CN110056167B - Spray gun assembly and spraying robot - Google Patents
Spray gun assembly and spraying robot Download PDFInfo
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- CN110056167B CN110056167B CN201910426163.9A CN201910426163A CN110056167B CN 110056167 B CN110056167 B CN 110056167B CN 201910426163 A CN201910426163 A CN 201910426163A CN 110056167 B CN110056167 B CN 110056167B
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- 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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Abstract
The invention provides a spray gun assembly and a spraying robot, wherein the spray gun assembly is used for the spraying robot comprising a frame body, and comprises: the rotating assembly is arranged on the frame body and comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the frame body, the second rotating structure is arranged on the first rotating structure, and the rotating direction of the second rotating structure is different from that of the first rotating structure; the spray gun is arranged on the second rotating structure to rotate under the driving of the rotating assembly. By the technical scheme, the spraying operation range is enlarged, the flexibility of the spraying operation and the adaptability to the operation environment are enhanced, the dependence on manpower is reduced, the spraying precision is improved, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to a spray gun assembly and a spraying robot.
Background
At present, in the building decoration industry, manual spraying operation is used for wall surface spraying, the working efficiency is low, the spraying precision is poor, some semi-automatic spraying equipment is provided in the market, the limitation of the equipment height and the freedom degree is caused, the spraying range is limited, the semi-automatic spraying equipment is difficult to be suitable for special-shaped operation surfaces or operation surfaces with complex structures, and the spraying precision is difficult to guarantee especially for operation surfaces such as bay windows, wall corners and special-shaped ceilings. In addition, limited to the equipment size, current semi-automatic spraying equipment is difficult to adapt to the operational requirement under the different scenes, is particularly unfavorable for the condition that spraying equipment need get into narrow and small space. Therefore, the existing semi-automatic spraying equipment still has the problems of limited spraying range, low spraying precision, strong dependence on workers and high spraying cost.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, it is an object of the present invention to provide a spray gun assembly.
Another object of the present invention is to provide a painting robot.
In order to achieve the above object, a first aspect of the present invention provides a spray gun assembly for a painting robot including a frame body, comprising: the rotating assembly is arranged on the frame body and comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the frame body, the second rotating structure is arranged on the first rotating structure, and the rotating directions of the second rotating structure and the first rotating structure are different; and the spray gun is arranged on the second rotating structure so as to rotate under the driving of the rotating assembly.
The spray gun assembly provided by the invention is used for a spraying robot comprising a frame body, and the frame body is provided with the rotating assembly through the spray gun assembly, so that the spray gun assembly can rotate relative to the frame body, and the spraying direction of the spray gun can be changed according to the requirement of a spraying operation surface; the rotating assembly comprises a first rotating structure and a second rotating structure, the first rotating structure is arranged on the frame body, the second rotating structure is arranged on the first rotating structure, the rotating direction of the second rotating structure is different from that of the first rotating structure, namely, the rotating structure has two degrees of freedom, so that the spraying range of the spray gun assembly is enlarged, and the spraying flexibility is improved. The spray gun is arranged on the second rotating structure, the rotation can be realized under the drive of the rotating assembly, namely, the spray gun can rotate along with the rotation of the second rotating structure, and can also rotate along with the first rotating structure together with the second rotating structure, certainly, the spray gun can also rotate along with the first rotating structure when rotating along with the second rotating structure, thereby realizing the azimuth change of two degrees of freedom, so as to adapt to different spraying operation environments, the spraying flexibility is improved, different spraying precision requirements are met simultaneously, the dependence on manpower is reduced, and the cost is reduced. Specifically, for spraying operation surfaces in different directions in a narrow space, the whole movement of the spraying robot is limited, the spraying direction can be changed in a smaller space range through the first rotating structure and the second rotating structure, the spraying is finished, and even when the first rotating structure is limited in rotation in a smaller space, the direction of the spray gun can be adjusted through the second rotating structure to finish the spraying; for spraying operation surfaces with complex structures such as bay windows, special-shaped ceilings and the like, the direction of a spray gun needs to be adjusted in time according to the distance between the spray gun and the operation surface and the orientation of the operation surface in the spraying process so as to ensure that the coatings sprayed on the operation surface are uniform and consistent in thickness, thereby improving the spraying precision.
It should be emphasized that the rotation angle ranges of the first and second rotating structures can be any angle range within the range of 0 ° to 360 °, i.e. can rotate around the rotating shaft for a whole circle, and can also rotate around the rotating shaft for a circle, such as within the range of 0 ° to 180 ° or within the range of 0 ° to 90 °, and preferably, the rotation angle ranges of the first and second rotating structures are within the range of 0 ° to 360 ° to expand the spraying range of the spray gun assembly as much as possible.
In addition, the spraying component in the above technical scheme provided by the invention can also have the following additional technical features:
in the above technical scheme, the one end of support body is equipped with rotary platform, first revolution mechanic specifically includes: the first rotating base is arranged on the rotating platform; the first rotating body is coaxially arranged with the first rotating base and can rotate on the first rotating base; and the first rotating motor is in transmission connection with the first rotating body so as to realize the rotation of the first rotating body.
In the technical scheme, a rotary platform is arranged at one end of a frame body so as to provide an installation space and a rotary operation space of a rotary assembly; first revolution mechanic including locate first rotating basis on rotary platform and with the first rotator of the coaxial setting of first rotating basis, rotate on first rotating basis through first rotator, realize the rotation of first revolution mechanic for the support body to change the spraying position of spray gun, in order to improve the spraying flexibility, adapt to different spraying operational environment. Through first rotating electrical machines and first rotator transmission connection to realize the rotation of first rotator under first rotating electrical machines's drive, realize first revolution mechanic's electric drive, reducible reliance to the manual work, rotatory operation precision is higher, and the continuity and the stability of spraying operation are stronger. Preferably, the first rotating motor is in direct-drive transmission connection with the first rotating body, so that the transmission efficiency is higher, the structure is simple, and the occupied space is small.
