CN110017010A - Spray robot - Google Patents
Spray robot Download PDFInfo
- Publication number
- CN110017010A CN110017010A CN201910425534.1A CN201910425534A CN110017010A CN 110017010 A CN110017010 A CN 110017010A CN 201910425534 A CN201910425534 A CN 201910425534A CN 110017010 A CN110017010 A CN 110017010A
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- China
- Prior art keywords
- spray gun
- hoisting mechanism
- charging basket
- spray
- frame body
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Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical 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；Hoisting mechanism is set to and is promoted in channel, and hoisting mechanism can be moved being promoted in channel, and hoisting mechanism is equipped with spray gun；Control device is set on frame body, and control device is electrically connected with hoisting mechanism and spray gun, to control the lifting of hoisting mechanism and the spraying of spray gun；Multiple charging baskets are set in frame body, and the conveying pipeline being connected to is equipped between spray gun and each charging basket, and control device is electrically connected to control conveying amount of each charging basket to spray gun conveying coating with each charging basket.According to the technical solution of the present invention, in spraying operation, it can realize that charging basket independently conveys coating to spray gun by control device, and the accurately conveying amount of control conveying coating, improve spraying operation quality.
Description
Technical field
The present invention relates to spraying equipment technical fields, in particular to a kind of spray robot.
Background technique
Currently, traditional spray coating operations, the mode for generalling use hand spray is carried out, at high cost due to hand spray,
Part spray coating operations begin to use semi-automatic spraying equipment to carry out operation.And existing semi-automatic spraying equipment common configuration letter
It is single, it has a single function, in spraying operation, the coating content that cannot be sprayed to spray gun is accurately controlled, and be easy to cause spraying not
Uniformly, to reduce coating quality.Meanwhile being limited by device height, spray range is limited, and there are still spray ranges to be set
Standby height limitation, causes strong to artificial dependence, sprays problem at high cost.
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, it is an object of the present invention to provide a kind of spray robots.
To achieve the goals above, a kind of spray robot is proposed according to the technique and scheme of the present invention, comprising: frame body,
It is equipped in frame body and promotes channel；Hoisting mechanism is set to and is promoted in channel, and hoisting mechanism can be moved being promoted in channel, elevator
Structure is equipped with spray gun；Control device is set on frame body, and control device is electrically connected with hoisting mechanism and spray gun, is promoted with controlling
The lifting of mechanism and the spraying of spray gun；Multiple charging baskets are set in frame body, and the conveying being connected to is equipped between spray gun and each charging basket
Pipeline, control device are electrically connected to control conveying amount of each charging basket to spray gun conveying coating with each charging basket.
The spray robot proposed through the invention, interior be equipped with of frame body promote channel, and hoisting mechanism, which is set to, to be promoted in channel,
And spray gun is set on hoisting mechanism, lift structure can be moved being promoted in channel, when hoisting mechanism moves in promotion channel
When, spray gun is mobile with hoisting mechanism, increases spray range；Be additionally provided with control device on frame body, control device respectively with promotion
Mechanism and spray gun electrical connection can control hoisting mechanism in the movement promoted in channel by control device, specifically,
When spraying robot man-hour, hoisting mechanism is controlled by control device and is promoting the movement in channel, spray gun is with hoisting mechanism
It is moved along the direction for promoting channel extension, so that spray gun be made to rise with the rising of hoisting mechanism.It is emphasized that logical
It crosses and multiple charging baskets is set in frame body, be connected to each charging basket with spray gun using conveying pipeline, and control device and each charging basket
Electrical connection is to control conveying amount of each charging basket to spray gun conveying coating, it will be appreciated that ground leads in coating robot coats' operation
Cross control device, can to each charging basket to spray gun conveying coating conveying amount control, make spray gun ejection coating more
It is accurate to add, and when avoiding hand spray, the coating of spraying is uneven, influences coating quality.
Specifically, spray robot can be according to the program set, according to the requirement of spraying operation, of the same area
The coating of wall surface spraying equivalent, so that coating is more uniform, it will be appreciated that ground, control device can also control charging basket and convey to spray gun
The regular variation of the conveying measurer of coating, to generate different spraying effects, such as pure color, gradient color.
Wherein, the quantity of charging basket can be two, be also possible to multiple, and the volumes of different charging baskets can be identical or not
Together.
In addition, the spray robot in above-mentioned technical proposal provided by the invention can also have technical characteristic below:
In the above-mentioned technical solutions, further includes: a valve port of multiple-way valve, multiple-way valve is connected with spray gun, multiple-way valve
Remaining valve port is connected with the conveying pipeline of a charging basket respectively.
In the technical scheme, by the way that multiple-way valve is arranged, and a valve port of multiple-way valve is connected to spray gun, remaining valve port
It is connected respectively with the conveying pipeline of a charging basket, spray gun is connected to multiple charging baskets simultaneously, so that multiple charging baskets can be with
Coating is supplied by conveying pipeline road direction spray gun.
