CN110107061B

CN110107061B - Suspension assembly and spraying system

Info

Publication number: CN110107061B
Application number: CN201910384424.5A
Authority: CN
Inventors: 许安鹏; 季瑞南; 李略; 赵继开
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-05-09
Filing date: 2019-05-09
Publication date: 2021-06-18
Anticipated expiration: 2039-05-09
Also published as: CN110107061A

Abstract

The invention provides a suspension assembly and a spraying system, wherein the suspension assembly comprises: a suspension comprising a suspended end and an unsuspended end; the lifting device is arranged on the non-suspension end and comprises a lifting power piece and a lifting rope, one end of the lifting rope is connected with the lifting power piece, and the other end of the lifting rope is supported at the non-suspension end and connected with the spraying robot; the movable trolley is connected with the suspension frame, can control the suspension frame to move along the transverse direction of the operation surface and drives the suspension frame to move along the direction vertical to the operation surface; and the first control part is arranged on the suspension, is connected with the lifting device and the spraying robot and is used for controlling the work of the lifting device and the spraying robot. This scheme suspension subassembly can be at the effect of travelling car down the bulk movement to can adjust the transverse position of spraying robot and the distance between spraying robot and the operation face, and set up like this and make the spraying robot enough carry out the spraying to whole operation face, can dodge barriers such as balcony voluntarily again when oscilaltion.

Description

Suspension assembly and spraying system

Technical Field

The invention relates to the field of spraying, in particular to a suspension assembly and a spraying system.

Background

In the modern day of the rapid development of the urbanization process, various high-rise buildings are produced to meet the higher and higher living demands of people. In the building construction process, wall surface spraying is an indispensable construction step, and the existing spraying robot can lift up and down after being installed, but basically cannot move along the transverse direction of the working surface, and during actual use, the spraying robot needs to manually move transversely, and meanwhile, the spraying robot cannot move along the direction vertical to the working surface during actual use, so that obstacles such as balconies cannot be automatically avoided during lifting up and down. Therefore, the flexibility of the spraying robot is low, and real full-automatic spraying cannot be realized.

Therefore, it is an urgent need to provide a suspension assembly that can move a painting robot laterally and in a direction perpendicular to a working surface.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

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

It is another object of the present invention to provide a spray coating system including a suspension assembly.

To achieve the above object, an embodiment of a first aspect of the present invention provides a suspension assembly for a painting system, the painting system including a painting robot, the suspension assembly including: a suspension comprising a suspended end and an unsuspended end; the lifting device is arranged on the non-suspension end of the suspension frame and comprises a lifting power piece and a lifting rope, one end of the lifting rope is connected with the lifting power piece, and the other end of the lifting rope is supported at the non-suspension end and is connected with the spraying robot; the movable trolley is provided with a suspension, and can control the suspension to move along the transverse direction of the working surface of the spraying robot and drive the suspension to move along the direction vertical to the working surface; and the first control part is arranged on the suspension, is connected with the lifting device and the spraying robot and is used for controlling the work of the lifting device and the spraying robot.

According to the embodiment of the invention, the suspension assembly is used for a spraying system, the spraying system comprises a spraying robot and the suspension assembly, and the spraying robot is particularly used for spraying outer walls or inner walls of high-rise buildings, such as spraying paint on the outer walls of the high-rise buildings or spraying water for cleaning the outer walls of the high-rise buildings, or brushing inner walls of the buildings, such as spraying latex paint and the like. And the suspension assembly is used for suspension installation at a high place, such as on a roof of a building to be sprayed, so that the hoisting installation of the spraying robot can be realized. The suspension assembly comprises a suspension, a lifting device, a moving trolley and a first control piece, wherein the suspension is specifically used for realizing supporting and mounting of a lifting power piece, a lifting rope and the first control piece, the lifting device is specifically used for realizing lifting and descending of the spraying robot, the moving trolley is used for driving the suspension and articles on the suspension to integrally move, such as move along the transverse direction of a working surface or move along the vertical direction of the working surface, and therefore the position of the spraying robot can be transversely adjusted, and the distance between the spraying robot and the working surface can be adjusted. And the first control part is arranged on the suspension, is connected with the lifting device and the spraying robot and is used for controlling the work of the lifting device and the spraying robot so as to control the lifting and the descending of the spraying robot or control the spraying of a spray gun of the spraying robot or the feeding of a feeding device and the like. The suspension assembly with the structure can integrally move under the action of the movable trolley, so that the position of the spraying robot can be transversely adjusted, the distance between the spraying robot and a working surface can be adjusted, and the flexibility of the spraying robot is higher. And the position of transversely adjusting the spraying robot makes the spraying robot can follow the different positions of transverse direction motion to carry out the spraying to the region of difference, just so can realize the automatic spraying to whole operation face, and adjust the distance between spraying robot and the operation face and make the spraying robot when the oscilaltion, can avoid barrier such as balcony voluntarily, prevent that the spraying robot from taking place to interfere with barrier such as balcony when the oscilaltion. And the support body of installation spraying robot at present is fixed structure mostly, therefore can't remove, just so makes spraying robot's lateral shifting and motion on the vertical direction unable realization, and this application has solved above-mentioned technical problem through the suspension subassembly that sets up can remove, has improved spraying robot's flexibility to the spraying operation that can make spraying robot is more nimble, convenient.

Wherein, preferably, the hoisting rope is a steel wire rope.

In addition, the suspension assembly provided according to the above embodiment of the present invention has the following additional technical features:

in any of the above solutions, preferably, the suspension assembly further includes: the air compressor is arranged on the suspension, is connected with the first control element and can work under the action of the first control element; wherein, air compressor still is connected with spraying robot's storage device.

In these technical schemes, be provided with air compressor on the suspension subassembly, and air compressor can carry the air to spraying robot's storage device to can control the pressure in the storage device, thereby can be with in the material forced draught to the spray gun with the material pressure-feed in the storage device. Namely, the spraying robot can automatically complete feeding work by arranging the air compressor.

In any of the above solutions, preferably, the suspension assembly further includes: the external power line is connected with the first control piece and supplies power to the first control piece; the cable drum is installed on the suspension, and the cable drum includes the cable conductor, and the one end and external power source or first control of cable conductor are connected, and the other end and the spraying robot of cable conductor are connected for the spraying robot power supply.

In these technical scheme, the suspension subassembly still includes cable drum and external power cord, and wherein, external power cord specifically is used for the power supply of first control spare. And the cable drum can be used for supplying power to the spraying robot in a specific embodiment, and at the moment, one end of a cable on the cable drum is connected with an external power supply. In yet another embodiment, the power and signal transmission between the first control member and the painting robot may be accomplished directly through the cable spool, in which case the cable is connected between the first control member and the painting robot. And the setting of cable drum makes spraying robot in lift in-process, and the cable conductor can be receive and release along with spraying robot's lift, just so can standardize the management to the cable conductor, prevents that the cable conductor overlength from appearing cable conductor winding or the dead problem of cable conductor and other object mutual card.

Preferably, the cable drum is connected with an external power supply to supply power to the spraying robot through the external power supply, and the first control part is preferably connected with the spraying robot in a wireless mode, so that a signal cable between the first control part and the spraying robot can be omitted, and the overall structure of a product is simplified.

In any of the above solutions, preferably, the suspension assembly further includes: and the balancing weight is arranged at the non-suspension end of the suspension.

In these technical scheme, through setting up balancing weight accessible balancing weight suspension self weight to can prevent that the suspension is overweight, and lead to whole suspension subassembly to topple.

In any of the above solutions, preferably, the suspension assembly further includes: and the signal generator is electrically connected with the first control part, can transmit the ranging signal and receive the feedback signal fed back by the spraying robot, and can measure the height difference between the spraying robot and the suspension according to the transmitted ranging signal and the received feedback signal.

In the technical schemes, the suspension assembly further comprises a signal generator, the signal generator can be used for sending a distance measuring signal, and meanwhile, a signal reflector can be arranged on the spraying robot so as to feed the distance measuring signal sent by the signal generator back to the signal generator, so that the height difference between the suspension and the spraying robot can be determined through the two signals, the height position of the spraying robot can be further analyzed according to the height difference between the suspension and the spraying robot, and the position of the spraying robot can be determined through the height position of the spraying robot and the transverse position positioned by the movable trolley, so that the position of the spraying robot can be known at any time, and the spraying robot can automatically avoid positions such as windowsill, balcony and corner in the moving process.

Preferably, the signal generator is a laser measuring instrument, and the signal reflector is a laser reflecting plate.