In the above technical solution, the second rotating structure specifically includes: a second rotating base provided on the first rotating body; the second rotating body is coaxially arranged with the second rotating base, the second rotating body can rotate on the second rotating base, and the spray gun is arranged on the second rotating body; and the second rotating motor is in transmission connection with the second rotating body so as to realize the rotation of the second rotating body.
In this technical scheme, the second revolution mechanic is including locating the second rotating base on the first rotator and the second rotator of the coaxial setting of second rotating base, rotates on the second rotating base through the second rotator, realizes the rotation of second revolution mechanic for first rotator to further adjust the spraying position of spray gun, in order to further improve the spraying flexibility, make the adaptability of spraying robot to the spraying operation environment stronger. The second rotating motor is in transmission connection with the second rotating body, so that the second rotating body can rotate under the driving of the second rotating motor, the electric driving of the second rotating structure is realized, the second rotating body can independently rotate relative to the first rotating body and is not limited by the first rotating motor, and it can be understood that the first rotating body and the second rotating body can also be driven by only one rotating motor, the middle part of the first rotating body and the second rotating body is in transmission through a transmission belt or other structures, but the first rotating body and the second rotating body need to rotate simultaneously at the moment and cannot independently rotate respectively. In addition, the second rotating body is driven by the second rotating motor, so that the dependence on manpower can be reduced, the rotating operation precision is improved, and the continuity and the stability of the spraying operation are ensured.
In the above technical solution, the first rotating body specifically includes a first plate and a second plate connected to one side of the first plate, wherein the first plate and the second plate are at a predetermined angle, and the second rotating electric machine is disposed in a space sandwiched between the first plate and the second plate.
In this technical scheme, specifically include the first board and with the second board through injecing first rotator, wherein, the second board links to each other with one side of first board, and first board and second board are predetermined angle, reserve installation space for second rotating electrical machines, make the second rotating electrical machines can locate in the space that first board and second board pressed from both sides, guarantee simultaneously that second rotating electrical machines can not collide with first rotating electrical machines when second rotating electrical machines rotates to produce mutual interference among the avoidance of rotation process. It is emphasized that the predetermined angle of the first and second plates may be any angle that can accommodate the second rotating motor, preferably 90 °, which facilitates the construction of the spatial coordinate model and the positioning of the spray gun without interfering with each other during rotation.
In the above technical solution, the spray gun assembly further includes: and one end of the right-angle speed reducer is connected with the second rotating motor, and the other end of the right-angle speed reducer is connected with the second rotating body, so that a right angle is formed between the axis of the second rotating motor and the axis of the second rotating base.
In this technical scheme, link to each other with the second rotating electrical machines through right angle reduction gear one end, the other end links to each other with the second rotator, can be for carrying out the transmission between second rotating electrical machines and the second rotator, reduce the output power of second rotating electrical machines on the one hand, make the rotational speed of second rotator reduce, reduce the rotational speed of spray gun promptly, make the spray gun be applicable to the spraying of the spraying operation face to the high accuracy requirement in the minizone, so as to avoid the too fast spraying precision that influences the spray gun that influences of second rotator rotational speed, on the other hand, can change 90 with the output direction of second rotating electrical machines through right angle reduction gear, do benefit to the installation of second rotating electrical machines, can make second rotating electrical machines rational utilization first board and the space that the second board reserved on the first rotator, prevent to produce mutual interference because of occupation space is great in the rotation process with first revolution mechanic. In addition, the right-angle speed reducer is adopted to reduce the speed of the second rotating motor, so that the second rotating motor can be selected from motors of the same type as the first rotating motor, the universality of the motors is improved, and the production and maintenance cost is reduced.
In the above technical solution, the spray gun assembly further includes: the moving assembly is arranged on the frame body, and the rotating assembly is arranged on the moving assembly so as to realize the movement of the rotating assembly relative to the frame body through the moving assembly.
In this technical scheme, still including locating the removal subassembly on the support body through the spray gun subassembly, on the removal subassembly was located to the rotating assembly, can make the rotating assembly carry out the bulk movement for the support body along with the removal subassembly, make the spray gun subassembly have 3 degrees of freedom, increased a degree of freedom of removal subassembly again on the basis of two degrees of freedom of first revolution mechanic and second revolution mechanic promptly, further improved the spraying scope of spray gun subassembly, the spraying flexibility is stronger with the adaptability to the environment.
In the above technical solution, the moving assembly specifically includes: the sliding rail is arranged on the frame body; the support sliding block, the one end of support sliding block with slide rail sliding connection, the other end is equipped with rotating assembly.
In this technical scheme, remove the subassembly through specifically injecing and include slide rail and support slider, wherein, on the support body was located to the slide rail, support slider's one end and slide rail sliding connection, the other end is equipped with rotating assembly, can make rotating assembly slide along the slide rail for the support body along the support slider to further improve spray gun assembly's spraying flexibility and the adaptability to the environment. It should be emphasized that the extending direction of the slide rail, i.e. the sliding direction of the bracket slider, may be any direction that does not affect the normal operation of the spray gun assembly, and preferably, the extending direction of the slide rail is a direction parallel to the horizontal plane and parallel to the spraying operation plane, it can be understood that, when performing the spraying operation, the length of the operation plane in the horizontal direction is usually much greater than the height in the vertical direction, and the slide rail is parallel to the horizontal plane and the spraying operation plane, so that the whole spraying robot can be kept stable in a distance in the horizontal direction, and the spraying operation in the horizontal range is completed by the slide of the spray gun assembly along with the slide rail, so as to reduce the influence of the continuous movement of the spraying robot on the stability and the spraying accuracy of.
