CN109958263A

CN109958263A - Spray robot

Info

Publication number: CN109958263A
Application number: CN201910384420.7A
Authority: CN
Inventors: 季瑞南; 许安鹏; 贺彬; 巫广义
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-05-09
Filing date: 2019-05-09
Publication date: 2019-07-02

Abstract

The present invention provides a kind of spray robots, comprising: frame body；Spray gun is mounted on frame body, can be sprayed to work surface；Image collecting device is mounted on frame body, for acquire it is spray coated after work surface image；Control device, it is mounted on frame body, it is connect with spray gun and image collecting device, can according to image acquisition device to image and the comparison of standard picture judge whether the spraying of work surface qualified, and it can control spray gun when the spraying for judging work surface is unqualified and work surface is sprayed again；Supply assembly is mounted on frame body, for being fed for spray gun.The program can acquire the spraying situation of the work surface after spraying by image collecting device, the image of acquisition can be compared with standard picture simultaneously and determine whether the spraying of work surface is qualified, and work surface can be sprayed again after unqualified, it just can ensure coating quality in this way, avoid spraying defect.

Description

Spray robot

Technical field

The present invention relates to spraying fields to be more specifically related to a kind of spray robot.

Background technique

Occurring one kind at present can be to the spray robot that building is sprayed automatically, and this spray robot can External wall, inner wall of building etc. are sprayed automatically, but spray robot can not detect coating quality in spraying, Thus it is unable to ensure coating quality.

Therefore, it is impossible to which designing one kind can ensure that the spray robot of coating quality becomes urgently to be resolved at present and asks Topic.

Summary of the invention

The present invention is directed at least solve one of the technical problems existing in the prior art.

For this purpose, it is an advantage of the invention to provide a kind of spray robots.

To achieve the above object, the embodiment of first aspect present invention provides a kind of spray robot, comprising: frame body； Spray gun is mounted on the frame body, can be sprayed to work surface；Image collecting device is mounted on the frame body, is used for Acquire it is spray coated after work surface image；Control device is mounted on the frame body, is acquired with the spray gun and described image Device connection, can judge the work surface according to the comparison of described image acquisition device acquired image and standard picture Spraying it is whether qualified, and the spray gun can be controlled to the operation when the spraying for judging the work surface is unqualified Face is sprayed again；Supply assembly is mounted on the frame body, is connect with the spray gun, for being fed to the spray gun.

The spray robot that embodiment according to the present invention provides, can be specifically used for the exterior wall of skyscraper or interior wall into Row spraying, for example spray painting is carried out to the exterior wall of skyscraper and spraying-rinsing perhaps is carried out to the exterior wall of skyscraper or to building It builds interior wall to be painted, such as spray emulsion paint etc..Specifically, spray robot includes frame body, spray gun, image collecting device and control Device and supply assembly processed, wherein frame body is specifically used for making exterior wall, interior wall of skyscraper etc. for installing spray gun, spray gun Industry face is sprayed, and image collecting device is used to acquire the image of spray coated work surface, and control device is for controlling spray The work of rifle, such as control spray gun are moved forward and backward, or the work such as move left and right or rotate.Meanwhile control device is also adopted with image Acquisition means connection, can judge whether the spraying of work surface closes according to the image of image acquisition device and standard picture Lattice, and control device can also spray again work surface when the spraying for judging work surface is unqualified, wherein this In spraying again preferably refer to spray work surface at underproof position and carry out second and spray, certainly, spray again It can be and second of spraying is carried out to entire work surface.This kind of structure can acquire the work after spraying by image collecting device The spraying situation in industry face, while the image of acquisition can be compared with test pattern, so that it is determined that the spraying of work surface out It is whether qualified, just spray coated work surface can be sprayed again, in this way after coating robot coats are unqualified in this way Just the phenomenon that capable of ensuring coating quality, avoiding spraying defect, prevent the poor quality sprayed automatically generation.And supply assembly is used It is fed in spray gun, so that spray gun can spray to the materials such as paint, clear water in work surface.

Wherein, spray gun is movably mounted on frame body, and spray gun is moved on frame body, such as sliding or rotation, Just the spraying of spray gun can be kept more flexible and convenient by the activity of spray gun in this way.

It is further preferred that image collecting device is movably mounted on frame body, so that image collecting device can It is moved on frame body, such as sliding or rotation, just can make image collecting device by the activity of image collecting device in this way It acquires more flexible and convenient.

Wherein it is preferred to which image collecting device corresponds to spray gun setting, i.e., image collecting device is mounted near spray gun, Make being positioned relatively close to for spraying position and Image Acquisition in this way, so that image collecting device can be acquired relatively accurately Region after spray gun spraying.

In addition, the spray robot provided according to that above embodiment of the present invention also has following additional technical feature:

In the above-mentioned technical solutions, it is preferable that described image acquisition device is industrial camera or video camera, and described image is adopted When packaging is set to industrial camera, the standard picture is the normal pictures prestored, when described image acquisition device is video camera, institute Stating standard picture is the normal video prestored.

In the technical scheme, image collecting device can be industrial camera or video camera, and image collector is set to industry When camera, directly the work surface after spraying can be saved in the form of picture industrial camera, and at this point, can in advance by Qualified normal pictures are deposited into storage device, the picture shot in this way by analysis comparison industrial camera and the figure prestored Difference between sample can judge whether the quality of spraying is qualified.And when image collector is set to video camera, it can be direct The work surface after spraying is saved in the form of video video camera, and at this point, can be in advance by qualified normal video It is deposited into storage device, so just by the difference between the video of analysis comparison video camera shooting and the normal video prestored Can determine whether out whether the quality sprayed is qualified.

In the above-mentioned technical solutions, it is preferable that the standard picture is stored in the control device.

In the program, standard picture can be had previously been stored in inside control device, can be directly by figure in this way when needing to compare As calling out.At this point, a settable storage device carrys out specific storage standard image, so that control device can be at any time Standard picture is called to compare and analyze with the image of image acquisition device, so that it is determined that whether the quality for going out spraying closes Lattice.Certainly, standard picture can also be obtained by networking.

In any of the above-described technical solution, it is preferable that spray robot further include: slide assemblies are mounted on the frame body On, it can be slided on the frame body；Actuator is slided, is connect with the slide assemblies, the slide assemblies can be driven sliding It is dynamic；Wherein, described image acquisition device and/or the spray gun are mounted on the slide assemblies, can be in the slide assemblies Under the action of slide.

In those technical solutions, spray robot further includes slide assemblies and sliding actuator, wherein slide assemblies are sliding It is mounted on frame body dynamicly, is preferably able to longitudinal direction or the transverse direction sliding of the work surface along spray gun, certainly, slide assemblies It can also can be driven in this way on frame body along the direction sliding or the sliding of curved track with longitudinal direction at an angle Spray gun is moved along the longitudinal direction or transverse direction of work surface, and slides actuator for driving slide assemblies to slide, and is led in this way The automatic driving of slide assemblies can be realized by crossing sliding actuator, to just can be realized up and down side of the spray gun along work surface To automatic sliding.And image collecting device and/or spray gun are mounted on slide assemblies, just can pass through slide assemblies band in this way Dynamic spray gun and/or image collecting device are slided along the direction up and down of work surface, are passing through spray gun to skyscraper in this way When exterior wall, interior wall etc. are painted, are cleaned, can by spray gun move freely painted to the region around spray gun, Cleaning, and in the acquisition of the image after being sprayed, image collecting device can be driven by the sliding of slide assemblies Movement, so as to which the image to surrounding can collect.And this structure, it is capable of increasing the face that spray gun can spray every time Product increases the area for the operation image that image collecting device can acquire, to not have to the frame for continually moving spray robot Body does not both have to frequently move integrally spray robot.And in high-altitude, movement is that comparison is tired for spray robot Difficult, therefore the application is by increasing the freedom degree of spray gun and image collecting device, reducing the mobile number energy of spray robot Enough reduce the control difficulty of spray robot.

Wherein, image collecting device and spray gun are installed on slide assemblies, additionally it is possible to make image collecting device and spray gun Installation can be corresponded to, same position can be installed substantially at by allowing for image collecting device and spray gun in this way, be sprayed in this way in spray gun Image after painting, after spraying just can be advantageously collected very much by image collecting device.In addition, this kind of structure can pass through Same slide assemblies realize that the position of image collecting device and spray gun is adjusted, it is thus possible to simplify the structure of product, reduce product Cost.

