed in claim 5, characterized in that said sliding assembly comprises in particular:
the first guide rail is fixedly connected with the hanging rack;
the first sliding block is arranged in the first guide rail, and the spray gun is arranged on the first sliding block;
and the sliding motor is electrically connected with the first sliding block so as to control the first sliding block to slide on the first guide rail.
7. The spray coating robot of claim 5 further comprising:
the rotating assembly is arranged on the sliding assembly, and the spray gun is arranged on the rotating assembly and rotates in the working face of the spray gun under the action of the rotating assembly.
8. The painting robot of claim 1, further comprising:
the second lifting mechanism is arranged on the frame body and can move relative to the frame body,
wherein the second lifting mechanism is internally provided with the lifting channel.
9. The painting robot of claim 8, wherein the second lifting mechanism comprises in particular:
the second guide rail and the second sliding block are in sliding connection with each other, and the lifting channel is arranged on the second sliding block.
10. The painting robot of claim 1, further comprising:
the charging bucket is arranged in the frame body, and a communicated material conveying pipeline is arranged between the spray gun and the charging bucket; and/or
The moving device is arranged at the bottom of the frame body so as to drive the frame body to move; and/or
And the power supply device is arranged in the frame body and is used for providing electric energy when the spraying robot runs.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344622.9A CN109972821B (en) | 2019-04-26 | 2019-04-26 | Spraying robot |
| 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 |
| CA3138027A CA3138027A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| SG11202111861PA SG11202111861PA (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| AU2020263464A AU2020263464A1 (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 |
| US17/606,702 US20220314256A1 (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 |
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| Publication Number | Publication Date |
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| CN109972821A CN109972821A (en) | 2019-07-05 |
| CN109972821B true CN109972821B (en) | 2021-07-30 |
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| CN201910344622.9A Active CN109972821B (en) | 2019-04-26 | 2019-04-26 | Spraying robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109972820A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Lifting assembly and spray 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 |
| 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 |
| 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 |
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| Publication number | Publication date |
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| CN109972821A (en) | 2019-07-05 |
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