In the above-mentioned technical solutions, further includes: at least one control valve, each control valve are set to connection charging basket and spray gun
Conveying pipeline road, the conveying amount of spray gun is delivered to the coating controlled in charging basket.
In the technical scheme, by the way that at least one control valve is arranged on the conveying pipeline road that charging basket is connected to spray gun, with
Realize the conveying amount that the coating at least one charging basket is delivered to spray gun that controls.
Specifically, control valve can be one, be also possible to it is multiple, when control valve be one when, only in conveying pipeline
On be provided with the charging basket of control valve, conveying amount can be controlled by control valve when conveying coating to spray gun, when control valve is multiple
When, then it is each provided with the charging basket of control valve on conveying pipeline road, can be controlled by control valve when conveying coating to spray gun
Conveying amount.
In the above-mentioned technical solutions, further includes: doses detection device, be set to each charging basket in, and doses detection device with
Control device electrical connection, for detecting the amount of storage of coating in charging basket, with the low memory of the coating in a charging basket in material
It when measuring threshold value, controls corresponding control valve and closes, and the control valve for controlling remaining charging basket is opened.
In the technical scheme, by the way that doses detection device is arranged in charging basket and is electrically connected with control device, Ke Yitong
Punishment in advance amount detecting device obtains the coating amount of storage of charging basket, while utilizing control device, realize to charging basket to spray gun conveying from
Dynamic control specifically when the coating content in a charging basket is lower than doses threshold value, controls corresponding control valve by control device
It closes, stops charging basket to spray gun and convey coating, avoid when the coating storage in charging basket is very few, charging basket is filled without the conveying of normal direction spray gun
The coating of foot, and in transfer pipeline, it is mixed into air, to influence the sprayed coating of spray gun continuous uniform, while controlling remaining
The control valve of charging basket is opened, remaining charging basket is made to continue to convey coating to spray gun, to guarantee that spray gun obtains enough coating for spraying
Apply operation.
In the above-mentioned technical solutions, further includes: sender unit is fixedly arranged on frame body, and sender unit and microcontroller
Device electrical connection controls sender unit to target terminal with the low memory of the coating in a charging basket when doses threshold value
Send feed supplement signal.
In the technical scheme, by the way that signal generator, signal generator and microcontroller electricity are fixedly installed on frame body
Connection, when so that the coating storage in charging basket being lower than doses threshold value, control sender unit sends feed supplement signal to target terminal,
To which target terminal can obtain the coating inventory information in charging basket in time, coating is replenished in time, so that spray robot can
With continuous operation, avoid since the coating storage in charging basket is too low, cause spray robot during spraying operation in
It is unable to complete the coating objective of setting.
In any of the above-described technical solution, the first part of hoisting mechanism is fixedly connected with frame body, and the of hoisting mechanism
Two parts are equipped with spray gun, and first part and second part are set to the two sides of hoisting mechanism, to be promoted under the driving for promoting motor
Mechanism, which is stretched out or retracted, promotes channel, and relatively moves between spray gun and hoisting mechanism.
In the technical scheme, hoisting mechanism is fixedly connected by first part with frame body, improves the steady of hoisting mechanism
Qualitative, the second part of hoisting mechanism is equipped with spray gun, and first part and second part are set to the two sides of hoisting mechanism, so that
In the side of hoisting mechanism first part towards frame body, and, hoisting mechanism second part opposing stationary with the fixed part of frame body
Side far from frame body, i.e., towards outside, when promoting motor driven hoisting mechanism, hoisting mechanism, which can be stretched out or be retracted, to be mentioned
Channel is risen, so that spray gun is mobile with second part, and is relatively moved between spray gun and hoisting mechanism, so that spray gun be made to exist
When spraying operation, by promoting motor driven hoisting mechanism, spray gun can move under the drive of hoisting mechanism second part, with
Realize the mobile spraying operation of spray gun, meanwhile, by being fixedly connected the first part of hoisting mechanism on frame body, improving and being promoted
The stability of mechanism, to improve the stability of spray gun, avoid spray gun from receiving the influence of external force in operation process and generate compared with
Big shaking reduces spraying accuracy.
It requires emphasis, during hoisting mechanism moves, spray gun can realize two-stage hoisting relative to frame body, i.e.,
Spray gun relatively moves on hoisting mechanism, and hoisting mechanism relatively moves on frame body, at this point, by multiple charging baskets to
Spray gun conveying, can be on the basis of increasing spray range, and to reduce practical spray occurs for the coating conveying being maintained at higher position
A possibility that there are larger color difference between coating colour and theoretical color.
In the above-mentioned technical solutions, hoisting mechanism specifically includes: at least two driving wheels, one at least two driving wheels
It is a to be connect with promotion motor drive；Transmission belt is set around and is promoted outside the driving wheel that motor drive is connect, transmission belt and at least two
A driving wheel cooperation, to be moved under the drive for promoting motor.
