CN110056167A - Spray gun assembly and spray robot - Google Patents
Spray gun assembly and spray robot Download PDFInfo
- Publication number
- CN110056167A CN110056167A CN201910426163.9A CN201910426163A CN110056167A CN 110056167 A CN110056167 A CN 110056167A CN 201910426163 A CN201910426163 A CN 201910426163A CN 110056167 A CN110056167 A CN 110056167A
- Authority
- CN
- China
- Prior art keywords
- spray gun
- rotational structure
- frame body
- spray
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Abstract
The present invention provides a kind of spray gun assembly and spray robots, wherein, spray gun assembly is used for the spray robot including frame body, include: rotary components, be set on frame body, rotary components include the first rotational structure and the second rotational structure, wherein, first rotational structure is set on frame body, and the second rotational structure is set on the first rotational structure, and the second rotational structure is different from the direction of rotation of the first rotational structure；Spray gun is set on the second rotational structure, to realize rotation under the drive of rotary components.According to the technical solution of the present invention, spraying operation range is increased, the flexibility of spraying operation and the adaptability to operating environment is enhanced, reduces to artificial dependence, improve deposition accuracies, reduce costs.
Description
Technical field
The present invention relates to spraying technology fields, in particular to a kind of spray gun assembly and a kind of spray robot.
Background technique
Currently, wall surface spraying uses artificial spraying operation more, and working efficiency is low in construction and decoration industry, and spray essence
It is poor to spend, and provides some semi-automatic spraying equipments in the market, is limited by device height and freedom degree, spray range has
Limit, it is difficult to suitable for special-shaped work surface or the work surface of labyrinth, particularly with operations such as the window that floats, corner, special-shaped ceiling plates
Face, deposition accuracies are difficult to ensure.In addition, being limited to equipment size, existing semi-automatic spraying equipment is difficult to adapt under different scenes
Job requirement, it is particularly disadvantageous to need the case where entering small space in spraying equipment.Therefore, existing semi-automatic spraying equipment,
It is limited that there are still spray ranges, and deposition accuracies are low, to the problem that artificial dependence is strong and spraying is at high cost.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, it is an object of the present invention to provide a kind of spray gun assemblies.
It is another object of the present invention to provide a kind of spray robots.
To achieve the goals above, first aspect present invention technical solution provides a kind of spray gun assembly, for including frame
The spray robot of body, comprising: rotary components, be set to the frame body on, the rotary components include the first rotational structure and
Second rotational structure, wherein first rotational structure is set on the frame body, and second rotational structure is set to described first
On rotational structure, and second rotational structure is different from the direction of rotation of first rotational structure；Spray gun is set to described the
On two rotational structures, to realize rotation under the drive of the rotary components.
The spray gun assembly provided according to the present invention, for the spray robot including frame body, by spray gun assembly in frame body
Rotary components are equipped with, spray gun assembly can be made to be rotated relative to frame body, to need to change spray gun according to spraying operation face
Spraying orientation；Rotary components include the first rotational structure and the second rotational structure, are set to frame body by the first rotational structure
On, the second rotational structure is set on the first rotational structure, and the second rotational structure is different from the direction of rotation of the first rotational structure,
I.e. there are two freedom degrees for rotational structure tool, to increase the spray range of spray gun assembly, improve spraying flexibility, wherein the second rotation
Rotation structure is different from the direction of rotation of the first rotational structure, i.e., the axis of the axis of the second rotational structure and the first rotational structure is not
In parallel, vertical, intersection or other positions relationship be can be.Spray gun is set on the second rotational structure, can be in the drive of rotary components
Lower realization rotation, i.e. spray gun can both be rotated with the second rotational structure itself and be rotated, can also be together with the second rotational structure
It is rotated with the first rotational structure, naturally it is also possible to be carried out while being rotated with the second rotational structure with the first rotational structure
Rotation, to adapt to different spraying operation environment, improves spraying flexibility, together to realize the Orientation differences of two freedom degrees
When meet different deposition accuracies demands, reduce to artificial dependence, reduce cost.Specifically, for different in small space
The spraying operation face in direction, spray robot, which moves integrally, to be limited, and can be existed by the first rotational structure and the second rotational structure
The change that spraying orientation is realized in smaller spatial dimension, completes spraying, or even the first rotational structure rotates in smaller space
By prescribing a time limit, remain to adjust spray gun orientation by the second rotational structure to complete to spray；For complexity such as the window that such as floats, special-shaped ceiling plates
The spraying operation face of structure, need at a distance from according to spray gun between work surface in spraying process and the direction of work surface, and
When the orientation of spray gun is adjusted, with uniform, the consistency of thickness that ensures to be sprayed on the coating in work surface, to improve spraying essence
Degree.
It is emphasized that the rotation angle range of the first rotational structure, the second rotational structure may each be 0 ° to 360 °
Any angle range in range, it can integral cycle rotating around the shaft part-circular periphery can also rotate, around the shaft such as at 0 ° to 180 °
Rotated within the scope of range or 0 ° to 90 °, it is preferable that the first rotational structure, the second rotational structure rotation angle range be 0 ° extremely
360 ° of ranges, to expand the spray range of spray gun assembly as far as possible.
In addition, the spray assembly in above-mentioned technical proposal provided by the invention can also have following additional technical feature:
In the above-mentioned technical solutions, one end of the frame body is equipped with rotating platform, and first rotational structure specifically includes:
First rotating basis is set on the rotating platform；First rotary body is coaxially disposed with first rotating basis, and described
First rotary body can rotate on first rotating basis；First rotating electric machine is sequentially connected with first rotary body, with
Realize the rotation of first rotary body.
In the technical scheme, by being equipped with rotating platform in one end of frame body, to provide the installation space of rotary components
With rotation process space；First rotational structure includes the first rotating basis on the rotating platform and same with the first rotating basis
Axis setting the first rotary body, rotated on the first rotating basis by the first rotary body, realize the first rotational structure relative to
The rotation of frame body, to improve spraying flexibility, adapts to different spraying operation environment to change the spraying orientation of spray gun.Pass through
First rotating electric machine and the first rotary body are sequentially connected, to realize turning for the first rotary body under the driving of the first rotating electric machine
It is dynamic, it realizes the electric drive of the first rotational structure, can reduce to artificial dependence, rotation process precision is higher, the company of spraying operation
Continuous property and stability are stronger.Preferably, the first rotating electric machine and the first rotary body directly drive transmission connection, and transmission efficiency is higher, knot
Structure is simple, and occupied space is few.