In the above technical solution, the moving assembly specifically includes: the rotating shaft is arranged on the frame body; the rotating blades are rotatably connected with the rotating shaft, and the rotating assembly is arranged on the rotating blades.
In this technical scheme, include axis of rotation and rotor blade through removing the subassembly, wherein, on the support body was located to the axis of rotation, rotor blade rotated with the axis of rotation and is connected, can make rotor blade rotate for the support body under the drive of axis of rotation, and on rotor blade was located to rotating assembly, can realize rotating assembly and rotate for the support body along with rotor blade to increase spray gun assembly's spraying scope, improve the spraying flexibility and to the adaptability of environment. It is emphasized that the number of blades may be one or more, and preferably two blades are chosen symmetrically with respect to the axis of rotation, which improves the stability of the rotor blade during rotation.
In the above technical solution, the rotation plane of the first rotation structure is perpendicular to the rotation plane of the second rotation structure.
In the technical scheme, the rotating surface of the first rotating structure is perpendicular to the rotating surface of the second rotating structure, so that mutual interference between the first rotating structure and the second rotating structure in the rotating process can be avoided, the influence of the rotating operation of the rotating assembly on the spraying stability and the spraying precision of the spray gun is reduced, and meanwhile, the effective utilization of the space is also facilitated, the space arrangement of the first rotating structure and the second rotating structure is facilitated, the whole occupied space of the rotating assembly is enabled to be as small as possible, and the spraying operation in a narrow space is adapted.
In a second aspect of the present invention, there is provided a painting robot, including: the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body; the lifting mechanism is arranged in the lifting channel, and the first part of the lifting mechanism is fixedly connected with the frame body; the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism moves in the lifting channel under the driving of the lifting motor; the spray gun assembly according to any one of the above technical solutions is disposed on the second portion of the lifting mechanism, wherein the first portion and the second portion are disposed on two sides of the lifting mechanism, so that the lifting mechanism extends out of or retracts into the lifting channel under the driving of the lifting motor, and the spray gun assembly and the lifting mechanism move relative to each other.
According to the spraying robot provided by the invention, the lifting channel is arranged in the frame body to provide space for the movement of the lifting mechanism, the lifting mechanism is arranged in the lifting channel, and the first part of the lifting mechanism is fixedly connected with the frame body, so that the lifting motor can move within a certain range in the lifting channel; providing power for the movement of the lifting mechanism in the lifting channel through a lifting motor; the spray gun component in any technical scheme is arranged on the second part of the lifting mechanism, the first part and the second part are arranged on two sides of the lifting mechanism, the lifting mechanism can extend out of or retract into the lifting channel under the driving of the lifting motor, and meanwhile, the spray gun component moves relative to the lifting mechanism, so that the spray gun component can move integrally relative to the frame body in the lifting channel along with the lifting mechanism and can move relative to the lifting mechanism, the spray gun component can realize two-stage lifting, the space range of spraying operation is enlarged, the size of the spraying robot is not required to be increased, the cost is effectively reduced, the flexibility of the spraying operation and the adaptability to the operation environment are enhanced, the spray gun component is particularly suitable for the spraying environment with small space or high height, and the dependence on workers is reduced. In addition, the spraying robot provided by the invention comprises the spray gun assembly in any technical scheme, so that the spraying robot has all the beneficial effects of the spray gun assembly in any technical scheme, and the details are not repeated.
In the above technical solution, the lifting mechanism specifically includes: at least two driving wheels, wherein one of the driving wheels is in transmission connection with the lifting motor; and the transmission belt is wound outside the transmission wheels in transmission connection with the lifting motor, and is matched with at least two transmission wheels to move under the driving of the lifting motor.
In the technical scheme, the lifting mechanism can transmit power to the transmission belt and provide tension under the driving of the transmission wheels through the matching of the transmission wheels, the transmission belt and the lifting motors so as to realize the rotation of the transmission belt, specifically, at least one of the transmission wheels is selected and is in transmission connection with the lifting motors so as to provide power for the rotation of the transmission belt, thereby improving the automation level of products and reducing the dependence on manpower, wherein the number of the lifting motors can be one or more, and it can be understood that when the number of the lifting motors is multiple, the output power is larger and heavier load can be borne; through around locating the drive belt outside the drive wheel of being connected with the transmission of promotion motor, with two at least drive wheel cooperations, can realize that the drive belt rotates around the drive wheel under the drive of promotion motor. It should be emphasized that, be equipped with in the hoist mechanism with support body fixed connection's first part, one side and support body fixed connection on the drive belt promptly, because the drive belt can constantly circulate and rotate under hoist motor's drive, hoist mechanism wholly can produce relative movement on the support body, and the second part of hoist mechanism's opposite side is located to the spray gun subassembly, the drive belt opposite side is equipped with the spray gun subassembly promptly, then hoist mechanism's drive belt can not only rotate around the drive wheel, still can carry out the bulk movement for the support body, thereby realize hoist mechanism to the two-stage promotion of spray gun subassembly, and then enlarged the spatial dimension of spraying operation, the flexibility of spraying operation and the adaptability to the environment have been improved.