In the technical scheme, it is set gradually along the length direction of frame body there are two driving wheel, conveyer belt is set around two
Outside a driving wheel；In this way, by the cooperation of driving wheel, conveyer belt is mobile when hoisting mechanism integrally rises under the drive of the motor
The driving wheel by being located above is held to rise relative to frame body, in other words, conveyer belt is whole to be occurred to move up relatively relative to frame body,
The relative position of spray gun on a moving belt also moves up simultaneously.Wherein, under the action of hoisting mechanism, spray gun is with hoisting mechanism
Two times of speed rises along frame body direction.In this way, there are two-stage lift structures for hoisting mechanism: hoisting mechanism is level-one, conveyer belt
For level-one.The length of conveyer belt is the hoisting depth of hoisting mechanism, i.e., when the lifting height of hoisting mechanism is S, spray gun passes through
The height that hoisting mechanism rises is 2S.
Wherein, it needs explanatorily, promoting motor can be sequentially connected simultaneously with one or more of driving wheel, to realize
The movement of transmission belt, the i.e. quantity of driving wheel can be for one or multiple, when the quantity of driving wheel is one, can subtract
The quantity of few unnecessary transmission mechanism, saves space, when the quantity of driving wheel is multiple, is made simultaneously by multiple driving wheels
With, when a drive mechanism is damaged, can also by remaining drive mechanism drive driving wheel rotate, with improve use
Reliability.
When hoisting mechanism setting is there are three when driving wheel, the winding transmission belt on two adjacent driving wheels, is formed respectively
Three-level lift structure.It is provided with two conveying belts in this way, the conveyer belt and newly-increased three-level for being divided into former two-stage hoisting structure are promoted
The conveyer belt of structure, newly-increased conveyer belt is set around an outside in increased driving wheel and former two driving wheels, and replaces
The position of spray gun in two-stage lift structure, the position of spray gun is set on newly-increased conveyer belt in three-level lift structure, by increasing newly
Belt-driven, to drive spray gun to rise with the rising of conveyer belt, and newly-increased conveyer belt is by former belt-driven, with original
The rising of conveyer belt and rise.In this way, there are three-level lift structures for hoisting mechanism: hoisting mechanism is level-one, former two-stage hoisting knot
The conveyer belt of structure is level-one, and the conveyer belt of newly-increased three-level lift structure is level-one.The height that spray gun is risen by hoisting mechanism
It can be 3S.It is understood that the quantity of driving wheel can be set to multiple, when the quantity of driving wheel is N number of, N grades are formed
Lift structure, the height that spray gun is risen by hoisting mechanism can be N times of S.
In conclusion forming multistage lift structure by the quantity that driving wheel is rationally arranged, spraying robot being made
People sprays to higher position simultaneously, reduces the whole height of frame body, and spray robot is made to be easier to enter small space, with suitable
Different workplaces is answered to require.It, can be with simultaneously using hoisting mechanism is embedded in the mode that frame body or hoisting mechanism are mutually socketed
Simplify mounting structure, further saves cost.
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.
Driving wheel can be but be not limited to gear, belt wheel or sprocket wheel；Driving wheel is rack gear, synchronous belt or chain belt.Its
In, optionally, according to different needs: gear structure is compact, high and at low cost with the mesh degree of rack gear；Belt wheel and synchronous belt
Stable drive, it is with small vibration；The elongation of chain belt is low, and sprocket diameter is small, large carrying capacity.
In the above-mentioned technical solutions, further includes: hanger, set on the second part of hoisting mechanism, and hanger is equipped with sliding
Component, spray gun is set on slide assemblies, to slide under the action of slide assemblies.
In the technical scheme, slide assemblies are arranged by the second part in hoisting mechanism, and spray gun is set to Slide Group
On part, allow spray gun on slide assemblies, along the extending direction of slide assemblies, is moved relative to hoisting mechanism, specifically,
Spray gun can be moved along the extending direction of hoisting mechanism, meanwhile, it can be relative to hoisting mechanism along Slide Group by slide assemblies
The extension of part reversely relatively moves, when there is one to be greater than 0 degree for the extending direction of slide assemblies and the extending direction of hoisting mechanism
Angle when, the displacement in both direction may be implemented in spray gun, so that spray gun can prolonging in hoisting mechanism by control device
It stretches and is arbitrarily moved in the plane of direction and slide assemblies extending direction composition, making spray gun tool, there are two the freedom degrees of dimension, convenient
The spraying operation of spray gun.
In the above-mentioned technical solutions, further includes: rotary components are set on slide assemblies, and spray gun is set on rotary components, with
It is rotated in the work surface of spray gun under the action of rotary components.
In the technical scheme, rotary components are equipped on slide assemblies, and spray gun is set on rotary components, so that spray gun
It can be rotated in work surface, so that the coating for being sprayed at metope is more uniform when making spray gun spraying operation, improve spraying matter
Amount.
In the above-mentioned technical solutions, further includes: mobile device, set on the bottom of frame body, to drive frame body to move；And/or
Power supply unit is set in frame body, to provide electric energy when spray robot operation.
