CN210195170U

CN210195170U - Spray gun assembly and spraying robot

Info

Publication number: CN210195170U
Application number: CN201920732509.3U
Authority: CN
Inventors: Bin He; 贺彬; Guoqiu Liu; 刘国虬; Anpeng Xu; 许安鹏; Guangyi Wu; 巫广义
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-05-21
Filing date: 2019-05-21
Publication date: 2020-03-27
Anticipated expiration: 2029-05-21

Abstract

The utility model provides a spray gun subassembly and spraying robot, spray gun subassembly are used for the spraying robot including the support body, include: the sliding assembly is arranged on the frame body; the rotating assembly is arranged on the sliding assembly and comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the sliding assembly, the second rotating structure is arranged on the first rotating structure, and the rotating directions of the second rotating structure and the first rotating structure are different; the spray gun is arranged on the second rotating structure to rotate under the driving of the rotating assembly. Through the technical scheme of the utility model, can effectively enlarge spraying operation scope, the flexibility of reinforcing spraying operation and to the adaptability of operation environment, reduce artificial dependency, improve spraying precision, reduce cost.

Description

Spray gun assembly and spraying robot

Technical Field

The utility model relates to a spraying technical field particularly, relates to a spray gun subassembly and a spraying robot.

Background

At present, in the building decoration industry, manual spraying operation is used for wall surface spraying, the working efficiency is low, the spraying precision is poor, some semi-automatic spraying equipment is provided in the market, the limitation of the equipment height and the freedom degree is caused, the spraying range is limited, the semi-automatic spraying equipment is difficult to be suitable for special-shaped operation surfaces or operation surfaces with complex structures, and the spraying precision is difficult to guarantee especially for operation surfaces such as bay windows, wall corners and special-shaped ceilings. In addition, limited to the equipment size, current semi-automatic spraying equipment is difficult to adapt to the operational requirement under the different scenes, is particularly unfavorable for the condition that spraying equipment need get into narrow and small space. Therefore, the existing semi-automatic spraying equipment still has the problems of limited spraying range, low spraying precision, strong dependence on workers and high spraying cost.

SUMMERY OF THE UTILITY MODEL

The present invention aims at least solving one of the technical problems existing in the prior art or the related art.

To this end, an object of the present invention is to provide a spray gun assembly.

Another object of the utility model is to provide a spraying robot.

In order to achieve the above object, the utility model discloses a first aspect technical scheme provides a spray gun subassembly for the spraying robot including the support body, include: the sliding assembly is arranged on the frame body; the rotating assembly is arranged on the sliding assembly and comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the sliding assembly, the second rotating structure is arranged on the first rotating structure, and the rotating direction of the second rotating structure is different from that of the first rotating structure; and the spray gun is arranged on the second rotating structure so as to rotate under the driving of the rotating assembly.

According to the utility model provides a spray gun assembly, which is used for a frame body spraying robot, a sliding assembly arranged on the frame body can move relative to the frame body; locate on the slip subassembly through rotatory subassembly, can make the rotating assembly carry out the bulk movement for the support body along with the slip subassembly, the rotating assembly includes first revolution mechanic and second revolution mechanic, locate on the slip subassembly through first revolution mechanic, the second revolution mechanic is located on the first revolution mechanic, and the direction of rotation of second revolution mechanic and first revolution mechanic is different, namely the rotating assembly has two degrees of freedom, in order to increase the spraying scope of spray gun subassembly, improve the spraying flexibility, wherein, the direction of rotation of second revolution mechanic and first revolution mechanic is different, namely the axis of second revolution mechanic is nonparallel with the axis of first revolution mechanic, can be perpendicular, crossing or other position relations. The spray gun is arranged on the second rotating structure, the rotation can be realized under the drive of the rotating assembly, namely, the spray gun can rotate along with the rotation of the second rotating structure, and can also rotate along with the first rotating structure together with the second rotating structure, certainly, the spray gun can also rotate along with the first rotating structure when rotating along with the second rotating structure, and simultaneously, the rotating assembly can move integrally relative to the frame body along with the moving assembly, so that the spray gun assembly has 3 degrees of freedom, namely, the first rotating structure, the second rotating structure and the sliding assembly, so as to adapt to different spraying operation environments, the spraying flexibility is effectively improved, different spraying precision requirements are met simultaneously, the dependence on manpower is reduced, and the cost is reduced. Specifically, for spraying operation surfaces in different directions in a narrow space, when the whole movement of the spraying robot is limited or the sliding of the sliding assembly is limited, the spraying direction can be changed in a smaller space range through the first rotating structure and the second rotating structure to finish spraying, and even when the rotation of the first rotating structure is limited in a smaller space, the direction of the spray gun can be adjusted through the second rotating structure to finish spraying; for spraying operation surfaces with complex structures such as bay windows, special-shaped ceilings and the like, the direction of a spray gun needs to be adjusted in time according to the distance between the spray gun and the operation surface and the orientation of the operation surface in the spraying process, so that the uniform and consistent thickness of the coating sprayed on the operation surface can be ensured, and the spraying precision is improved.

It should be emphasized that the rotation angle ranges of the first and second rotating structures can be any angle range within the range of 0 ° to 360 °, i.e. can rotate around the rotating shaft for a whole circle, and can also rotate around the rotating shaft for a circle, such as within the range of 0 ° to 180 ° or within the range of 0 ° to 90 °, and preferably, the rotation angle ranges of the first and second rotating structures are within the range of 0 ° to 360 ° to expand the spraying range of the spray gun assembly as much as possible.

