CN109972820A - Lifting assembly and spray robot - Google Patents
Lifting assembly and spray robot Download PDFInfo
- Publication number
- CN109972820A CN109972820A CN201910344612.5A CN201910344612A CN109972820A CN 109972820 A CN109972820 A CN 109972820A CN 201910344612 A CN201910344612 A CN 201910344612A CN 109972820 A CN109972820 A CN 109972820A
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- China
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- frame body
- lifting assembly
- transmission belt
- spray gun
- spray
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention provides a kind of lifting assembly and spray robots, wherein lifting assembly includes: at least two driving wheels；Motor is promoted, the transmission connection of at least one of motor and all driving wheels is promoted；Transmission belt, it is set around and is promoted outside the driving wheel that motor drive is connect, transmission belt and at least two driving wheels cooperate, wherein, the side of transmission belt is fixedly connected with the frame body, the other side of transmission belt is equipped with spray gun assembly, and to move in frame body in the driving lower drive belts for promoting motor, and lifting assembly is relatively moved with frame body.Lifting assembly provided by the invention forms multistage lift structure by the way that the quantity of driving wheel is rationally arranged, can make coating robot coats to higher position simultaneously, the whole height for reducing frame body, makes spray robot be easier to enter small space, is required with adapting to different workplaces.
Description
Technical field
The present invention relates to spraying equipment technical fields, in particular to a kind of lifting assembly and a kind of spraying robot
People.
Background technique
Currently, traditional spray coating operations, the mode for generalling use hand spray is carried out, at high cost due to hand spray,
Part spray coating operations begin to use semi-automatic spraying equipment to carry out operation.And existing semi-automatic spraying equipment common configuration letter
It is single, it has a single function, is limited by device height, spray range is limited.If increasing spray range, need to increase accordingly spray
The size of automatic doubler surface glouer, will lead to the problem of increaseing accordingly cost.Simultaneously as the size of spraying equipment increases, it is difficult to adapt to not
It is particularly disadvantageous to need the case where entering small space in spraying equipment with the job requirement under scene.Therefore, existing semi-automatic
Spraying equipment, there are still spray ranges to be limited by device height, causes strong to artificial dependence, sprays problem at high cost.
Summary of the invention
At least one in order to solve the above-mentioned technical problem, it is an object of the present invention to provide a kind of lifting assemblies.
It is another object of the present invention to provide the spray robots including above-mentioned lifting assembly.
To achieve the above object, the technical solution of first aspect present invention provides a kind of lifting assembly, comprising: at least two
A driving wheel；Promote motor, the transmission connection of at least one of the promotion motor and all driving wheels；Transmission belt, around
Outside the driving wheel connecting with the promotion motor drive, the transmission belt and at least two driving wheels cooperate, wherein
The side of the transmission belt is fixedly connected with the frame body, and the other side of the transmission belt is equipped with the spray gun assembly, in institute
It states the transmission belt under the driving for promoting motor to move in frame body, and opposite move occurs for the lifting assembly and the frame body
It is dynamic.
The side of lifting assembly provided by the invention, conveyer belt is fixedly connected on the upper end of frame body, along the length side of frame body
It is set gradually upwards there are two driving wheel, conveyer belt is set around outside two driving wheels；The other side of transmission belt is provided with spray gun
Component.In this way, by the cooperation of driving wheel, conveyer belt mobile terminal passes through when lifting assembly integrally rises under the drive of the motor
The driving wheel being located above rises relative to frame body, to drive spray gun assembly to rise with the rising of transmission belt fixing end, changes speech
It, conveyer belt it is whole relative to frame body occur it is opposite moves up, while on the relative position of spray gun assembly on a moving belt also occurs
It moves.Wherein, under the action of lifting assembly, spray gun assembly is risen with two times of lifting assembly of speed along frame body direction.In this way, mentioning
Rising component, there are two-stage lift structures: lifting assembly is level-one, and conveyer belt is level-one.The length of conveyer belt is mentioning for lifting assembly
Rise, i.e., when the lifting height of lifting assembly is S, spray gun assembly is 2S by the height that lifting assembly rises.