In any of the above-described technical solution, it is preferable that the spray robot further includes the first guide rail, first guide rail It is mounted on the frame body, the transverse direction along the work surface is arranged, and the slide assemblies include: the first sliding block, can be slided It is mounted on first guide rail, can be slided along first guide rail dynamicly；Second guide rail is mounted on first sliding block On, and be arranged along the longitudinal direction of the work surface；Second sliding block can be slidably mounted on second guide rail, can It is slided along second guide rail；Wherein, described image acquisition device and/or the spray gun are mounted on second sliding block；Institute Stating sliding actuator includes actuator one and actuator two, and the actuator one is mounted on the frame body, sliding with described first Block connection, for driving first sliding block to slide, the actuator two is mounted on the frame body, is connected with second sliding block It connects, for driving second sliding block to slide.

In the technical scheme, spray robot further includes the first guide rail, the first guide rail along work surface transverse direction, i.e., The left and right directions of work surface is arranged, and slide assemblies include the first sliding block, actuator one, the second guide rail, the second sliding block and driving Part two, slide assemblies can slidably be installed on the first guide rail by the first sliding block, and can be slided along the first rail, and drive For part one for driving the first sliding block to slide along the first rail, such slide assemblies are just able to drive spray gun and/or image collector It sets and slides in transverse direction, and the second sliding block can be slidably mounted on the second guide rail, and actuator two is for driving second Sliding block sliding just can drive spray gun and/or image collecting device edge by sliding of second sliding block on the second guide rail in this way Longitudinal direction sliding, in this way by slide assemblies in the cunning of sliding and the second sliding block on the second guide rail on the first guide rail The dynamic position up and down that can adjust spray gun and/or image collecting device.And the first guide rail and the second guide rail can limit Glide direction, just can prevent in this way the first sliding block and the second sliding block sliding hour offset projected route so that spray gun and/ Or image collecting device can slide into the predetermined area according to projected route, be sprayed with the area to be sprayed to presumptive area And/or Image Acquisition.And this kind of structure spraying can be adjusted by the sliding of longitudinal direction and transverse direction and/or image is adopted The position of acquisition means, so that the height and position of spray gun and/or image collecting device adjusts and left-right position adjusting is more independent, this Sample just can be improved the height adjustment of spray gun and/or image collecting device and the convenience of left and right adjusting.Certainly, in other schemes In, the tilt adjustment of the position of spray gun and/or image collecting device can also be realized by the sliding rail being obliquely installed, i.e., be not horizontal Put down vertical adjusting.

In addition, corresponding first guide rail of this kind of structure is mounted with the actuator one of driving the first sliding block sliding, and correspond to Second guide rail be mounted with one driving the second sliding block sliding actuator two, so just can by two independent actuators come The independent driving of the first sliding block and the second sliding block is realized, so that the first sliding block and the second sliding block can be mutually only in sliding It is vertical, non-interference, it just can be realized the separately adjustable and vertically independent adjusting of transverse direction of spray gun in this way, improve spray gun and/or image The freedom degree of acquisition device movement.

In any of the above-described technical solution, it is preferable that spray robot further include: third guide rail is mounted on the frame body On, the transverse direction along the work surface is arranged；Third sliding block is slidably mounted on the third guide rail, and with the cunning Dynamic component connection.

Third guide rail is provided in those technical solutions, on frame body, and third sliding block is slidably mounted on third guide rail On, and connect with slide assemblies, specifically, it can be connect with the second guide rail, in this way when slide assemblies are slided with respect to the first guide rail, Third sliding block can be driven to slide on third guide rail, it in this way can be by the first guide rail and third guide rail simultaneously to slide assemblies Sliding motion be oriented to.I.e. this kind of structure slide assemblies can be slidably mounted on third guide rail and the first guide rail.And The connection reliability between slide assemblies and frame body can be enhanced by the way that third guide rail is arranged, prevent slide assemblies installation unstable It is fixed.

In any of the above-described technical solution, it is preferable that spray robot further include: it is sliding to be mounted on described second for fixed plate On block, described image acquisition device is mounted in the fixed plate.

In those technical solutions, a fixed plate can be set on the second sliding block, and fixed plate is preferably solid by screw It is fixed on the second sliding block, certainly, fixed plate can also be mounted on the second sliding block by the modes such as buckling or welding, and Image Acquisition Device can be affixed directly in fixed plate, can realize installation of the image collecting device on slide assemblies in this way.And specifically, The structure of fixed plate can be rationally set, fixed so that fixed plate can carry out reasonable limit to image collecting device.

In any of the above-described technical solution, it is preferable that spray robot further include: rotary components are mounted on described second On sliding block, the spray gun is mounted on the rotary components, can be rotated under the action of the rotary components.

In those technical solutions, spray robot further includes the rotary components being mounted on the second sliding block, and spray gun is pacified On rotary components, spray gun can be driven in the operation rotation in surface of spraying by rotary components in this way.This kind of structure spray gun It can either transversely move and can move along the longitudinal direction, while can also be rotated under the action of rotary components, so just It can be realized the multifreedom motion of spray gun.

In any of the above-described technical solution, it is preferable that be provided with first between first sliding block and second guide rail Connecting plate is connected by screw between first connecting plate and first sliding block, first connecting plate and described second It is connected by screw between guide rail.

In those technical solutions, can between the first sliding block and the second guide rail the first connecting plate, first can be made in this way It can more securely be connected between sliding block and the second guide rail, and preferably, between the first connecting plate and the first sliding block and first It is preferably connected by screw between connecting plate and the second guide rail, because the mode of screw connection is fairly simple and connection is reliable.

Wherein, when work surface is the exterior wall or interior wall of skyscraper, the longitudinal direction of work surface is the outer of skyscraper The up and down direction of wall or interior wall, the transverse direction of work surface are the exterior wall of skyscraper or the left and right directions of interior wall.Meanwhile it spraying Robot can also be used for spraying other work surfaces in addition to exterior wall and interior wall.

In any of the above-described technical solution, it is preferable that the actuator one includes first motor, and the first motor passes through Transmission belt is connect with first sliding block, and the actuator two includes the second motor, and second motor passes through transmission belt and institute State the connection of the second sliding block.

In those technical solutions, the first sliding block is preferably driven to slide by first motor, and first motor and first Preferably by V belt translation mode is attached between sliding block, meanwhile, preferably drive the second sliding block sliding by the second motor It is dynamic, and it is also preferred that by V belt translation mode is attached between the second motor and the second sliding block.This kind of structure can make to drive Part one and actuator two it is relatively simple for structure, it is thus possible to simplify the structure of product.Specifically, first motor, the second motor It can be connect by belt pulley and belt with the first sliding block and the second sliding block, certainly, in first motor and the first sliding block and second The drive mechanisms such as also settable gear between motor and the second sliding block, so as to rationally control the first sliding block and the second sliding block Speed.

In any of the above-described technical solution, it is preferable that the first motor and second motor are servo motor.Cause It is high for the control precision of servo motor, it is thus possible to ensure the deposition accuracies of spray gun.

Wherein it is preferred to which the second motor is preferably mounted at the lower end of the second guide rail, so that the second motor can be from The lower end of two guide rails come realize the sliding to the second sliding block drive.

In any of the above-described technical solution, it is preferable that the spray robot further includes the first shield and the second protection Cover, first shield are mounted on the motor shaft end of the first motor, can cover the motor shaft of the first motor, institute The motor shaft end that the second shield is mounted on second motor is stated, the motor shaft of second motor can be covered.

In those technical solutions, by the first shield of setting and the second shield, rainwater, dust shadow can be effectively prevent Ring the work of first motor and the second motor.Wherein it is preferred to the first shield and the second shield are preferably square, because Rectangular area is larger, just can enhance the protective performance of shield in this way.

In any of the above-described technical solution, it is preferable that the rotary components include: rotary drive, are mounted on the cunning On dynamic component；Second connecting plate is mounted on the output shaft of the rotary drive；Wherein, the spray gun is mounted on described On two connecting plates, the rotary drive rotation is able to drive the spray gun and moves along the longitudinal direction of the work surface or along institute State the transverse direction movement of work surface.

In those technical solutions, rotary components include rotary drive and the second connecting plate, and rotary drive is used for The power of offer rotation, and installation of second connecting plate for realizing spray gun on rotary drive, meanwhile, the second connecting plate energy Enough increase the radial distance between rotary drive and spray gun, so as to increase the radius of turn of spray gun, so that spray gun can Pass through the greater area of region of rotation disposable spray finishing.In addition, the second connecting plate can also increase the placement space of spray gun, mention Contact area between high spray gun and rotary drive, to improve the mounting stability between rotary drive and spray gun.

In any of the above-described technical solution, it is preferable that the rotary drive includes: third motor, is mounted on the cunning On dynamic component；Retarder is mounted on the slide assemblies, is connect with the third motor；Wherein, the output shaft setting exists On the retarder.

In those technical solutions, power can be provided by third motor, and speed reducer is used to adjust the speed of spray gun Output torque is improved simultaneously, so as to by the speed control of output shaft in reasonable range.Wherein, third motor is preferably Servo motor, because the control precision of servo motor is higher, so as to improve the control precision to the speed of rotation axis etc..