Preferably, the sliding direction of the sliding assembly is parallel to the horizontal plane and the direction of the spraying operation surface, it can be understood that when spraying operation is performed, the length of the operation surface in the horizontal direction is usually far greater than the height of the operation surface in the vertical direction, the sliding direction of the sliding assembly is parallel to the horizontal plane and the spraying operation surface, so that the whole spraying robot can be kept stable within a distance in the horizontal direction, and spraying operation within the horizontal range within the distance is completed through the sliding of the spray gun assembly along with the sliding assembly, so that the influence of the continuous movement of the spraying robot on the stability and the spraying accuracy of the spray gun assembly is reduced.

Additionally, the utility model provides an among the above-mentioned technical scheme spraying assembly can also have following additional technical characterstic:

in the above technical solution, the sliding assembly specifically includes: the lead screw is arranged on the frame body; the support sliding block is internally provided with a thread matched with the lead screw, and when the lead screw is driven by the sliding motor to rotate, the support sliding block can move along the axial direction of the lead screw, and the support sliding block is provided with the rotating assembly.

In this technical scheme, include lead screw and support slider through specifically injecing the slip subassembly, wherein on the support body is located to the lead screw, be equipped with in the support slider with lead screw complex screw thread and rotating assembly, when the lead screw receives sliding motor's drive and takes place to rotate, the support slider realizes the axial direction motion along the lead screw through the screw thread and the rotating assembly with lead screw complex, thereby drive rotating assembly and remove along lead screw axial direction, in order to enlarge spraying robot's spraying scope, improve the spraying flexibility and to the adaptability of environment. It should be emphasized that the screw thread on the bracket sliding block, which is engaged with the screw rod, may be disposed in the bracket sliding block, that is, a threaded hole engaged with the screw rod is disposed on the bracket sliding block, or may be disposed on one side outside the bracket block, that is, a threaded groove engaged with the screw rod is disposed on one side of the bracket sliding block.

In the above technical solution, the rotation surface of the first rotation structure is parallel to the sliding plane of the sliding assembly.

In the technical scheme, the limit position of the rotating assembly rotating through the first rotating structure and the limit position of the rotating assembly sliding through the sliding assembly can be superposed by limiting the rotating surface of the first rotating structure to be parallel to the sliding plane of the sliding assembly, namely, the maximum limit position of the rotating assembly which can be realized through the first rotating structure and the sliding assembly is the sum of the limit position of the rotating assembly rotating through the first rotating structure and the limit position of the rotating assembly sliding through the sliding assembly, so that the capabilities of the sliding assembly and the first rotating structure are fully utilized, the spraying range of the spraying robot is expanded as much as possible in a limited size, and the spraying flexibility and the adaptability to the environment are improved.

In the above technical scheme, the other end of support slider is equipped with rotary platform, first revolution mechanic specifically includes: the first rotating base is arranged on the rotating platform; the first rotating body is coaxially arranged with the first rotating base and can rotate on the first rotating base; and the first rotating motor is in transmission connection with the first rotating body so as to realize the rotation of the first rotating body.

In the technical scheme, the other end of the bracket sliding block is provided with the rotating platform, so that the support is provided for the rotating assembly, and an installation space and a rotating space are provided for the rotating assembly; first revolution mechanic including locate first rotating basis on rotary platform and with the first rotator of the coaxial setting of first rotating basis, rotate on first rotating basis through first rotator, realize the rotation of first revolution mechanic for the support body to change the spraying position of spray gun, in order to improve the spraying flexibility, adapt to different spraying operational environment. Through first rotating electrical machines and first rotator transmission connection to realize the rotation of first rotator under first rotating electrical machines's drive, realize first revolution mechanic's electric drive, reducible reliance to the manual work, rotatory operation precision is higher, and the continuity and the stability of spraying operation are stronger. Preferably, the first rotating motor is in direct-drive transmission connection with the first rotating body, so that the transmission efficiency is higher, the structure is simple, and the occupied space is small.

In the above technical solution, the second rotating structure specifically includes: a second rotating base provided on the first rotating body; the second rotating body is coaxially arranged with the second rotating base, the second rotating body can rotate on the second rotating base, and the spray gun is arranged on the second rotating body; and the second rotating motor is in transmission connection with the second rotating body so as to realize the rotation of the second rotating body.

In this technical scheme, the second revolution mechanic is including locating the second rotating base on the first rotator and the second rotator of the coaxial setting of second rotating base, rotates on the second rotating base through the second rotator, realizes the rotation of second revolution mechanic for first rotator to further adjust the spraying position of spray gun, in order to further improve the spraying flexibility, make the adaptability of spraying robot to the spraying operation environment stronger. The second rotating motor is in transmission connection with the second rotating body, so that the second rotating body can rotate under the driving of the second rotating motor, the electric driving of the second rotating structure is realized, the second rotating body can independently rotate relative to the first rotating body and is not limited by the first rotating motor, and it can be understood that the first rotating body and the second rotating body can also be driven by only one rotating motor, the middle part of the first rotating body and the second rotating body is driven by a transmission belt or other transmission structures, but the first rotating body and the second rotating body need to rotate simultaneously at the moment and cannot independently rotate respectively. In addition, the second rotating body is driven by the second rotating motor, so that the dependence on manpower can be reduced, the rotating operation precision is improved, and the continuity and the stability of the spraying operation are ensured.