In the above technical scheme, the transmission wheel is a gear, and the transmission belt is a rack; or the transmission wheel is a belt wheel, and the transmission belt is a synchronous belt; or the driving wheel is a chain wheel, and the driving belt is a chain belt.
In the technical scheme, the transmission wheel and the transmission belt have multiple choices, and a gear and a rack, a belt wheel and a synchronous belt, or a chain wheel and a synchronous belt can realize two-stage lifting of the spray gun assembly; particularly, the gear has compact structure, high meshing degree with the rack and low cost; the belt wheel and the synchronous belt are stably driven, and the vibration is small; the chain belt has low elongation, small diameter of the chain wheel and large bearing capacity. Preferably, a pulley and a timing belt are used.
In the above technical solution, the painting robot further includes: the feeding assembly is arranged in the frame body and communicated with a spray gun of the spray gun assembly so as to feed materials into the spray gun; and/or the moving device is arranged at the bottom of the frame body so as to move the frame body; and/or the power supply device is arranged in the frame body and used for supplying electric energy when the spraying robot runs.
In the technical scheme, the feeding assembly arranged in the frame body is communicated with the spray gun of the spray gun assembly to supply the coating for spraying operation, so that manual coating supplementing operation can be reduced, and dependence on labor is reduced; the spraying robot can be provided with a moving device and is arranged at the bottom of the frame body to move the frame body, so that the horizontal movement during spraying operation is realized, the spraying operation is convenient, the flexibility of the spraying robot is improved, and the horizontal movement can also be realized through external moving equipment; the spraying robot can be provided with a power supply device, is arranged in the frame body to provide electric energy for the spraying robot during operation, so that the spraying robot keeps continuous spraying operation and is not limited by a power circuit, the spraying operation range is larger, and the power supply device can be a battery or a generator, but can also supply power through an external power supply.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a schematic structural view of a spray gun assembly according to one embodiment of the present invention.
FIG. 2 shows a schematic structural view of a spray gun assembly according to one embodiment of the present invention.
FIG. 3 shows a schematic structural view of a spray gun assembly according to one embodiment of the present invention.
Fig. 4 shows a structural schematic of a painting robot according to one embodiment of the invention.
Fig. 5 shows a schematic structural view of a painting robot according to one embodiment of the present invention.
Fig. 6 shows a schematic structural view of a painting robot according to one embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:
1 spray gun assembly, 111 first rotating base, 112 first rotating body, 1121 first plate, 1122 second plate, 113 first rotating motor, 121 second rotating base, 122 second rotating body, 123 second rotating motor, 124 right-angle reducer, 13 spray gun, 14 moving assembly, 141 slide rail, 142 support sliding block, 143 rotating shaft, 144 rotating blade, 2 frame body, 21 rotating platform, 22 lifting channel, 3 lifting mechanism, 31 driving wheel, 32 driving belt, 321 first part, 322 second part, 4 lifting motor, 51 feeding assembly, 52 moving device and 53 power supply device.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A spray gun assembly and a spray coating robot according to some embodiments of the present invention are described below with reference to fig. 1-6.
As shown in fig. 1, in an embodiment of the present invention, a spray gun assembly 1 is provided for a painting robot including a frame body 2, the spray gun assembly 1 includes a rotating assembly disposed on the frame body 2, the rotating assembly includes a first rotating structure and a second rotating structure, wherein the first rotating structure is disposed on the frame body 2, the second rotating structure is disposed on the first rotating structure, and the rotating direction of the second rotating structure is different from that of the first rotating structure; the spray gun assembly 1 further comprises a spray gun 13 arranged on the second rotating structure to rotate under the driving of the rotating assembly.
In the embodiment, the spray gun assembly 1 for the painting robot comprising the frame body 2 can rotate relative to the frame body 2 by arranging the rotating assembly on the frame body 2, so as to change the painting orientation of the spray gun 13 according to the requirement of a painting working face; the rotating assembly comprises a first rotating structure and a second rotating structure, the first rotating structure is arranged on the frame body 2, the second rotating structure is arranged on the first rotating structure, the rotating direction of the second rotating structure is different from that of the first rotating structure, namely, the rotating structure has two degrees of freedom, so that the spraying range of the spray gun assembly 1 is enlarged, and the spraying flexibility is improved. On the second revolution mechanic was located to spray gun 13, can realize rotatoryly under rotating assembly's drive, spray gun 13 both can rotate along with second revolution mechanic self promptly, also can rotate along with first revolution mechanic together with second revolution mechanic, certainly also can rotate along with first revolution mechanic when rotatory along with the second revolution mechanic, thereby realize the position adjustment of two degrees of freedom, in order to adapt to different spraying operation environment, improve the spraying flexibility, satisfy different spraying precision demands simultaneously, reduce the reliance to the manual work, and the cost is reduced. Specifically, for spraying operation surfaces in different directions in a narrow space, the whole movement of the spraying robot is limited, the spraying direction can be changed in a smaller space range through the first rotating structure and the second rotating structure, the spraying is finished, and even when the first rotating structure is limited in rotation in a smaller space, the direction of the spray gun 13 can be adjusted through the second rotating structure to finish the spraying; for the spraying operation surface with a complex structure such as a bay window, a special-shaped ceiling and the like, the direction of the spray gun 13 needs to be adjusted in time according to the distance between the spray gun 13 and the operation surface and the orientation of the operation surface in the spraying process, so as to ensure that the coating sprayed on the operation surface is uniform and consistent in thickness, and further improve the spraying precision.