In the above-mentioned technical solutions, second rotational structure specifically includes: the second rotating basis, is set to first rotation
On swivel；Second rotary body is coaxially disposed with second rotating basis, and second rotary body can be in second rotation
It is rotated on pedestal, the spray gun is set on second rotary body；Second rotating electric machine is driven with second rotary body and connects
It connects, to realize the rotation of second rotary body.
In the technical scheme, the second rotational structure includes the second rotating basis on the first rotary body and with second
Second rotary body of rotating basis coaxial arrangement, is rotated on the second rotating basis by the second rotary body, realizes the second rotation
Rotation of the structure relative to the first rotary body, so that the spraying orientation of spray gun is further adjusted, it is flexible to further increase spraying
Property, make spray robot to the more adaptable of spraying operation environment.Connected by the second rotating electric machine and the transmission of the second rotary body
It connects, to realize the rotation of the second rotary body under the driving of the second rotating electric machine, realizes the electric drive of the second rotational structure, and the
Can independently being rotated relative to the first rotary body for two rotary bodies, is not limited, it will be understood that first by the first rotating electric machine
Rotary body and the second rotary body can also only be driven by a rotating electric machine, and centre is carried out by transmission belt or other structures
Transmission, but the first rotary body need to rotate simultaneously with the second rotary body at this time, cannot achieve respectively independent rotation.In addition, passing through the
Two rotating electric machines drive the second rotary body, can also reduce to artificial dependence, improve rotation process precision, guarantee spraying operation
Stability.
In the above-mentioned technical solutions, first rotary body specifically includes the first plate and is connected with the side of first plate
The second plate, wherein first plate and second plate are in predetermined angle, and second rotating electric machine is set to first plate
In space folded by second plate.
In the technical scheme, by limit the first rotary body specifically include the first plate and with the second plate, wherein the second plate
It is connected with the side of the first plate, the first plate and the second plate are in predetermined angle, reserve installation space for the second rotating electric machine, make second
Rotating electric machine can be set in space folded by the first plate and the second plate, while guarantee the second rotation when the second rotational structure is rotated
Rotating motor will not collide with the first rotational structure, interfere with each other to avoid generating in rotary course.It is emphasized that the
The predetermined angle of one plate and the second plate can be any angle that can accommodate the second rotating electric machine, it is preferable that predetermined angle is
90 °, the building convenient for space coordinate model and the positioning to spray gun, and will not generate and interfere with each other in rotary course.
In the above-mentioned technical solutions, spray gun assembly further include: right-angle reduction device, one end of the right-angle reduction device with it is described
Second rotating electric machine be connected, the other end is connected with second rotary body so that the axis of second rotating electric machine with it is described
Between the axis of second rotating basis at right angles.
In the technical scheme, it is connected by right-angle reduction device one end with the second rotating electric machine, the other end and the second rotation
Body is connected, and can be driven between the second rotating electric machine and the second rotary body, and the output of the second rotating electric machine is on the one hand reduced
Power reduces the rotation speed of the second rotary body, that is, reduces the rotation speed of spray gun, is suitable for spray gun in a small range pair
The spraying in the spraying operation face of high-precision requirement, in order to avoid the too fast deposition accuracies for influencing spray gun of the second rotary body revolving speed, another party
The outbound course of second rotating electric machine can be changed 90 ° by right-angle reduction device by face, can conducive to the installation of the second rotating electric machine
So that the second rotating electric machine is rationally utilized the space that the first plate and the second plate are reserved on the first rotary body, prevents because occupied space is larger
It is interfered with each other in rotary course with the generation of the first rotational structure.In addition, being carried out using right-angle reduction device to the second rotating electric machine
Reduction of speed can make the selection of the second rotating electric machine and the same model motor of the first rotating electric machine, increase the versatility of motor, reduce
Production and maintenance cost.
In the above-mentioned technical solutions, spray gun assembly further include: moving assembly is set on the frame body, the rotary components
On the moving assembly, to realize movement of the rotary components relative to the frame body by the moving assembly.
In the technical scheme, by the moving assembly that spray gun assembly further includes on frame body, rotary components, which are set to, to be moved
On dynamic component, rotary components can be made to be moved integrally with moving assembly relative to frame body, make spray gun assembly that there are 3 freedom
Degree, i.e., increase a freedom of moving assembly again on the basis of the first rotational structure and second two freedom degrees of rotational structure
Degree further improves the spray range of spray gun assembly, sprays flexibility and to the more adaptable of environment.
In the above-mentioned technical solutions, the moving assembly specifically includes: sliding rail, is set on the frame body；Bracket slide, institute
The one end and the sliding rail for stating bracket slide are slidably connected, and the other end is equipped with the rotary components.
It in the technical scheme, include sliding rail and bracket slide by specifically limiting moving assembly, wherein sliding rail is set to frame
On body, one end and the sliding rail of bracket slide are slidably connected, and the other end is equipped with rotary components, and rotary components can be made with bracket slide phase
Frame body is slided along sliding rail, to further increase the spraying flexibility of spray gun assembly and to the adaptability of environment.It needs
, it is emphasized that the extending direction of sliding rail, the i.e. glide direction of bracket slide can be not influence appointing for spray gun assembly normal work
Meaning direction, it is preferable that the extending direction of sliding rail is the direction for being parallel to horizontal plane and being parallel to spraying operation face, it will be understood that
When carrying out spraying operation, the length of work surface horizontal direction is typically much deeper than the height of vertical direction, and sliding rail is parallel to level
Face and spraying operation face can make to keep stablizing in the whole a distance in the horizontal direction of spray robot, and pass through
Spray gun assembly completes the spraying operation in the horizontal extent with the sliding of sliding rail, to reduce spray robot continuous moving to spray
The influence of the stability and deposition accuracies of rifle component.
In the above-mentioned technical solutions, the moving assembly specifically includes: rotation axis, is set on the frame body；Moving blade,
It is rotatablely connected with the rotation axis, and the rotary components are set on the moving blade.