Wherein it is preferred to the angle that the spray gun can rotate, which is more than or equal to 0 °, is less than or equal to 180 °, i.e., in the application, Spray gun preferably only rotates 180 °, can make the structure of spray gun more rationally compact in this way.Certainly, spray gun, which may also set up, to rotate 360 ° of structure.

In any of the above-described technical solution, it is preferable that the frame body includes: suspension, and promotion dress is equipped on the suspension It sets；Hanger can be hung by the lifting device and is mounted in the suspended end of the suspension；Wherein, the spray gun and the figure As acquisition device is installed on the hanger.

In those technical solutions, frame body includes suspension and hanger, wherein suspension can be specifically used for suspension and be mounted on height Place, for example be mounted on the roof of building to be sprayed, and hanger is lifted on suspension by lifting device, this makes it possible to will hang Frame is mounted in the work surfaces such as the exterior wall of skyscraper.I.e. suspension, hanger, lifting device and control device may be designed to one here Barrel structure in a similar building, the in this way device by this similar to barrel structure can realize spray gun along the wall of skyscraper The movement in face etc..And spray gun and image collecting device can be directly mounted on hanger, specifically, first can be installed on hanger and led Then spray gun and image collecting device are slidably mounted on the first guide rail by slide assemblies, can realize spray in this way by rail The installation of rifle and image collecting device on hanger.

In any of the above-described technical solution, it is preferable that the supply assembly includes air compressor and storage device, described Air compressor is mounted on the suspension, and the storage device is mounted on the hanger, and is connected to the air compression Between machine and the spray gun, the control device includes the first control piece and the second control piece, and first control piece is mounted on It on the suspension, is connect with the lifting device and the supply assembly, for controlling the lifting device and the feed group The work of part, second control piece are mounted on the hanger, are adopted with first control piece, the spray gun, described image Acquisition means connection.

In those technical solutions, supply assembly includes air compressor and storage device, wherein air compressor is used for The input air into storage device, so as to increase the pressure in storage device, and the material in storage device pressure by It is cumulative it is big after can be drained into spray gun from the discharge port of storage device under pressure, in this way by air compressor and storage Material device can realize the supply of spray finishing material.Wherein, storage device is preferably storage tank.

In addition, one individual control piece is difficult to meet spray robot in view of the control heavy workload of spray robot Loading demand.Thus, it may be preferable to the control device of complete machine is divided into two parts, i.e. the first control piece and the second control piece, And preferably, the first control piece can be mounted on suspension, to control the work of electrical installation being mounted on suspension, and by the Two control pieces are mounted on hanger, to control the work for the electrical installation being mounted on hanger.And the second control piece is preferably with One control piece connection, so that the control section of complete machine can intercommunication, so as to complete machine carry out linkage control, without The phenomenon that there are respective independent controls.And this set can carry out the control of complete machine by two sseparated control pieces, from And the load of each control piece can be reduced, it is ensured that the safety of control device.

Wherein, lifting device can be specially the device including elevator, dynamic ropes and safety rope, and elevator is specifically used In the lifting for realizing dynamic ropes, and safety rope is for ensuring safety.And dynamic ropes and safety rope are preferably wirerope.

In any of the above-described technical solution, it is preferable that spray robot further include: AGV trolley, the suspension are mounted on institute It states on AGV trolley, the transverse direction that can control the suspension along the work surface moves, and is able to drive the suspension edge Perpendicular to the direction movement of the work surface.

In those technical solutions, the transverse shifting of suspension is preferably carried out by AGV trolley, for example is moved left and right. And AGV trolley can carry out Scaned map and be automatically moved to roofing situation, so as to plan the spraying road of spray gun assembly automatically Line.

Specifically, AGV is the abbreviation of AutomatedGuidedVehicle, also referred to as AGV trolley, and AGV trolley is one Kind is equipped with electricity magnetically or optically equal homing devices, can travel along defined guide path, with safeguard protection and respectively The transport vehicle of kind transfer function, driver is not needed in industrial application, its travelling route can be controlled by computer, can be passed through Electromagnetic path bring message is moved and is acted.

In any of the above-described technical solution, it is preferable that spray robot further include: safety guard is mounted on described It on hanger, is connect with the lifting device, is able to detect the working condition of the lifting device and the hanger, and can be in institute It states when the working condition of lifting device and/or the hanger is in except preset state and locks the lifting device.

In those technical solutions, safety of the lifting device when promoting hanger can be ensured by safety guard, To effectively take precautions against the generation of work safety accident.Specifically, for example, lifting device be specially include elevator, dynamic ropes with And safety rope device when, safety guard can be arranged to a gliding speed when hanger and reach lock rope speed and extension The tilt angle of frame when reaching lock rope angle can automatic locking safety rope, so that hanger is stopped decline or is stopped inclined safety Lock, and preferably, when safety lock is arranged, it should be noted that safety lock should cannot automatically reset in the case where locking rope form state, effectively to take precautions against The generation of work safety accident.And the concrete operating principle of lock and the principle of the safety guard in existing building hanging basket are installed Equally, it does not repeat specifically herein.It certainly,, can also be by safeguard protection when the structure of lifting device is different in other schemes Device is arranged to other structures, for example, lifting device can also be the structures such as electric block, hydraulic hoist, and safety at this time Protective device can be specially a velocity estimated device, can ensure that hanger is being promoted by the promotion speed of lifting device in this way Safety in the process.Certainly, safety guard can also one can be judged according to the height of hanger hanger whether safety Device.And in the actual process, the structure of lifting device and safety guard can be set according to actual needs, and the application does not make It is specific to limit.

In any of the above-described technical solution, it is preferable that spray robot further include: weighing instrument is mounted on the hanger, It is electrically connected with second control piece, the storage device is mounted on the weighing instrument.

In those technical solutions, weighing instrument can be set on hanger, then storage device is mounted on weighing instrument, this Sample just can detect at any time the material in storage device by weighing instrument, so as to in storage device material carry out with When supervise.And weighing instrument is connect with the second control piece, and the weight data of storage device can be sent to the second control piece, in this way When material in storage device is very few, the second control piece can control the work of lifting device together with the first control piece, with Hanger just can be moved to the place for carrying out feeding operation convenient for user, just can be added in time into storage device in this way Material prevents the material in storage device from running out the phenomenon that being found not yet.

In any of the above-described technical solution, it is preferable that spray robot further include: clump weight is mounted on the suspension In non-suspended end.

In those technical solutions, by setting clump weight can by clump weight come the weight of balance frame itself, thus Frame body can be prevented overweight, and entire suspended structure is caused to be toppled.

In any of the above-described technical solution, it is preferable that spray robot further include: multiple direction-casters are arranged described For hanger on the face that the work surface is arranged, multiple direction-casters can be with the operation face contact, and can be in institute It is rolled in the work surface when stating hanger movement.

In those technical solutions, enables hanger to be supported on high level by direction-caster by setting direction-caster and build On the metopes such as the exterior wall built, just hanger can be prevented completely hanging in this way.In addition, passing through rolling of the direction-caster in work surface Also hanger can be made more steady when moving.

In any of the above-described technical solution, it is preferable that spray robot further include: cable disk is mounted on the suspension On, the cable disk includes cable, and one end of the cable is connect with external power supply or first control piece, described The other end of cable is connect with second control piece；Circumscripted power line connect with first control piece and is described The power supply of one control piece；Wherein, when one end of the cable is connect with external power supply, first control piece and second control Product wirelessly carries out information transmission, when one end of the cable is connect with first control piece, described One control piece is second control piece power supply by the cable disk and carries out information transmission with second control piece.

In those technical solutions, spray robot further includes cable disk and circumscripted power line, wherein circumscripted power line Specifically for powering for the first control piece.And cable disk is in a specific embodiment, can be used for powering for the second control piece, At this point, one end of the cable on cable disk is connect with external power supply, and it is excellent between the first control piece and the second control piece at this time Choosing is wirelessly attached.And in another embodiment, the first control piece directly can be realized by cable disk Energization and signal transmission between the second control piece, at this point, cable is connected between the first control piece and the second control piece. And the setting of cable disk, so that hanger is in lifting process, cable can be with the lifting of hanger and by folding and unfolding, so just Standardized administration can be carried out to cable, prevent cable too long and cable winding or cable and other object phases occur Mutually stuck problem.And the first control piece and the second control piece are wirelessly attached can save the first control piece With the signal cable of the second control piece, simplify the overall structure of product.

In any of the above-described technical solution, it is preferable that spray robot further include: the first valve is connected to the air pressure Between contracting machine and the storage device, for controlling the on-off between the air compressor and the storage device；Second valve, It is connected between the storage device and the spray gun, for controlling the on-off between the air compressor and the spray gun； Third valve is connected between the storage device and the spray gun, for controlling between the air compressor and the spray gun Flow.