It should be emphasized that the rotation angle ranges of the first and second rotating structures can be any angle range within the range of 0 ° to 360 °, i.e. can rotate around the rotating shaft for a whole circle, and can also rotate around the rotating shaft for a circle, such as within the range of 0 ° to 180 ° or within the range of 0 ° to 90 °, and preferably, the rotation angle ranges of the first and second rotating structures are within the range of 0 ° to 360 ° to expand the spraying range of the spray gun assembly 1 as much as possible.
In an embodiment of the present invention, as shown in fig. 1, one end of the frame body 2 is provided with a rotating platform 21, and the first rotating structure specifically includes: a first rotary base 111 provided on the rotary platform 21; a first rotating body 112 coaxially disposed with the first rotating base 111, and the first rotating body 112 is rotatable on the first rotating base 111; and a first rotating motor 113, which is in transmission connection with the first rotating body 112 to realize the rotation of the first rotating body 112.
In this embodiment, a rotating platform 21 is provided at one end of the frame body 2 to provide an installation space and a rotating operation space of the rotating assembly; the first rotating structure comprises a first rotating base 111 arranged on the rotating platform 21 and a first rotating body 112 coaxially arranged with the first rotating base 111, and the first rotating structure rotates on the first rotating base 111 through the first rotating body 112 to realize the rotation of the first rotating structure relative to the frame body 2, so that the spraying direction of the spray gun 13 is changed, the spraying flexibility is improved, and the spraying structure is suitable for different spraying operation environments. Through first rotating electrical machines 113 and first rotator 112 transmission connection to realize first rotator 112's rotation under first rotating electrical machines 113's drive, realize the electric drive of first revolution mechanic, reducible reliance to the manual work, rotatory operation precision is higher, and the continuity and the stability of spraying operation are stronger. Preferably, the first rotating motor 113 is in direct-drive transmission connection with the first rotating body 112, so that the transmission efficiency is higher, the structure is simple, and the occupied space is small.
In an embodiment of the present invention, as shown in fig. 1, the second rotating structure specifically includes: a second rotating base 121 provided on the first rotating body 112; a second rotating body 122 disposed coaxially with the second rotating base 121, the second rotating body 122 being rotatable on the second rotating base 121, the spray gun 13 being disposed on the second rotating body 122; and a second rotating motor 123 in transmission connection with the second rotating body 122 to realize the rotation of the second rotating body 122.
In this embodiment, the second rotating structure includes a second rotating base 121 disposed on the first rotating body 112 and a second rotating body 122 disposed coaxially with the second rotating base 121, and the second rotating body 122 rotates on the second rotating base 121 to rotate the second rotating structure relative to the first rotating body 112, so as to further adjust the spraying orientation of the spray gun 13, thereby further improving the spraying flexibility and making the spraying robot more adaptive to the spraying operation environment. The second rotating motor 123 is in transmission connection with the second rotating body 122, so as to realize rotation of the second rotating body 122 under the driving of the second rotating motor 123, and realize electric driving of the second rotating structure, and the second rotating body 122 can independently rotate relative to the first rotating body 112 without being limited by the first rotating motor 113, it can be understood that the first rotating body 112 and the second rotating body 122 can also be driven by only one rotating motor, and transmission is performed by the transmission wheel 31 or other structures in the middle, but at this time, the first rotating body 112 and the second rotating body 122 need to simultaneously rotate, and independent rotation cannot be realized. In addition, the second rotating motor 123 drives the second rotating body 122, so that the dependence on manpower is reduced, the rotating operation precision is improved, and the continuity and the stability of the spraying operation are ensured.
In an embodiment of the present invention, as shown in fig. 1, the first rotating body 112 specifically includes a first plate 1121 and a second plate 1122 connected to one side of the first plate 1121, wherein the first plate 1121 and the second plate 1122 are at a predetermined angle, and the second rotating motor 123 is disposed in a space between the first plate 1121 and the second plate 1122. Preferably, the preset angle is 90 °.
In this embodiment, the first rotating body 112 specifically includes a first plate 1121 and a second plate 1122, where the second plate 1122 is connected to one side of the first plate 1121, and the first plate 1121 and the second plate 1122 form a predetermined angle, so as to reserve an installation space for the second rotating electrical machine 123, so that the second rotating electrical machine 123 can be disposed in the space between the first plate 1121 and the second plate 1122, and at the same time, it is ensured that the second rotating electrical machine 123 does not collide with the first rotating structure when the second rotating structure rotates, so as to avoid mutual interference generated during the rotation process. It is emphasized that the preset angle of the first plate 1121 and the second plate 1122 can be any angle capable of accommodating the second rotating electric machine 123, and preferably, the preset angle is 90 °, so that the construction of a space coordinate model and the positioning of the spray gun 13 are facilitated, and mutual interference is not generated during the rotation process.
In one embodiment of the present invention, as shown in fig. 1, the spray gun assembly 1 further comprises: and a right-angle reducer 124, one end of the right-angle reducer 124 being connected to the second rotating motor 123, and the other end being connected to the second rotating body 122, so that the axis of the second rotating motor 123 is at right angle to the axis of the second rotating base 121.