It in the technical scheme, include rotation axis and moving blade by moving assembly, wherein rotation axis is set to frame body
On, moving blade and rotation axis are rotatablely connected, and moving blade can be made to be rotated under the drive of rotation axis relative to frame body, and
Rotary components are set on moving blade, it can be achieved that rotary components are rotated with moving blade relative to frame body, to increase spray gun
The spray range of component improves spraying flexibility and the adaptability to environment.It is emphasized that the quantity of blade can be one
It is a or multiple, it is preferable that two blades of selection are symmetrical arranged relative to rotation axis, can be improved steady in moving blade rotation process
It is qualitative.
In the above-mentioned technical solutions, the surfaces of revolution of the surfaces of revolution of first rotational structure and second rotational structure hangs down
Directly.
In the technical scheme, vertical with the surfaces of revolution of the second rotational structure by the surfaces of revolution of the first rotational structure, it can
It avoids the first rotational structure from generating in rotary course with the second rotational structure to interfere with each other, reduces the rotation process of rotary components
To the spraying stability of spray gun and the influence of deposition accuracies, while it being also beneficial to the effective use in space, convenient for the first rotation knot
The space layout of structure and the second rotational structure, so that rotary components entirety occupied space is small as far as possible, to be adapted in small space
Interior spraying operation.
In the second aspect of the present invention technical solution, a kind of spray robot is provided, comprising: frame body, in the frame body
Equipped with promotion channel；Hoisting mechanism is set in the promotion channel, and the first part of the hoisting mechanism is fixed with the frame body
Connection；Motor is promoted, is sequentially connected with the hoisting mechanism, under the driving for promoting motor, the hoisting mechanism exists
It is moved in the promotion channel；Spray gun assembly as described in any of the above-described technical solution, set on second of the hoisting mechanism
Point, wherein the first part and the second part are set on the two sides of the hoisting mechanism, in the drive for promoting motor
Under dynamic, the hoisting mechanism stretches out or retracts the promotion channel, and occurs between the spray gun assembly and the hoisting mechanism
Relative movement.
The spray robot provided through the invention promotes channel by being equipped in frame body, is the movement of hoisting mechanism
Space is provided, hoisting mechanism, which is set to, to be promoted in channel, and the first part of hoisting mechanism is fixedly connected with frame body, can make to promote electricity
Machine is moved in a certain range in promotion channel；It is that movement of the hoisting mechanism in promotion channel mentions by promoting motor
For power；By by the spray gun assembly in any of the above-described technical solution be set to hoisting mechanism second part, and first part with
Second part is set to the two sides of hoisting mechanism, and under the driving for promoting motor, hoisting mechanism is extended or retracts promotion channel, together
When spray gun assembly relatively moved relative between hoisting mechanism, can promoted with hoisting mechanism so as to make spray gun assembly both
It is integrally moved relative to frame body in channel, can also be moved relative to hoisting mechanism itself, spray gun assembly is made to realize two
Grade is promoted, and is increased the spatial dimension of spraying operation, without increasing the size of spray robot, is effectively reduced cost, simultaneously
The flexibility of spraying operation and the adaptability to operating environment are enhanced, it is higher to be particularly suitable for small space or height under need to entering
Painting environments, reduce to artificial dependence.In addition, spray robot provided by the invention includes any of the above-described technical solution
In spray gun assembly, thus whole beneficial effects with the spray gun assembly in any of the above-described technical solution, details are not described herein.
In the above-mentioned technical solutions, the hoisting mechanism specifically includes: at least two driving wheels, in all driving wheels
One connect with the promotion motor drive；Transmission belt is set around outside the driving wheel connecting with the promotion motor drive, institute
It states transmission belt and at least two driving wheels cooperates, to be moved under the drive for promoting motor.
In the technical scheme, hoisting mechanism is by driving wheel, transmission belt and the cooperation for promoting motor, in driving wheel
Power can be transmitted under driving for transmission belt and tension is provided, to realize the rotation of transmission belt, specifically, is selected in all driving wheels
At least one is selected, is connect with motor drive is promoted, power can be provided for the rotation of transmission belt, to improve the automation of product
Level reduces to artificial dependence, wherein the quantity for promoting motor can be one or more, it will be understood that promote electricity
When the quantity of machine is multiple, the power of output is bigger, can carry heavier load；Connected by being set around and promoting motor drive
The transmission belt outside driving wheel connect, at least two driving wheels cooperation, it can be achieved that transmission belt promoted motor drive under around biography
Wheel rotation.It is emphasized that be equipped with the first part that is fixedly connected with frame body in hoisting mechanism, i.e., on transmission belt side with
Frame body is fixedly connected, due to transmission belt under the driving for promoting motor can constantly cycle rotation, hoisting mechanism is whole in frame body
On can generate relative movement, and spray gun assembly is set to the second part of the other side of hoisting mechanism, i.e. the transmission belt other side is equipped with
Spray gun assembly, then the transmission belt of hoisting mechanism can not only be rotated around driving wheel, can also be moved integrally relative to frame body, thus
It realizes that hoisting mechanism promotes the two-stage of spray gun assembly, and then expands the spatial dimension of spraying operation, improve spraying operation
Flexibility and adaptability to environment.
In the above-mentioned technical solutions, 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.
In the technical scheme, there are many selection, wheel and rack, belt wheel and synchronous belts for driving wheel and transmission belt, or
Sprocket wheel with it is related, can be achieved to promote the two-stage of spray gun assembly in the present invention；Specifically, gear structure is compact, with rack gear
Mesh degree is high, and at low cost；Belt wheel and toothed belt transmission are steady, with small vibration；The elongation of chain belt is low, and sprocket diameter is small, holds
Loading capability is big.Preferably, using belt wheel and synchronous belt.
In the above-mentioned technical solutions, spray robot further include: supply assembly is set in the frame body, and the feed
Component 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 frame body
Bottom, with the movement frame body；And/or power supply unit, it is set in the frame body, to provide when the spray robot is run
Electric energy.