In the above technical solution, the first rotating body specifically includes a first plate and a second plate connected to one side of the first plate, wherein the first plate and the second plate are at a predetermined angle, and the second rotating electric machine is disposed in a space sandwiched between the first plate and the second plate.

In this technical scheme, specifically include the first board and with the second board through injecing first rotator, wherein, the second board links to each other with one side of first board, and first board and second board are predetermined angle, reserve installation space for second rotating electrical machines, make the second rotating electrical machines can locate in the space that first board and second board pressed from both sides, guarantee simultaneously that second rotating electrical machines can not collide with first rotating electrical machines when second rotating electrical machines rotates to produce mutual interference among the avoidance of rotation process. It is emphasized that the predetermined angle of the first and second plates may be any angle that can accommodate the second rotating motor, preferably 90 °, which facilitates the construction of the spatial coordinate model and the positioning of the spray gun without interfering with each other during rotation.

In the above technical solution, the spray gun assembly further includes a right-angle reducer, one end of the right-angle reducer is connected to the second rotating motor, and the other end of the right-angle reducer is connected to the second rotating body, so that a right angle is formed between the axis of the second rotating motor and the axis of the second rotating base.

In this technical scheme, link to each other with the second rotating electrical machines through right angle reduction gear one end, the other end links to each other with the second rotator, can be for carrying out the transmission between second rotating electrical machines and the second rotator, reduce the output power of second rotating electrical machines on the one hand, make the rotational speed of second rotator reduce, reduce the rotational speed of spray gun promptly, make the spray gun be applicable to the spraying of the spraying operation face to the high accuracy requirement in the minizone, so as to avoid the too fast spraying precision that influences the spray gun that influences of second rotator rotational speed, on the other hand, can change 90 with the output direction of second rotating electrical machines through right angle reduction gear, do benefit to the installation of second rotating electrical machines, can make second rotating electrical machines rational utilization first board and the space that the second board reserved on the first rotator, prevent to produce mutual interference because of occupation space is great in the rotation process with first revolution mechanic. In addition, the right-angle speed reducer is adopted to reduce the speed of the second rotating motor, so that the second rotating motor can be selected from motors of the same type as the first rotating motor, the universality of the motors is improved, and the production and maintenance cost is reduced.

In the above technical solution, the rotation plane of the first rotation structure is perpendicular to the rotation plane of the second rotation structure.

In the technical scheme, the rotating surface of the first rotating structure is perpendicular to the rotating surface of the second rotating structure, so that mutual interference between the first rotating structure and the second rotating structure in the rotating process can be avoided, the influence of the rotating operation of the rotating assembly on the spraying stability and the spraying precision of the spray gun is reduced, and meanwhile, the effective utilization of the space is also facilitated, the space arrangement of the first rotating structure and the second rotating structure is facilitated, the whole occupied space of the rotating assembly is enabled to be as small as possible, and the spraying operation in a narrow space is adapted.

The utility model discloses an among the second aspect technical scheme, a spraying robot is provided, include: the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body; the lifting mechanism is arranged in the lifting channel, and the first part of the lifting mechanism is fixedly connected with the frame body; the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism moves in the lifting channel under the driving of the lifting motor; the spray gun assembly according to any one of the above technical solutions is disposed on the second portion of the lifting mechanism, wherein the first portion and the second portion are disposed on two sides of the lifting mechanism, so that the lifting mechanism extends out of or retracts into the lifting channel under the driving of the lifting motor, and the spray gun assembly and the lifting mechanism move relative to each other.

Through the spraying robot provided by the utility model, a lifting channel is arranged in the frame body to provide space for the movement of the lifting mechanism, the lifting mechanism is arranged in the lifting channel, and the first part of the lifting mechanism is fixedly connected with the frame body, so that the lifting motor can move within a certain range in the lifting channel; providing power for the movement of the lifting mechanism in the lifting channel through a lifting motor; the spray gun component in any technical scheme is arranged on the second part of the lifting mechanism, the first part and the second part are arranged on two sides of the lifting mechanism, the lifting mechanism can extend out of or retract into the lifting channel under the driving of the lifting motor, and meanwhile, the spray gun component moves relative to the lifting mechanism, so that the spray gun component can move integrally relative to the frame body in the lifting channel along with the lifting mechanism and can move relative to the lifting mechanism, the spray gun component can realize two-stage lifting, the space range of spraying operation is enlarged, the size of the spraying robot is not required to be increased, the cost is effectively reduced, the flexibility of the spraying operation and the adaptability to the operation environment are enhanced, the spray gun component is particularly suitable for the spraying environment with small space or high height, and the dependence on workers is reduced. Additionally, the utility model provides a spraying robot includes the spray gun subassembly among the above-mentioned arbitrary technical scheme, therefore has the whole beneficial effect of the spray gun subassembly among the above-mentioned arbitrary technical scheme, no longer gives unnecessary details here.

In the above technical solution, the lifting mechanism specifically includes: at least two driving wheels, wherein one of the 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 at least two transmission wheels to move under the driving of the lifting motor.