In the technical scheme, the bottom of frame body is provided with mobile device, flush coater can be realized by movable support body
The spray coating operations to more large area or curved surface, folding face are completed in the rotation of device people.Mobile device can also include sensing device,
Such as laser sensor, working environment can be incuded, position and direction so as to adjust spray gun assembly, realize automatic control
System.
It is provided with power supply unit in frame body, provides electric energy for spray robot, for wired power supply line,
Reduce route 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 spray robot described in one embodiment of the invention；
Fig. 2 is the decomposition texture schematic diagram of spray robot described in one embodiment of the invention；
Fig. 3 is the schematic perspective view at another visual angle of spray robot described in one embodiment of the invention；
Fig. 4 is the enlarged structure schematic diagram of A portion shown in Fig. 3；
Fig. 5 is the structural schematic diagram of the part of spray robot described in one embodiment of the invention.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 5 are as follows:
1 hoisting mechanism, the first part of 12 hoisting mechanisms, the second part of 18 hoisting mechanisms, 110 driving wheels, 14 transmissions
Band, 16 promote motor, 2 frame bodies, 22 promotion channels, 24 mobile devices, 26 power supply units, 3 spray guns, 4 charging baskets, 5 hangers, 6 slidings
Component, 62 rotary components, 100 spray robots.
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.
Referring to the spray robot 100 of Fig. 1 to Fig. 5 description according to some embodiments of the invention.
As shown in Figure 1 to Figure 3, a kind of spray robot is proposed according to one embodiment of present invention, comprising: frame body 2,
It is equipped in frame body 2 and promotes channel 22；Hoisting mechanism 1 is set to and is promoted in channel 22, and hoisting mechanism 1 can be moved being promoted in channel 22
Dynamic, hoisting mechanism 1 is equipped with spray gun 3；Control device is set on frame body 2, and control device is electrically connected with hoisting mechanism 1 and spray gun 3
It connects, to control the lifting of hoisting mechanism 1 and the spraying of spray gun 3；Multiple charging baskets 4 are set in frame body 2, spray gun 3 and each charging basket
The conveying pipeline of connection is equipped between 4, control device is electrically connected to control each charging basket 4 to spray gun 3 and convey painting with each charging basket 4
The conveying amount of material.
In this embodiment, it is equipped in frame body 2 and promotes channel 22, hoisting mechanism 1, which is set to, to be promoted in channel 22, and spray gun 3
On hoisting mechanism 1, lift structure can be moved being promoted in channel 22, when hoisting mechanism 1 moves in promotion channel 22
When, spray gun 3 is mobile with hoisting mechanism 1, thus, in spraying operation, spray gun 3 can be mobile with hoisting mechanism 1, increases spraying model
It encloses；Control device is additionally provided on frame body 2, control device is electrically connected with hoisting mechanism 1 and spray gun 3, can be with by control device
It realizes and hoisting mechanism 1 is controlled in the movement promoted in channel 22, so that control device can control the movement of spray gun 3, tool
Body controls hoisting mechanism 1 by control device and is promoting the movement in channel 22 when spraying robot man-hour, spray gun 3 with
Hoisting mechanism 1 is moved along the direction for promoting the extension of channel 22, so that spray gun 3 be allow to move along 22 extending direction of channel is promoted
It is dynamic, so that spray gun 3 be allow to carry out spraying operation along the different location for promoting 22 extending direction of channel；By in frame body 2
Multiple charging baskets 4 are set, are connected to each charging basket 4 with spray gun 3 using conveying pipeline, and pass through 4 electricity of control device and each charging basket
Connection conveys the conveying amount of coating to control each charging basket 4 to spray gun 3, it will be appreciated that ground leads in coating robot coats' operation
Control device is crossed, the conveying amount that each charging basket 4 conveys coating to spray gun 3 is can control, sprays spray gun 3 within the unit time
Coating is more accurate, when avoiding hand spray, since the coating of spraying is uneven, reduces coating quality.
Specifically, spray robot can be according to the program set, according to the requirement of spraying operation, of the same area
The coating of wall surface spraying equivalent, so that coating is more uniform, it will be appreciated that ground, it is defeated to spray gun 3 that control device can also control charging basket 4
The variation for sending the conveying measurer of coating regular, to generate different spraying effects.
Wherein, the quantity of charging basket 4 can be two, be also possible to it is multiple, the volumes of different charging baskets 4 can it is identical can also be with
It is different.
In a specific embodiment, as shown in Fig. 2, being fixed with two charging baskets 4, two material in the bottom of frame body 2
Bucket 4 is cuboid, and close to the bottom being arranged side by side with frame body, on the right side of charging basket 4, is provided with two power supplies being arranged above and below
Device 26, and power supply unit 26 is fixedly installed on frame body, provides electric energy, the bottom of frame body 2 with the operation for spray robot
Equipped with multiple idler wheels, allow rotation of the spray robot by idler wheel, realize movement on the ground, by the way that two phases are arranged
The cuboid charging basket 4 of neighbour's arrangement, can more fully utilize the limited space of spray robot frame body, to store more apply
Material facilitates extraction of the charging basket 4 in installation and removal, on the top of charging basket 4 in addition, being equipped with handle in the two sides of each charging basket 4
Portion is equipped with material transport hole, and conveying pipeline is protruded into charging basket 4 by material transport hole, realizes to spray gun 3 and conveys coating.