In the technical schemes, the distance between the suspension and the spraying robot can be calculated in a laser ranging mode. Because the laser ranging mode is mature and easy to realize, the cost of the product can be simplified, and the ranging difficulty is reduced. Specifically, the signal generator may be a laser measuring instrument, and the spraying robot may be provided with a laser reflecting plate, and in this structure, the laser measuring instrument is configured to emit a laser signal, receive a signal reflected by the laser reflecting plate, and determine the distance between the spraying robot and the suspension based on the two signals, and the laser reflecting plate is configured to reflect the signal emitted by the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can calculate the distance traveled by the laser based on the time from the time when the laser is answered to the time when the laser is received and the propagation speed of the laser in the air, and the distance between the suspension and the spraying robot can be determined based on the distance traveled by the laser.

In any of the above technical solutions, preferably, the mobile cart is an AGV cart.

In these solutions, the entire movement of the suspension, such as side-to-side or front-to-back, can preferably be performed by the AGV cart. Because the AGV trolley can scan the map and automatically move, the spraying route of the spraying robot can be automatically planned.

The AGV is an AGV equipped with an electromagnetic or optical automatic guiding device, can travel along a prescribed guiding path, has safety protection and various transfer functions, does not require a driver in industrial application, can control the traveling route thereof by a computer, and can move and operate by information brought by an electromagnetic track.

In any of the above solutions, preferably, a recessed area is provided on the bottom of the suspension, and the suspension can be mounted on the mobile cart through the recessed area.

In these technical scheme, can set up the depressed area in the bottom of suspension, then install the travelling car in the depressed area, just so can drive the holistic volume that suspension and travelling car constitute through the travelling car when suspension global movement, with the area that reduces the product. And the pulley is arranged at the bottom of the suspension, so that the suspension can be in contact with the ground and can slide through the pulley when moving along with the moving trolley, and the suspension can move more conveniently.

In any of the above technical solutions, preferably, a plurality of pulleys are disposed on a bottom portion of the suspension, and when the suspension is mounted on the moving trolley, the suspension can contact with the placing platform through the plurality of pulleys.

In the technical schemes, the pulley is arranged at the bottom of the suspension, so that the suspension can be in contact with the ground and can slide through the pulley when moving along with the moving trolley, and the suspension can move more conveniently.

Embodiments of a second aspect of the invention provide a spray coating system comprising: any embodiment of the first aspect provides a suspension assembly; the spraying robot is hung and installed on the suspension end of the suspension by a lifting rope of the suspension assembly.

According to the embodiment of the invention, the spraying system comprises the suspension assembly and the spraying robot, wherein the suspension assembly is used for being hung and installed at a high place, such as a roof of a building to be sprayed, so that the hoisting installation of the spraying robot can be realized. The spraying robot is specifically used for spraying an outer wall or an inner wall of a high-rise building, for example, spraying paint on the outer wall of the high-rise building or spraying water for cleaning the outer wall of the high-rise building, or painting an inner wall of the building, for example, spraying latex paint and the like. Meanwhile, since the spray coating system provided by the embodiment of the invention has the suspension assembly provided by any one of the embodiments of the first aspect, the spray coating system provided by the embodiment of the invention has all the advantages of the suspension assembly provided by any one of the embodiments of the first aspect, which are not listed here.

In any one of the above technical solutions, preferably, the spray robot includes: the hanging frame is hung and installed on the hanging end of the suspension frame through a lifting rope; the spray gun is movably arranged on the hanging rack and can move along the transverse direction of the spraying surface and/or along the longitudinal direction of the spraying surface; the material storage device is arranged on the hanging frame, one end of the material storage device is connected with the air compressor, and the other end of the material storage device is connected with the spray gun and can supply materials to the spray gun under the action of the air compressor; and the second control part is arranged on the hanging frame, is connected with the first control part and the spray gun and can control the work of the spray gun together with the first control part.

Among these technical scheme, spraying robot includes stores pylon, spray gun, storage device and second control, and wherein, the stores pylon passes through hoisting device hoist and mount on the suspension, just so can install the stores pylon on operation faces such as high-rise building's outer wall. The arrangement can design the suspension, the hanging bracket and the lifting device into a basket structure similar to that in a building, so that the device with the basket structure can realize the movement of the spray gun along the wall surface and the like of a high-rise building. The hanging rack is mainly used for bearing a spray gun and the like, so that the spray gun can be moved to a designated area to be sprayed through the hanging rack during spraying. The spray gun is particularly used for spraying working surfaces such as outer walls and inner walls of high-rise buildings, the second control part is mainly used for controlling the spray gun, the lifting device and the like together with the first control part, for example, the spray gun is controlled to move forwards and backwards, or move leftwards and rightwards or rotate and the like, and the storage device is used for supplying materials to the spray gun.

In any one of the above technical solutions, preferably, the spraying robot further includes: the weighing instrument is installed on the hanging frame and electrically connected with the second control piece, and the storage device is installed on the weighing instrument.

Among these technical scheme, can set up the appearance of weighing on the stores pylon, then install storage device on the appearance of weighing, just so can detect the material in the storage device at any time through the appearance of weighing to can supervise at any time the material in the storage device. And the weighing instrument is connected with the second control piece, can send storage device's weight data for the second control piece, and when the material in storage device was too little like this, the work of hoisting device could be controlled together with first control piece to the second control piece alright to can remove the stores pylon to the place that the user of being convenient for carried out reinforced operation, just so can add the material in time to storage device, prevent that the material in the storage device from being used up the phenomenon that has not been discovered and taking place.

In any one of the above technical solutions, preferably, the spraying robot further includes: the first valve is connected between the air compressor and the material storage device and used for controlling the connection and disconnection between the air compressor and the material storage device; the second valve is connected between the material storage device and the spray gun and used for controlling the on-off between the air compressor and the spray gun; and the third valve is connected between the material storage device and the spray gun and used for controlling the flow between the air compressor and the spray gun.

In these technical scheme, through setting up first valve, can control the break-make between air compressor and the storage device, just so can control the pressure in the air compressor to reach the purpose of control air compressor's start-stop. Of course, the start-stop control of the air compressor can also be controlled by a start-stop switch. The first valve is preferably a solenoid valve, because the control of the solenoid valve is more convenient and accurate. The second valve can be preferably a proportional valve, and the second valve can be used for controlling the on-off between the storage device and the spray gun, so that the start-stop of the spray gun can be controlled. And the second valve may preferably be a needle-top valve. And the third valve can be used for controlling the flow between the material storage device and the spray gun, so that the flow of air can be controlled, and the atomization rate of the material sprayed by the spray gun can be controlled. I.e. here the third valve is a flow regulating valve.

In any one of the above technical solutions, preferably, the spraying robot further includes: safety arrangement installs on the stores pylon, is connected with hoisting device, can detect the operating condition of hoisting device and stores pylon to can pin hoisting device when the operating condition of hoisting device and/or stores pylon is outside presetting the state.

In these technical schemes, the safety of hoisting device when promoting the stores pylon can be ensured to the accessible safety arrangement to effectively take precautions against the emergence of production incident. Specifically, for example when hoisting device specifically is the device including lifting machine, power rope and safety rope, can set safety arrangement to one and can pin the safety rope automatically when the gliding speed of stores pylon reaches lock rope speed and the inclination of stores pylon reaches lock rope angle, make the stores pylon stop to descend or the safety lock that stops the slope, and preferably, when setting up the safety lock, should notice the safety lock and should not automatic re-setting under the lock rope state to effectively take precautions against the emergence of production incident. The specific working principle of the installation lock is the same as that of the safety protection device in the existing construction hanging basket, and is not described in detail herein. In other schemes, when the lifting devices have different structures, the safety protection device may also be set to have other structures, for example, the lifting device may also be an electric hoist, a hydraulic hoist, or the like, and the safety protection device may be a speed determination device, so that the safety of the hanger during the lifting process can be ensured by the lifting speed of the lifting device. Of course, the safety protection device can also be a device which can judge whether the hanging rack is safe or not according to the height of the hanging rack. In the practical process, the structures of the lifting device and the safety protection device can be arranged according to the practical requirements, and the application is not particularly limited.

In any one of the above technical solutions, preferably, the spraying robot further includes: the rack comprises a plurality of directional casters, wherein the directional casters are arranged on the surface of the rack, which is close to the operation surface, can be in contact with the operation surface and can roll on the operation surface when the rack moves.

In these technical scheme, make the stores pylon can support on wall such as high-rise building's outer wall through directional truckle through setting up directional truckle, just so can prevent that the stores pylon is unsettled completely. In addition, the rolling of the directional caster on the working surface can also make the hanging rack more stable when moving.