In the technical scheme, the lifting mechanism can transmit power to the transmission belt and provide tension under the driving of the transmission wheels through the matching of the transmission wheels, the transmission belt and the lifting motors so as to realize the rotation of the transmission belt, specifically, at least one of the transmission wheels is selected and is in transmission connection with the lifting motors so as to provide power for the rotation of the transmission belt, thereby improving the automation level of products and reducing the dependence on manpower, wherein the number of the lifting motors can be one or more, and it can be understood that when the number of the lifting motors is multiple, the output power is larger and heavier load can be borne; through around locating the drive belt outside the drive wheel of being connected with the transmission of promotion motor, with two at least drive wheel cooperations, can realize that the drive belt rotates around the drive wheel under the drive of promotion motor. It should be emphasized that, be equipped with in the hoist mechanism with support body fixed connection's first part, one side and support body fixed connection on the drive belt promptly, because the drive belt can constantly circulate and rotate under hoist motor's drive, hoist mechanism wholly can produce relative movement on the support body, and the second part of hoist mechanism's opposite side is located to the spray gun subassembly, the drive belt opposite side is equipped with the spray gun subassembly promptly, then hoist mechanism's drive belt can not only rotate around the drive wheel, still can carry out the bulk movement for the support body, thereby realize hoist mechanism to the two-stage promotion of spray gun subassembly, and then enlarged the spatial dimension of spraying operation, the flexibility of spraying operation and the adaptability to the environment have been improved.

In the above 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 the technical scheme, the transmission wheel and the transmission belt have multiple choices, and a gear and a rack, a belt wheel and a synchronous belt, or a chain wheel and a synchronous belt can realize the two-stage lifting of the spray gun assembly in the utility model; 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. Preferably, a pulley and a timing belt are used.

In the above technical solution, the painting robot further includes: the feeding assembly is arranged in the frame body and communicated with a spray gun of the spray gun assembly so as to feed materials into the spray gun; and/or the moving device is arranged at the bottom of the frame body so as to move the frame body; and/or the power supply device is arranged in the frame body and used for supplying electric energy when the spraying robot runs.

In the technical scheme, the feeding assembly arranged in the frame body is communicated with the spray gun of the spray gun assembly to supply the coating for spraying operation, so that manual coating supplementing operation can be reduced, and dependence on labor is reduced; the spraying robot can be provided with a moving device and is arranged at the bottom of the frame body to move the frame body, so that the horizontal movement during spraying operation is realized, the spraying operation is convenient, the flexibility of the spraying robot is improved, and the horizontal movement can also be realized through external moving equipment; the spraying robot can be provided with a power supply device, is arranged in the frame body to provide electric energy for the spraying robot during operation, so that the spraying robot keeps continuous spraying operation and is not limited by a power circuit, the spraying operation range is larger, and the power supply device can be a battery or a generator, but can also supply power through an external power supply.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic structural view of a spray gun assembly according to an embodiment of the present invention.

Fig. 2 shows a schematic structural view of a spray gun assembly according to an embodiment of the present invention.

Fig. 3 shows a schematic structural diagram of a spraying robot according to an embodiment of the present invention.

Fig. 4 shows a structural schematic of a painting robot according to an embodiment of the present invention.

Fig. 5 shows a schematic structural diagram of a painting robot according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:

1 rotating assembly, 111 first rotating base, 112 first rotating body, 1121 first plate, 1122 second plate, 113 first rotating motor, 121 second rotating base, 122 second rotating body, 123 second rotating motor, 124 right-angle reducer, 13 spray gun, 2 frame body, 21 rotating platform, 22 lifting channel, 3 sliding assembly, 31 lead screw, 32 support sliding block, 33 sliding motor, 4 lifting mechanism, 41 driving wheel, 42 driving belt, 421 first portion, 422 second portion, 5 lifting motor, 61 feeding assembly, 62 moving device, 63 power supply device.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. 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.

Spray gun assemblies and spray coating robots according to some embodiments of the present invention are described below with reference to fig. 1-5.

As shown in fig. 1, in one embodiment of the present invention, a spray gun 13 assembly is provided for a painting robot including a frame body 2, including: the sliding assembly 3 is arranged on the frame body 2; the rotating assembly 1 is arranged on the sliding assembly 3, and the rotating assembly 1 comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the sliding assembly 3, the second rotating structure is arranged on the first rotating structure, and the rotating directions of the second rotating structure and the first rotating structure are different; and the spray gun 13 is arranged on the second rotating structure so as to rotate under the driving of the rotating assembly 1.