In this embodiment, one end is connected to the second rotating electrical machine 123, the other end is connected to the second rotating body 122, the transmission between the second rotating electrical machine 123 and the second rotating body 122 can be performed, on one hand, the output power of the second rotating electrical machine 123 is reduced, the rotating speed of the second rotating body 122 is reduced, namely, the rotational speed of the spray gun 13 is reduced to make the spray gun 13 suitable for spraying a spray working surface requiring high precision in a small range, so as not to affect the spraying accuracy of the spray gun 13 due to the excessively high rotation speed of the second rotating body 122, and, on the other hand, the output direction of the second rotating electric machine 123 can be changed by 90 deg. by the right-angle decelerator 124, facilitating the installation of the second rotating electric machine 123, the second rotating electric machine 123 can reasonably utilize the reserved space of the first plate 1121 and the second plate 1122 on the first rotating body 112, and can prevent the mutual interference with the first rotating structure in the rotating process due to the large occupied space. In addition, the right-angle reducer 124 is adopted to reduce the speed of the second rotating motor 123, so that the second rotating motor 123 can be selected from motors of the same type as the first rotating motor 113, the universality of the motors is improved, and the production and maintenance cost is reduced.
In one embodiment of the present invention, as shown in fig. 2, the spray gun assembly 1 further comprises: and the moving assembly 14 is arranged on the frame body 2, and the rotating assembly is arranged on the moving assembly 14 so as to realize the movement of the rotating assembly relative to the frame body 2 through the moving assembly 14.
In this embodiment, still include the removal subassembly 14 of locating on the support body 2 through spray gun subassembly 1, the rotating assembly is located on the removal subassembly 14, can make the rotating assembly carry out the bulk movement along with the removal subassembly 14 for support body 2, makes spray gun subassembly 1 have 3 degrees of freedom, has increased a degree of freedom of removal subassembly 14 again on the basis of two degrees of freedom of first revolution mechanic and second revolution mechanic promptly, has further improved the spraying scope of spray gun subassembly 1, and the spraying flexibility is stronger with the adaptability to the environment.
In one embodiment of the present invention, as shown in fig. 2, the moving assembly 14 specifically includes: a slide rail 141 provided on the frame body 2; the bracket slider 142, one end and the slide rail 141 sliding connection of bracket slider 142, the other end is equipped with rotating assembly.
In this embodiment, by specifically limiting the moving assembly 14 to include a slide rail 141 and a bracket slider 142, wherein the slide rail 141 is disposed on the frame body 2, one end of the bracket slider 142 is slidably connected to the slide rail 141, and the other end of the bracket slider 142 is provided with a rotating assembly, which can slide along the slide rail 141 along with the bracket slider 142 relative to the frame body 2, so as to further improve the spraying flexibility and the adaptability to the environment of the spray gun assembly 1. It should be emphasized that the extending direction of the slide rail 141, i.e. the sliding direction of the bracket slider 142, may be any direction that does not affect the normal operation of the spray gun assembly 1, and preferably, the extending direction of the slide rail 141 is a direction parallel to the horizontal plane and parallel to the spraying work plane, it can be understood that, when performing the spraying work, the length of the work plane in the horizontal direction is usually much greater than the height in the vertical direction, and the slide rail 141 is parallel to the horizontal plane and the spraying work plane, so that the whole spraying robot can be kept stable within a certain distance in the horizontal direction, and the spraying work in the horizontal range is completed by the slide of the spray gun assembly 1 along with the slide rail 141, so as to reduce the influence of the continuous movement of the spraying robot on the stability and the spraying precision of.
In one embodiment of the present invention, as shown in fig. 3, the moving assembly 14 specifically includes: a rotating shaft 143 provided on the frame body 2; the rotating blade 144 is rotatably connected to the rotating shaft 143, and the rotating assembly is disposed on the rotating blade 144.
In this embodiment, the moving assembly 14 includes a rotating shaft 143 and a rotating blade 144, wherein the rotating shaft 143 is disposed on the frame body 2, the rotating blade 144 is rotatably connected to the rotating shaft 143, so that the rotating blade 144 is driven by the rotating shaft 143 to rotate relative to the frame body 2, and the rotating assembly is disposed on the rotating blade 144, so that the rotating assembly can rotate relative to the frame body 2 along with the rotating blade 144, thereby increasing the spraying range of the spray gun assembly 1, and improving the spraying flexibility and the adaptability to the environment. It should be emphasized that the number of the blades may be one or more, and preferably, two blades are selected to be symmetrically arranged with respect to the rotation axis 143, so that the stability of the rotation blade 144 can be improved.
In one embodiment of the present invention, as shown in FIG. 1, the plane of rotation of the first rotating structure and the plane of rotation of the second rotating structure are perpendicular.
In this embodiment, the rotation surface of the first rotation structure is perpendicular to the rotation surface of the second rotation structure, so that mutual interference between the first rotation structure and the second rotation structure in the rotation process can be avoided, the influence of the rotation operation of the rotation assembly on the spraying stability and the spraying precision of the spray gun 13 is reduced, meanwhile, effective utilization of the space is facilitated, the spatial arrangement of the first rotation structure and the second rotation structure is facilitated, the overall occupied space of the rotation assembly is as small as possible, and the rotation assembly is suitable for spraying operation in a narrow space.
In one embodiment of the present invention, there is provided a painting robot, as shown in fig. 4, including: a frame body 2 with a lifting channel 22 arranged inside; the lifting mechanism 3 is arranged in the lifting channel 22, and the first part 321 of the lifting mechanism 3 is fixedly connected with the frame body 2; a lifting motor 4 in transmission connection with the lifting mechanism 3, so that the lifting mechanism 3 moves in the lifting channel 22 under the driving of the lifting motor 4; the lance assembly 1 of any of the above embodiments is disposed on the second portion 322 of the lifting mechanism 3, wherein the first portion 321 and the second portion 322 are disposed on both sides of the lifting mechanism 3, so that the lifting mechanism 3 can extend or retract into the lifting passage 22 under the driving of the lifting motor 4, and the relative movement between the lance assembly 1 and the lifting mechanism 3 occurs.