Wherein, it needs explanatorily, promoting motor can be sequentially connected simultaneously with one or more of driving wheel, to realize
The movement of transmission belt, the i.e. quantity of driving wheel can be for one or multiple, when the quantity of driving wheel is one, can subtract
The quantity of few unnecessary transmission mechanism, saves space, when the quantity of driving wheel is multiple, is made simultaneously by multiple driving wheels
With, when a drive mechanism is damaged, can also by remaining drive mechanism drive driving wheel rotate, with improve use
Reliability.
When lifting assembly setting is there are three when driving wheel, the winding transmission belt on two adjacent driving wheels, is formed respectively
Three-level lift structure.It is provided with two conveying belts in this way, the conveyer belt and newly-increased three-level for being divided into former two-stage hoisting structure are promoted
The conveyer belt of structure, newly-increased conveyer belt is set around an outside in increased driving wheel and former two driving wheels, and replaces
The position of spray gun assembly in two-stage lift structure, the position of spray gun assembly is set to newly-increased conveyer belt in three-level lift structure
On, by newly-increased belt-driven, to drive spray gun assembly to rise with the rising of conveyer belt, and newly-increased conveyer belt is passed by original
It send band to drive, rises with the rising of former conveyer belt.In this way, there are three-level lift structures for lifting assembly: lifting assembly is level-one,
The conveyer belt of former two-stage hoisting structure is level-one, and the conveyer belt of newly-increased three-level lift structure is level-one.Spray gun assembly is by mentioning
Rising the height that component rises can be 3S.It is understood that the quantity of driving wheel can be set to multiple, the quantity of driving wheel
When being N number of, N grades of lift structures are formed, the height that spray gun assembly is risen by lifting assembly can be N times of S.
In conclusion forming multistage lift structure by the quantity that driving wheel is rationally arranged, spraying robot being made
People sprays to higher position simultaneously, reduces the whole height of frame body, and spray robot is made to be easier to enter small space, with suitable
Different workplaces is answered to require.It, can be with simultaneously using by the mode that lifting assembly is embedded in frame body or lifting assembly is mutually socketed
Simplify mounting structure, further saves cost.
In addition, the lifting assembly in above-described embodiment provided by the invention can also have following additional technical feature:
In above-mentioned technical proposal, lifting assembly further include: fixed shell, the driving wheel, the promotion motor and described
Transmission belt is fixedly arranged on the fixed shell, under the driving for promoting motor, realizes the fixed shell and the frame body
Relative movement.
By adding fixed shell, by driving wheel, motor and transmission belt setting are promoted on fixed shell, it can be to transmission
Band is formed with driving wheel and is protected, and the stability of lifting assembly is further increased；Meanwhile fixation is set to by motor is promoted
On shell, be conducive to reasonable line arrangement, improve the safety in utilization of product.In addition, fixed shell can be used as an overall structure
It is split with bracket, is especially being provided with multiple driving wheels, when a plurality of transmission belt, can make to simplify installation or removal step
Suddenly, it is further reduced cost.
In above-mentioned technical proposal, the fixed shell is equipped with plugboard, the grafting far from the side of the spray gun assembly
Plate can be stretched out or be retracted in the backboard slot of the frame body.
The lower end of fixed shell is provided with plugboard, plugboard can be inserted in the backboard of frame body, realize fixed shell
With being flexibly connected for frame body, while the limit function having using plugboard limits the position of lifting assembly, in assembling process
In, the pre-installation of lifting assembly may be implemented, guarantee the accurate contraposition of lifting assembly, advantageously reduce assembly difficulty, Jin Erti
High assembly efficiency.Meanwhile so that the connection relationship of fixed shell and frame body is more reliable, lifting assembly is rising or falling generation
It shakes, stationarity is more preferable, further improves the use reliability of lifting assembly.
In above-mentioned technical proposal, lifting assembly further include: stop part is set in the set casing body, to limit the spray
Moving range of the rifle component on the fixed shell.
By being arranged stop part, moving range of the limitation spray gun assembly on fixed shell, further increase use can
By property.Stop part can be the arbitrary height being removably disposed on fixed shell, by limitation spray gun assembly in set casing
Moving range on body controls the spray range of spray gun, can achieve more accurately control effect.
In any of the above-described technical solution, the axis co-planar of multiple driving wheels, under the promotion motor driven, institute
Spray gun assembly is stated linearly to move.
By being centrally disposed on straight line for multiple driving wheels, it is ensured that spray gun assembly linearly moves, into
One step improves the stability of product, meanwhile, when the face that axis is in is vertical plane, it may make the hoisting depth of spray gun assembly most
Bigization.
In any of the above-described technical solution, the quantity of the driving wheel is two, the promotion motor and two transmissions
A transmission connection in wheel far from the frame body.
When the quantity of driving wheel is two, structure is simple, installs easy to operate.When frame body rises under the drive of the motor
When, by the cooperation of driving wheel, conveyer belt is risen in frame body by driving wheel, to drive spray gun assembly with the rising of transmission belt
And rise, promote a transmission connection in motor and two driving wheels far from frame body, it is possible to reduce transmission belt is to motor route
Interference, be conducive to reasonable line arrangement, improve the safety in utilization of product.
In any of the above-described technical solution, lifting assembly further include: fixed part is set on the frame body, and the fixed part
Shape matched with the shape of the concave tooth of the transmission belt, to realize being fixedly connected for the transmission belt and the frame body.
Fixed part is added on frame body, and being fixedly connected for transmission belt and frame body may be implemented, further increase the steady of product
It is qualitative.
Also, it is to be understood that fixed part may also be arranged on when there are three-level lift structure or N grades of lift structures
On transmission belt, the shape with the concave tooth of another transmission belt is also mutually matched.Spray gun assembly at work, at the beginning with biography
The dynamic rising with mobile terminal and rise, when rising to certain altitude, fixed part on transmission belt is recessed with another transmission belt
Tooth links together, and after achieving a fixed connection, another transmission belt continues to rise under the drive of the motor, passes through matching for driving wheel
It closes, another conveyer belt drives spray gun assembly to continue to rise, and the moving distance of spray gun assembly is increased, to make spray robot
The range of spraying is bigger.
In any of the above-described technical solution, the driving wheel is gear, and the transmission belt is rack gear；Or the driving wheel is band
Wheel, the transmission belt are synchronous belt；Or the driving wheel is sprocket wheel, the transmission belt is chain belt.
Driving wheel can be but be not limited to gear, belt wheel or sprocket wheel；Driving wheel is rack gear, synchronous belt or chain belt.Its
In, optionally, according to different needs: gear structure is compact, high and at low cost with the mesh degree of rack gear；Belt wheel and synchronous belt
Stable drive, it is with small vibration；The elongation of chain belt is low, and sprocket diameter is small, large carrying capacity.
The spray robot that the technical solution of second aspect of the present invention provides, comprising: frame body, interior be equipped with of the frame body are promoted
Channel；Lifting assembly as described in any one of first aspect technical solution can move in the promotion channel；Spray gun group
Part is set in the lifting assembly.
The spray robot that the technical solution of second aspect of the present invention provides, by being provided with above-mentioned first aspect technical side
Lifting assembly described in any one of case, to have all of the above beneficial effect, details are not described herein.
In above-mentioned technical proposal, spray robot further include: cushion block is set in the frame body, and the cushion block is set to institute
State the extreme lower position that lifting assembly moves in the frame body.
It is provided with cushion block in frame body, damping can be played the role of, when lifting assembly is moved to frame body extreme lower position,
Lifting assembly and cushion block contradict, and can slow down impact of the frame body for lifting assembly, reduce vibration, keep spray gun assembly movement more flat
Surely, spraying effect is more preferable.
In above-mentioned technical proposal, spray robot further include: supply assembly is set in the frame body, and the feed group
Part is connected to the spray gun of the spray gun assembly, to be fed into the spray gun；And/or mobile device, set on the bottom of the frame body
Portion, with the movement frame body；And/or power supply unit, it is set in the frame body, to provide electricity when spray robot operation
Energy.
Supply assembly is connected with spray gun assembly, for providing coating to spray gun assembly.
The bottom of frame body is provided with mobile device, the rotation of spray robot can be realized by movable support body, completes
To the spray coating operations of more large area or curved surface, folding face.Mobile device can also include sensing device, such as laser sensor,
Working environment can be incuded, position and direction so as to adjust spray gun assembly, realize and automatically control.
It is provided with power supply unit in frame body, provides electric energy for spray robot, for wired power supply line,
Reduce route to the interference in spray robot use process.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
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 schematic perspective view of spray robot described in one embodiment of the invention；
Fig. 2 is the decomposition texture schematic diagram of spray robot described in one embodiment of the invention；
Fig. 3 is the schematic perspective view at another visual angle of spray robot described in one embodiment of the invention；；
Fig. 4 is the enlarged structure schematic diagram of A portion shown in Fig. 3；
Fig. 5 is the structural schematic diagram of the part of spray robot described in one embodiment of the invention；
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 5 are as follows:
1 lifting assembly, 11 fixed shells, 111 driving wheels, 113 promote motor, 115 transmission belts, 1151 concave tooth, 117 grafting
Plate, 119 stop parts, 2 frame bodies, 21 cushion blocks, 23 supply assemblies, 25 mobile devices, 27 power supply units, 201 backboards, 203 fixed parts,
205 promote channel, 3 spray gun assemblies, 331 spray guns, 100 spray robots.
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
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Lifting assembly 1 and spray robot 10 according to some embodiments of the invention are described referring to Fig. 1 to Fig. 5.
As shown in Figure 1 to Figure 3, lifting assembly 1 provided by the invention is used for spray robot 100, comprising: at least two
Driving wheel 111；Motor 113 and transmission belt 115 are promoted, wherein the frame body 2 of the side of transmission belt 115 and spray robot 100 is solid
The other side of fixed connection, transmission belt 115 is equipped with spray gun assembly 3, to move in the driving lower drive belts 115 for promoting motor 113, mentions
Component 1 is risen to relatively move with frame body 2.
Embodiment one
The side (115 fixing end of transmission belt) of lifting assembly 1 provided by the invention as shown in Figure 1 and Figure 4, conveyer belt is fixed
It is connected to the upper end of frame body 2, is set gradually along the length direction of frame body 2 there are two driving wheel 111, conveyer belt is set around two
Outside driving wheel 111；The other side (115 mobile terminal of transmission belt) of transmission belt 115 is provided with spray gun assembly 3.In this way, lifting assembly
When 1 entirety rises under the drive of the motor, by the cooperation of driving wheel 111, conveyer belt mobile terminal passes through the transmission being located above
Wheel 111 rises relative to frame body 2, to drive spray gun assembly 3 to rise with the rising of 115 fixing end of transmission belt.Wherein, it is being promoted
Under the action of component 1, spray gun assembly 3 is risen with 1 two times of lifting assembly of speed along 2 direction of frame body.In this way, lifting assembly 1 is deposited
In two-stage lift structure: lifting assembly 1 is level-one, and conveyer belt is level-one.The length of conveyer belt is that the promotion of lifting assembly 1 is high
Degree, i.e., when the lifting height of lifting assembly 1 is S, spray gun assembly 3 is 2S by the height that lifting assembly 1 rises.
When the setting of lifting assembly 1 is there are three when driving wheel 111, winding is driven on two adjacent driving wheels 111 respectively
Band 115 forms three-level lift structure.It is provided with two conveying belts in this way, is divided into conveyer belt (the first transmission of two-stage lift structure
Band 115) and three-level lift structure conveyer belt (the second transmission belt 115), the second transmission belt 115 is set around increased driving wheel
111 and former two driving wheels 111 in an outside, and replace the position of spray gun assembly 3 in two-stage lift structure, three-level is promoted
The position of spray gun assembly 3 is set on the second transmission belt 115 in structure, is driven by the second transmission belt 115, to drive spray gun assembly
3 rise with the rising of the second transmission belt 115, and the second transmission belt 115 is driven by the first transmission belt 115, with the first transmission belt
115 rising and rise.In this way, there are three-level lift structures for lifting assembly 1: lifting assembly 1 is level-one, the first transmission belt 115
For level-one, the second transmission belt 115 is level-one.Spray gun assembly 3 can be 3S by the height that lifting assembly 1 rises.It is understood that
, the quantity of driving wheel 111 can be set to multiple, when the quantity of driving wheel 111 is N number of, forms N grade lift structures, sprays
The height that rifle component 3 is risen by lifting assembly 1 can be N times of S.
By the way that the quantity of driving wheel 111 is rationally arranged, multistage lift structure is formed, spray robot 100 can be made
It sprays to higher position simultaneously, reduces the whole height of frame body 2, spray robot 100 is made to be easier to enter small space, with
Different workplaces is adapted to require.Simultaneously using the side for being mutually socketed the insertion frame body 2 of lifting assembly 1 or lifting assembly 1
Formula can simplify mounting structure, further save cost.
Further, lifting assembly 1 further include: fixed shell 11, driving wheel 111 promote motor 113 and transmission belt 115
It is fixedly arranged on fixed shell 11, under the driving for promoting motor 113, realizes the relative movement of fixed shell 11 and frame body 2.
As shown in Figures 2 and 3, by adding fixed shell 11, by driving wheel 111, motor 113 and transmission belt 115 are promoted
Setting can form transmission belt 115 and driving wheel 111 on fixed shell 11 and protect, and make the stability of lifting assembly 1
It further increases；Meanwhile being set to motor 113 is promoted on fixed shell 11, be conducive to reasonable line arrangement, improve the use of product
Safety.In addition, fixed shell 11 can be used as an overall structure and be split with bracket, especially it is being provided with multiple transmissions
Wheel 111 when a plurality of transmission belt 115, can make to simplify installation or removal step, be further reduced cost.
Further, fixed shell 11 is equipped with plugboard 117 far from the side of spray gun assembly 3, and plugboard 117 can be in frame body
It stretches out or retracts in 2 201 slot of backboard.
The lower end of fixed shell 11 is provided with plugboard 117, plugboard 117 can be inserted in the backboard 201 of frame body 2,
The fixed shell 11 of realization is flexibly connected with frame body 2.Plugboard 117 is utilized simultaneously, and the limit function having limits lifting assembly
The pre-installation of lifting assembly 1 may be implemented in assembling process in 1 position, guarantees the accurate contraposition of lifting assembly 1, is conducive to
Assembly difficulty is reduced, and then improves assembly efficiency.Meanwhile so that fixed shell 11 and the connection relationship of frame body 2 are more reliable, mention
It rises component 1 to shake rising or falling, stationarity is more preferable, further improves the use reliability of lifting assembly 1.
Further, lifting assembly 1 further include: stop part 119 is set in fixed shell 11, is existed with limiting spray gun assembly 3
Moving range on fixed shell 11.
By the way that stop part 119 is arranged, moving range of the limitation spray gun assembly 3 on fixed shell 11, further increasing makes
Reliability.Stop part 119 can be the arbitrary height being removably disposed on fixed shell 11, by limiting spray gun group
Moving range of the part 3 on fixed shell 11, controls the spray range of spray gun 331, can achieve more accurately control effect.
Further, as shown in figure 5, the axis co-planar of multiple driving wheels 111, in the case where promoting motor 113 and driving, spray gun
Component 3 linearly moves.
By being centrally disposed on straight line for multiple driving wheels 111, it is ensured that spray gun assembly 3 is linearly transported
It is dynamic, the stability of product is further increased, meanwhile, so that the hoisting depth of spray gun assembly 3 maximizes.
In some embodiments, as shown in figure 5, the quantity of driving wheel 111 is two, motor 113 and two transmissions are promoted
A transmission connection in wheel 111 far from frame body 2.
When the quantity of driving wheel 111 is two, structure is simple, installs easy to operate.When frame body 2 under the drive of the motor on
When rising, by the cooperation of driving wheel 111, conveyer belt is risen in frame body 2 by driving wheel 111, to drive spray gun assembly 3 with biography
The rising of dynamic band 115 and rise, promoting one in motor 113 and two driving wheels 111 far from frame body 2 is sequentially connected, can be with
Interference of the transmission belt 115 to motor route is reduced, is conducive to reasonable line arrangement, improves the safety in utilization of product.
Embodiment two
Difference with embodiment one is, on the basis of example 1, further, lifting assembly 1 further include: fixed
Portion 203 is set on frame body 2, and the shape of fixed part 203 is matched with the shape of the concave tooth 1151 of transmission belt 115, is passed with realizing
Dynamic band 115 is fixedly connected with frame body 2.As shown in Figure 5.
Fixed part 203 is added on frame body 2, and being fixedly connected for transmission belt 115 and frame body 2 may be implemented, further increase
The stability of product.
Also, it is to be understood that fixed part 203 can also be set when there are three-level lift structure or N grades of lift structures
It sets on transmission belt 115, the shape with the concave tooth 1151 of another transmission belt 115 is also mutually matched.Spray gun assembly 3 is in work
When making, rise, the fixation when rising to certain altitude, on transmission belt 115 with the rising of 115 mobile terminal of transmission belt at the beginning
Portion 203 and the concave tooth 1151 of another transmission belt 115 link together, and after achieving a fixed connection, another transmission belt 115 is in electricity
Continue to rise under the driving of machine, by the cooperation of driving wheel 111, another conveyer belt drives spray gun assembly 3 to continue to rise, and increases
The moving distance of spray gun assembly 3, so that the range for spraying spray robot 100 is bigger.
In some embodiments, driving wheel 111 is gear, and transmission belt 115 is rack gear.
In some embodiments, driving wheel 111 is belt wheel, and transmission belt 115 is synchronous belt.
In some embodiments, driving wheel 111 is sprocket wheel, and transmission belt 115 is chain belt.
Driving wheel 111 can be but be not limited to gear, belt wheel or sprocket wheel；Driving wheel 111 be rack gear, synchronous belt or
Chain belt.It can be selected according to different, in which: gear structure is compact, high and at low cost with the mesh degree of rack gear；
Belt wheel and toothed belt transmission are steady, with small vibration；The elongation of chain belt is low, and sprocket diameter is small, large carrying capacity.
The spray robot 100 that the embodiment of second aspect of the present invention provides, comprising: frame body 2, interior be equipped with of frame body 2 are promoted
Channel 205；Such as the lifting assembly 1 of any one of first aspect embodiment, can be moved being promoted in channel 205；Spray gun assembly 3,
In lifting assembly 1.
The spray robot 100 that the embodiment of second aspect of the present invention provides is implemented by being provided with above-mentioned first aspect
The lifting assembly 1 of any one of example, to have all of the above beneficial effect, details are not described herein.
Further, spray robot 100 further include: cushion block 21 is set in frame body 2, and cushion block 21 is set to lifting assembly 1
The extreme lower position moved in frame body 2.
It is provided with cushion block 21 in frame body 2, damping can be played the role of, when lifting assembly 1 is moved to 2 lowest order of frame body
When setting, lifting assembly 1 and cushion block 21 are contradicted, and can slow down impact of the frame body 2 for lifting assembly 1, are reduced vibration, are made spray gun group
Part 3 moves more stable, and spraying effect is more preferable.
Further, spray robot 100 further include: supply assembly 23 is set in frame body 2, and supply assembly 23 and spray
The spray gun 331 of rifle component 3 is connected to, to be fed into spray gun 331.
Supply assembly 23 is connected with spray gun assembly 3, for providing coating to spray gun assembly 3.
Further, spray robot 100 further include: mobile device 25, set on the bottom of frame body 2, with movable support body 2.
The bottom of frame body 2 is provided with mobile device 25, the rotation of spray robot 100 can be realized by movable support body 2
Turn, completes the spray coating operations to more large area or curved surface, folding face.Mobile device 25 can also include sensing device, for example swash
Optical sensor can incude working environment, position and direction so as to adjust spray gun assembly 3, realize and automatically control.
Further, spray robot 100 further include: power supply unit 27 is set in frame body 2, to provide spray robot
Electric energy when 100 operation.
It is provided with power supply unit 27 in frame body 2, electric energy is provided for spray robot 100, compared to wired supply lines
For road, reduce route to the interference in 100 use process of spray robot.
Further, as shown in figure 4, being provided with spray gun 331 on spray gun assembly 3
And sensing device, such as sensor, it can be used to detect the height of spray gun assembly.For example, completing to spray metope
Tu Hou, spray gun assembly level can be by the spray gun directions of spray gun assembly by sensing device close to the position of ceiling in metope
It is rotated, is allowed to continue to spray towards ceiling, to realize automatic spraying process.
Spray robot provided by the present application, and and the prior art are described in detail with said one specific embodiment below
Comparison.
Currently, existing spraying industry is generally by artificial roller coating or spraying, there are also automanual spraying may be implemented
Equipment, but automanual device structure is simple, has a single function.For example paint finishing is separated with equipment, is unable to autonomous, essence
Degree is not high with the degree of automation, very strong to artificial dependence.
For this purpose, the present invention provide it is a kind of can be with the spray robot of full-automatic spraying, including automatic spraying system, robot
Walking and route planning system promote grade train of mechanism.It can be used for realizing the automatic spraying of metope and ceiling, coating quality inspection
Survey etc..
Wherein the spray gun in spray gun group sets the freedom degree there are two dimension, and horizontal 360 ° of rotations with vertical aspect may be implemented
Turn, in addition spray gun assembly has extension arm, and the spraying of the anisotropic metope of the window etc. that may be implemented to float, optionally, spray gun are rotated in conjunction with spray head
Arm mechanism, which is equipped with, can fold rotating mechanism, and equipment is facilitated to pass in and out elevator, the small spaces such as room door region.Meanwhile this hair
Bright offer can be powered storing with the coating robot coats of full-automatic spraying, navigation, the functions universal class and one such as walking
Body realizes full automatic spraying operation.
Lifting assembly provided by the present invention is set as two-stage hoisting mechanism, if there are two synchronizing wheels, one of them is main
Driving wheel, one is driven wheel, and two-stage may be implemented and be promoted to ceiling metope, realizes ceiling spraying, meanwhile, because being two-stage
It is promoted, storage is smaller, is easily accessible elevator, the small area of space such as secondary room；In addition, single motor realizes that two-stage is promoted, structure
Simply, reliably, at low cost.
In conclusion forming multistage lift structure by the quantity that driving wheel is rationally arranged, spraying robot being made
People sprays to higher position simultaneously, reduces the whole height of frame body, and spray robot is made to be easier to enter small space, with suitable
Different workplaces is answered to require.It, can be with simultaneously using by the mode that lifting assembly is embedded in frame body or lifting assembly is mutually socketed
Simplify mounting structure, further saves cost.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of lifting assembly is used for spray robot, the spray robot includes frame body and spray gun assembly, and feature exists
In the lifting assembly includes:
At least two driving wheels；
Promote motor, the transmission connection of at least one of the promotion motor and all driving wheels；
Transmission belt is set around outside the driving wheel connecting with the promotion motor drive, the transmission belt and at least two biographies
Driving wheel cooperation,
Wherein, the side of the transmission belt is fixedly connected with the frame body, and the other side of the transmission belt is equipped with the spray gun group
Part, under the driving for promoting motor the transmission belt moved in the frame body, and the lifting assembly and the frame
Body relatively moves.