In this embodiment, the slide assembly 3, which is provided on the frame body 2 through the spray gun assembly, can move relative to the frame body 2; the rotating assembly 1 is arranged on the sliding assembly 3, the rotating assembly 1 can move integrally relative to the frame body 2 along with the sliding assembly 3, the rotating assembly 1 comprises a first rotating structure and a second rotating structure, the first rotating structure is arranged on the sliding assembly 3, the second rotating structure is arranged on the first rotating structure, the rotating direction of the second rotating structure is different from that of the first rotating structure, namely, the rotating assembly 1 has two degrees of freedom, so that the spraying range of the spray gun assembly is enlarged, and the spraying flexibility is improved, wherein the rotating direction of the second rotating structure is different from that of the first rotating structure, namely, the axis of the second rotating structure is not parallel to that of the first rotating structure, and preferably, the axis of the second rotating structure is perpendicular to that of the first rotating structure. On the second revolution mechanic was located to spray gun 13, can realize rotatoryly under rotating assembly 1's drive, spray gun 13 both can rotate along with second revolution mechanic self, also can rotate along with first revolution mechanic together with second revolution mechanic, can also rotate along with first revolution mechanic when rotatory along with the second revolution mechanic, and simultaneously, rotating assembly 1 can carry out the bulk movement for support body 2 along with the removal subassembly, make the spray gun subassembly have 3 degrees of freedom, through first revolution mechanic promptly, second revolution mechanic and slip subassembly 3 carry out position adjustment respectively, with the spraying operation environment of adaptation difference, the spraying flexibility has effectively been improved, satisfy different spraying precision demands simultaneously, reduce artificial dependence, reduce cost. Specifically, for spraying operation surfaces in different directions in a narrow space, when the whole movement of the spraying robot is limited or the sliding component 3 is limited in sliding, the spraying direction can be changed in a smaller space range through the first rotating structure and the second rotating structure to finish spraying, and even when the rotation of the first rotating structure is limited in a smaller space, the direction of the spray gun 13 can be adjusted through the second rotating structure to finish spraying; for the spraying operation surface with a complex structure such as a bay window, a special-shaped ceiling and the like, the direction of the spray gun 13 needs to be adjusted in time according to the distance between the spray gun 13 and the operation surface and the orientation of the operation surface in the spraying process, so that the uniform and consistent thickness of the coating sprayed on the operation surface can be ensured, and the spraying precision is improved.

Preferably, the sliding direction of the sliding assembly 3 is parallel to the horizontal plane and the direction of the spraying operation surface, it can be understood that, when spraying operation is performed, the length of the operation surface in the horizontal direction is usually much greater than the height of the operation surface in the vertical direction, the sliding direction of the sliding assembly 3 is parallel to the horizontal plane and the spraying operation surface, so that the whole spraying robot can be kept stable within a certain distance in the horizontal direction, and spraying operation in a horizontal range within the distance is completed through the sliding of the spray gun assembly along with the sliding assembly 3, so as to reduce the influence of the movement of the spraying robot on the stability and the spraying accuracy of the spray gun assembly.

in an embodiment of the present invention, as shown in fig. 1, the sliding assembly 3 specifically includes: the screw rod 31 is arranged on the frame body 2; the support sliding block 32 is provided with a thread matched with the lead screw 31 in the support sliding block 32, and when the lead screw 31 is driven by the sliding motor 33 to rotate, the support sliding block 32 can move along the axial direction of the lead screw 31, and the support sliding block 32 is provided with the rotating assembly 1.

In this embodiment, the sliding assembly 3 includes a lead screw 31 and a bracket slider 32 by specific limitation, wherein the lead screw 31 is disposed on the frame body 2, a thread and a rotating assembly 1 which are matched with the lead screw 31 are disposed in the bracket slider 32, so that when the lead screw 31 is driven by the sliding motor 33 to rotate, the bracket slider 32 moves along the axial direction of the lead screw 31 through the thread and the rotating assembly 1 which are matched with the lead screw 31, thereby driving the rotating assembly 1 to move along the axial direction of the lead screw 31, so as to expand the spraying range of the spraying robot, and improve the flexibility of spraying and the adaptability to the environment. It should be emphasized that the thread on the bracket slider 32, which is engaged with the lead screw 31, may be disposed inside the bracket slider 32, i.e. a threaded hole engaged with the lead screw 31 is disposed on the bracket slider 32, or may be disposed on the outer side of the bracket slider, i.e. a threaded groove engaged with the lead screw 31 is disposed on the side of the bracket slider 32. Preferably, a threaded hole matched with the lead screw 31 is formed in the bracket sliding block 32, so that the stability is higher.

In one embodiment of the present invention, as shown in fig. 1, the rotation surface of the first rotation structure is parallel to the sliding plane of the sliding assembly 3.

In this embodiment, by defining that the rotation surface of the first rotation structure is parallel to the sliding plane of the sliding assembly 3, the limit position of the rotation assembly 1 rotating through the first rotation structure and the limit position of the rotation assembly 1 sliding through the sliding assembly 3 can be overlapped, that is, the maximum limit position of the rotation assembly 1 achievable through the first rotation structure and the sliding assembly 3 is the sum of the limit position of the rotation assembly 1 rotating through the first rotation structure and the limit position of the rotation assembly 1 sliding through the sliding assembly 3, so that the capabilities of the sliding assembly 3 and the first rotation structure are fully utilized, and the spraying range of the spraying robot is expanded as much as possible within a limited size, so as to improve the spraying flexibility and the adaptability to the environment.

In an embodiment of the present invention, as shown in fig. 1, the other end of the bracket sliding block 32 is provided with a rotating platform 21, and the first rotating structure specifically includes: a first rotary base 111 provided on the rotary platform 21; a first rotating body 112 coaxially disposed with the first rotating base 111, and the first rotating body 112 is rotatable on the first rotating base 111; and a first rotating motor 113, which is in transmission connection with the first rotating body 112 to realize the rotation of the first rotating body 112.