In the technical scheme, it is connected to by being set to the intracorporal supply assembly of frame with the spray gun of spray gun assembly, for spraying
Coating is supplied in operation, can reduce artificial supplementation coating operations, is reduced to artificial dependence；Spray robot can carry movement
Device is set to frame body bottom with movable support body, realizes moving horizontally when spraying operation, facilitate spraying operation, improve flush coater
The flexibility of device people can also be realized by extraneous Mobile Equipment and be moved horizontally；Spray robot can carry power supply unit, if
Electric energy when in frame body to provide spray robot operation, makes spray robot keep continuing spraying operation, and not by power supply
Route limitation, spraying operation range is bigger, and power supply unit can be battery, generator, but can also be carried out by external power supply
Power supply.
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 shows the structural schematic diagram of spray gun assembly according to an embodiment of the invention.
Fig. 2 shows the structural schematic diagrams of spray gun assembly according to an embodiment of the invention.
Fig. 3 shows spray gun assembly structural schematic diagram according to an embodiment of the invention.
Fig. 4 shows the structural representation of spray robot according to an embodiment of the invention.
Fig. 5 shows the structural schematic diagram of spray robot according to an embodiment of the invention.
Fig. 6 shows the structural schematic diagram of spray robot according to an embodiment of the invention.
Wherein, corresponding relationship of the Fig. 1 into Fig. 6 between appended drawing reference and component names are as follows:
1 spray gun assembly, 111 first rotating basis, 112 first rotary bodies, 1,121 first plates, 1,122 second plates,
113 first rotating electric machines, 121 second rotating basis, 122 second rotary bodies, 123 second rotating electric machines, 124 right angles subtract
Fast device, 13 spray guns, 14 moving assemblies, 141 sliding rails, 142 bracket slides, 143 rotation axis, 144 moving blades, 2 framves
Body, 21 rotating platforms, 22 promote channels, 3 hoisting mechanisms, 31 driving wheels, 32 transmission belts, 321 first parts, and 322 the
Two parts, 4 promote motor, 51 supply assemblies, 52 mobile devices, 53 power supply units.
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.
Referring to the spray gun assembly and spray robot of Fig. 1 to Fig. 6 description according to some embodiments of the invention.
As shown in Figure 1, a kind of spray gun assembly 1 is provided in one embodiment of the present of invention, for the spraying including frame body 2
Robot, spray gun assembly 1 include the rotary components on frame body 2, and rotary components include the first rotational structure and the second rotation
Rotation structure, wherein the first rotational structure is set on frame body 2, and the second rotational structure is set on the first rotational structure, and the second rotation
Structure is different from the direction of rotation of the first rotational structure；Spray gun assembly 1 further includes spray gun 13, is set on the second rotational structure, with
Rotation is realized under the drive of rotary components.
In this embodiment, for including 2 spray coating robot spray gun component 1 of frame body, by being equipped with rotation group on frame body 2
Part can be such that spray gun assembly 1 is rotated relative to frame body 2, according to the spraying side for needing to change spray gun 13 in spraying operation face
Position；Rotary components include the first rotational structure and the second rotational structure, are set on frame body 2 by the first rotational structure, second
Rotational structure is set on the first rotational structure, and the second rotational structure is different from the direction of rotation of the first rotational structure, that is, rotates
There are two freedom degrees for structure tool, to increase the spray range of spray gun assembly 1, improve spraying flexibility, wherein the second rotational structure
Different from the direction of rotation of the first rotational structure, i.e., the axis of the second rotational structure is vertical with the axis of the first rotational structure.Spray
Rifle 13 is set on the second rotational structure, rotation can be realized under the drive of rotary components, i.e. spray gun 13 both can be with the second rotation
Structure itself is rotated and is rotated, and can also be rotated together with the second rotational structure with the first rotational structure, naturally it is also possible to
It is rotated while being rotated with the second rotational structure with the first rotational structure, to realize the orientation tune of two freedom degrees
It is whole, to adapt to different spraying operation environment, spraying flexibility is improved, while meeting different deposition accuracies demands, reduced to people
The dependence of work, reduces cost.Specifically, for the spraying operation face of the different directions in small space, spray robot is whole
It is mobile restricted, changing for spraying orientation can be realized in smaller spatial dimension by the first rotational structure and the second rotational structure
Become, complete spraying, or even the rotation of the first rotational structure remains to also by limited time through the second rotational structure tune in smaller space
Whole 13 orientation of spray gun is to complete to spray；It, need to be spray coated for the spraying operation face of the labyrinths such as the window that such as floats, special-shaped ceiling plate
According to the distance between spray gun 13 and work surface and the direction of work surface in journey, the orientation of spray gun 13 is adjusted in time,
With uniform, the consistency of thickness that ensures to be sprayed on the coating in work surface, to improve deposition accuracies.
It is emphasized that the rotation angle range of the first rotational structure, the second rotational structure may each be 0 ° to 360 °
Any angle range in range, it can integral cycle rotating around the shaft part-circular periphery can also rotate, around the shaft such as at 0 ° to 180 °
Rotated within the scope of range or 0 ° to 90 °, it is preferable that the first rotational structure, the second rotational structure rotation angle range be 0 ° extremely
360 ° of ranges, to expand the spray range of spray gun assembly 1 as far as possible.
In one embodiment of the invention, as shown in Figure 1, one end of frame body 2 is equipped with rotating platform 21, the first rotation knot
Structure specifically includes: the first rotating basis 111, is set on rotating platform 21；First rotary body 112, it is same with the first rotating basis 111
Axis setting, and the first rotary body 112 can rotate on the first rotating basis 111；First rotating electric machine 113, with the first rotary body
112 transmission connections, to realize the rotation of the first rotary body 112.
In this embodiment, by being equipped with rotating platform 21 in one end of frame body 2, to provide the installation space of rotary components
With rotation process space；First rotational structure includes the first rotating basis 111 on rotating platform 21 and rotates with first
The first rotary body 112 that pedestal 111 is coaxially disposed, is rotated on the first rotating basis 111 by the first rotary body 112, is realized
Rotation of first rotational structure relative to frame body 2, to improve spraying flexibility, adapts to change the spraying orientation of spray gun 13
Different spraying operation environment.It is sequentially connected by the first rotating electric machine 113 and the first rotary body 112, in the first rotating electric machine
Realize the rotation of the first rotary body 112 under 113 driving, realize the electric drive of the first rotational structure, can reduce to it is artificial according to
Rely, rotation process precision is higher, and the stability of spraying operation is stronger.Preferably, the first rotating electric machine 113 and first
Rotary body 112 directly drives transmission connection, and transmission efficiency is higher, and structure is simple, and occupied space is few.