In this embodiment, the lifting channel 22 is disposed in the frame body 2 to provide a space for the lifting mechanism 3 to move, the lifting mechanism 3 is disposed in the lifting channel 22, and the first portion 321 of the lifting mechanism 3 is fixedly connected to the frame body 2, so that the lifting motor 4 can move within a certain range in the lifting channel 22; powering the movement of the lifting mechanism 3 within the lifting channel 22 by means of the lifting motor 4; by providing the lance assembly 1 of any of the above embodiments in the second portion 322 of the lifting mechanism 3, with the first portion 321 and the second portion 322 on either side of the lifting mechanism 3, the lifting mechanism 3 can extend or retract the lifting passage 22, upon actuation of the lifting motor 4, while relative movement occurs between the lance assembly 1 relative to the lifting mechanism 3, thereby the spray gun component 1 can move integrally in the lifting channel 22 along with the lifting mechanism 3 relative to the frame body 2 and can also move relative to the lifting mechanism 3, the spray gun component 1 realizes two-stage lifting, the space range of spraying operation is enlarged, the size of the spraying robot does not need to be increased, the cost is effectively reduced, meanwhile, the flexibility of spraying operation and the adaptability to the operation environment are enhanced, the spraying device is particularly suitable for the spraying environment which needs to enter a small space or has higher height, and the dependence on workers is reduced. In addition, the spraying robot provided by the invention comprises the spray gun assembly 1 in any embodiment, so that all the beneficial effects of the spray gun assembly 1 in any embodiment are achieved, and the details are not repeated herein.
In one embodiment of the present invention, as shown in fig. 5, the lifting mechanism 3 specifically includes: one of the two driving wheels 31 is in transmission connection with the lifting motor 4; the transmission wheel 31 is wound outside the transmission wheel 31 in transmission connection with the lifting motor 4, and the transmission wheel 31 is matched with the two transmission wheels 31 to move under the driving of the lifting motor 4.
In this embodiment, the lifting mechanism 3, through the cooperation of the driving wheel 31, the driving wheel 31 and the lifting motor 4, can transmit power to the driving wheel 31 and provide tension under the driving of the driving wheel 31 to realize the rotation of the driving wheel 31, specifically, at least one of all the driving wheels 31 is selected and is in transmission connection with the lifting motor 4, and can provide power for the rotation of the driving wheel 31, thereby improving the automation level of the product and reducing the dependence on labor, preferably, the number of the lifting motors 4 is one, and is in transmission connection with the driving wheel 31 above, so as to simplify the transmission structure, and meanwhile, the maintenance of the lifting motors 4 is facilitated, and the number of the lifting motors 4 can be multiple, and it can be understood that when the number of the lifting motors 4 is multiple, the output power is larger, and a heavier load can be borne; the transmission wheel 31 which is wound outside the transmission wheel 31 in transmission connection with the lifting motor 4 is matched with the two transmission wheels 31, so that the transmission wheel 31 can rotate around the transmission wheel 31 under the driving of the lifting motor 4. It should be emphasized that, the first portion 321 fixedly connected to the frame 2 is disposed in the lifting mechanism 3, that is, one side of the driving wheel 31 is fixedly connected to the frame 2, since the driving wheel 31 continuously rotates circularly under the driving of the lifting motor 4, the lifting mechanism 3 can move relatively on the frame 2 as a whole, and the spray gun assembly 1 is disposed on the second portion 322 on the other side of the lifting mechanism 3, that is, on the other side of the driving wheel 31, the driving wheel 31 of the lifting mechanism 3 can not only rotate around the driving wheel 31, but also move integrally with respect to the frame 2, thereby realizing two-stage lifting of the lifting mechanism 3 to the spray gun assembly 1, further expanding the spatial range of the spraying operation, and improving the flexibility of the spraying operation and the adaptability to the environment.
In one embodiment of the present invention, the transmission wheel 31 is a gear, and the transmission wheel 31 is a rack; or the transmission wheel 31 is a belt wheel, and the transmission wheel 31 is a synchronous belt; or the driving wheel 31 is a chain wheel, and the driving wheel 31 is a chain belt.
In this embodiment, the transmission wheel 31 and the transmission wheel 31 have various choices, and a gear and a rack, a belt wheel and a synchronous belt, or a chain wheel and a chain can realize the two-stage lifting of the spray gun assembly 1 in the invention; particularly, the gear has compact structure, high meshing degree with the rack and low cost; the belt wheel and the synchronous belt are stably driven, and the vibration is small; the chain belt has low elongation, small diameter of the chain wheel and large bearing capacity. Preferably, a pulley and a timing belt are used.
In one embodiment of the present invention, as shown in fig. 6, the spray robot further includes: the feeding assembly 51 is arranged in the frame body 2, and the feeding assembly 51 is communicated with the spray gun 13 of the spray gun assembly 1 so as to feed materials into the spray gun 13; and/or a moving device 52 provided at the bottom of the frame body 2 to move the frame body 2; and/or a power supply device 53 provided in the frame body 2 to supply power when the painting robot operates.
In the embodiment, the feeding assembly 51 arranged in the frame body 2 is communicated with the spray gun 13 of the spray gun assembly 1 to supply the coating for the spraying operation, so that the manual coating supplementing operation can be reduced, and the dependence on the manual work is reduced; the spraying robot can be provided with a moving device 52 and is arranged at the bottom of the frame body 2 to move the frame body 2, so that the horizontal movement during spraying operation is realized, the spraying operation is convenient, the flexibility of the spraying robot is improved, and the horizontal movement can also be realized through external moving equipment; the spraying robot can be provided with a power supply device 53 and arranged in the frame body 2 to provide electric energy for the spraying robot during operation, so that the spraying robot keeps continuous spraying operation and is not limited by a power circuit, the spraying operation range is larger, and the power supply device 53 can be a battery or a generator, but can also supply power through an external power supply.