In this embodiment, by providing the rotating platform 21 at the other end of the carriage slider 32, support is provided for the rotating assembly 1, and an installation space and a rotating space are provided for the rotating assembly 1; the first rotating structure comprises a first rotating base 111 arranged on the rotating platform 21 and a first rotating body 112 coaxially arranged with the first rotating base 111, and the first rotating structure rotates on the first rotating base 111 through the first rotating body 112 to realize the rotation of the first rotating structure relative to the frame body 2, so that the spraying direction of the spray gun 13 is changed, the spraying flexibility is improved, and the spraying structure is suitable for different spraying operation environments. Through first rotating electrical machines 113 and first rotator 112 transmission connection to realize first rotator 112's rotation under first rotating electrical machines 113's drive, realize the electric drive of first revolution mechanic, reducible reliance to the manual work, rotatory operation precision is higher, and the continuity and the stability of spraying operation are stronger. Preferably, the first rotating motor 113 is in direct-drive transmission connection with the first rotating body 112, so that the transmission efficiency is higher, the structure is simple, and the occupied space is small.

In an embodiment of the present invention, as shown in fig. 2, the second rotating structure specifically includes: a second rotating base 121 provided on the first rotating body 112; a second rotating body 122 disposed coaxially with the second rotating base 121, the second rotating body 122 being rotatable on the second rotating base 121, the spray gun 13 being disposed on the second rotating body 122; and a second rotating motor 123 in transmission connection with the second rotating body 122 to realize the rotation of the second rotating body 122.

In this embodiment, the second rotating structure includes a second rotating base 121 disposed on the first rotating body 112 and a second rotating body 122 disposed coaxially with the second rotating base 121, and the second rotating body 122 rotates on the second rotating base 121 to rotate the second rotating structure relative to the first rotating body 112, so as to further adjust the spraying orientation of the spray gun 13, thereby further improving the spraying flexibility and making the spraying robot more adaptive to the spraying operation environment. The second rotating motor 123 is in transmission connection with the second rotating body 122, so that the second rotating body 122 is driven by the second rotating motor 123 to rotate, and electric driving of the second rotating structure is realized, and the second rotating body 122 can independently rotate relative to the first rotating body 112 without being limited by the first rotating motor 113, it can be understood that the first rotating body 112 and the second rotating body 122 can also be driven by only one rotating motor, and transmission is performed by a synchronous belt or other transmission structures, but at this time, the first rotating body 112 and the second rotating body 122 need to rotate simultaneously, and independent rotation of each other cannot be realized. In addition, the second rotating motor 123 drives the second rotating body 122, so that the dependence on manpower is reduced, the rotating operation precision is improved, and the continuity and the stability of the spraying operation are ensured.

In an embodiment of the present invention, as shown in fig. 2, the first rotating body 112 specifically includes a first plate 1121 and a second plate 1122 connected to one side of the first plate 1121, wherein the first plate 1121 and the second plate 1122 are at a predetermined angle, and the second rotating electric machine 123 is disposed in a space sandwiched between the first plate 1121 and the second plate 1122.

In this embodiment, the first rotating body 112 specifically includes a first plate 1121 and a second plate 1122, where the second plate 1122 is connected to one side of the first plate 1121, and the first plate 1121 and the second plate 1122 form a predetermined angle, so as to reserve an installation space for the second rotating electrical machine 123, so that the second rotating electrical machine 123 can be disposed in the space between the first plate 1121 and the second plate 1122, and at the same time, it is ensured that the second rotating electrical machine 123 does not collide with the first rotating structure when the second rotating structure rotates, so as to avoid mutual interference generated during the rotation process. It is emphasized that the preset angle of the first plate 1121 and the second plate 1122 can be any angle that can accommodate the second rotating electric machine 123, and preferably, the preset angle is 90 °, so that the construction of a space coordinate model and the positioning of the spray gun 13 are facilitated, and mutual interference is not generated during the rotation.

In an embodiment of the present invention, as shown in fig. 2, the spray gun assembly further includes a right angle reducer 124, one end of the right angle reducer 124 is connected to the second rotating motor 123, and the other end is connected to the second rotating body 122, so that the axis of the second rotating motor 123 is at a right angle to the axis of the second rotating base 121.

In this embodiment, one end is connected to the second rotating electrical machine 123, the other end is connected to the second rotating body 122, the transmission between the second rotating electrical machine 123 and the second rotating body 122 can be performed, on one hand, the output power of the second rotating electrical machine 123 is reduced, the rotating speed of the second rotating body 122 is reduced, namely, the rotational speed of the spray gun 13 is reduced to make the spray gun 13 suitable for spraying a spray working surface requiring high precision in a small range, so as not to affect the spraying accuracy of the spray gun 13 due to the excessively high rotation speed of the second rotating body 122, and, on the other hand, the output direction of the second rotating electric machine 123 can be changed by 90 deg. by the right-angle decelerator 124, facilitating the installation of the second rotating electric machine 123, the second rotating electric machine 123 can reasonably utilize the reserved space of the first plate 1121 and the second plate 1122 on the first rotating body 112, and can prevent the mutual interference with the first rotating structure in the rotating process due to the large occupied space. In addition, the right-angle reducer 124 is adopted to reduce the speed of the second rotating motor 123, so that the second rotating motor 123 can be selected from motors of the same type as the first rotating motor 113, the universality of the motors is improved, and the production and maintenance cost is reduced.