In addition, can also have technical characteristic below in above-described embodiment provided by the invention:
In the above-described embodiments, further includes: a valve port of multiple-way valve, multiple-way valve is connected with spray gun 3, multiple-way valve its
Remaining valve port is connected with the conveying pipeline of a charging basket 4 respectively.
In this embodiment, by the way that multiple-way valve is arranged, and a valve port of multiple-way valve is connected to spray gun 3, remaining valve port
It is connected respectively with the conveying pipeline of a charging basket 4, spray gun 3 is connected to simultaneously with multiple charging baskets 4, thus multiple charging baskets 4
Coating can be supplied by conveying pipeline road direction spray gun 3.
In the above-described embodiments, further includes: at least one control valve, each control valve are set to connection charging basket 4 and spray gun 3
Conveying pipeline road, to control the conveying amount that the coating in charging basket 4 is delivered to spray gun 3.
In this embodiment, by the way that at least one control valve is arranged on the conveying pipeline road that charging basket 4 is connected to spray gun 3, with
Realize the conveying amount that the coating at least one charging basket 4 is delivered to spray gun 3 that controls.
Specifically, control valve can be one, be also possible to it is multiple, when control valve be one when, only in conveying pipeline
On be provided with the charging basket 4 of control valve, conveying amount can be controlled by control valve when conveying coating to spray gun 3, when control valve is more
When a, then it is each provided with the charging basket 4 of control valve on conveying pipeline road, can pass through control valve when conveying coating to spray gun 3
Control conveying amount.
In the above-described embodiments, further includes: doses detection device is set in each charging basket 4, and doses detection device and control
Device electrical connection processed, for detecting the amount of storage of coating in charging basket 4, with the low memory of the coating in a charging basket 4 in material
It when measuring threshold value, controls corresponding control valve and closes, and the control valve for controlling remaining charging basket 4 is opened.
In this embodiment, by the way that doses detection device is arranged in charging basket 4 and is electrically connected with control device, can pass through
Doses detection device obtains the coating amount of storage of charging basket 4, while utilizing control device, realize to charging basket 4 to spray gun 3 conveying from
Dynamic control specifically when the coating content in a charging basket 4 is lower than doses threshold value, controls corresponding control by control device
Valve is closed, and is made charging basket 4 stop conveying coating to spray gun 3, is avoided when the coating storage in charging basket 4 is very few, charging basket 4 is sprayed without normal direction
Rifle 3 conveys sufficient coating, and in transfer pipeline, air is mixed into, to influence the sprayed coating of 3 continuous uniform of spray gun, together
When control remaining charging basket 4 control valve open, make remaining charging basket 4 continue to spray gun 3 convey coating, to guarantee that spray gun 3 obtains foot
Enough coating is used for spraying operation.
In the above-described embodiments, further includes: sender unit is fixedly arranged on frame body 2, and sender unit and microcontroller
Electrical connection, with the low memory of the coating in a charging basket 4 when doses threshold value, control sender unit is sent out to target terminal
Send feed supplement signal.
In this embodiment, by the way that signal generator is fixedly installed on frame body 2, signal generator is electrically connected with microcontroller
It connecing, when so that the coating storage in charging basket 4 being lower than doses threshold value, control sender unit sends feed supplement signal to target terminal,
To which target terminal can obtain the coating inventory information in charging basket 4 in time, coating is replenished in time, so that spray robot
It can avoid because the coating storage in charging basket 4 is too low with continuous operation, cause spray robot interruption operation.
In any of the above-described embodiment, the first part of hoisting mechanism 1 is fixedly connected with frame body 2, and the of hoisting mechanism 1
Two parts are equipped with spray gun 3, and first part and second part are set to the two sides of hoisting mechanism 1, under the driving for promoting motor 16,
Hoisting mechanism 1, which is stretched out or retracted, promotes channel 22, and relatively moves between spray gun 3 and hoisting mechanism 1.
In this embodiment, hoisting mechanism 1 is made of two parts, the first part of hoisting mechanism 1 and the fixed company of frame body 2
It connects, improves the stability of hoisting mechanism 1, the second part of hoisting mechanism 1 is equipped with spray gun 3, and first part and second part
The two sides of hoisting mechanism 1 are set to, so that in the side of 1 first part of hoisting mechanism towards frame body 2, and the fixation with frame body 2
Part is opposite static with frame body 2, and the side of 1 second part of hoisting mechanism, that is, towards outside, is promoting motor 16 far from frame body 2
When driving hoisting mechanism 1, the first mechanism, which can be stretched out or be retracted, promotes channel 22, so that spray gun 3 is moved with second hoisting mechanism 1
It is dynamic, and relatively moved between spray gun 3 and hoisting mechanism 1, to make spray gun 3 in spraying operation, by promoting motor
16 driving hoisting mechanisms 1, spray gun 3 can move under the drive of 1 second part of hoisting mechanism, to realize the mobile spray of spray gun 3
Apply operation, meanwhile, by by the first part of hoisting mechanism 1 be fixedly connected on frame body 2, improve hoisting mechanism 1 stability,
To improve the stability of spray gun 3, spray gun 3 is avoided to receive the influence of external force in operation process and generate biggish shaking, dropped
Low spraying accuracy.
In the above-described embodiments, hoisting mechanism 1 specifically includes: at least two driving wheels 110, at least two driving wheels 110
In one with promoted motor 16 be sequentially connected；Transmission belt 14 is set around the driving wheel 110 being sequentially connected with promotion motor 16
Outside, transmission belt 14 and at least two driving wheels 110 cooperate, to move under the drive for promoting motor 16.
In this embodiment, driving wheel 110 there are two setting gradually along the length direction of frame body 2, conveyer belt is set around
Outside two driving wheels 110；In this way, passing through the cooperation of driving wheel 110 when 1 entirety of hoisting mechanism rises under the drive of the motor, passing
The driving wheel 110 for passing through with mobile terminal and being located above is sent to rise relative to frame body 2, in other words, conveyer belt is whole relative to frame body 2
Occur to move up relatively, while the relative position of spray gun 3 on a moving belt also moves up.Wherein, in the effect of hoisting mechanism 1
Under, spray gun 3 is risen with 1 two times of hoisting mechanism of speed along 2 direction of frame body.In this way, there are two-stage lift structures for hoisting mechanism 1:
Hoisting mechanism 1 is level-one, and conveyer belt is level-one.The length of conveyer belt is the hoisting depth of hoisting mechanism 1, i.e., when hoisting mechanism 1
Lifting height when being S, the height that spray gun 3 is risen by hoisting mechanism 1 is 2S.
Wherein, it needs explanatorily, promoting motor 16 can be sequentially connected simultaneously with one or more of driving wheel 110,
To realize the movement of transmission belt 14, i.e. the quantity of driving wheel can be for one or multiple, are one in the quantity of driving wheel
When a, the quantity of unnecessary transmission mechanism can be reduced, saves space, when the quantity of driving wheel is multiple, passes through multiple masters
Driving wheel acts on simultaneously, when a drive mechanism is damaged, also driving wheel can be driven to rotate by remaining drive mechanism,
To improve the reliability used.
When the setting of hoisting mechanism 1 is there are three when driving wheel 110, winding is driven on two adjacent driving wheels 110 respectively
Band 14 forms three-level lift structure.It is provided with two conveying belts in this way, is divided into the conveyer belt of former two-stage hoisting structure and newly-increased
The conveyer belt of three-level lift structure, newly-increased conveyer belt are set around one in increased driving wheel 110 and former two driving wheels 110
A outside, and replace the position of spray gun 3 in two-stage lift structure, the position of spray gun 3 is set to newly-increased in three-level lift structure
On conveyer belt, by newly-increased belt-driven, to drive spray gun 3 to rise with the rising of conveyer belt, and newly-increased conveyer belt by
Former belt-driven rises with the rising of former conveyer belt.In this way, there are three-level lift structures for hoisting mechanism 1: hoisting mechanism 1
For level-one, the conveyer belt of former two-stage hoisting structure is level-one, and the conveyer belt of newly-increased three-level lift structure is level-one.Spray gun 3 is logical
The height for crossing the rising of hoisting mechanism 1 can be 3S.It is understood that the quantity of driving wheel 110 can be set to multiple, transmission
When the quantity of wheel 110 is N number of, N grades of lift structures are formed, the height that spray gun 3 is risen by hoisting mechanism 1 can be N times of S.
In conclusion forming multistage lift structure by the quantity that driving wheel 110 is rationally arranged, can making to spray
Control During Paint Spraying by Robot simultaneously, reduces the whole height of frame body 2 to higher position, and spray robot is made to be easier to enter narrow sky
Between, it is required with adapting to different workplaces.The mutually socket of frame body 2 or hoisting mechanism 1 is embedded in using by hoisting mechanism 1 simultaneously
Mode, can simplify mounting structure, further save cost.
In a specific embodiment, as shown in figure 5, the quantity of driving wheel 110 is two, motor 16 and two are promoted
A transmission connection in driving wheel 110 far from frame body 2.
When the quantity of driving wheel 110 is two, structure is simple, installs easy to operate.When frame body 2 under the drive of the motor on
When rising, by the cooperation of driving wheel 110, conveyer belt is risen in frame body 2 by driving wheel 110, to drive spray gun 3 with transmission belt
110 rising and rise, promote a transmission connection in motor 16 and two driving wheels 110 far from frame body 2, it is possible to reduce biography
Dynamic interference of the band 14 to motor route, is conducive to reasonable line arrangement, improves the safety in utilization of product.
In the above-described embodiments, driving wheel 110 is gear, and transmission belt 14 is rack gear；Or driving wheel 110 is belt wheel, transmission
Band 14 is synchronous belt；Or driving wheel 110 is sprocket wheel, transmission belt 14 is chain belt.
Driving wheel 110 can be but be not limited to gear, belt wheel or sprocket wheel；Driving wheel 110 be rack gear, synchronous belt or
Chain belt.Wherein, optionally, according to different needs: gear structure is compact, high and at low cost with the mesh degree of rack gear；Belt wheel and
Toothed belt transmission is steady, with small vibration；The elongation of chain belt is low, and sprocket diameter is small, large carrying capacity.
In the above-described embodiments, further includes: hanger 5, set on the second part of hoisting mechanism 1, and hanger 5 is equipped with sliding
Component 6, spray gun 3 is set on slide assemblies 6, to slide under the action of slide assemblies 6.
In this embodiment, slide assemblies 6 are arranged by the second part in hoisting mechanism 1, and spray gun 3 is set to Slide Group
On part 6, allow spray gun 3 on slide assemblies 6, along the extending direction of slide assemblies 6, relative to mobile, the tool with hoisting mechanism 1
Body, spray gun 3 can be moved along the extending direction of hoisting mechanism 1, meanwhile, it can be relative to hoisting mechanism 1 by slide assemblies 6
Extension along slide assemblies 6 reversely relatively moves, when the extending direction of the extending direction and hoisting mechanism 1 of slide assemblies 6 has
One the displacement in both direction may be implemented in spray gun 3 when being greater than 0 degree of angle, to pass through control device, spray gun 3 can be with
It arbitrarily moves, makes there are two the tools of spray gun 3 in the plane that the extending direction and 6 extending direction of slide assemblies of hoisting mechanism 1 are constituted
The freedom degree of dimension facilitates the spraying operation of spray gun 3.
In the above-described embodiments, further includes: rotary components 62 are set on slide assemblies 6, and spray gun 3 is set to rotary components 62
On, to be rotated in the work surface of spray gun 3 under the action of rotary components 62.
In this embodiment, rotary components 62 are equipped on slide assemblies 6, and spray gun 3 is set on rotary components 62, so that
Spray gun 3 can rotate in work surface, so that the coating for being sprayed at metope is more uniform when making 3 spraying operation of spray gun, improve spray
Apply quality.
In the above-described embodiments, further includes: mobile device 24, set on the bottom of frame body 2, to drive frame body 2 to move；With/
Or power supply unit 26, it is set in frame body 2, to provide electric energy when spray robot operation.
In this embodiment, the bottom of frame body 2 is provided with mobile device 24, spraying can be realized by movable support body 2
The spray coating operations to more large area or curved surface, folding face are completed in the rotation of robot.Mobile device 24 can also include induction dress
It sets, such as laser sensor, working environment can be incuded, position and direction so as to adjust 3 component of spray gun are realized certainly
Dynamic control.
In a specific embodiment, as shown in Fig. 2, on frame body 2, be fixed with two be arranged above and below for Denso
26, specially two supplying cells are set, two supplying cells can be connected in series in circuit, also can be connected in parallel, work as spray
When painting robot 100 needs high voltage, it can use two supplying cells series connection to improve supply voltage, work as spray robot
100 when needing continued power, can use two supplying cell parallel connections, so that circuit is more stable, and sustainable supply electric energy.?
Frame body bottom surrounding if providing support force there are four idler wheel is supported for spray robot 100, and makes spray robot 100 can be with
By the rotation of idler wheel, movement on the ground is realized, in the middle position of 2 bottom of frame body, be equipped with multiple driving rollers, make to spray
Robot 100 is applied in the rotation of control device control driving roller, to realize automatically moving for spray robot 100.
It is provided with power supply unit 26 in frame body 2, provides electric energy for spray robot, compared to wired power supply line
Speech, reduces route to the interference in spray robot use process.
Spray robot provided by the present application, and and the prior art are described in detail with said one specific embodiment below
Comparison.
Currently, existing spraying industry is generally by artificial roller coating or spraying, there are also automanual spraying may be implemented
Equipment, but automanual device structure is simple, has a single function.For example paint finishing cannot carry out the coating content that spray gun sprays
It is accurately controlled, be easy to cause spraying uneven, to reduce coating quality.Meanwhile being limited by device height, spray model
It is with limit, there are still spray ranges to be limited by device height, causes strong to artificial dependence, sprays problem at high cost.
For this purpose, the present invention provide it is a kind of can be with the spray robot of full-automatic spraying, including automatic spraying system, robot
Walking and route planning system promote grade train of mechanism.It can be used for realizing the automatic spraying of metope and ceiling, coating quality inspection
Survey etc..