The technical scheme of the invention is explained in detail by combining the drawings, the spraying operation range is enlarged, the flexibility of the spraying operation and the adaptability to the operation environment are enhanced, the dependence on manpower is reduced, the spraying precision is improved, and the cost is reduced.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A spray gun assembly for a spray coating robot including a frame body, comprising:
the rotating assembly is arranged on the frame body and comprises a first rotating structure and a second rotating structure, wherein the first rotating structure is arranged on the frame body, the second rotating structure is arranged on the first rotating structure, and the rotating directions of the second rotating structure and the first rotating structure are different;
the spray gun is arranged on the second rotating structure and is driven by the rotating assembly to rotate;
one end of the frame body is provided with a rotating platform, and the first rotating structure specifically comprises:
the first rotating base is arranged on the rotating platform;
the first rotating body is coaxially arranged with the first rotating base and can rotate on the first rotating base;
the second rotation structure specifically includes:
a second rotating base provided on the first rotating body;
the second rotating body is coaxially arranged with the second rotating base, the second rotating body can rotate on the second rotating base, and the spray gun is arranged on the second rotating body;
the second rotating motor is in transmission connection with the second rotating body so as to realize the rotation of the second rotating body;
the first rotating body specifically includes a first plate and a second plate connected to one side of the first plate,
the first plate and the second plate form a preset angle, and the second rotating motor is arranged in a space clamped by the first plate and the second plate;
and one end of the right-angle speed reducer is connected with the second rotating motor, and the other end of the right-angle speed reducer is connected with the second rotating body, so that a right angle is formed between the axis of the second rotating motor and the axis of the second rotating base.
2. The spray gun assembly of claim 1, wherein one end of the frame body is provided with a rotating platform, and the first rotating structure further comprises:
and the first rotating motor is in transmission connection with the first rotating body so as to realize the rotation of the first rotating body.
3. The spray gun assembly of claim 1 further comprising:
the moving assembly is arranged on the frame body, and the rotating assembly is arranged on the moving assembly so as to realize the movement of the rotating assembly relative to the frame body through the moving assembly.
4. The spray gun assembly according to claim 3, characterized in that said movement assembly comprises in particular:
the sliding rail is arranged on the frame body;
the support sliding block, the one end of support sliding block with slide rail sliding connection, the other end is equipped with rotating assembly.
5. The spray gun assembly according to claim 3, characterized in that said movement assembly comprises in particular:
the rotating shaft is arranged on the frame body;
the rotating blades are rotatably connected with the rotating shaft, and the rotating assembly is arranged on the rotating blades.
6. The spray gun assembly according to any one of claims 1 to 5 wherein the plane of rotation of the first rotary structure and the plane of rotation of the second rotary structure are perpendicular.
7. A painting robot, comprising:
the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body;
the lifting mechanism is arranged in the lifting channel, and the first part of the lifting mechanism is fixedly connected with the frame body;
the lifting motor is in transmission connection with the lifting mechanism, so that the lifting mechanism moves in the lifting channel under the driving of the lifting motor;
the spray gun assembly of any one of claims 1 to 6 provided at a second part of the lifting mechanism, wherein the first and second parts are provided on opposite sides of the lifting mechanism such that, upon actuation of the lifting motor, the lifting mechanism extends or retracts into the lifting passage and relative movement occurs between the spray gun assembly and the lifting mechanism.
8. A painting robot as claimed in claim 7, characterized in that the lifting mechanism comprises in particular:
at least two driving wheels, wherein one of the driving wheels is in transmission connection with the lifting motor;
and the transmission belt is wound outside the transmission wheels in transmission connection with the lifting motor, and is matched with at least two transmission wheels to move under the driving of the lifting motor.
9. A painting robot according to claim 7,
the transmission wheel is a gear, and the transmission belt is a rack; or
The transmission wheel is a belt wheel, and the transmission belt is a synchronous belt; or
The driving wheel is a chain wheel, and the driving belt is a chain belt.
10. The spray coating robot of claim 7 further comprising:
the feeding assembly is arranged in the frame body and communicated with a spray gun of the spray gun assembly so as to feed materials into the spray gun; and/or
The moving device is arranged at the bottom of the frame body so as to move the frame body; and/or
And the power supply device is arranged in the frame body and is used for providing electric energy when the spraying robot runs.
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 |
| CA3138027A CA3138027A1 (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 |
| US17/606,702 US20220314256A1 (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 |
| PCT/CN2020/087069 WO2020216382A1 (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 |
| EP20794811.8A EP3960961A4 (en) | 2019-04-26 | 2020-04-26 | Spraying robot, control method, and computer readable storage medium |
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| CN201910426163.9A CN110056167B (en) | 2019-05-21 | 2019-05-21 | Spray gun assembly and spraying robot |
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| CN110056167A CN110056167A (en) | 2019-07-26 |
| CN110056167B true CN110056167B (en) | 2021-01-26 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2020263464A1 (en) * | 2019-04-26 | 2021-12-16 | Guangdong Bright Dream Robotics Co., Ltd. | Spraying robot, control method, and computer readable storage medium |
| CN109972820A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Lifting assembly and spray robot |
| 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 |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
| 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 |
| 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 |
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