In one embodiment of the present invention, as shown in fig. 2, the rotational plane of the first rotational structure and the rotational plane of the second rotational structure are perpendicular.

In this embodiment, the rotation surface of the first rotation structure is perpendicular to the rotation surface of the second rotation structure, so that mutual interference between the first rotation structure and the second rotation structure in the rotation process can be avoided, the influence of the rotation operation of the rotation assembly 1 on the spraying stability and the spraying precision of the spray gun 13 is reduced, meanwhile, effective utilization of the space is facilitated, the spatial arrangement of the first rotation structure and the second rotation structure is facilitated, the whole occupied space of the rotation assembly 1 is as small as possible, and the rotation assembly is suitable for spraying operation in a narrow space.

In an embodiment of the present invention, as shown in fig. 3, there is provided a painting robot, including: the frame body 2 is internally provided with a lifting channel 22; the lifting mechanism 4 is arranged in the lifting channel 22, and the first part 421 of the lifting mechanism 4 is fixedly connected with the frame body 2; the lifting motor 5 is in transmission connection with the lifting mechanism 4, so that the lifting mechanism 4 moves in the lifting channel 22 under the driving of the lifting motor 5; the lance assembly of any of the above embodiments is disposed on the second portion 422 of the lifting mechanism 4, wherein the first portion 421 and the second portion 422 are disposed on both sides of the lifting mechanism 4, so that the lifting mechanism 4 extends or retracts into the lifting channel 22 under the driving of the lifting motor 5, and the relative movement between the lance assembly and the lifting mechanism 4 occurs.

In this embodiment, a lifting channel 22 is provided in the frame body 2 to provide a space for the movement of the lifting mechanism 4, the lifting mechanism 4 is provided in the lifting channel 22, and the first portion 421 of the lifting mechanism 4 is fixedly connected to the frame body 2, so that the lifting motor 5 can move within a certain range in the lifting channel 22; powering the movement of the lifting mechanism 4 within the lifting channel 22 by means of the lifting motor 5; by providing the lance assembly of any of the above embodiments in the second portion 422 of the lifting mechanism 4, with the first portion 421 and the second portion 422 on either side of the lifting mechanism 4, the lifting mechanism 4 can extend or retract the lifting passage 22, upon actuation of the lifting motor 5, while relative movement occurs between the lance assembly relative to the lifting mechanism 4, thereby the spray gun component can move integrally in the lifting channel 22 along with the lifting mechanism 4 relative to the frame body 2 and can move relative to the lifting mechanism 4, the spray gun component realizes two-stage lifting, the space range of spraying operation is enlarged, the size of the spraying robot does not need to be increased, the cost is effectively reduced, meanwhile, the flexibility of spraying operation and the adaptability to the operation environment are enhanced, the spraying device is particularly suitable for the spraying environment which needs to enter a small space or has higher height, and the dependence on workers is reduced. In addition, the utility model provides a spraying robot includes the spray gun subassembly in any above-mentioned embodiment, therefore has the whole beneficial effect of the spray gun subassembly in any above-mentioned embodiment, and the repetition is no longer repeated here.

In an embodiment of the present invention, as shown in fig. 4, the lifting mechanism 4 specifically includes: at least two driving wheels 41, wherein one of the driving wheels 41 is in transmission connection with the lifting motor 5; and the transmission belt 42 is wound outside the transmission wheels 41 in transmission connection with the lifting motor 5, and the transmission belt 42 is matched with at least two transmission wheels 41 to move under the driving of the lifting motor 5.

In this embodiment, the lifting mechanism 4 can transmit power and provide tension for the transmission belt 42 under the driving of the transmission wheel 41 through the cooperation of the transmission wheel 41, the transmission belt 42 and the lifting motor 5, so as to realize the rotation of the transmission belt 42, specifically, at least one of all the transmission wheels 41 is selected and is in transmission connection with the lifting motor 5, so as to provide power for the rotation of the transmission belt 42, thereby improving the automation level of the product, and reducing the dependence on manpower, wherein the number of the lifting motors 5 is one, and the lifting motor 5 is in transmission connection with the transmission wheel 41 above, so as to simplify the transmission structure, and facilitate the maintenance of the lifting motor 5. Of course, the number of the lifting motors 5 may also be multiple, and it can be understood that when the number of the lifting motors 5 is multiple, the output power is larger, and a heavier load can be borne; the transmission belt 42 wound outside the transmission wheel 41 in transmission connection with the lifting motor 5 is matched with the two transmission wheels 41, so that the transmission belt 42 can rotate around the transmission wheel 41 under the driving of the lifting motor 5. It should be emphasized that, the first portion 421 fixedly connected to the frame body 2 is provided in the lifting mechanism 4, that is, one side of the driving belt 42 is fixedly connected to the frame body 2, because the driving belt 42 can continuously rotate circularly under the driving of the lifting motor 5, the lifting mechanism 4 can move relatively on the frame body 2 as a whole, and the spray gun assembly is provided on the second portion 422 of the other side of the lifting mechanism 4, that is, on the other side of the driving belt 42, the driving belt 42 of the lifting mechanism 4 can not only rotate around the driving wheel 41, but also can move integrally relative to the frame body 2, thereby realizing the two-stage lifting of the lifting mechanism 4 to the spray gun assembly, further enlarging the spatial range of the spraying operation, and improving the flexibility of the spraying operation and the adaptability to the environment.