In one embodiment of the invention, as shown in Figure 1, the second rotational structure specifically includes: the second rotating basis
121, it is set on the first rotary body 112；Second rotary body 122 is coaxially disposed with the second rotating basis 121, and the second rotary body
122 can rotate on the second rotating basis 121, and spray gun 13 is set on the second rotary body 122；Second rotating electric machine 123, with second
Rotary body 122 is sequentially connected, to realize the rotation of the second rotary body 122.
In this embodiment, the second rotational structure include the second rotating basis 121 on the first rotary body 112 and with
Second rotary body 122 of the second rotating basis 121 coaxial arrangement is turned on the second rotating basis 121 by the second rotary body 122
It is dynamic, realize rotation of second rotational structure relative to the first rotary body 112, so that the spraying orientation of spray gun 13 is further adjusted,
To further increase spraying flexibility, make spray robot to the more adaptable of spraying operation environment.Pass through the second electric rotating
Machine 123 and the second rotary body 122 are sequentially connected, to realize turning for the second rotary body 122 under the driving of the second rotating electric machine 123
It is dynamic, realize the electric drive of the second rotational structure, and the second rotary body 122 can independently be turned relative to the first rotary body 112
It is dynamic, it is not limited by the first rotating electric machine 113, it will be understood that the first rotary body 112 and the second rotary body 122 can also only pass through
One rotating electric machine is driven, and centre is driven by driving wheel 31 or other structures, but at this time the first rotary body 112 and
Second rotary body 122 need to rotate simultaneously, cannot achieve respectively independent rotation.In addition, passing through the second rotating electric machine 123 driving second
Rotary body 122 can also reduce to artificial dependence, improve rotation process precision, guarantee the stability of spraying operation.
In one embodiment of the invention, as shown in Figure 1, the first rotary body 112 specifically include the first plate 1121 and with
The second connected plate 1122 of the side of first plate 1121, wherein the first plate 1121 and the second plate 1122 are in predetermined angle, the second rotation
Rotating motor 123 is set in space folded by the first plate 1121 and the second plate 1122.Preferably, predetermined angle is 90 °.
In this embodiment, by limit the first rotary body 112 specifically include the first plate 1121 and with the second plate 1122,
In, the second plate 1122 is connected with the side of the first plate 1121, and the first plate 1121 and the second plate 1122 are in predetermined angle, for the second rotation
Rotating motor 123 reserves installation space, makes the second rotating electric machine 123 that can be set to space folded by the first plate 1121 and the second plate 1122
It is interior, while guaranteeing that the second rotating electric machine 123 will not collide with the first rotational structure when the second rotational structure is rotated, with
It avoids generating in rotary course and interfere with each other.It is emphasized that the predetermined angle of the first plate 1121 and the second plate 1122 can also
To be any angle that can accommodate the second rotating electric machine 123, it is preferable that predetermined angle is 90 °, convenient for the structure of space coordinate model
It builds and the positioning to spray gun 13, and will not generate and interfere with each other in rotary course.
In one embodiment of the invention, as shown in Figure 1, spray gun assembly 1 further include: right-angle reduction device 124, right angle subtracts
One end of fast device 124 is connected with the second rotating electric machine 123, and the other end is connected with the second rotary body 122, so that the second rotating electric machine
Between 123 axis and the axis of the second rotating basis 121 at right angles.
In this embodiment, it is connected by 124 one end of right-angle reduction device with the second rotating electric machine 123, the other end and second
Rotary body 122 is connected, and can be driven between the second rotating electric machine 123 and the second rotary body 122, and the second rotation is on the one hand reduced
The output power of rotating motor 123 reduces the rotation speed of the second rotary body 122, that is, reduces the rotation speed of spray gun 13, make to spray
Rifle 13 is suitable for the spraying in a small range to the spraying operation face of high-precision requirement, in case 122 revolving speed of the second rotary body is too fast
Influencing the deposition accuracies of spray gun 13 on the other hand can be by the outbound course of the second rotating electric machine 123 by right-angle reduction device 124
Change 90 °, conducive to the installation of the second rotating electric machine 123, the second rotating electric machine 123 can be made rationally using on the first rotary body 112
The reserved space of first plate 1121 and the second plate 1122, prevent because occupied space it is larger in rotary course with the first rotational structure
Generation interferes with each other.In addition, carrying out reduction of speed to the second rotating electric machine 123 using right-angle reduction device 124, the second rotating electric machine can be made
123 selections and the same model motor of the first rotating electric machine 113, increase the versatility of motor, reduce production and maintenance cost.
In one embodiment of the invention, as shown in Fig. 2, spray gun assembly 1 further include: moving assembly 14 is set to frame body 2
On, rotary components are set on moving assembly 14, to realize movement of the rotary components relative to frame body 2 by moving assembly 14.
In this embodiment, by the moving assembly 14 that spray gun assembly 1 further includes on frame body 2, rotary components are set to
On moving assembly 14, rotary components can be made to be moved integrally with moving assembly 14 relative to frame body 2, spray gun assembly 1 is made to have 3
A freedom degree increases moving assembly 14 on the basis of the first rotational structure and second two freedom degrees of rotational structure again
One degree of freedom further improves the spray range of spray gun assembly 1, sprays flexibility and to the more adaptable of environment.
In one embodiment of the invention, as shown in Fig. 2, moving assembly 14 specifically includes: sliding rail 141 is set to frame body 2
On；Bracket slide 142, one end and the sliding rail 141 of bracket slide 142 are slidably connected, and the other end is equipped with rotary components.