In any one of the above technical solutions, preferably, the spraying robot further includes: the sliding assembly is arranged on the hanging rack and can slide on the hanging rack along the longitudinal direction of the operation surface and/or slide along the transverse direction of the operation surface; the sliding driving piece is connected with the sliding assembly and can drive the sliding assembly to slide; the rotating assembly is arranged on the sliding assembly; wherein, the spray gun is installed on the rotating assembly, can slide under the effect of slip subassembly to and can rotate under the effect of rotating assembly.

Among these technical scheme, the slip subassembly is installed on the support body with sliding, can slide along the direction of height or the transverse direction of the operation face of spray gun subassembly, alright drive the spray gun like this and remove along the direction of height or the transverse direction of operation face, and the slip driving spare is used for driving the slip subassembly and slides, like this through the automatic drive of slip driving spare alright realize the slip subassembly to just can realize the spray gun along the automatic sliding of the upper and lower left right direction of operation face. And the rotating component is arranged on the sliding component and can rotate relative to the working surface, so that the rotating component can drive the spray gun to rotate in the spraying working surface. The spray gun with the structure can slide along the height direction and/or the transverse direction of the operation surface under the action of the sliding assembly and can rotate under the action of the rotating assembly, the degree of freedom of the spray gun with the structure is higher, particularly, the spraying can freely move along the vertical and horizontal directions of the operation surface and can freely rotate, so that when the outer wall or the inner wall of a high-rise building and the like are sprayed and cleaned through the spray gun, the area around the spray gun can be sprayed and cleaned through the free movement and rotation of the spray gun, the area of the spray gun capable of spraying at each time can be increased, the frame body of the spraying robot does not need to be frequently moved, and the spraying robot does not need to be frequently integrally moved. And for the spraying robot, the spraying robot is difficult to move, so that the control difficulty of the spraying robot can be reduced by increasing the freedom degree of a spray gun and reducing the moving times of the spraying robot, and the structure of a product is simplified.

Preferably, the angle of the rotation of the spray gun is more than or equal to 0 degrees and less than or equal to 180 degrees, namely, the spray gun preferably only rotates 180 degrees in the application, so that the structure of the spray gun can be more reasonable and compact. Of course, the lance may also be provided with a structure capable of rotating 360 °.

In any one of the above technical solutions, preferably, the painting robot further includes a first guide rail, the first guide rail is mounted on the hanger and disposed along a transverse direction of the working surface, and the sliding assembly includes: a first slider slidably mounted on the first rail and slidable along the first rail; the second guide rail is arranged on the first sliding block and is arranged along the longitudinal direction of the working surface; a second slider slidably mounted on the second rail and slidable along the second rail; the rotating assembly is installed on the second sliding block, the sliding driving piece comprises a first driving piece and a second driving piece, the first driving piece is installed on the hanging rack and connected with the first sliding block and used for driving the first sliding block to slide, and the second driving piece is installed on the hanging rack and connected with the second sliding block and used for driving the second sliding block to slide.

In this technical scheme, spraying robot still includes first guide rail, the transverse direction of first guide rail edge operation face, the left and right directions setting of operation face promptly, and the slip subassembly includes first slider, second guide rail and second slider, the slip subassembly can be through first slider slidable installation on first guide rail, and can slide along first guide rail, the subassembly that slides just so can drive the spray gun and slide along transverse direction, and the second slider can be installed on the second guide rail slidably, just so can drive the spray gun through the slip of second slider on the second guide rail and slide along the direction of height, through the slip of slip subassembly on first guide rail like this, and the slip of second slider on the second guide rail alright the upper and lower left and right sides position of regulation spray gun. The first guide rail and the second guide rail can limit the sliding direction, so that the sliding assembly and the second sliding block can be prevented from deviating from the preset route when sliding, and the spray gun can slide to a preset place according to the preset route so as to spray a working surface of a preset area. The structure can adjust the position of the spray gun through the sliding in the height direction and the left-right direction, so that the height position adjustment and the left-right position adjustment of the spray gun are independent, and the convenience of the height adjustment and the left-right adjustment of the spray gun can be improved. Meanwhile, the first guide rail can be arranged on the first driving piece for driving the first sliding block to slide correspondingly, the second guide rail is arranged on the second driving piece for driving the second sliding block to slide correspondingly, so that the first sliding block and the second sliding block can be independently driven through the two independent driving pieces, the first sliding block and the second sliding block can be independent and do not mutually interfere with each other when sliding, the transverse independent adjustment and the height independent adjustment of the spray gun can be realized, and the freedom degree of the movement of the spray gun is improved.

In any one of the above technical solutions, preferably, the spraying robot further includes: the third guide rail is arranged on the hanging rack and arranged along the transverse direction of the working surface; and the third sliding block is slidably arranged on the third guide rail and is connected with the second guide rail.

In these technical schemes, be provided with the third guide rail on the stores pylon, and the third slider is installed on the third guide rail with sliding to be connected with the sliding component, specifically, can be connected with the second guide rail, when the relative first guide rail of sliding component slided like this, alright drive the third slider and slide on the third guide rail, alright lead to the sliding motion of sliding component simultaneously through first guide rail and third guide rail like this. Namely, the sliding assembly is slidably mounted on the third guide rail and the first guide rail. And can strengthen the reliability of being connected between slip subassembly and the stores pylon through setting up the third guide rail, prevent that the installation of slip subassembly is unstable.

In any of the above technical solutions, preferably, the first guide rail and the hanger are of a split structure, or the first guide rail and the hanger are of an integrated structure; the third guide rail and the hanging rack are of a split structure, or the third guide rail and the hanging rack are of an integrated structure.

In these technical schemes, preferably split type structure, two independent structures are between first guide rail and the stores pylon, and the stores pylon is connected with first guide rail preferably can dismantle, just so makes first guide rail can dismantle along with the spray gun subassembly, like this in the actual process, just can carry out dismouting or maintenance replacement as an independent part with first guide rail and spray gun subassembly. Of course, the first guide rail and the hanging rack can also be of an integrated structure. Similarly, a split structure is also preferred between the third guide rail and the hanging rack, and of course, the third guide rail and the hanging rack can also be of an integrated structure.

In any one of the above technical solutions, preferably, a first connecting plate is disposed between the first slider and the second guide rail, the first connecting plate is connected with the first slider through a screw, and the first connecting plate is connected with the second guide rail through a screw.

In these technical solutions, the first connecting plate may be disposed between the first slider and the second rail, so that the first slider and the second rail can be more firmly connected, and preferably, the first connecting plate and the first slider and the first connecting plate and the second rail are preferably connected by screws, because the screws are simpler and more reliable.

In any of the above technical solutions, preferably, the first driving member includes a first motor, a first driving belt, a first driving wheel and a first driven wheel, the first motor is mounted on the hanger, the first driving wheel is mounted on a motor shaft of the first motor, the first driven wheel is rotatably mounted on the hanger, and the first driving belt is sleeved on the first driving wheel and the first driven wheel and connected to the first slider; the driving part II comprises a second motor, a second transmission belt, a second driving wheel and a second driven wheel, the second motor is installed on the hanging rack, the second driving wheel is installed on a motor shaft of the second motor, the second driven wheel can be installed on the hanging rack in a rotating mode, and the second transmission belt is sleeved on the second driving wheel and the second driven wheel and connected with a second sliding block.

In these technical schemes, preferably drive first slider through first motor and slide, and preferably connect through first drive belt, first action wheel and first driven wheel between first motor and the first slider, simultaneously, can drive the second slider slip through the second motor preferentially, and preferably connect through second drive belt, second action wheel and second driven wheel between second motor and the second slider. The structure can drive the first slider and the second slider in a belt transmission mode, so that the structures of the first driving piece and the second driving piece are simpler, and the structure of a product can be simplified. Preferably, the first motor and the second motor can be connected with the first sliding block and the second sliding block through a belt and a belt pulley, and of course, transmission structures such as gears can be arranged between the first motor and the first sliding block and between the second motor and the second sliding block, so that the speed of the first sliding block and the speed of the second sliding block can be reasonably controlled.

Wherein, preferably, the first motor and the second motor are both servo motors. The control precision of the servo motor is high, so that the spraying precision of the spray gun can be ensured.

Preferably, the second motor is mounted at a lower end of the second guide rail, so that the second motor can perform sliding driving of the second slider from the lower end of the second guide rail.

In any one of the above technical solutions, preferably, the spraying robot further includes a first protection cover and a second protection cover, the first protection cover is installed at a motor shaft end of the first motor and can cover a motor shaft of the first motor, and the second protection cover is installed at a motor shaft end of the second motor and can cover a motor shaft of the second motor.

In these technical scheme, through setting up first protection casing and second protection casing, can prevent effectively that rainwater, dust from influencing the work of first motor and second motor. Preferably, the first protection cover and the second protection cover are square, and the square area is larger, so that the protection performance of the protection covers can be enhanced.