In those technical solutions, by the way that the first valve is arranged, it can control logical between air compressor and storage device It is disconnected, the pressure in air compressor just can be controlled in this way, to achieve the purpose that the start-stop for controlling air compressor.Certainly, The start-stop control of air compressor can also be controlled by a guard's valve.And the first valve here is preferably electromagnetism Valve, because the control of solenoid valve is more convenient precisely.And the second valve is preferably proportioning valve, and it is controllable by the second valve of setting On-off between storage device and spray gun just can control the start-stop of spray gun in this way.And the second valve is preferably ejector pin valve.And the Three valves can be used for controlling the flow between storage device and spray gun, just can control the flow of air in this way, to control spray gun The condensation rate of the material of ejection.I.e. here third valve is flow control valve.

In any of the above-described technical solution, it is preferable that spray robot further include: range unit, the range unit packet The signal reflectors for including the signal generator being mounted on the suspension and being mounted on the hanger, the signal generator with The first control piece electrical connection can emit distance measuring signal and receive the feedback signal that the signal reflectors are fed back to, and It can be measured between the hanger and the suspension according to the distance measuring signal and the received feedback signal of transmitting Distance.

In those technical solutions, a settable ranging component measures the distance between suspension and hanger, so just The height and position for obtaining hanger can be analyzed according to the distance between suspension and hanger, can pass through the height and position of hanger in this way And the position of hanger is determined in the lateral position oriented of AGV trolley so that hanger can during the motion from The specific location at dynamic evacuation windowing platform, balcony, turning etc., to achieve the effect that effective avoidance.

Wherein it is preferred to which signal generator is laser measuring apparatus, signal reflectors are laser reflection plate.

In those technical solutions, the measuring and calculating of the distance between suspension and hanger can be carried out by way of laser ranging. Because the mode comparative maturity of laser ranging and easily realization, thus the cost of product can be simplified, reduce ranging difficulty.Specifically, It can set signal generator to laser measuring apparatus, and set laser reflection plate for signal reflectors, and in this configuration, swash Optical measuring instrument is used to issue laser signal, receives the signal that laser reflection plate is reflected back, and determines to hang according to both signals The distance between frame and suspension, and laser measuring apparatus is returned in the signal reflex that laser reflection plate is used to issue laser measuring apparatus, this Sample just enables laser measuring apparatus according to laser from answering out received time and the aerial velocity-of-propagation meter of laser The distance that laser is passed by is calculated, so that the distance that just can be passed by according to laser determines the distance between suspension and hanger.

In any of the above-described technical solution, it is preferable that the quantity of the laser reflection plate is two, and two laser are anti- Plate is penetrated to be symmetrically mounted on the hanger along the transverse direction of the work surface.

In those technical solutions, the laser that can be issued by two laser reflection plates to laser measuring apparatus carries out anti- It penetrates, the amount for the laser being reflected back can be enhanced in this way, so as to enhance the feedback signal that laser measuring apparatus can receive, this Sample just can enhance the laser signal of feedback when the laser signal by the laser signal and feedback that issue compares and analyzes Reliability, the accuracy of laser ranging is improved, so as to realize the accurate control mobile to the position of hanger.

In any of the above-described technical solution, it is preferable that be provided with sunk area, the suspension energy on the bottom of the suspension It is enough mounted on the AGV trolley by the sunk area, multiple pulleys, the suspension is provided on the bottom of the suspension When being mounted on the AGV trolley, the suspension can be contacted by multiple pulleys with the placement platform.

In those technical solutions, sunk area can be set in the bottom of suspension, AGV trolley is then mounted on depressed area It, so just can be while driving suspension to move integrally by AGV trolley in domain, reduction suspension constitutes whole with AGV trolley The volume of body, to reduce the occupied area of product.And by the way that pulley is arranged on the bottom of suspension, suspension is connect with ground Touching, and can be slided when mobile with AGV trolley by pulley, just the movement of suspension can be made more convenient in this way.

Wherein it is preferred to the artificial spraying machine for external wall device people of spraying robot.Certainly, spray robot can also be glass curtain wall Deng high-altitude cleaning machine people, in addition, spray robot can also be interior wall spray robot.

Additional aspect and advantage according to the present invention will provide in following description section, partially will be from following description In become obvious, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:

Fig. 1 is the structural schematic diagram for the spray robot that embodiment according to the present invention provides；

Fig. 2 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 3 is the partial enlargement structural representation at the A in Fig. 2；

Fig. 4 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 5 is the another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 6 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes hanger part；

Fig. 7 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes slide assemblies part；

Fig. 8 is another structural representation that the spray robot that embodiment according to the present invention provides includes slide assemblies part Figure；

Fig. 9 is the structural schematic diagram that the spray robot that embodiment according to the present invention provides includes suspension part；

Figure 10 is another structural schematic diagram that the spray robot that embodiment according to the present invention provides includes suspension part；

Figure 11 be embodiment according to the present invention provide spray robot air compressor, storage device and spray gun it Between connection schematic diagram.

Wherein, corresponding relationship of the Fig. 1 into Figure 11 between appended drawing reference and component names are as follows:

1 frame body, 12 suspensions, 120 lifting devices, 122 clump weights, 124 cable disks, 14 hangers, 140 safeguard protections dress It sets, 141 direction-casters, 142 first guide rails, 144 first shields, 146 second shields, 148 third guide rails, 2 spray guns, 3 figures As acquisition device, 40 slide assemblies, 402 first sliding blocks, 404 second guide rails, 406 second sliding blocks, 408 first connecting plates, 42 is sliding Dynamic actuator, 422 actuators one, 424 actuators two, 46 fixed plates, 48 rotary components, 482 third motors, 484 retarders, 486 second connecting plates, 52 first control pieces, 54 second control pieces, 62 air compressors, 64 storage devices, 7AGV trolley, 82 letters Number generator, 84 signal reflectors, 9 weighing instruments, the first valve of a, the second valve of b, c third valve.

Specific embodiment

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real 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 Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool The limitation of body embodiment.

The spray robot of embodiment according to the present invention offer is described referring to Fig. 1 to Figure 11.

As shown in Figure 1 to 11, the embodiment of first aspect present invention provides a kind of spray robot, including frame body 1, Spray gun 2, image collecting device 3, control device and supply assembly, wherein control device specifically includes the first control piece 52 and Two control pieces 54, and supply assembly includes air compressor 62 and storage device 64, specifically, spray gun 2 is mounted on frame body 1, For acquire it is spray coated after work surface image；Control device is mounted on frame body 1, is connected with spray gun 2 and image collecting device 3 It connects, can judge whether the spraying of work surface closes according to the comparison of 3 acquired image of image collecting device and standard picture Lattice, and can control spray gun 2 when the spraying for judging work surface is unqualified and work surface is sprayed again；Supply assembly It is mounted on frame body 1, is connect with spray gun 2, for being fed to spray gun 2.

The spray robot that embodiment according to the present invention provides, can be specifically used for the exterior wall of skyscraper or interior wall into Row spraying, for example the exterior wall of skyscraper paint or to the exterior wall progress spraying-rinsing of skyscraper or to building Interior wall is painted, such as spray emulsion paint etc..Specifically, spray robot includes frame body 1, spray gun 2,3 and of image collecting device Control device and supply assembly, wherein frame body 1 is specifically used for exterior wall, interior wall to skyscraper for installing spray gun 2, spray gun 2 Etc. work surfaces sprayed, and image collecting device 3 is used to acquire the image of spray coated work surface, and control device is for controlling The work of spray gun 2 processed, such as control spray gun 2 are moved forward and backward, or the work such as move left and right or rotate.Meanwhile control device also with Image collecting device 3 connects, and the spraying of work surface can be judged according to the image of the acquisition of image collecting device 3 and standard picture It is whether qualified, and control device can also spray again work surface when the spraying for judging work surface is unqualified.Its In, spraying again here preferably refers to spray work surface underproof second of spraying of position progress, certainly, sprays again It applies also to be to carry out second to entire work surface to spray.After this kind of structure can acquire spraying by image collecting device 3 Work surface spraying situation, while the image of acquisition can be compared with test pattern, so that it is determined that work surface out Whether spraying is qualified, just can be sprayed again after coating robot coats are unqualified to spray coated work surface in this way, The phenomenon that just capable of ensuring coating quality in this way, avoiding spraying defect, prevent the poor quality sprayed automatically generation.And feed group Part is used to be fed to spray gun 2, so that spray gun 2 can spray to the materials such as paint, clear water in work surface.

Wherein, spray gun 2 is movably mounted on frame body 1, and spray gun 2 is moved on frame body 1, for example is slided or turned It is dynamic, just the spraying of spray gun 2 can be kept more flexible and convenient by the activity of spray gun 2 in this way.