It in this embodiment, include sliding rail 141 and bracket slide 142 by specifically limiting moving assembly 14, wherein sliding rail
141 are set on frame body 2, and one end and the sliding rail 141 of bracket slide 142 are slidably connected, and the other end is equipped with rotary components, can make to rotate
Component is slided relative to frame body 2 along sliding rail 141 with bracket slide 142, flexible with the spraying for further increasing spray gun assembly 1
Property and adaptability to environment.It is emphasized that the extending direction of sliding rail 141, the i.e. glide direction of bracket slide 142 can be with
For do not influence spray gun assembly 1 normal work any direction, it is preferable that the extending direction of sliding rail 141 be parallel to horizontal plane and
It is parallel to the direction in spraying operation face, it will be understood that when carrying out spraying operation, the length of work surface horizontal direction is usually long-range
In the height of vertical direction, sliding rail 141 is parallel to horizontal plane and spraying operation face, can make spray robot whole in level
It keeps stablizing in a distance on direction, and is completed in the horizontal extent by spray gun assembly 1 with the sliding of sliding rail 141
Spraying operation, to reduce influence of the spray robot continuous moving to the stability and deposition accuracies of spray gun assembly 1.
In one embodiment of the invention, as shown in figure 3, moving assembly 14 specifically includes: rotation axis 143 is set to frame
On body 2；Moving blade 144 is rotatablely connected with rotation axis 143, and rotary components are set on moving blade 144.
It in this embodiment, include rotation axis 143 and moving blade 144 by moving assembly 14, wherein rotation axis 143
On frame body 2, moving blade 144 and rotation axis 143 are rotatablely connected, and can make moving blade 144 under the drive of rotation axis 143
It is rotated relative to frame body 2, and rotary components are set on moving blade 144, it can be achieved that rotary components are with 144 phase of moving blade
Frame body 2 is rotated, to increase the spray range of spray gun assembly 1, improves spraying flexibility and the adaptability to environment.It needs
It is emphasized that the quantity of blade can be one or more, it is preferable that two blades of selection are symmetrical relative to rotation axis 143
Setting, can be improved the stability in 144 rotation process of moving blade.
In one embodiment of the invention, as shown in Figure 1, the surfaces of revolution of the first rotational structure and the second rotational structure
The surfaces of revolution is vertical.
In this embodiment, vertical with the surfaces of revolution of the second rotational structure by the surfaces of revolution of the first rotational structure, it can keep away
Exempt from the first rotational structure and generate in rotary course with the second rotational structure to interfere with each other, reduces the rotation process pair of rotary components
The spraying stability of spray gun 13 and the influence of deposition accuracies, while it being also beneficial to the effective use in space, convenient for the first rotation knot
The space layout of structure and the second rotational structure, so that rotary components entirety occupied space is small as far as possible, to be adapted in small space
Interior spraying operation.
In one embodiment of the present of invention, a kind of spray robot is provided, as shown in Figure 4, comprising: interior logical equipped with being promoted
The frame body 2 in road 22；Set on the hoisting mechanism 3 promoted in channel 22, the first part 321 of hoisting mechanism 3 and the fixed company of frame body 2
It connects；The promotion motor 4 being sequentially connected with hoisting mechanism 3, under the driving for promoting motor 4, hoisting mechanism 3 is promoting channel 22
Interior movement；Spray gun assembly 1 in such as above-mentioned any embodiment, set on the second part 322 of hoisting mechanism 3, wherein first part
321 are set to the two sides of hoisting mechanism 3 with second part 322, under the driving for promoting motor 4, hoisting mechanism 3 is extended or contracts
It returns and promotes channel 22, and relatively moved between spray gun assembly 1 and hoisting mechanism 3.
In this embodiment, channel 22 is promoted by being equipped in frame body 2, provides space for the movement of hoisting mechanism 3, mentions
It rises mechanism 3 to be set in promotion channel 22, and the first part 321 of hoisting mechanism 3 is fixedly connected with frame body 2, can make to promote motor 4
It is moved being promoted in a certain range in channel 22；It is that hoisting mechanism 3 is promoting the fortune in channel 22 by promoting motor 4
It is dynamic that power is provided；By the way that the spray gun assembly 1 in any of the above-described embodiment to be set to the second part 322 of hoisting mechanism 3, and first
Part 321 and second part 322 are set to the two sides of hoisting mechanism 3, under the driving for promoting motor 4, hoisting mechanism 3 it is extended or
It retracts and promotes channel 22, while spray gun assembly 1 is relatively moved relative between hoisting mechanism 3, so as to make spray gun assembly 1
Both it can integrally be moved relative to frame body 2 in promotion channel 22 with hoisting mechanism 3, it can also be relative to hoisting mechanism 3 itself
It is moved, so that spray gun assembly 1 is realized that two-stage is promoted, the spatial dimension of spraying operation is increased, without increasing spray robot
Size, effectively reduce cost, while enhancing the flexibility of spraying operation and the adaptability to operating environment, it is especially suitable
Small space or higher-height painting environments, reduce to artificial dependence under it need to enter.In addition, spraying provided by the invention
Robot includes the spray gun assembly 1 in any of the above-described embodiment, thus with the complete of the spray gun assembly 1 in any of the above-described embodiment
Portion's beneficial effect, details are not described herein.
In one embodiment of the invention, as shown in figure 5, hoisting mechanism 3 specifically includes: two driving wheels 31, transmission
One in wheel 31 is sequentially connected with motor 4 is promoted；Driving wheel 31 is set around the driving wheel 31 being sequentially connected with promotion motor 4
Outside, driving wheel 31 and two driving wheels 31 cooperate, to move under the drive for promoting motor 4.
In this embodiment, hoisting mechanism 3 is being driven by driving wheel 31, driving wheel 31 and the cooperation for promoting motor 4
Power can be transmitted under the drive of wheel 31 for driving wheel 31 and tension is provided, to realize the rotation of driving wheel 31, specifically, all
At least one is selected in driving wheel 31, is sequentially connected with motor 4 is promoted, power can be provided for the rotation of driving wheel 31, to mention
The automatization level for having risen product reduces to artificial dependence, it is preferable that promoted motor 4 quantity be one, and with top
Driving wheel 31 be sequentially connected, to simplify drive mechanism, while being conducive to the maintenance to motor 4 is promoted, the quantity for promoting motor 4 can
Think multiple, it will be understood that when the quantity for promoting motor 4 is multiple, the power of output is bigger, can carry heavier bear
It carries；It, can with two cooperations of driving wheels 31 by being set around and promoting the driving wheel 31 outside the driving wheel 31 that motor 4 is sequentially connected
Realize that driving wheel 31 rotates under the drive for promoting motor 4 around driving wheel 31.It is emphasized that hoisting mechanism 3 in be equipped with
The first part 321 that frame body 2 is fixedly connected, i.e., side is fixedly connected with frame body 2 on driving wheel 31, since driving wheel 31 is being promoted
Under the driving of motor 4 can constantly cycle rotation, hoisting mechanism 3 is whole to generate relative movement on frame body 2, and spray gun assembly
1 is set to the second part 322 of the other side of hoisting mechanism 3, that is, is set to 31 other side of driving wheel, then the driving wheel of hoisting mechanism 3
31 can not only rotate around driving wheel 31, can also be moved integrally relative to frame body 2, to realize hoisting mechanism 3 to spray gun group
The two-stage of part 1 is promoted, and then is expanded the spatial dimension of spraying operation, improve the flexibility of spraying operation and fitted to environment
Ying Xing.