In any of the above solutions, preferably, the rotating assembly includes: the third motor is arranged on the sliding assembly; the speed reducer is arranged on the sliding assembly and is connected with the third motor; the second connecting plate is arranged on an output shaft of the speed reducer; wherein, the spray gun is installed on the second connecting plate, and the third motor rotates and can drive the spray gun and rotate.

In these solutions, the power can be provided by a third electric machine, while a reducer is used to adjust the speed of the lance while increasing the output torque, so that the speed of the output shaft can be controlled within a reasonable range. And the second connecting plate is used for realizing the installation of the spray gun, and simultaneously, the second connecting plate can increase the radius of rotation of the spray gun so that the spray gun can spray a larger area at one time through rotation. In addition, the second connecting plate can also increase the laying space of spray gun, improves the area of contact between spray gun and the reduction gear to improve the installation stability between reduction gear and the spray gun.

Among them, the third motor is preferably a servo motor because the control accuracy of the servo motor is higher, so that the control accuracy of the speed of the rotating shaft and the like can be improved.

In any one of the above technical solutions, preferably, the spraying robot further includes: and the signal reflector is arranged on the hanging frame and can feed back the ranging signal sent by the signal generator to the signal generator.

In these technical scheme, the signal reflector can cooperate with signal generator to realize the measuring distance between suspension and the spraying robot, just so can obtain the high position of support body according to the distance analysis between suspension and the support body, like this alright determine the position of spraying robot through the high position of support body and the horizontal position that the travelling car was fixed a position, alright know the position of spraying robot like this at any time, so that the spraying robot can avoid positions such as windowsill, balcony, corner automatically in the motion process.

Wherein, preferably, the signal reflector is a laser reflection plate.

In the technical schemes, the distance between the suspension and the frame body can be measured and calculated in a laser ranging mode. Because the laser ranging mode is mature and easy to realize, the cost of the product can be simplified, and the ranging difficulty is reduced. Specifically, the signal generator may be a laser measuring instrument, and the signal reflector may be a laser reflector, and in this structure, the laser measuring instrument is configured to emit a laser signal, receive a signal reflected by the laser reflector, and determine the distance between the frame and the suspension based on the two signals, and the laser reflector is configured to reflect a signal emitted by the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can calculate the distance traveled by the laser according to the time from the time when the laser is answered to the time when the laser is received and the propagation speed of the laser in the air, and the distance between the suspension and the frame can be determined according to the distance traveled by the laser.

In any of the above technical solutions, preferably, the number of the laser reflection plates is two, and the two laser reflection plates are symmetrically installed on the hanger along the transverse direction of the working surface.

In these technical schemes, can reflect the laser that laser measuring apparatu sent through two laser reflecting plates, can strengthen the volume of the laser that reflects back like this to can strengthen the feedback signal that laser measuring apparatu can receive, just so can be when carrying out contrastive analysis through the laser signal who sends and the laser signal of feedback, the reliability of the laser signal of reinforcing feedback improves laser rangefinder's accuracy, thereby can realize the accurate control to the position shift of support body.

In any one of the above technical solutions, preferably, the spraying robot further includes: the image acquisition device is arranged on the hanging rack and used for acquiring the image of the sprayed operation surface; the second control part is connected with the image acquisition device, can judge whether the spraying of the operation surface is qualified or not according to the comparison between the image acquired by the image acquisition device and the standard image, and can control the spray gun to re-spray the operation surface when judging that the spraying of the operation surface is unqualified.

In the technical schemes, the image acquisition device is used for acquiring the image of the sprayed operation surface, the second control piece is further connected with the image acquisition device, whether the spraying of the operation surface is qualified or not can be judged according to the image acquired by the image acquisition device and the standard image, and the second control piece can also be used for re-spraying the operation surface when the spraying of the operation surface is judged to be unqualified. The spraying condition of the operation face after the spraying can be gathered through the image acquisition device to this kind of structure, can compare the image of gathering with the standard figure simultaneously to it is qualified to determine the spraying of operation face, just so can be after spraying machine people spraying is unqualified, carries out the spraying again to the operation face of spraying, just so can ensure the spraying quality, avoids the spraying defect, prevents that the phenomenon that the quality of automatic spraying is not good from taking place.

In the above technical solution, preferably, the image capturing device is an industrial camera or a video camera.

In the technical scheme, the image acquisition device can be an industrial camera or a video camera, when the image acquisition device is the industrial camera, the sprayed operation surface can be directly stored in a picture mode through the industrial camera, at the moment, a qualified standard picture can be stored in the storage device in advance, and whether the quality of spraying is qualified or not can be judged by analyzing and comparing the difference between the picture shot by the industrial camera and a pre-stored picture sample. When the image acquisition device is a camera, the sprayed working surface can be directly stored in a video mode through the camera, at the moment, a qualified standard video can be stored in the storage device in advance, and whether the quality of the spraying is qualified or not can be judged by analyzing and comparing the difference between the video shot by the camera and the prestored standard video.

Further preferably, the image acquisition device is mounted on the second slider. Therefore, the image acquisition device and the spray gun can be correspondingly installed, so that the image acquisition device and the spray gun can be approximately installed at the same position, and the sprayed image can be conveniently acquired through the image acquisition device after the spray gun is sprayed. In addition, the structure can realize the position adjustment of the image acquisition device and the spray gun through the same sliding assembly, thereby simplifying the structure of the product and reducing the cost of the product.

In any of the above technical solutions, preferably, the sliding assembly further includes: and the fixing plate is installed on the second sliding block through a screw, and the image acquisition device is installed on the fixing plate.

In these solutions, a fixing plate may be disposed on the second slider, and the fixing plate is preferably fixed to the second slider by screws, and the image capturing device may be directly fixed to the fixing plate, so that the image capturing device may be mounted on the sliding assembly. And specifically, can rationally set up the structure of fixed plate to the fixed plate can carry out reasonable spacing fixedly to image acquisition device.

Wherein, preferably, the spraying system is an exterior wall spraying system. Of course, the spraying system can also be a spraying and cleaning system of a glass curtain wall and the like, or the spraying system can also be an inner wall spraying system.

Additional aspects and advantages in accordance with 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 is a schematic diagram of a spray coating system provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a suspension assembly provided in accordance with an embodiment of the present invention;

FIG. 3 is another schematic structural view of a suspension assembly provided in accordance with an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a painting robot provided in accordance with an embodiment of the present invention;

FIG. 5 is a partial enlarged schematic view of FIG. 4 at A;

FIG. 6 is another schematic structural diagram of a painting robot provided in accordance with an embodiment of the present invention;

FIG. 7 is a schematic view of another configuration of a painting robot provided in accordance with an embodiment of the present invention;

FIG. 8 is a further schematic view of a painting robot provided in accordance with an embodiment of the present invention;

FIG. 9 is a schematic view of a partial structure of a painting robot provided in accordance with an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of another part of a spraying robot provided according to an embodiment of the invention;

fig. 11 is a schematic view of the connection between the air compressor, the stocker, and the spray gun of the painting robot provided according to the embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 11 is:

1 suspension assembly, 10 suspension, 102 recessed area, 104 pulleys, 11 lifting device, 12 travelling car, 13 first control, 14 air compressor, 15 cable drum, 16 counterweight, 17 signal generator, 2 painting robot, 20 hanger, 200 directional caster, 202 safety protection device, 204 first guide rail, 206 third guide rail, 21 spray gun, 22 stocker, 23 second control, 24 weighing instrument, 25 sliding assembly, 252 first slider, 254 second guide rail, 256 second slider, 258 first connection plate, 259 fixed plate, 26 sliding drive, 262 first motor, 264 second motor, 266 first shield, 268 second shield, 27 rotating assembly, 272 third motor, 274 decelerator, 276 second connection plate, 28 image acquisition device, 29 signal reflector, a first valve, b second valve, c third valve.

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 otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

Embodiments of the present invention are described below with reference to fig. 1 to 11 to provide a suspension assembly 1 and a spray coating system.

As shown in fig. 1 to 3, an embodiment of a first aspect of the present invention provides a suspension assembly 1 for a painting system, the painting system comprising a painting robot 2, the suspension assembly 1 comprising: a suspension 10, the suspension 10 comprising a suspended end and an unsuspended end; the lifting device 11 is installed on the non-suspension end of the suspension frame 10, the lifting device 11 comprises a lifting power piece and a lifting rope, one end of the lifting rope is connected with the lifting power piece, and the other end of the lifting rope is supported at the non-suspension end and is connected with the spraying robot 2; the movable trolley 12 is provided with a suspension frame 10, the suspension frame 10 is arranged on the movable trolley 12, and the movable trolley 12 can control the suspension frame 10 to move along the transverse direction of the working surface of the spraying robot 2 and can drive the suspension frame 10 to move along the direction vertical to the working surface; and a first control member 13 mounted on the suspension 10 and connected to the lifting device 11 and the painting robot 2 for controlling the operation of the lifting device 11 and the painting robot 2.

The suspension assembly 1 provided by the embodiment of the invention is used for a spraying system, the spraying system comprises a spraying robot 2 and the suspension assembly 1, and the spraying robot 2 is particularly used for spraying an outer wall or an inner wall of a high-rise building, such as spraying paint on the outer wall of the high-rise building or spraying water for cleaning the outer wall of the high-rise building, or painting the inner wall of the building, such as spraying latex paint and the like. And the suspension assembly 1 is used for suspension mounting at a high place, such as on the roof of a building to be painted, so as to enable the hoisting mounting of the painting robot 2. Specifically, the suspension assembly 1 comprises a suspension 10, a lifting device 11, a moving cart 12 and a first control element 13, wherein the suspension 10 is specifically used for supporting and installing a lifting power element, a lifting rope and the first control element 13, the lifting device 11 is specifically used for lifting and descending the painting robot 2, and the moving cart 12 is used for driving the suspension 10 and the articles on the suspension 10 to move integrally, such as to move along the transverse direction of the working surface or along the vertical direction of the working surface, so that the position of the painting robot 2 can be adjusted transversely and the distance between the painting robot 2 and the working surface can be adjusted. And the first control member 13 is installed on the suspension 10, connected to the lifting device 11 and the painting robot 2, for controlling the operations of the lifting device 11 and the painting robot 2 so as to be able to control the lifting and lowering of the painting robot 2, or to control the operations of the painting of the spray gun 21 of the painting robot 2 or the feeding of the feeding device, etc. The suspension assembly 1 with the structure can integrally move under the action of the movable trolley 12, so that the position of the spraying robot 2 can be transversely adjusted, the distance between the spraying robot 2 and a working surface can be adjusted, and the flexibility of the spraying robot 2 is higher. And the position of transversely adjusting spraying robot 2 makes spraying robot 2 can follow the different positions of transverse direction motion to carry out the spraying to the region of difference, just so can realize the automatic spraying to whole operation face, and adjust the distance between spraying robot 2 and the operation face and make spraying robot 2 when the oscilaltion, can avoid obstacles such as balcony voluntarily, prevent that spraying robot 2 from interfering with obstacles such as balcony when the oscilaltion. And the support body of installation spraying robot 2 is fixed structure mostly at present, therefore can't remove, just so make spraying robot 2's lateral shifting and the motion on the vertical direction unable realization, and this application has solved above-mentioned technical problem through the suspension subassembly 1 that sets up can remove, has improved spraying robot 2's flexibility to can make spraying robot 2's spraying operation nimble more, convenient. Preferably, the hoisting ropes are steel ropes.

In any of the above embodiments, preferably, as shown in fig. 2 and 3, the suspension assembly 1 further includes: an air compressor 14 mounted on the suspension 10, connected to the first control member 13, and capable of operating under the action of the first control member 13; the air compressor 14 is also connected to the magazine 22 of the painting robot 2.

In these embodiments, the suspension assembly 1 is provided with an air compressor 14, and the air compressor 14 can supply air to the storage device 22 of the painting robot 2, so that the pressure in the storage device 22 can be controlled, and the material in the storage device 22 can be pressed into the spray gun 21. Namely, the air compressor 14 can be arranged to enable the spraying robot 2 to automatically complete the feeding work.

In any of the above embodiments, preferably, as shown in fig. 2 and 3, the suspension assembly 1 further includes: an external power line (not shown) connected to the first control member 13 and supplying power to the first control member 13; the cable drum 15 is installed on suspension 10, and cable drum 15 includes the cable conductor, and the one end and external power source or first control 13 of cable conductor are connected, and the other end and the spraying robot 2 of cable conductor are connected for 2 power supplies for the spraying robot.

In these embodiments, the suspension assembly 1 further comprises a cable drum 15 and an external power cord, wherein the external power cord is specifically configured to power the first control member 13. The cable drum 15, in one embodiment, may be used to power the painting robot 2, where one end of the cable on the cable drum 15 is connected to an external power source. In yet another embodiment, the electrical connection and signal transmission between the first control element 13 and the painting robot 2 can be effected directly via the cable drum 15, in which case the cable is connected between the first control element 13 and the painting robot 2. And the setting of cable drum 15 makes spraying robot 2 at the lift in-process, and the cable conductor can be received and released along with spraying robot 2's lift, alright carry out standard management to the cable conductor like this, prevents that the cable conductor overlength from appearing the cable conductor winding or the dead problem of cable conductor and other object mutual card.

Wherein, preferably, cable drum 15 is connected with external power supply to through external power supply for spraying robot 2 power supply, and first control 13 is connected through wireless mode with spraying robot 2 preferentially, can save the signal cable between first control 13 and the spraying robot 2 like this, simplify product structure.

In any of the above embodiments, preferably, as shown in fig. 2 and 3, the suspension assembly 1 further includes: a counterweight 16 is mounted on the non-suspended end of the suspension 10. The weight of the suspension 10 itself can be balanced by providing the weight block 16, so that the suspension 10 can be prevented from being excessively heavy, which leads to the overturning of the entire suspension assembly 1.

In any of the above embodiments, preferably, as shown in fig. 3, the suspension assembly 1 further includes: and the signal generator 17 is electrically connected with the first control part 13, can transmit a ranging signal and receive a feedback signal fed back by the spraying robot 2, and can measure the height difference between the spraying robot 2 and the suspension 10 according to the transmitted ranging signal and the received feedback signal.

In these embodiments, the suspension assembly 1 further comprises a signal generator 17, and the signal generator 17 can be used for sending a distance measuring signal, and a signal reflector 29 can be arranged on the spraying robot 2 so as to feed the distance measuring signal sent by the signal generator 17 back to the signal generator 17, so that the height difference between the suspension 10 and the spraying robot 2 can be determined through the two signals, and the height position of the spraying robot 2 can be analyzed according to the height difference between the suspension 10 and the spraying robot 2, so that the specific positions of the windowsill, the balcony, the corner and the like can be identified through the height position of the spraying robot 2 and the positioned transverse position of the movable trolley 12. After the specific positions of the windowsill, the balcony, the corner and the like are known, the specific positions of the windowsill, the balcony, the corner and the like can be fed back to the first control part 13 on the suspension 10, and then the AGV trolley drives the suspension 10 to move back and forth, left and right so as to achieve the effect of effectively avoiding obstacles.

Preferably, the signal generator 17 is a laser gauge and the signal reflector 29 is a laser reflector.

In these embodiments, the distance between the suspension 10 and the spraying robot 2 can be calculated by means of laser ranging. Because the laser ranging mode is mature and easy to realize, the cost of the product can be simplified, and the ranging difficulty is reduced. Specifically, the signal generator 17 may be configured as a laser measuring instrument, and a laser reflecting plate may be provided on the painting robot 2, and in this configuration, the laser measuring instrument is configured to emit a laser signal, receive a signal reflected by the laser reflecting plate, and determine the distance between the painting robot 2 and the suspension 10 based on the two signals, and the laser reflecting plate is configured to reflect the signal emitted by the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can calculate the distance traveled by the laser based on the time from the answer to the receipt of the laser and the propagation speed of the laser in the air, and the distance between the suspension 10 and the painting robot 2 can be determined based on the distance traveled by the laser.

In any of the above embodiments, the mobile cart 12 is preferably an AGV cart.

In such embodiments, it may be preferable to have the entire movement of the suspension 10 be performed by the AGV cart, such as side-to-side or front-to-back. Because the AGV can scan the map and move automatically, the painting route of the painting robot 2 can be automatically planned.

In any of the above embodiments, preferably, as shown in fig. 3, a recessed area 102 is provided on the bottom of the suspension 10, and the suspension 10 can be mounted on the mobile cart 12 through the recessed area 102.

In these embodiments, a recessed area 102 may be formed at the bottom of the suspension 10, and then the moving trolley 12 is installed in the recessed area 102, so that the overall volume of the suspension 10 and the moving trolley 12 can be reduced while the moving trolley 12 drives the suspension 10 to move integrally, thereby reducing the floor area of the product. By providing the pulley 104 on the bottom of the suspension 10, the suspension 10 can contact the ground and can slide through the pulley 104 when moving with the traveling carriage 12, so that the suspension 10 can be moved more conveniently.

Preferably, as shown in fig. 2, a plurality of pulleys 104 are provided on the bottom of the suspension 10, and when the suspension 10 is mounted on the moving trolley 12, the suspension 10 can contact the placing platform through the plurality of pulleys 104. By providing the pulley 104 on the bottom of the suspension 10, the suspension 10 can be in contact with the ground and can slide through the pulley 104 while moving with the mobile cart 12, which can facilitate the movement of the suspension 10.

As shown in fig. 1 to 11, an embodiment of a second aspect of the present invention provides a spray coating system including: any embodiment of the first aspect provides a suspension assembly 1; the spraying robot 2 is hung and installed on the suspension end of the suspension 10 by the lifting rope of the suspension assembly 1.

According to the embodiment of the invention, the spraying system comprises a suspension assembly 1 and a spraying robot 2, wherein the suspension assembly 1 is used for being hung and installed at a high place, such as a roof of a building to be sprayed, so that the hanging installation of the spraying robot 2 can be realized. The spraying robot 2 is specifically used for spraying an outer wall or an inner wall of a high-rise building, for example, spraying paint on the outer wall of the high-rise building or spraying water to clean the outer wall of the high-rise building, or painting an inner wall of the building, for example, spraying latex paint and the like. Meanwhile, since the spray coating system provided by the embodiment of the invention has the suspension assembly 1 provided by any one of the embodiments of the first aspect, the spray coating system provided by the embodiment of the invention has all the advantages of the suspension assembly 1 provided by any one of the embodiments of the first aspect, which are not listed here.

In any of the above embodiments, preferably, as shown in fig. 4 to 8, the painting robot 2 includes: a hanger 20 suspended from the suspension end of the suspension 10 by a hoisting rope; a spray gun 21 movably mounted on the hanger 20 and capable of moving in a transverse direction of the spray face and/or in a longitudinal direction of the spray face; the storage device 22 is installed on the hanging rack 20, one end of the storage device 22 is connected with the air compressor 14, and the other end of the storage device 22 is connected with the spray gun 21 and can supply materials to the spray gun 21 under the action of the air compressor 14; and a second control member 23 mounted on the hanger 20, connected to the first control member 13 and the spray gun 21, and capable of controlling the operation of the spray gun 21 together with the first control member 13.

In these embodiments, the painting robot 2 includes a hanger 20, a spray gun 21, a stocker 22, and a second control 23, wherein the hanger 20 is hung on the hanger 10 by the lifting device 11, so that the hanger 20 can be installed on a work surface such as an outer wall of a high-rise building. This arrangement enables the suspension 10, the suspension 20 and the lifting device 11 to be designed as a basket structure in a similar building, so that movement of the lance 21 along the wall of a high-rise building or the like is achieved by the basket structure-like device. The hanger 20 is mainly used for carrying the spray gun 21 and the like, so that the spray gun 21 can be moved to a designated area through the hanger 20 for spraying when spraying. The spray gun 21 is specifically used for spraying the working surfaces such as the outer wall and the inner wall of a high-rise building, the second control member 23 is mainly used for controlling the spray gun 21 and the lifting device 11 together with the first control member 13, for example, controlling the spray gun 21 to move back and forth, or move left and right or rotate, and the storage device 22 is used for supplying materials to the spray gun 21.

Preferably, as shown in fig. 6, the painting robot 2 further includes: and the weighing instrument 24 is arranged on the hanging frame 20 and is electrically connected with the second control element 23, and the storage device 22 is arranged on the weighing instrument 24.

In such embodiments, a scale 24 may be provided on the rack 20, and the magazine 22 may then be mounted on the scale 24, so that the material in the magazine 22 can be detected by the scale 24 at any time, so that the material in the magazine 22 can be monitored at any time. The weighing device 24 is connected to the second control member 23 and is capable of sending the weight data of the storage device 22 to the second control member 23, so that when the material in the storage device 22 is too low, the second control member 23 and the first control member 13 control the operation of the lifting device 11, so that the hanging rack 20 can be moved to a place where the user can conveniently carry out the feeding operation, so that the material can be timely added into the storage device 22, and the phenomenon that the material in the storage device 22 is used up and is not found yet is prevented.

In any of the above embodiments, preferably, as shown in fig. 11, the spraying robot 2 further includes: the first valve a is connected between the air compressor 14 and the storage device 22 and used for controlling the on-off between the air compressor 14 and the storage device 22; the second valve b is connected between the storage device 22 and the spray gun 21 and used for controlling the on-off between the air compressor 14 and the spray gun 21; and a third valve c connected between the stocker 22 and the spray gun 21 for controlling the flow rate between the air compressor 14 and the spray gun 21.

In the embodiments, the first valve a is arranged to control the on-off between the air compressor 14 and the storage device 22, so that the pressure in the air compressor 14 can be controlled, and the purpose of controlling the start and stop of the air compressor 14 is achieved. Of course, the start-stop control of the air compressor 14 may also be controlled by a start-stop switch. The first valve a is preferably a solenoid valve, because the control of the solenoid valve is more convenient and accurate. The second valve b may preferably be a proportional valve, and the second valve b is arranged to control the on-off between the storage device 22 and the spray gun 21, so that the start-stop of the spray gun 21 can be controlled. And the second valve b may preferably be a needle-top valve. And a third valve c may be used to control the flow between the magazine 22 and the lance 21 so that the flow of air and hence the rate of atomisation of the material from the lance 21 can be controlled. I.e. here the third valve c is a flow regulating valve.

In any of the above embodiments, preferably, as shown in fig. 6, the spraying robot 2 further includes: the safety protection device 202 is installed on the hanger 20, connected to the lifting device 11, and capable of detecting the working states of the lifting device 11 and the hanger 20, and locking the lifting device 11 when the working states of the lifting device 11 and/or the hanger 20 are out of the preset state.

In these embodiments, the safety protection device 202 can ensure the safety of the lifting device 11 when lifting the hanger 20, so as to effectively prevent the occurrence of production safety accidents. Specifically, for example, when the lifting device 11 is specifically a device including a lifting machine, a power rope and a safety rope, the safety protection device 202 may be set as a safety lock capable of automatically locking the safety rope when the sliding speed of the hanger 20 reaches the rope locking speed and the tilt angle of the hanger 20 reaches the rope locking angle, so as to stop the hanger 20 from descending or tilting, and preferably, when the safety lock is set, it should be noted that the safety lock cannot be automatically reset in the rope locking state, so as to effectively prevent the occurrence of production safety accidents. The specific working principle of the installation lock is the same as that of the safety protection device 202 in the existing construction basket, and is not described in detail herein. Of course, in other schemes, when the structures of the lifting devices 11 are different, the safety protection device 202 may also be configured to be other structures, for example, the lifting device 11 may also be an electric hoist, a hydraulic hoist, or the like, and at this time, the safety protection device 202 may be specifically a speed determination device, so that the safety of the hanger 20 during the lifting process can be ensured by the lifting speed of the lifting device 11. Of course, the safety device 202 may also be a device capable of determining whether the hanger 20 is safe according to the height of the hanger 20. In the actual process, the structures of the lifting device 11 and the safety protection device 202 may be set according to actual needs, and the present application is not limited specifically.

In any of the above embodiments, preferably, as shown in fig. 6, the spraying robot 2 further includes: and a plurality of directional casters 200 provided on a surface of the hanger 20 disposed near the work surface, the plurality of directional casters 200 being capable of contacting the work surface and rolling on the work surface when the hanger 20 moves.

In these embodiments, the directional caster 200 is provided to support the hanger 20 on a wall surface such as an outer wall of a high-rise building through the directional caster 200, so that the hanger 20 can be prevented from being completely suspended. In addition, the rolling of the caster 200 on the work surface also makes the hanger 20 more stable when moving.

In any of the above embodiments, preferably, as shown in fig. 4 to 10, the spray robot 2 further includes: a sliding assembly 25 mounted on the hanger 20 and capable of sliding on the hanger 20 in a longitudinal direction of the work surface and/or in a transverse direction of the work surface; a slide driving member 26 connected to the slide unit 25 and capable of driving the slide unit 25 to slide; a rotating assembly 27 mounted on the sliding assembly 25; wherein the spray gun 21 is mounted on the rotating assembly 27, can slide under the action of the sliding assembly 25, and can rotate under the action of the rotating assembly 27.

In these embodiments, the sliding assembly 25 is slidably mounted on the frame body and can slide along the height direction or the transverse direction of the working surface of the assembly of the spray gun 21, so as to drive the spray gun 21 to move along the height direction or the transverse direction of the working surface, and the sliding driving member 26 is used for driving the sliding assembly 25 to slide, so that the sliding assembly 25 can be automatically driven by the sliding driving member 26, and thus the automatic sliding of the spray gun 21 along the up-down, left-right direction of the working surface can be realized. The rotating assembly 27 is mounted on the sliding assembly 25 and can rotate relative to the working surface, so that the spray gun 21 can be driven to rotate in the spraying working surface through the rotating assembly 27. The spray gun 21 of this construction is slidable in the height direction and/or the lateral direction of the work surface by the slide unit 25 and rotatable by the rotation unit 27, and the spray gun 21 of this construction has a high degree of freedom, and specifically, the spray gun can be freely moved in the vertical and horizontal directions of the work surface and can be freely rotated, so that when the outer wall or the inner wall of a high-rise building is painted and cleaned by the spray gun 21, the area around the spray gun 21 can be painted and cleaned by the free movement and rotation of the spray gun 21, and the area where the spray gun 21 can paint at each time can be increased, and the frame body of the spray robot 2 does not need to be frequently moved, and the spray robot 2 does not need to be frequently moved as a whole. In contrast, it is difficult for the painting robot 2 to move around the painting robot 2, and therefore the control difficulty of the painting robot 2 can be reduced and the product structure can be simplified by increasing the degree of freedom of the spray gun 21 and reducing the number of times of movement of the painting robot 2.

In any of the above embodiments, preferably, as shown in fig. 4 to 11, the painting robot 2 further includes a first rail 204, the first rail 204 is mounted on the hanger 20 and disposed along a transverse direction of the work surface, and the slide assembly 25 includes: a first slider 252 slidably attached to the first rail 204 and slidable along the first rail 204; a second guide rail 254 mounted on the first slider 252 and provided in the longitudinal direction of the work surface; a second slider 256 slidably attached to the second rail 254 and slidable along the second rail 254; the rotating assembly 27 is mounted on the second slider 256, the sliding driving member 26 includes a first driving member and a second driving member, the first driving member is mounted on the hanger 20 and connected to the first slider 252 for driving the first slider 252 to slide, and the second driving member is mounted on the hanger 20 and connected to the second slider 256 for driving the second slider 256 to slide.

In this embodiment, the painting robot 2 further includes a first guide rail 204, the first guide rail 204 is disposed along a transverse direction of the work surface, i.e., a left-right direction of the work surface, and the sliding assembly 25 includes a first slider 252, a second guide rail 254, and a second slider 256, the sliding assembly 25 can be slidably mounted on the first guide rail 204 through the first slider 252 and can slide along the first guide rail 204, so that the sliding assembly 25 can drive the spray gun 21 to slide along the transverse direction, and the second slider 256 can be slidably mounted on the second guide rail 254, so that the spray gun 21 can be driven to slide along the height direction through the sliding of the second slider 256 on the second guide rail 254, so that the up-down, left-right, and up-down positions of the spray gun 21 can be adjusted through the sliding of the sliding assembly 25 on the first guide rail 204 and the sliding of the second slider 256 on the second guide rail 254. The first guide rail 204 and the second guide rail 254 can limit the sliding direction, so that the sliding assembly 25 and the second slider 256 can be prevented from deviating from the predetermined path when sliding, and the spray gun 21 can slide to the predetermined position according to the predetermined path to spray the working surface of the predetermined area. The structure can adjust the position of the spray gun 21 through the sliding in the height direction and the left-right direction, so that the height position adjustment and the left-right position adjustment of the spray gun 21 are independent, and the convenience of the height adjustment and the left-right adjustment of the spray gun 21 can be improved. Meanwhile, the first driving part which can drive the first slide block 252 to slide correspondingly to the first guide rail 204 is installed, and the second driving part which can drive the second slide block 256 to slide correspondingly to the second guide rail 254 is installed, so that the first slide block 252 and the second slide block 256 can be driven independently through two independent driving parts, and the first slide block 252 and the second slide block 256 can be independent and do not mutually interfere with each other when sliding, so that the transverse independent adjustment and the height independent adjustment of the spray gun 21 can be realized, and the freedom degree of the movement of the spray gun 21 is improved.

In any of the above embodiments, preferably, as shown in fig. 4 and 7, the spray robot 2 further includes: a third rail 206 mounted on the hanger 20 and disposed in a transverse direction of the work surface; and a third slider slidably mounted on the third rail 206 and coupled to the second rail 254.

In these embodiments, the third rail 206 is disposed on the hanger 20, and the third slider is slidably mounted on the third rail 206 and connected to the sliding assembly 25, specifically, connected to the second rail 254, so that when the sliding assembly 25 slides relative to the first rail 204, the third slider is driven to slide on the third rail 206, so that the sliding movement of the sliding assembly 25 can be guided by the first rail 204 and the third rail 206 at the same time. That is, the sliding assembly 25 is slidably mounted on the third rail 206 and the first rail 204 in this configuration. And the third guide rail 206 can enhance the connection reliability between the sliding assembly 25 and the hanging rack 20, and prevent the instable installation of the sliding assembly 25.

In any of the above embodiments, preferably, the first rail 204 and the hanger 20 are of a split structure, and the third rail 206 and the hanger 20 are of a split structure.

In these embodiments, the first rail 204 and the hanger 20 are preferably a split structure, i.e., two separate structures, and the hanger 20 and the first rail 204 are preferably detachably connected, so that the first rail 204 can be detached together with the assembly of the spray gun 21, so that the assembly of the first rail 204 and the spray gun 21 can be disassembled or repaired and replaced as a single part in the actual process. Of course, the first rail 204 and the hanger 20 may be a single structure. Similarly, the third rail 206 and the hanger 20 are preferably constructed in a split structure, but may be constructed in an integral structure.

In any of the above embodiments, preferably, as shown in fig. 9 and 10, a first connecting plate 258 is disposed between the first sliding block 252 and the second rail 254, the first connecting plate 258 is connected to the first sliding block 252 by screws, and the first connecting plate 258 is connected to the second rail 254 by screws.

In such embodiments, the first connecting plate 258 may be disposed between the first sliding block 252 and the second guide rail 254, which may enable a more secure connection between the first sliding block 252 and the second guide rail 254, and preferably, the first connecting plate 258 and the first sliding block 252 and the first connecting plate 258 and the second guide rail 254 are preferably connected by screws because the screws are simple and secure.

In any of the above embodiments, preferably, as shown in fig. 9 and 10, the driving member one includes a first motor 262, a first driving belt, a first driving wheel and a first driven wheel, the first motor 262 is mounted on the hanger 20, the first driving wheel is mounted on a motor shaft of the first motor 262, the first driven wheel is rotatably mounted on the hanger 20, the first driving belt is mounted on the first driving wheel and the first driven wheel in a sleeving manner and is connected to the first sliding block 252; the driving member two includes a second motor 264, a second transmission belt, a second driving wheel and a second driven wheel, the second motor 264 is installed on the hanger 20, the second driving wheel is installed on a motor shaft of the second motor 264, the second driven wheel can be rotatably installed on the hanger 20, and the second transmission belt is sleeved on the second driving wheel and the second driven wheel and is connected with the second slider 256.

In these embodiments, the first sliding block 252 is preferably driven to slide by the first motor 262, and the first motor 262 and the first sliding block 252 are preferably connected by a first transmission belt, a first driving wheel and a first driven wheel, while the second sliding block 256 is preferably driven to slide by the second motor 264, and the second sliding block 256 is preferably connected by a second transmission belt, a second driving wheel and a second driven wheel. The structure can drive the first slide block 252 and the second slide block 256 in a belt transmission mode, so that the structures of the first driving piece and the second driving piece are simpler, and the structure of a product can be simplified. Preferably, the first motor 262 and the second motor 264 can be connected with the first slider 252 and the second slider 256 through a belt and a pulley, and of course, a transmission structure such as a gear can be further provided between the first motor 262 and the first slider 252 and between the second motor 264 and the second slider 256, so as to reasonably control the speed of the first slider 252 and the second slider 256.

Wherein, preferably, the first motor 262 and the second motor 264 are both servo motors. Since the control accuracy of the servo motor is high, the coating accuracy of the spray gun 21 can be ensured.

Here, it is preferable that the second motor 264 is preferably installed at a lower end of the second rail 254, so that the second motor 264 can perform sliding driving of the second slider 256 from the lower end of the second rail 254.

In any of the above embodiments, preferably, as shown in fig. 9, the spray robot 2 further includes a first shield 266 and a second shield 268, the first shield 266 is mounted at the motor shaft end of the first motor 262 and can cover the motor shaft of the first motor 262, and the second shield 268 is mounted at the motor shaft end of the second motor 264 and can cover the motor shaft of the second motor 264.

In these embodiments, by providing the first and second

protective covers

266 and 268, rainwater and dust can be effectively prevented from affecting the operation of the first and

second motors

262 and 264. Preferably, the first and second protection covers 266 and 268 have a square shape, because the square shape has a larger area, so that the protection performance of the protection covers can be enhanced.

In any of the above embodiments, preferably, as shown in fig. 9 and 10, the rotating assembly 27 includes: a third motor 272 mounted on the slide assembly 25; a reducer 274 installed on the slide module 25 and connected to the third motor 272; a second connecting plate 276 mounted on the output shaft of the reducer 274; wherein, the spray gun 21 is installed on the second connecting plate 276, and the third motor 272 rotates to drive the spray gun 21 to rotate.

In such embodiments, power may be provided by the third electric motor 272, while the reducer 274 is used to adjust the speed of the gun 21 while increasing the output torque so that the speed of the output shaft can be controlled within a reasonable range. While the second connecting plate 276 is used to enable the mounting of the spray gun 21, the second connecting plate 276 can increase the radius of rotation of the spray gun 21 to enable the spray gun 21 to spray a larger area at a time by rotating. In addition, the second connecting plate 276 can increase the installation space of the spray gun 21, increase the contact area between the spray gun 21 and the decelerator 274, and thus improve the installation stability between the decelerator 274 and the spray gun 21.

Among them, the third motor 272 is preferably a servo motor.

In any of the above embodiments, preferably, the painting robot 2 further includes: and the signal reflector 29 is arranged on the hanging frame 20 and can feed back the ranging signal emitted by the signal generator 17 to the signal generator 17.

In such embodiments, the signal reflector 29 may cooperate with the signal generator 17 to achieve a measured distance between the suspension 10 and the painting robot 2, such that the height position of the rack can be derived from an analysis of the distance between the suspension 10 and the rack. Wherein the signal reflector 29 is preferably a laser reflector.

In any of the above embodiments, preferably, the number of the laser reflection plates is two, and the two laser reflection plates are symmetrically mounted on the hanger 20 in the transverse direction of the work surface.

In these embodiments, the laser that can come to laser measuring apparatu send through two laser reflecting plates reflects, can strengthen the volume of the laser that reflects back like this to can strengthen the feedback signal that laser measuring apparatu can receive, just so can be when carrying out contrastive analysis through the laser signal who sends and the laser signal of feedback, the reliability of the laser signal of reinforcing feedback improves the accuracy of laser rangefinder, thereby can realize the accurate control to the position shift of support body.

In any of the above embodiments, preferably, as shown in fig. 5, the spraying robot 2 further includes: the image acquisition device 28 is arranged on the hanging rack 20 and is used for acquiring the image of the sprayed working surface; the second control part 23 is further connected with the image acquisition device 28, and can judge whether the spraying of the working surface is qualified or not according to the comparison between the image acquired by the image acquisition device 28 and the standard image, and control the spray gun 21 to re-spray the working surface when judging that the spraying of the working surface is unqualified.

In these embodiments, the image acquisition device 28 is configured to acquire an image of the sprayed working surface, the second control element 23 is further connected to the image acquisition device 28, and can determine whether the spraying of the working surface is qualified according to the image acquired by the image acquisition device 28 and the standard image, and the second control element 23 can perform re-spraying on the working surface when determining that the spraying of the working surface is not qualified. This kind of structure can gather the spraying condition of the operation face after the spraying through image acquisition device 28, can compare the image of gathering with the standard figure simultaneously to it is qualified to determine the spraying of operation face, just so can be after spraying machine people 2 spraying is unqualified, carries out the spraying again to the operation face of spraying, just so can ensure the spraying quality, avoids the spraying defect, prevents that the phenomenon that the quality of automatic spraying is not good from taking place.

In the above embodiment, preferably, the image capture device 28 is an industrial camera or a video camera.

In this embodiment, the image capturing device 28 may be an industrial camera or a video camera, and when the image capturing device 28 is an industrial camera, the image of the work surface after spraying may be directly stored in the form of a picture by the industrial camera, and at this time, a qualified standard picture may be stored in the storage device in advance, so that whether the quality of spraying is qualified or not may be determined by analyzing and comparing the difference between the picture taken by the industrial camera and the pre-stored pattern sample. When the image acquisition device 28 is a camera, the sprayed working surface can be directly stored in a video form through the camera, and at the moment, a qualified standard video can be stored in the storage device in advance, so that whether the spraying quality is qualified can be judged by analyzing and comparing the difference between the video shot by the camera and the pre-stored standard video.

Further preferably, as shown in fig. 5, the image capture device 28 is mounted on the second slider 256. This enables the image capture device 28 and the spray gun 21 to be mounted in a corresponding manner, which enables the image capture device 28 and the spray gun 21 to be mounted in substantially the same location, so that after the spray gun 21 has been sprayed, the image capture device 28 can conveniently capture the sprayed image. In addition, the structure can realize the position adjustment of the image acquisition device 28 and the spray gun 21 through the same sliding assembly 25, thereby simplifying the structure of the product and reducing the cost of the product.

Wherein, preferably, as shown in fig. 5, the sliding assembly 25 further includes: and a fixing plate 259 mounted on the second slider 256 by screws, and the image pickup device 28 is mounted on the fixing plate 259.

In such embodiments, a fixing plate 259 may be disposed on the second slider 256, the fixing plate 259 is preferably fixed to the second slider 256 by screws, and the image capture device 28 may be directly fixed to the fixing plate 259, such that the image capture device 28 may be mounted on the slide assembly 25. Specifically, the fixing plate 259 may be configured to properly fix the image capturing device 28 in a limited manner.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. 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 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

1. A suspension assembly (1) for a painting system comprising a painting robot (2), characterized in that the suspension assembly (1) comprises:

a suspension (10), said suspension (10) comprising a suspended end and an unsuspended end;

a lifting device (11) mounted on the non-suspended end of the suspension (10), the lifting device (11) comprising a lifting power member and a lifting rope, one end of the lifting rope being connected with the lifting power member, the other end of the lifting rope being supported at the non-suspended end and being connected with the painting robot (2);

a travelling car (12), the suspension (10) being mounted on the travelling car (12), the travelling car (12) being capable of controlling the suspension (10) to move in a transverse direction along the working plane of the painting robot (2) and of driving the suspension (10) to move in a direction perpendicular to the working plane, the travelling car (12) being an AGV car defining the transverse position of the painting robot (2);

a first control member (13) which is arranged on the suspension (10), is connected with the lifting device (11) and the spraying robot (2) and is used for controlling the working of the lifting device (11) and the spraying robot (2), and the first control member (13) controls the spraying robot (2) to avoid obstacles on the working surface according to the longitudinal position and the transverse position of the spraying robot (2);

and the signal generator (17) is electrically connected with the first control part (13), can transmit a distance measuring signal and receive a feedback signal fed back by the spraying robot (2), and can measure the height difference between the spraying robot (2) and the suspension (10) according to the transmitted distance measuring signal and the received feedback signal so as to define the longitudinal position of the spraying robot (2).

2. The suspension assembly (1) according to claim 1, further comprising:

an air compressor (14) mounted on the suspension (10), connected to the first control member (13) and capable of operating under the action of the first control member (13);

wherein the air compressor (14) is also connected with a storage device (22) of the spraying robot (2).

3. The suspension assembly (1) according to claim 1, further comprising:

the external power line is connected with the first control element (13) and supplies power to the first control element (13);

cable drum (15), install on suspension (10), cable drum (15) include the cable conductor, the one end of cable conductor and external power source or first control (13) are connected, the other end of cable conductor with spraying robot (2) are connected, are used for doing spraying robot (2) power supply.

4. The suspension assembly (1) according to claim 1, further comprising:

a counterweight (16) mounted on the non-suspended end of the suspension (10).

5. Suspension assembly (1) according to claim 1,

the signal generator (17) is a laser measuring instrument.

6. Suspension assembly (1) according to any one of claims 1 to 5,

a recessed area (102) is arranged on the bottom of the suspension (10), and the suspension (10) can be installed on the mobile trolley (12) through the recessed area (102).

7. A spray coating system, comprising:

the suspension assembly (1) according to any one of claims 1 to 6;

and the spraying robot (2) is hung and installed on the suspension end of the suspension (10) by the lifting rope of the suspension assembly (1).

8. A painting system according to claim 7, characterized in that the painting robot (2) comprises:

a hanging frame (20) hung and mounted on the hanging end of the suspension frame (10) by the lifting rope;

a spray gun (21) movably mounted on the hanger (20) and capable of moving in a transverse direction of the spraying surface and/or in a longitudinal direction of the spraying surface;

the storage device (22) is mounted on the hanging rack (20), one end of the storage device (22) is connected with the air compressor (14), the other end of the storage device (22) is connected with the spray gun (21), and the storage device can supply materials to the spray gun (21) under the action of the air compressor (14);

and a second control member (23) mounted on the hanger (20), connected to the first control member (13) and the spray gun (21), and capable of controlling the operation of the spray gun (21) together with the first control member (13).