It is further preferred that image collecting device 3 is movably mounted on frame body 1, so that 3 energy of image collecting device It is enough to be moved on frame body 1, such as sliding or rotation, just it can make image collector by the activity of image collecting device 3 in this way Set 3 acquisition it is more flexible and convenient.

Wherein it is preferred to which the corresponding spray gun 2 of image collecting device 3 is arranged, i.e., image collecting device 3 is mounted on the attached of spray gun 2 Closely, so that spraying position and Image Acquisition are positioned relatively close to, so that image collecting device 3 can be relatively accurately Collect spray gun 2 it is spray coated after region.

Wherein it is preferred to which standard picture is stored in the control device.It, can be directly by figure in this way when needing to compare As calling out.At this point, a settable storage device carrys out specific storage standard image, so that control device can be at any time Call standard picture compared and analyzed come image acquire with image collecting device 3, so that it is determined that go out spray quality whether It is qualified.Certainly, standard picture can also be obtained by networking.

In the above embodiment, it is preferable that as shown in Fig. 2, image collecting device 3 is industrial camera or video camera, image When acquisition device 3 is industrial camera, standard picture is the normal pictures prestored, when image collecting device 3 is video camera, standard drawing As the normal video to prestore.

In this embodiment, image collecting device 3 can be industrial camera or video camera, and image collecting device 3 is industry When camera, directly the work surface after spraying can be saved in the form of picture industrial camera, and at this point, can in advance by Qualified normal pictures are deposited into storage device, the picture shot in this way by analysis comparison industrial camera and the figure prestored Difference between sample can judge whether the quality of spraying is qualified.And when image collecting device 3 is video camera, it can be direct The work surface after spraying is saved in the form of video video camera, and at this point, can be in advance by qualified normal video It is deposited into storage device, so just by the difference between the video of analysis comparison video camera shooting and the normal video prestored Can determine whether out whether the quality sprayed is qualified.

In any of the above-described embodiment, it is preferable that as shown in figs. 2,7 and 8, spray robot further include: Slide Group Part 40 is mounted on frame body 1, can be slided on frame body 1；Actuator 42 is slided, is connect with slide assemblies 40, cunning can be driven Dynamic component 40 slides；Wherein, image collecting device 3 and/or spray gun 2 are mounted on slide assemblies 40, can be in slide assemblies 40 Under the action of slide.

In those embodiments, spray robot further includes slide assemblies 40 and sliding actuator 42, wherein slide assemblies 40 are slidably mounted on frame body 1, are preferably able to slide along the longitudinal direction or transverse direction of the work surface of spray gun 2, certainly, sliding Dynamic component 40 can also be on frame body 1 along the direction sliding or the sliding of curved track with longitudinal direction at an angle, in this way Spray gun 2 can be driven to move along the longitudinal direction or transverse direction of work surface, and slide actuator 42 for driving slide assemblies 40 slidings, can realize the automatic driving of slide assemblies 40 by sliding actuator 42 in this way, to just can be realized 2 edge of spray gun The automatic sliding in the direction up and down of work surface.And image collecting device 3 and/or spray gun 2 are mounted on slide assemblies 40, this Sample just can drive spray gun 2 and/or image collecting device 3 to slide along the direction up and down of work surface by slide assemblies 40, It, can moving freely by spray gun 2 in this way when exterior wall, the interior wall etc. of skyscraper are painted, cleaned by spray gun 2 It painted, cleaned to the region around spray gun 2, and in the acquisition of the image after being sprayed, sliding can be passed through The sliding of component 40 come drive image collecting device 3 move, so as to which the image to surrounding can collect.And this knot Structure is capable of increasing the area that spray gun 2 can spray every time, increases the area for the operation image that image collecting device 3 can acquire, To not have to continually move the frame body 1 of spray robot, both do not have to frequently move integrally spray robot.And for In high-altitude, movement is relatively difficult for spray robot, therefore the application is by increasing spray gun 2 and image collecting device 3 Freedom degree, the mobile number for reducing spray robot can reduce the control difficulty of spray robot.

Wherein, as shown in Fig. 2, image collecting device 3 and spray gun 2 are installed on slide assemblies 40, additionally it is possible to make image Acquisition device 3 and spray gun 2 can correspond to installation, allow for image collecting device 3 in this way and spray gun 2 can be installed substantially at it is same Position, the image in this way after spray gun 2 is spray coated, after spraying just can be advantageously collected very much by image collecting device 3.Separately Outside, this kind of structure can realize that the position of image collecting device 3 and spray gun 2 is adjusted by same slide assemblies 40, it is thus possible to The structure for simplifying product, reduces the cost of product.

In any of the above-described embodiment, it is preferable that as shown in Fig. 2 to Fig. 8, spray robot further includes the first guide rail 142, First guide rail 142 is mounted on frame body 1, and the transverse direction along work surface is arranged, and slide assemblies 40 include: that slide assemblies 40 wrap Include: the first sliding block 402 can be slidably mounted on the first guide rail 142, can be slided along the first guide rail 142；Second guide rail 404, it is mounted on the first sliding block 402, and be arranged along the longitudinal direction of work surface；Second sliding block 406, can be slidably mounted on On second guide rail 404, it can be slided along the second guide rail 404；Wherein, it is sliding to be mounted on second for image collecting device 3 and/or spray gun 2 On block 406；Sliding actuator 42 includes actuator 1 and actuator 2 424, and actuator 1 is mounted on frame body 1, with The connection of first sliding block 402, for driving the sliding of the first sliding block 402, actuator 2 424 is mounted on frame body 1, with the second sliding block 406 connections, for driving the sliding of the second sliding block 406.

In this embodiment, spray robot further includes the first guide rail 142, and the first guide rail 142 is along the transverse direction side of work surface To, i.e. the left and right directions setting of work surface, and slide assemblies 40 include the first sliding block 402, actuator 1, the second guide rail 404, the second sliding block 406 and actuator 2 424, slide assemblies 40 can slidably install the first guide rail by the first sliding block 402 On 142, and it can be slided along the first guide rail 142, and actuator 1 is for driving the first sliding block 402 sliding along the first guide rail 142 Dynamic, such slide assemblies 40 are just able to drive spray gun 2 and/or image collecting device 3 slides in transverse direction, and the second sliding block 406 can be slidably mounted on the second guide rail 404, and actuator 2 424 is slided for the second sliding block 406 of driving, so just Spray gun 2 and/or image collecting device 3 can be driven along the longitudinal direction by sliding of second sliding block 406 on the second guide rail 404 Sliding, in this way pass through slide assemblies 40 on the first guide rail 142 sliding and the second sliding block 406 on the second guide rail 404 Sliding can adjust the position up and down of spray gun 2 and/or image collecting device 3.And the first guide rail 142 and the second guide rail 404 can limit slippage direction, just can prevent in this way the first sliding block 402 and the second sliding block 406 sliding the predetermined road of hour offset Line, so that spray gun 2 and/or image collecting device 3 can slide into the predetermined area according to projected route, to presumptive area Area to be sprayed carry out spraying and/or Image Acquisition.And this kind of structure can pass through the sliding of longitudinal direction and transverse direction The position of spraying and/or image collecting device 3 is adjusted, so that the height and position of spray gun 2 and/or image collecting device 3 is adjusted It is more independent with left-right position adjusting, it just can be improved height adjustment and the left and right of spray gun 2 and/or image collecting device 3 in this way The convenience of adjusting.Certainly, in other schemes, spray gun 2 and/or Image Acquisition can also be realized by the sliding rail being obliquely installed The tilt adjustment of the position of device 3 is not smooth vertical and horizontal adjusting.

In addition, corresponding first guide rail 142 of this kind of structure is mounted with the actuator one of driving the first sliding block 402 sliding 422, and corresponding second guide rail 404 is mounted with the actuator 2 424 of driving the second sliding block 406 sliding, just can lead in this way Two independent actuators are crossed to realize the independent driving of the first sliding block 402 and the second sliding block 406, so that the first sliding block 402 and second sliding block 406 can be mutually indepedent, non-interference in sliding, just can be realized the laterally independent of spray gun 2 in this way and adjust Section and vertically independent adjusting improve the freedom degree that spray gun 2 and/or image collecting device 3 move.

In any of the above-described embodiment, it is preferable that as shown in Figure 2 and Figure 5, spray robot further include: third guide rail 148, it is mounted on frame body 1, the transverse direction along work surface is arranged；Third sliding block is slidably mounted on third guide rail 148, And it is connect with slide assemblies 40.

In those embodiments, third guide rail 148 is provided on frame body 1, and third sliding block is slidably mounted on third and leads It on rail 148, and connect with slide assemblies 40, specifically, can be connect with the second guide rail 404, in this way in slide assemblies 40 opposite the When one guide rail 142 slides, third sliding block can be driven to slide on third guide rail 148,142 He of the first guide rail can be passed through in this way Third guide rail 148 is simultaneously oriented to the sliding motion of slide assemblies 40.I.e. this kind of structure slide assemblies 40 can be slidably It is mounted on third guide rail 148 and the first guide rail 142.And slide assemblies 40 and frame can be enhanced by the way that third guide rail 148 is arranged Connection reliability between body 1 prevents slide assemblies 40 from installing unstable.

In the above embodiment, it is preferable that as shown in Figures 2 and 3, spray robot further include: fixed plate 46 is mounted on On second sliding block 406, image collecting device 3 is mounted in fixed plate 46.

In those embodiments, a fixed plate 46 can be set on the second sliding block 406, and fixed plate 46 preferably passes through spiral shell Nail is fixed on the second sliding block 406, and certainly, fixed plate 46 can also be mounted on the second sliding block 406 by the modes such as buckling or welding On, and image collecting device 3 can be affixed directly in fixed plate 46, can realize image collecting device 3 in slide assemblies in this way Installation on 40.And specifically, the structure of fixed plate 46 can be rationally set, so that fixed plate 46 can be to image collecting device 3 Reasonable limit is carried out to fix.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, spray robot further include: rotary components 48, It is mounted on the second sliding block 406, spray gun 2 is mounted on rotary components 48, can be rotated under the action of rotary components 48.

In those embodiments, spray robot further includes the rotary components 48 being mounted on the second sliding block 406, and spray gun 2 are mounted on rotary components 48, spray gun 2 can be driven in the operation rotation in surface of spraying by rotary components 48 in this way.This kind Structure spray gun 2 can either be moved transversely and can be moved along the longitudinal direction, while can also be under the action of rotary components 48 Rotation, just can be realized the multifreedom motion of spray gun 2 in this way.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, between the first sliding block 402 and the second guide rail 404 It is provided with the first connecting plate 408, is connected by screw between the first connecting plate 408 and the first sliding block 402, the first connecting plate 408 It is connected by screw between the second guide rail 404.

In those embodiments, can between the first sliding block 402 and the second guide rail 404 first connecting plate 408, in this way can Make more securely connect between the first sliding block 402 and the second guide rail 404, and preferably, the first connecting plate 408 and first is sliding It is preferably connected by screw between block 402 and between the first connecting plate 408 and the second guide rail 404, because of the side of screw connection Formula is fairly simple and connection is reliable.

Wherein, when work surface is the exterior wall or interior wall of skyscraper, the longitudinal direction of work surface is the outer of skyscraper The up and down direction of wall or interior wall, the transverse direction of work surface are the exterior wall of skyscraper or the left and right directions of interior wall.Meanwhile together When, spray robot can also be used for spraying other work surfaces in addition to exterior wall and interior wall.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, actuator 1 include first motor, first Motor connect by transmission belt with the first sliding block 402, and actuator 2 424 includes the second motor, the second motor pass through transmission belt and The connection of second sliding block 406.

In those embodiments, the first sliding block 402 is preferably driven to slide by first motor, and first motor and first Preferably by V belt translation mode is attached between sliding block 402, meanwhile, the second sliding block is preferably driven by the second motor 406 slidings, and it is also preferred that by V belt translation mode is attached between the second motor and the second sliding block 406.This kind of structure energy Enough make the relatively simple for structure of actuator 1 and actuator 2 424, it is thus possible to simplify the structure of product.Specifically, first Motor, the second motor can be connect by belt pulley and belt with the first sliding block 402 and the second sliding block 406, certainly, in the first electricity The drive mechanisms such as also settable gear between machine and the first sliding block 402 and the second motor and the second sliding block 406, so as to rationally Control the speed of the first sliding block 402 and the second sliding block 406.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, first motor and the second motor are servo electricity Machine.Because the control precision of servo motor is high, it is thus possible to ensure the deposition accuracies of spray gun 2.

Wherein it is preferred to which the second motor is preferably mounted at the lower end of the second guide rail 404, so that the second motor can Realize that the sliding to the second sliding block 406 drives from the lower end of the second guide rail 404.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, spray robot further includes the first shield 144 and second shield 146, the first shield 144 be mounted on the motor shaft end of first motor, the electricity of first motor can be covered Arbor, the second shield 146 are mounted on the motor shaft end of the second motor, can cover the motor shaft of the second motor.

In those embodiments, by the first shield 144 of setting and the second shield 146, rainwater, ash can be effectively prevent The work of dirt influence first motor and the second motor.Wherein it is preferred to which the first shield 144 and the second shield 146 are preferably in It is rectangular, because rectangular area is larger, the protective performance of shield just can be enhanced in this way.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, rotary components 48 include: rotary drive, peace On slide assemblies 40；Second connecting plate 486, is mounted on the output shaft of rotary drive；Wherein, spray gun 2 is mounted on On two connecting plates 486, rotary drive rotation be able to drive spray gun 2 moved along the longitudinal direction of work surface or along work surface cross It is moved to direction.

In those embodiments, rotary components 48 include rotary drive and the second connecting plate 486, and rotary drive is used In providing the power of rotation, and installation of second connecting plate 486 for realizing spray gun 2 on rotary drive, meanwhile, second connects Fishplate bar 486 is capable of increasing the radial distance between rotary drive and spray gun 2, so as to increase the radius of turn of spray gun 2, with Spray gun 2 is set to pass through the greater area of region of rotation disposable spray finishing.In addition, the second connecting plate 486 can also increase spray The contact area between spray gun 2 and rotary drive is improved in the placement space of rifle 2, thus improve rotary drive and spray gun 2 it Between mounting stability.

In any of the above-described embodiment, it is preferable that as shown in Figure 7 and Figure 8, rotary drive includes: third motor 482, It is mounted on slide assemblies 40；Retarder 484 is mounted on slide assemblies 40, is connect with third motor 482；Wherein, output shaft It is arranged on retarder 484.

In those embodiments, power can be provided by third motor 482, and speed reducer is used to adjust the speed of spray gun 2 It spends while improving output torque, so as to by the speed control of output shaft in reasonable range.Wherein, third motor 482 Preferably servo motor, because the control precision of servo motor is higher, so as to improve the control to the speed of rotation axis etc. Precision.

Wherein it is preferred to the angle that spray gun 2 can rotate, which is more than or equal to 0 °, is less than or equal to 180 °, i.e., in the application, spray gun 2 preferably only 180 ° of rotations, can make the structure of spray gun 2 more rationally compact in this way.Certainly, spray gun 2, which may also set up, to rotate 360 ° of structure.

In any of the above-described embodiment, it is preferable that as shown in Figure 1, frame body 1 includes: suspension 12, be equipped with and mention on suspension 12 Rise device 120；Hanger 14 can be hung by lifting device 120 and is mounted in the suspended end of suspension 12；Wherein, spray gun 2 and image Acquisition device 3 is installed on hanger 14.

In those embodiments, frame body 1 includes suspension 12 and hanger 14, wherein suspension 12 can be specifically used for suspension installation Aloft, it for example is mounted on the roof of building to be sprayed, and hanger 14 is lifted on suspension 12 by lifting device 120, this Hanger 14 can be mounted in the work surfaces such as the exterior wall of skyscraper by sample.That is suspension 12, hanger 14, lifting device here 120 may be designed to the barrel structure in a similar building, the in this way device by this similar to barrel structure with control device just Spray gun 2 can be achieved along the movement of the metope of skyscraper etc..And spray gun 2 and image collecting device 3 can be directly mounted at hanger 14 On, specifically, the first guide rail 142 can be installed on hanger 14, spray gun 2 and image collecting device 3 are then passed through into slide assemblies 40 are slidably mounted on the first guide rail 142, can realize the installation of spray gun 2 and image collecting device 3 on hanger 14 in this way.

In any of the above-described embodiment, it is preferable that as shown in Figures 1 to 7, supply assembly includes air compressor 62 and storage Expect that device 64, air compressor 62 are mounted on suspension 12, storage device 64 is mounted on hanger 14, and is connected to air compression Between machine 62 and spray gun 2；As shown in Figure 1, Figure 2 and shown in Fig. 9, control device includes the first control piece 52 and the second control piece 54, the One control piece 52 is mounted on suspension 12, is connect with lifting device 120 and supply assembly, for controlling lifting device 120 and supplying Expect the work of component, the second control piece 54 is mounted on hanger 14, is connected with the first control piece 52, spray gun 2, image collecting device 3 It connects.

In those embodiments, supply assembly includes air compressor 62 and storage device 64, wherein air compressor 62 For the input air into storage device 64, so as to increase the pressure in storage device 64, and the object in storage device 64 Material can be drained into spray gun 2 from the discharge port of storage device 64 under pressure after pressure is gradually increased, and be passed through in this way Air compressor 62 and storage device 64 can realize the supply of spray finishing material.Wherein, storage device 64 is preferably storage tank.

In addition, one individual control piece is difficult to meet spray robot in view of the control heavy workload of spray robot Loading demand.Thus, it may be preferable to which the control device of complete machine is divided into two parts, i.e. the first control piece 52 and the second control piece 54, and preferably, the first control piece 52 can be mounted on suspension 12, to control the work for the electrical installation being mounted on suspension 12 Make, and the second control piece 54 is mounted on hanger 14, to control the work for the electrical installation being mounted on hanger 14.And second Control piece 54 is preferably connect with the first control piece 52, so that the control section of complete machine can intercommunication, so as to complete machine Linkage control is carried out, without the phenomenon that there are respective independent controls.And this set can pass through two sseparated control pieces The control of complete machine is carried out, so as to reduce the load of each control piece, it is ensured that the safety of control device.

Wherein, lifting device 120 can be specially the device including elevator, dynamic ropes and safety rope, and lifting machinery Body is for realizing the lifting of dynamic ropes, and safety rope is for ensuring safety.And dynamic ropes and safety rope are preferably wirerope.

In any of the above-described embodiment, it is preferable that as shown in Fig. 1 and Figure 10, spray robot further include: AGV trolley 7, Suspension 12 is mounted on AGV trolley 7, and the transverse direction that can control suspension 12 along work surface moves, and is able to drive suspension 12 move along the direction perpendicular to work surface.

In those embodiments, the transverse shifting of suspension 12 is preferably carried out by AGV trolley 7, for example is moved left and right. And AGV trolley 7 can carry out Scaned map and be automatically moved to roofing situation, so as to plan the spraying of 2 component of spray gun automatically Route.

In any of the above-described embodiment, it is preferable that as shown in figure 4, spray robot further include: safety guard 140, It is mounted on hanger 14, is connect with lifting device 120, be able to detect the working condition of lifting device 120 and hanger 14, and can Lifting device 120 is lockked when the working condition of lifting device 120 and/or hanger 14 is in except preset state.

In those embodiments, lifting device 120 can be ensured when promoting hanger 14 by safety guard 140 Safety, to effectively take precautions against the generation of work safety accident.Specifically, for example, lifting device 120 be specially including elevator, When the device of dynamic ropes and safety rope, safety guard 140 can be arranged to one when the gliding speed of hanger 14 reaches Lock rope speed and hanger 14 tilt angle reach lock rope angle when can automatic locking safety rope, make hanger 14 stop decline Or stop inclined safety lock, and preferably, when safety lock is arranged, it should be noted that safety lock should cannot be automatic in the case where locking rope form state It resets, effectively to take precautions against the generation of work safety accident.And the concrete operating principle and the peace in existing building hanging basket for installing lock The principle of full protection device 140 is the same, does not repeat specifically herein.Certainly, in other schemes, in the structure of lifting device 120 When different, safety guard 140 can also be arranged to other structures, for example, lifting device 120 can also be electronic calabash The structures such as reed, hydraulic hoist, and safety guard 140 can be specially a velocity estimated device at this time, it in this way can be by mentioning The promotion speed of device 120 is risen to ensure safety of the hanger 14 in lifting process.Certainly, safety guard 140 can also one It is a can be judged according to the height of hanger 14 hanger 14 whether An Quan device.And in the actual process, it can be according to practical need The structure of lifting device 120 and safety guard 140 is set, and the application is not especially limited.

In any of the above-described embodiment, it is preferable that as shown in figure 4, spray robot further include: weighing instrument 9 is mounted on extension It on frame 14, is connect with the second control piece 54, storage device 64 is on weighing instrument 9.

In those embodiments, weighing instrument 9 can be set on hanger 14, storage device 64 is then mounted on weighing instrument 9 On, just the material in storage device 64 can be detected at any time by weighing instrument 9 in this way, so as to in storage device 64 Material is supervised at any time.And weighing instrument 9 is connect with the second control piece 54, can be sent to the weight data of storage device 64 Second control piece 54, when the material in storage device 64 is very few in this way, the second control piece 54 can be with the first control piece 52 1 The work of control lifting device 120 is played, so as to hanger 14 be moved to the place for carrying out feeding operation convenient for user, in this way Just it can add materials in time into storage device 64, prevent the material in storage device 64 from running out and be found not yet Phenomenon occurs.

In any of the above-described embodiment, it is preferable that as shown in Fig. 1 and Fig. 9, spray robot further include: clump weight 122, It is mounted in the non-suspended end of suspension 12.

In those embodiments, by setting clump weight 122 can by clump weight 122 come the weight of balance frame 1 itself, It thus prevents frame body 1 overweight, and entire suspended structure is caused to be toppled.

In any of the above-described embodiment, it is preferable that as shown in Figures 1 to 10, spray robot further include: multiple orientation feet Wheel 141, is arranged in hanger 14 on the face that work surface is arranged, and multiple direction-casters 141 can be with operation face contact, and can It is rolled in work surface when hanger 14 is moved.

In those embodiments, by the way that direction-caster 141 is arranged hanger 14 is supported on by direction-caster 141 On the metopes such as the exterior wall of skyscraper, hanger 14 just can be prevented completely hanging in this way.In addition, being made by direction-caster 141 Rolling on industry face can also make hanger 14 more steady when moving.

In any of the above-described embodiment, it is preferable that as shown in Figure 9 and Figure 10, spray robot further include: cable disk 124, it is mounted on suspension 12, cable disk 124 includes cable, one end of cable and external power supply or the first control piece 52 Connection, the other end of cable are connect with the second control piece 54；Circumscripted power line connect with the first control piece 52 and controls for first Product 52 is powered；Wherein, when one end of cable is connect with external power supply, the first control piece 52 and the second control piece 54 pass through nothing The mode of line carries out information transmission, and when one end of cable is connect with the first control piece 52, the first control piece 52 passes through cable Disk 124 is that the second control piece 54 powers and carries out information transmission with the second control piece 54.

In those embodiments, spray robot further includes cable disk 124 and circumscripted power line, wherein external power supply Line is specifically used for powering for the first control piece 52.And cable disk 124 is in a specific embodiment, can be used for for the second control Part 54 is powered, at this point, one end of the cable on cable disk 124 is connect with external power supply, and the first control piece 52 and the at this time It is preferably wirelessly attached between two control pieces 54.And in another embodiment, it can directly pass through cable Disk 124 realizes that energization and signal between the first control piece 52 and the second control piece 54 are transmitted, at this point, cable is connected to first Between control piece 52 and the second control piece 54.And the setting of cable disk 124 so that hanger 14 in lifting process, cable energy Enough with the lifting of hanger 14 by folding and unfolding, just standardized administration can be carried out to cable in this way, prevent cable too long and go out Existing cable winding or cable and the mutual stuck problem of other objects.And the first control piece 52 and the second control piece 54 are logical The signal cable for being wirelessly attached and capable of saving the first control piece 52 and the second control piece 54 is crossed, the whole of product is simplified Body structure.

In any of the above-described embodiment, it is preferable that as shown in figure 11, spray robot further include: the first valve a is connected to Between air compressor 62 and storage device 64, for controlling the on-off between air compressor 62 and storage device 64；Second Valve b is connected between storage device 64 and spray gun 2, for controlling the on-off between air compressor 62 and spray gun 2；Third valve C is connected between storage device 64 and spray gun 2, for controlling the flow between air compressor 62 and spray gun 2.

In those embodiments, by the way that the first valve a is arranged, it can control between air compressor 62 and storage device 64 On-off just can control the pressure in air compressor 62 in this way, to achieve the purpose that the start-stop for controlling air compressor 62. Certainly, the start-stop control of air compressor 62 can also be controlled by a guard's valve.And the first valve a here is preferred For solenoid valve, because the control of solenoid valve is more convenient precisely.And the second valve b is preferably proportioning valve, and pass through setting second Valve b can control the on-off between storage device 64 and spray gun 2, just can control the start-stop of spray gun 2 in this way.And the second valve b can be excellent It is selected as ejector pin valve.And third valve c can be used for controlling the flow between storage device 64 and spray gun 2, just can control air in this way Flow, thus control spray gun 2 ejection material condensation rate.I.e. here third valve c is flow control valve.

In any of the above-described embodiment, it is preferable that as shown in Fig. 5, Fig. 6 and Figure 10, spray robot further includes ranging dress It sets, range unit is as shown in Figure 5 and Figure 6, including the signal generator 82 being mounted on suspension 12, as shown in Figure 10, ranging dress Setting further includes the signal reflectors 84 being mounted on hanger 14, and signal generator 82 is electrically connected with the first control piece 52, Neng Goufa It penetrates distance measuring signal and receives the feedback signal that feeds back to of signal reflectors 84, and can be according to the distance measuring signal of transmitting and received Feedback signal measures the distance between hanger 14 and suspension 12.