Wherein, automatic spraying system can control conveying amount of each charging basket to spray gun conveying coating by control device,
Multiple charging baskets pass through feeding pipe respectively and are connected to spray gun, and multiple control valves are equipped on multiple feeding pipes, in charging basket
Equipped with doses detection device, control device is electrically connected with control valve and doses detection device, is examined with realizing to control valve and doses
The control for surveying device controls corresponding control valve and closes when the low memory of the coating in a charging basket is when doses threshold value, and
The control valve for controlling remaining charging basket is opened, and is avoided when coating storage is too low in charging basket, since feeding pipe sucks air, makes to spray
Rifle spraying is uneven, improves coating quality, realizes the automatic control to charging basket conveying coating, reduces to artificial dependence, reduces
Cost.
In addition, wherein spray gun sets the freedom degree there are two dimension, horizontal 360 ° of rotations with vertical aspect may be implemented, separately
Outer spray gun assembly has extension arm, and the spraying of the anisotropic metope of the window etc. that may be implemented to float is rotated in conjunction with spray head, and hoisting mechanism is set as two
Grade hoisting mechanism, if there are two synchronizing wheels, one of them is driving wheel, and one is driven wheel, and two-stage may be implemented and be promoted to day
Card metope realizes ceiling spraying, makes coating robot coats to higher position, increases spray range.
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 (11)
1. a kind of spray robot characterized by comprising
Frame body, interior be equipped with of the frame body promote channel；
Hoisting mechanism is set in the promotion channel, and the hoisting mechanism can move in the promotion channel, the elevator
Structure is equipped with spray gun；
Control device is set on the frame body, and the control device is electrically connected with the hoisting mechanism and the spray gun, with control
Make the lifting of the hoisting mechanism and the spraying of the spray gun；
Multiple charging baskets are set in the frame body, and the conveying pipeline being connected to is equipped between the spray gun and each charging basket, described
Control device is electrically connected to control conveying amount of each charging basket to spray gun conveying coating with each charging basket.
2. spray robot according to claim 1, which is characterized in that the spray robot further include:
One valve port of multiple-way valve, the multiple-way valve is connected with the spray gun, remaining valve port of the multiple-way valve is respectively with one
The conveying pipeline of a charging basket is connected.
3. spray robot according to claim 1, which is characterized in that further include:
At least one control valve, each control valve is set to the conveying pipeline road for connecting the charging basket and the spray gun, with control
Make the conveying amount that the coating in the charging basket is delivered to the spray gun.
4. spray robot according to claim 3, which is characterized in that further include:
Doses detection device is set in each charging basket, and the doses detection device is electrically connected with the control device, and is used
In the amount of storage for detecting coating in the charging basket, with the low memory of the coating in a charging basket in doses threshold value
When, it controls corresponding control valve and closes, and the control valve for controlling remaining charging basket is opened.
5. spray robot according to claim 4, which is characterized in that further include:
Sender unit is fixedly arranged on the frame body, and the sender unit is electrically connected with the microcontroller, at one
The low memory of the coating in the charging basket controls the sender unit to target terminal and sends benefit when doses threshold value
Expect signal.
6. spray robot according to any one of claim 1 to 5, which is characterized in that the first of the hoisting mechanism
Part is fixedly connected with the frame body, and the second part of the hoisting mechanism is equipped with the spray gun, the first part with it is described
Second part is set to the two sides of the hoisting mechanism, under the driving for promoting motor, the hoisting mechanism stretches out or contracting
The promotion channel is gone back to, and is relatively moved between the spray gun and the hoisting mechanism.
7. spray robot according to claim 6, which is characterized in that the 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.
8. spray robot according to claim 7, 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.
9. spray robot according to claim 6, which is characterized in that further include:
Hanger, set on the second part of the hoisting mechanism, and the hanger is equipped with slide assemblies, and the spray gun is set to described
On slide assemblies, to be slided under the action of the slide assemblies.
10. spray robot according to claim 9, 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.
11. spray robot according to claim 1, which is characterized in that further include:
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 (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425534.1A CN110017010A (en) | 2019-05-21 | 2019-05-21 | Spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425534.1A CN110017010A (en) | 2019-05-21 | 2019-05-21 | Spray robot |
Publications (1)
| Publication Number | Publication Date |
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| CN110017010A true CN110017010A (en) | 2019-07-16 |
Family
ID=67194222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910425534.1A Pending CN110017010A (en) | 2019-05-21 | 2019-05-21 | Spray robot |
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| 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 |
| CN111921731A (en) * | 2020-08-18 | 2020-11-13 | 广东博智林机器人有限公司 | Spraying mechanism and robot with same |
| CN114029179A (en) * | 2021-11-08 | 2022-02-11 | 北京华航唯实机器人科技股份有限公司 | Control method and control device for spray coating model, robot device, and storage medium |
| CN114718283A (en) * | 2021-01-04 | 2022-07-08 | 广东博智林机器人有限公司 | Decorative material spraying method |
| CN114809536A (en) * | 2022-04-11 | 2022-07-29 | 广东博智林机器人有限公司 | Coating robot |
| CN115110718A (en) * | 2021-03-09 | 2022-09-27 | 广东博智林机器人有限公司 | Spraying control system, spraying robot with spraying control system and spraying method |
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