In one embodiment of the invention, driving wheel 31 is gear, and driving wheel 31 is rack gear；Or driving wheel 31 is band
Wheel, driving wheel 31 are synchronous belt；Or driving wheel 31 is sprocket wheel, driving wheel 31 is chain belt.
In this embodiment, there are many selection, wheel and rack, belt wheel and synchronous belts for driving wheel 31 and driving wheel 31, or
Person's sprocket wheel with it is related, can be achieved to promote the two-stage of spray gun assembly 1 in the present invention；Specifically, gear structure is compact, with rack gear
Mesh degree it is high and at low cost；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.Preferably, using belt wheel and synchronous belt.
In one embodiment of the invention, as shown in fig. 6, spray robot further include: supply assembly 51 is set to frame body
In 2, and supply assembly 51 is connected to the spray gun 13 of spray gun assembly 1, to be fed into spray gun 13；And/or mobile device 52, it is set to
The bottom of frame body 2, with movable support body 2；And/or power supply unit 53, it is set in frame body 2, to provide when spray robot is run
Electric energy.
In this embodiment, by be set to frame body 2 in supply assembly 51 be connected to the spray gun 13 of spray gun assembly 1, with for
Spraying operation supplies coating, can reduce artificial supplementation coating operations, reduces to artificial dependence；Spray robot can carry
Mobile device 52 is set to 2 bottom of frame body with movable support body 2, realizes moving horizontally when spraying operation, facilitate spraying operation, mention
The flexibility of high spray robot can also be realized by extraneous Mobile Equipment and be moved horizontally；Spray robot can carry confession
Electric installation 53 provides electric energy when spray robot operation in frame body 2, makes spray robot that lasting spraying be kept to make
Industry, and do not limited by power circuit, spraying operation range is bigger, and power supply unit 53 can be battery, generator, but can also lead to
External power supply is crossed to be powered.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, increases spraying operation range, enhances spraying
The flexibility of operation and adaptability to operating environment, reduce to artificial dependence, improve deposition accuracies, reduce into
This.
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 (13)
1. a kind of spray gun assembly, for the spray robot including frame body characterized by comprising
Rotary components are set on the frame body, and the rotary components include the first rotational structure and the second rotational structure,
In, first rotational structure is set on the frame body, and second rotational structure is set on first rotational structure, and institute
It is different from the direction of rotation of first rotational structure to state the second rotational structure；
Spray gun is set on second rotational structure, to realize rotation under the drive of the rotary components.
2. spray gun assembly according to claim 1, which is characterized in that one end of the frame body is equipped with rotating platform, described
First rotational structure specifically includes:
First rotating basis is set on the rotating platform；
First rotary body is coaxially disposed with first rotating basis, and first rotary body can be in the first rotation base
It is rotated on seat；
First rotating electric machine is sequentially connected, to realize the rotation of first rotary body with first rotary body.
3. spray gun assembly according to claim 2, which is characterized in that second rotational structure specifically includes:
Second rotating basis is set on first rotary body；
Second rotary body is coaxially disposed with second rotating basis, and second rotary body can be in the second rotation base
It is rotated on seat, the spray gun is set on second rotary body；
Second rotating electric machine is sequentially connected, to realize the rotation of second rotary body with second rotary body.
4. spray gun assembly according to claim 3, which is characterized in that first rotary body specifically include the first plate and with
The second connected plate of the side of first plate,
Wherein, first plate and second plate are in predetermined angle, and second rotating electric machine is set to first plate and institute
It states in space folded by the second plate.
5. spray gun assembly according to claim 3, which is characterized in that further include:
Right-angle reduction device, one end of the right-angle reduction device are connected with second rotating electric machine, the other end and second rotation
Swivel is connected, so that between the axis of second rotating electric machine and the axis of second rotating basis at right angles.
6. spray gun assembly according to claim 1, which is characterized in that further include:
Moving assembly is set on the frame body, and the rotary components are set on the moving assembly, to pass through the moving assembly
Realize movement of the rotary components relative to the frame body.
7. spray gun assembly according to claim 6, which is characterized in that the moving assembly specifically includes:
Sliding rail is set on the frame body；
Bracket slide, one end of the bracket slide are slidably connected with the sliding rail, and the other end is equipped with the rotary components.
8. spray gun assembly according to claim 6, which is characterized in that the moving assembly specifically includes:
Rotation axis is set on the frame body；
Moving blade is rotatablely connected with the rotation axis, and the rotary components are set on the moving blade.
9. spray gun assembly according to any one of claim 1 to 8, which is characterized in that the rotation of first rotational structure
The surfaces of revolution for turning face and second rotational structure is vertical.
10. a kind of spray robot characterized by comprising
Frame body, interior be equipped with of the frame body promote channel；
Hoisting mechanism is set in the promotion channel, and the first part of the hoisting mechanism is fixedly connected with the frame body；
Motor is promoted, is sequentially connected with the hoisting mechanism, under the driving for promoting motor, the hoisting mechanism is in institute
It states to be promoted and be moved in channel；
Spray gun assembly as claimed in any one of claims 1-9 wherein, set on the second part of the hoisting mechanism, wherein described
First part and the second part are set to the two sides of the hoisting mechanism, described to mention under the driving for promoting motor
It rises mechanism to stretch out or retract the promotion channel, and is relatively moved between the spray gun assembly and the hoisting mechanism.
11. spray robot according to claim 10, which is characterized in that the hoisting mechanism specifically includes:
At least two driving wheels, one in all driving wheels connect with the promotion motor drive；
Transmission belt is set around outside the driving wheel connecting with the promotion motor drive, the transmission belt and at least two biographies
Driving wheel cooperation, to be moved under the drive for promoting motor.