2. lifting assembly according to claim 1, which is characterized in that further include:
Fixed shell, the driving wheel, the promotion motor and the transmission belt are fixedly arranged on the fixed shell, mention described
Under the driving of lifting motor, the relative movement of the fixed shell and the frame body is realized.
3. lifting assembly according to claim 2, which is characterized in that the fixed shell far from the spray gun assembly one
Side is equipped with plugboard, and the plugboard can be stretched out or be retracted in the backboard slot of the frame body.
4. lifting assembly according to claim 3, which is characterized in that further include:
Stop part is set in the set casing body, to limit moving range of the spray gun assembly on the fixed shell.
5. lifting assembly according to claim 1, which is characterized in that the axis co-planar of multiple driving wheels, in institute
It states and is promoted under motor driven, the spray gun assembly linearly moves.
6. lifting assembly according to claim 1, which is characterized in that the quantity of the driving wheel is two, the promotion
A transmission connection in motor and two driving wheels far from the frame body.
7. lifting assembly according to claim 1, which is characterized in that further include:
Fixed part is set on the frame body, and the shape of the fixed part is matched with the shape of the concave tooth of the transmission belt, with
Realize being fixedly connected for the transmission belt and the frame body.
8. lifting assembly according to claim 1, which is characterized in that
The driving wheel is gear, and the transmission belt is rack gear；Or
The driving wheel is belt wheel, and the transmission belt is synchronous belt；Or
The driving wheel is sprocket wheel, and the transmission belt is chain belt.
9. a kind of spray robot characterized by comprising
Frame body, interior be equipped with of the frame body promote channel；
Such as lifting assembly described in any item of the claim 1 to 8, can be moved in the promotion channel；
Spray gun assembly is set in the lifting assembly.
10. spray robot according to claim 9, which is characterized in that further include:
Cushion block is set in the frame body, and the cushion block is set to the extreme lower position that the lifting assembly moves in the frame body.
11. spray robot according to claim 9, which is characterized in that further include:
Supply assembly is set in the frame body, and the supply assembly is connected to the spray gun of the spray gun assembly, with to the spray
Feed in rifle；And/or
Mobile device, set on the bottom of the frame body, with the movement frame body；And/or
Power supply unit is set in the frame body, to provide electric energy when spray robot operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344612.5A CN109972820A (en) | 2019-04-26 | 2019-04-26 | Lifting assembly and spray robot |
| PCT/CN2019/099617 WO2020215528A1 (en) | 2019-04-26 | 2019-08-07 | Lifting component and spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344612.5A CN109972820A (en) | 2019-04-26 | 2019-04-26 | Lifting assembly and spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109972820A true CN109972820A (en) | 2019-07-05 |
Family
ID=67086552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910344612.5A Pending CN109972820A (en) | 2019-04-26 | 2019-04-26 | Lifting assembly and spray robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109972820A (en) |
| WO (1) | WO2020215528A1 (en) |
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| CN111282758A (en) * | 2020-03-20 | 2020-06-16 | 三门宣教机械设备有限公司 | Device for spraying paint |
| CN111375512A (en) * | 2020-03-25 | 2020-07-07 | 广东博智林机器人有限公司 | Lifting mechanism and spraying robot |
| WO2020215528A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Lifting component and spraying robot |
| CN112031344A (en) * | 2020-08-19 | 2020-12-04 | 刘玲 | Building wall spraying robot based on machine vision |
| CN114718283A (en) * | 2021-01-04 | 2022-07-08 | 广东博智林机器人有限公司 | Decorative material spraying method |
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Also Published As
| Publication number | Publication date |
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| WO2020215528A1 (en) | 2020-10-29 |
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Application publication date: 20190705 |