In those embodiments, a settable ranging component measures the distance between suspension 12 and hanger 14, in this way Just the height and position for obtaining hanger 14 can be analyzed according to the distance between suspension 12 and hanger 14, can pass through hanger 14 in this way Height and position and the lateral position oriented of AGV trolley 7 determine the position of hanger 14 so that hanger 14 is being transported The specific location at windowing platform, balcony, turning etc. can be avoided during dynamic, automatically to achieve the effect that effective avoidance.

Wherein, signal generator 82 is preferably laser measuring apparatus, and signal reflectors 84 are laser reflection plate.

In those embodiments, the survey of the distance between suspension 12 and hanger 14 can be carried out by way of laser ranging It calculates.Because the mode comparative maturity of laser ranging and easily realization, thus the cost of product can be simplified, reduce ranging difficulty.Specifically Ground can set signal generator 82 to laser measuring apparatus, and set laser reflection plate for signal reflectors 84, and in the knot In structure, laser measuring apparatus is used to issue laser signal, receives the signal that laser reflection plate is reflected back, and true according to both signals The distance between hanger 14 and suspension 12 are made, and laser is returned in the signal reflex that laser reflection plate is used to issue laser measuring apparatus Measuring instrument just enables laser measuring apparatus according to laser from answering out received time and the aerial biography of laser in this way Broadcast speed and calculate the distance that laser is passed by, thus the distance that just can be passed by according to laser determine suspension 12 and hanger 14 it Between distance.

In any of the above-described embodiment, it is preferable that as shown in Figure 5 and Figure 6, the quantity of laser reflection plate is two, two Laser reflection plate is symmetrically mounted on hanger 14 along the transverse direction of work surface.

In those embodiments, the laser that can be issued by two laser reflection plates to laser measuring apparatus carries out anti- It penetrates, the amount for the laser being reflected back can be enhanced in this way, so as to enhance the feedback signal that laser measuring apparatus can receive, this Sample just can enhance the laser signal of feedback when the laser signal by the laser signal and feedback that issue compares and analyzes Reliability, the accuracy of laser ranging is improved, so as to realize the accurate control mobile to the position of hanger 14.

In any of the above-described embodiment, it is preferable that as shown in Figure 1, being provided with sunk area, suspension on the bottom of suspension 12 12 can be mounted on AGV trolley 7 by sunk area, and multiple pulleys are provided on the bottom of suspension 12, and suspension 12 is mounted on When on AGV trolley 7, suspension 12 can be contacted by multiple pulleys with placement platform.

In those embodiments, sunk area can be set in the bottom of suspension 12, AGV trolley 7 is then mounted on depressed area In domain, it can reduce suspension 12 while driving suspension 12 to move integrally by AGV trolley 7 in this way and AGV trolley 7 is constituted Whole volume, to reduce the occupied area of product.And by the way that pulley is arranged on the bottom of suspension 12, enable suspension 12 It is enough to be contacted with ground, and just can make the movement of suspension 12 more in this way when moving with AGV trolley 7 through pulley sliding It is convenient.

In the description of this specification, term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " even Connect " it may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also be in Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be Concrete meaning in 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

1. a kind of spray robot characterized by comprising

Frame body (1)；

Spray gun (2) is mounted on the frame body (1), can spray to work surface；

Image collecting device (3) is mounted on the frame body (1), for acquire it is spray coated after work surface image；

Control device is mounted on the frame body (1), is connect with the spray gun (2) and described image acquisition device (3), can According to the comparison of described image acquisition device (3) acquired image and standard picture judge the work surface spraying whether Qualification, and can control the spray gun (2) when the spraying for judging the work surface is unqualified and weight is carried out to the work surface New spraying；

Supply assembly is mounted on the frame body (1), is connect with the spray gun (2), for being fed to the spray gun (2).

2. spray robot according to claim 1, which is characterized in that

Described image acquisition device (3) is industrial camera or video camera, when described image acquisition device (3) is industrial camera, institute Stating standard picture is the normal pictures prestored, and when described image acquisition device (3) is video camera, the standard picture is prestored Normal video.

3. spray robot according to claim 1, which is characterized in that further include:

Slide assemblies (40) are mounted on the frame body (1), can be slided on the frame body (1)；

It slides actuator (42), is connect with the slide assemblies (40), the slide assemblies (40) can be driven to slide；

Wherein, described image acquisition device (3) and/or the spray gun (2) are mounted on the slide assemblies (40), can be in institute It states and slides under the action of slide assemblies (40).

4. spray robot according to claim 3, which is characterized in that the spray robot further includes the first guide rail (142), first guide rail (142) is mounted on the frame body (1), and the transverse direction along the work surface is arranged, the cunning Dynamic component (40) include:

First sliding block (402) can be slidably mounted on first guide rail (142), can be along first guide rail (142) Sliding；

Second guide rail (404) is mounted on first sliding block (402), and is arranged along the longitudinal direction of the work surface；

Second sliding block (406) can be slidably mounted on second guide rail (404), can be along second guide rail (404) Sliding；

Wherein, described image acquisition device (3) and/or the spray gun (2) are mounted on second sliding block (406)；

The sliding actuator (42) includes actuator one (422) and actuator two (424), actuator one (422) installation On the frame body (1), it is connect with first sliding block (402), for driving first sliding block (402) to slide, the drive Moving part two (424) is mounted on the frame body (1), is connect with second sliding block (406), for driving second sliding block (406) it slides.

5. spray robot according to claim 4, which is characterized in that further include:

Third guide rail (148) is mounted on the frame body (1), and the transverse direction along the work surface is arranged；

Third sliding block is slidably mounted on the third guide rail (148), and connect with the slide assemblies (40).

6. spray robot according to claim 4, which is characterized in that further include:

Fixed plate (46) is mounted on second sliding block (406), and described image acquisition device (3) is mounted on the fixed plate (46) on；And/or

Rotary components (48) are mounted on second sliding block (406), and the spray gun (2) is mounted on the rotary components (48) On, it can be rotated under the action of the rotary components (48).

7. spray robot according to any one of claim 1 to 6, which is characterized in that the frame body (1) includes:

Suspension (12) is equipped with lifting device (120) on the suspension (12)；

Hanger (14) can be hung by the lifting device (120) and is mounted in the suspended end of the suspension (12)；

Wherein, the spray gun (2) and described image acquisition device (3) are installed on the hanger (14).

8. spray robot according to claim 7, which is characterized in that

The supply assembly includes air compressor (62) and storage device (64), and the air compressor (62) is mounted on described On suspension (12), the storage device (64) is mounted on the hanger (14), and be connected to the air compressor (62) with Between the spray gun (2)；

The control device includes the first control piece (52) and the second control piece (54), and first control piece (52) is mounted on institute It states on suspension (12), is connect with the lifting device (120) and the supply assembly, for controlling the lifting device (120) With the work of the supply assembly, second control piece (54) is mounted on the hanger (14), with first control piece (52), the spray gun (2), described image acquisition device (3) connection.

9. spray robot according to claim 8, which is characterized in that further include:

AGV trolley (7), the suspension (12) are mounted on the AGV trolley (7), can control the suspension (12) along described The transverse direction of work surface moves, and is able to drive the suspension (12) and moves along the direction perpendicular to the work surface；With/ Or

Safety guard (140) is mounted on the hanger (14), is connect with the lifting device (120), is able to detect institute The working condition of lifting device (120) and the hanger (14) is stated, and can be in the lifting device (120) and/or the extension The working condition of frame (14) locks the lifting device (120) when being in except preset state；And/or

Weighing instrument (9) is mounted on the hanger (14), is electrically connected with second control piece (54), the storage device (64) it is mounted on the weighing instrument (9)；And/or

Clump weight (122) is mounted in the non-suspended end of the suspension (12)；And/or

Multiple direction-casters (141) are arranged in the hanger (14) on the face of work surface setting, multiple orientations Castor (141) and can roll in the work surface with the operation face contact when the hanger (14) are moved.

10. spray robot according to claim 8, which is characterized in that further include:

Cable disk (124) is mounted on the suspension (12), and the cable disk (124) includes cable, the cable One end connect with external power supply or first control piece (52), the other end of the cable and second control piece (54) it connects；

Circumscripted power line connect with first control piece (52) and powers for first control piece (52)；

Wherein, when one end of the cable is connect with external power supply, first control piece (52) and second control piece (54) information transmission, when one end of the cable is connect with first control piece (52), institute are wirelessly carried out The first control piece (52) are stated to be second control piece (54) power supply by the cable disk (124) and control with described second Product (54) carries out information transmission.