In one embodiment of the present invention, the transmission wheel 41 is a gear, and the transmission belt 42 is a rack; or the transmission wheel 41 is a belt wheel, and the transmission belt 42 is a synchronous belt; or the transmission wheel 41 is a chain wheel and the transmission belt 42 is a chain belt.

In this embodiment, the transmission wheel 41 and the transmission belt 42 have various options, and the two-stage lifting of the spray gun assembly in the present invention can be realized by a gear and a rack, a belt wheel and a synchronous belt, or a chain wheel and a connecting belt; 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. Preferably, a pulley and a timing belt are used.

In an embodiment of the present invention, as shown in fig. 5, the spraying robot further includes: the feeding assembly 61 is arranged in the frame body 2, and the feeding assembly 61 is communicated with the spray gun 13 of the spray gun assembly so as to feed materials into the spray gun 13; and/or a moving device 62 provided at the bottom of the frame body 2 to move the frame body 2; and/or a power supply device 63 which is arranged in the frame body 2 and is used for supplying electric energy when the spraying robot runs.

In the embodiment, the feeding assembly 61 arranged in the frame body 2 is communicated with the spray gun 13 of the spray gun assembly to supply the coating for the spraying operation, so that the manual coating supplementing operation can be reduced, and the dependence on the manual work is reduced; the spraying robot can be provided with a moving device 62 and is arranged at the bottom of the frame body 2 to move the frame body 2, so that the horizontal movement during spraying operation is realized, the spraying operation is convenient, the flexibility of the spraying robot is improved, and the horizontal movement can also be realized through external moving equipment; the spraying robot can be provided with the power supply device 63 and arranged in the frame body 2 to provide electric energy for the spraying robot during operation, so that the spraying robot keeps continuous spraying operation and is not limited by a power circuit, the spraying operation range is larger, and the power supply device 63 can be a battery or a generator, but can also supply power through an external power supply.

Above combine the figure to explain in detail the technical scheme of the utility model, through spray gun subassembly and spraying robot, can effectively enlarge spraying operation scope, the flexibility of reinforcing spraying operation and to the adaptability of operation environment, reduce artificial dependency, improve the spraying precision, reduce cost.

In the present application, the terms "first", "second", "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 meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present specification, 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

1. A spray gun assembly for a spray coating robot including a frame body, comprising:

the sliding assembly is arranged on the frame body;

the rotating assembly is arranged on the sliding assembly and comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the sliding assembly, the second rotating structure is arranged on the first rotating structure, and the rotating direction of the second rotating structure is different from that of the first rotating structure;

and the spray gun is arranged on the second rotating structure so as to rotate under the driving of the rotating assembly.

2. The spray gun assembly according to claim 1, wherein the slide assembly comprises in particular:

the lead screw is arranged on the frame body;

the support sliding block is internally provided with a thread matched with the lead screw, and when the lead screw is driven by the sliding motor to rotate, the support sliding block can move along the axial direction of the lead screw, and the support sliding block is provided with the rotating assembly.

3. The spray gun assembly of claim 2 wherein the rotational plane of said first rotational structure is parallel to the sliding plane of said slide assembly.

4. The spray gun assembly according to claim 2, wherein the other end of the carriage slide is provided with a rotary platform, and the first rotary structure comprises:

the first rotating base is arranged on the rotating platform;

the first rotating body is coaxially arranged with the first rotating base and can rotate on the first rotating base;

and the first rotating motor is in transmission connection with the first rotating body so as to realize the rotation of the first rotating body.

5. The spray gun assembly according to claim 4, characterized in that said second rotary structure comprises in particular:

a second rotating base provided on the first rotating body;

the second rotating body is coaxially arranged with the second rotating base, the second rotating body can rotate on the second rotating base, and the spray gun is arranged on the second rotating body;

and the second rotating motor is in transmission connection with the second rotating body so as to realize the rotation of the second rotating body.

6. The spray gun assembly according to claim 5, characterized in that the first rotation body comprises in particular a first plate and a second plate connected to one side of the first plate,

the first plate and the second plate are at preset angles, and the second rotating motor is arranged in a space clamped by the first plate and the second plate.

7. The spray gun assembly of claim 5 further comprising:

and one end of the right-angle speed reducer is connected with the second rotating motor, and the other end of the right-angle speed reducer is connected with the second rotating body, so that a right angle is formed between the axis of the second rotating motor and the axis of the second rotating base.

8. A painting robot, comprising:

the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body;

the lifting mechanism is arranged in the lifting channel, and the first part of the lifting mechanism is fixedly connected with the frame body;

the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism moves in the lifting channel under the driving of the lifting motor;

the spray gun assembly of any one of claims 1 to 7 wherein the slide assembly of the spray gun assembly is provided on a second portion of the lifting mechanism, wherein the first and second portions are provided on opposite sides of the lifting mechanism such that, upon actuation of the lifting motor, the lifting mechanism extends or retracts into the lifting passage and relative movement occurs between the spray gun assembly and the lifting mechanism.

9. A painting robot as claimed in claim 8, characterized in that the lifting mechanism comprises in particular:

at least two driving wheels, wherein one of the 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 at least two transmission wheels to move under the driving of the lifting motor.

10. The spray coating robot of claim 9,

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.