12. spray robot according to claim 10, 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.
13. spray robot according to claim 10, 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 (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910426163.9A CN110056167B (en) | 2019-05-21 | 2019-05-21 | Spray gun assembly and spraying robot |
| PCT/CN2020/087069 WO2020216382A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| AU2020263464A AU2020263464A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| SG11202111861PA SG11202111861PA (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| US17/606,702 US20220314256A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| JP2021563659A JP2022530156A (en) | 2019-04-26 | 2020-04-26 | Painted robots, control methods and computer readable storage media |
| CA3138027A CA3138027A1 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
| EP20794811.8A EP3960961A4 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910426163.9A CN110056167B (en) | 2019-05-21 | 2019-05-21 | Spray gun assembly and spraying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110056167A true CN110056167A (en) | 2019-07-26 |
| CN110056167B CN110056167B (en) | 2021-01-26 |
Family
ID=67323843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910426163.9A Active CN110056167B (en) | 2019-04-26 | 2019-05-21 | Spray gun assembly and spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110056167B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110404712A (en) * | 2019-08-05 | 2019-11-05 | 广东博智林机器人有限公司 | Spray robot and paint finishing |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
| CN110453893A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Spray gun assembly and paint finishing |
| 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 |
| WO2020216382A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Spraying robot, control method, and computer readable storage medium |
| CN113893977A (en) * | 2021-10-12 | 2022-01-07 | 联德(广州)机械有限公司 | Aluminum profile liquid coating and powder spraying device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0835266A (en) * | 1994-07-22 | 1996-02-06 | Takenaka Komuten Co Ltd | Spraying apparatus |
| CN104723053A (en) * | 2013-12-20 | 2015-06-24 | 珠海格力电器股份有限公司 | Stroke amplifier |
| CN106393077A (en) * | 2016-11-24 | 2017-02-15 | 上海交通大学 | Five-freedom-degree spraying robot |
| CN207582911U (en) * | 2017-12-18 | 2018-07-06 | 年双红 | A kind of skyscraper alien invasion spray robot |
| CN108457456A (en) * | 2018-03-27 | 2018-08-28 | 广州伯乐智能技术有限公司 | A kind of rotational automatic spray body |
| CN108499788A (en) * | 2018-06-06 | 2018-09-07 | 苏州莱锦机电自动化有限公司 | A kind of robot for spraying |
| CN108686853A (en) * | 2018-05-02 | 2018-10-23 | 深圳市绿恩贝智能科技有限公司 | A kind of track machine people spray equipment |
-
2019
- 2019-05-21 CN CN201910426163.9A patent/CN110056167B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0835266A (en) * | 1994-07-22 | 1996-02-06 | Takenaka Komuten Co Ltd | Spraying apparatus |
| CN104723053A (en) * | 2013-12-20 | 2015-06-24 | 珠海格力电器股份有限公司 | Stroke amplifier |
| CN106393077A (en) * | 2016-11-24 | 2017-02-15 | 上海交通大学 | Five-freedom-degree spraying robot |
| CN207582911U (en) * | 2017-12-18 | 2018-07-06 | 年双红 | A kind of skyscraper alien invasion spray robot |
| CN108457456A (en) * | 2018-03-27 | 2018-08-28 | 广州伯乐智能技术有限公司 | A kind of rotational automatic spray body |
| CN108686853A (en) * | 2018-05-02 | 2018-10-23 | 深圳市绿恩贝智能科技有限公司 | A kind of track machine people spray equipment |
| CN108499788A (en) * | 2018-06-06 | 2018-09-07 | 苏州莱锦机电自动化有限公司 | A kind of robot for spraying |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2020216382A1 (en) * | 2019-04-26 | 2020-10-29 | 广东博智林机器人有限公司 | Spraying robot, control method, and computer readable storage medium |
| CN110404712A (en) * | 2019-08-05 | 2019-11-05 | 广东博智林机器人有限公司 | Spray robot and paint finishing |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
| CN110453893A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Spray gun assembly and paint finishing |
| CN113893977A (en) * | 2021-10-12 | 2022-01-07 | 联德(广州)机械有限公司 | Aluminum profile liquid coating and powder spraying device |
| JP7378527B2 (en) | 2021-10-12 | 2023-11-13 | 聯徳（広州）機械有限公司 | Liquid coating and powder spray equipment for aluminum profiles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110056167B (en) | 2021-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110056167A (en) | Spray gun assembly and spray robot | |
| CN110043010A (en) | Spray gun assembly and spray robot | |
| CN108745730B (en) | Double-arm six-shaft reciprocating spraying machine | |
| CN105643587A (en) | Thirteen-freedom spraying robot for outer surface of large ship body | |
| CN103521381B (en) | A kind of turntable column five degree of freedom series-parallel connection spray robot | |
| US8939106B2 (en) | Painting system | |
| CN210045456U (en) | Spray gun assembly and spraying robot | |
| EP2614932A1 (en) | Carrier device and robot system | |
| KR20130112677A (en) | Carrier device and robot system | |
| CN103433918A (en) | Series-parallel industrial robot with five degrees of freedom | |
| CN109972821A (en) | Spray robot | |
| CN103008152A (en) | Modular spray coating device | |
| CN111760713A (en) | Automatic intelligent coating system for vehicle | |
| CN110017010A (en) | Spray robot | |
| CN109972820A (en) | Lifting assembly and spray robot | |
| CN210195170U (en) | Spray gun assembly and spraying robot | |
| CN108177152A (en) | A kind of high speed robot for positioning spray painting | |
| CN210002808U (en) | Spray gun assembly and spraying robot | |
| CN105149137A (en) | Creeping type large-size workpiece surface painting robot | |
| CN210195169U (en) | Spray gun assembly and spraying robot | |
| JPH10192750A (en) | Coating robot | |
| CN115889044A (en) | Multi-degree-of-freedom redundant drive spraying equipment | |
| JP5085615B2 (en) | Coating object holding robot and painting robot system | |
| CN108421667A (en) | A kind of paint sprayer with pressurize spraying function | |
| CN210002810U (en) | Lifting assembly and spraying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |