CN110453895A - Paint finishing - Google Patents

Abstract

The present invention provides a kind of paint finishings, comprising: multiple hangers are mounted on the top of work body spaced reciprocally；Track is lifted on multiple hangers, and is arranged along the circumferential direction of work body；Adsorbent equipment, installation in orbit, and can be adsorbed and are installed in work body；Spray robot, spray robot include hanger and spray equipment, and hanger installation in orbit, and can move in orbit, and spray equipment is mounted on hanger, can be sprayed to the work surface of work body.This kind of structure can be installed to orbital motion hanger in orbit by setting track, can be realized the flexible movement of spray robot in a lateral direction, to solve the problems, such as that existing spray equipment transverse shifting is not flexible and need human assistance mobile.And by filling adsorbent equipment in orbit, track is adsorbed on wall by adsorbent equipment, can ensure that the stability of track installation in this way, so that spray robot can move more stablely.

Description

Paint finishing

Technical field

The present invention relates to spraying fields to be more specifically related to a kind of paint finishing.

Background technique

In today of urbanization process rapid development, to meet the higher and higher life requirement of people, various skyscrapers Object comes into being.And during construction, wall surface spraying is an indispensable construction procedure, and current spraying System after installing, spray robot can oscilaltion, but can not be moved substantially along the transverse direction of work surface, in reality In use, needing artificially to realize transverse shifting, the flexibility for allowing for spray robot in this way is lower, cannot achieve really Full-automatic spraying.

Therefore, how designing a kind of spray robot and capableing of the paint finishing of transverse shifting becomes urgently to be resolved at present Problem.

Summary of the invention

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

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

To achieve the above object, the embodiment of first aspect present invention provides a kind of paint finishing, for work body Work surface sprayed, wherein the paint finishing includes: multiple hangers, and multiple hangers are mounted on spaced reciprocally The top of the work body；Track is lifted on multiple hangers, and is arranged along the circumferential direction of the work body；Absorption Device, installation on the track, and can be adsorbed and are installed in the work body；Spray robot, the spray robot Including hanger and spray equipment, the hanger installation on the track, and can move on the track, the spraying dress It sets and is mounted on the hanger, the work surface of the work body can be sprayed.

The paint finishing that embodiment according to the present invention provides can be specifically used for carrying out the exterior wall or interior wall of skyscraper Spraying, for example spray painting is carried out to the exterior wall of skyscraper and spraying-rinsing perhaps is carried out to the exterior wall of skyscraper or to building Interior wall is painted, such as spray emulsion paint etc..And paint finishing specifically includes multiple hangers, track, adsorbent equipment and flush coater Device people, wherein hanger is installed aloft for hanging, for example is mounted on the roofs of work body such as building, so as to realize Lifting of the track on the side of building, and track is mounted on the work surface that the work body such as building need to spray by hanger, and Along the circumferential direction setting of the work body such as building.And track can be realized the installation of spray robot, and can be spraying robot The transverse shifting of people provides a travelling platform.And adsorbent equipment is used for after track lifts, by track and construction wall etc. It is attached, so as to ensure fixation of the track after lifting, just can ensure the stability after track installation in this way.And it sprays Apply robot be specifically used for the work surfaces such as wall are sprayed, and spray robot include for place article and realize with It the hanger of connection between track and is mounted on hanger, specifically for the spray equipment sprayed to work surface.And it is somebody's turn to do Kind structure can be installed to orbital motion hanger in orbit by setting track, can be realized spray robot edge Flexible movement in the transverse direction of work body solves current spraying so as to realize laterally automatic spraying and turning Robot transverse shifting is not flexible and needs the problem of human assistance movement.And by installing adsorbent equipment in orbit, make Track is obtained after installing, can be adsorbed on by adsorbent equipment on wall etc., hanger and adsorbent equipment pair can be passed through in this way Track carries out dual fixation, it can thus be ensured that the stability of track installation, just can reduce in this way in hanger orbital motion The shaking of track, so that spray robot can move, to spray robot can be avoided in spraying, because shaking more stablely It moves and accurate spraying generation can not be pinpointed there is a situation where spraying position deviation.Meanwhile prevented also from the part on hanger etc. The generation for phenomena such as easily being fallen because of shaking.And in fact, the sprayings such as exterior wall of building are directed to high altitude operation, and it is high Idle job, slight shaking all can generate large effect to spraying effect and to product itself, and the application passes through setting Adsorbent equipment can be effectively improved high-altitude shaking, it can thus be ensured that coating quality, reduces spray robot and generate not because shaking Good influence.

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

In the above-mentioned technical solutions, it is preferable that the track is spliced to form by multiple concatenation units, and multiple splicings are single Mutually can releasably be connected between member or multiple concatenation units between for integral type connect.

In those technical solutions, track is spliced to form by multiple concatenation units, so that in specific deployment rails, it can root According to different external wall profile free splicing tracks, solve the problems, such as that track cannot reuse and rail transport is assembled. Meanwhile setting in this way is but also track can be adaptively adjusted according to the actual profile of the work body such as building, to make Obtain the spraying that paint finishing is adaptable to the work body of various shapes.And it is preferably able to releasably connect between multiple concatenation units It connects, the transport and modular repair replacement of track can be facilitated in this way, being repeated as many times for track is also facilitated to utilize.Certainly, multiple It can also connect, or unremovably connect, for example welded for integral type between concatenation unit.

In any of the above-described technical solution, it is preferable that the concatenation unit includes: mounting rack, is arranged on the mounting rack There is hoisting structure, the mounting rack is lifted on the hanger by the hoisting structure, and the adsorbent equipment is mounted on described On mounting rack；Multiple first guide rails, each first guide rail are arranged along the transverse direction of the work body, and multiple described First guide rail is mounted on the mounting rack along the longitudinal direction interval of the work body；Wherein, the spray robot includes First actuator and multiple fixation kits, multiple fixation kits are slidably mounted on multiple first guide rails, described First actuator can drive the hanger to move along multiple first guide rails.

In those technical solutions, concatenation unit includes mounting rack and the first guide rail, and mounting rack is single for realizing splicing Specifically hoisting structure, such as hanging ring can be arranged, on mounting rack with reality in member and the connection between adsorbent equipment and hanger Connection between existing concatenation unit and hanger, and mounting rack is preferably able to releasably connect with adsorbent equipment, such as screw connection, Certainly, it also can weld connection between mounting rack and adsorbent equipment.And multiple first guide rails are for realizing between track and hanger It is slidably installed, and the movement for hanger is oriented to.And the cross slide way that the first guide rail is preferably laterally arranged, and it is more Setting is preferably spaced apart from each other between a cross slide way along the longitudinal direction, is just capable of forming multiple height not equal guide rail in this way, from And the different height position of hanger can be attached with track, it just can enhance the mounting stability of hanger in this way.When So, the quantity of the first guide rail can also be that one or multiple first guide rails can also be arranged along the longitudinal direction, in this way can be by hanger Bottom or top are attached with track.

Wherein, in specific installation, preferably adsorbent equipment and mounting rack are attached by screw.

In any of the above-described technical solution, it is preferable that when multiple concatenation units splice, two splicings of arbitrary neighborhood are single Each first guide rail of member is connected smoothly.

In those technical solutions, when multiple concatenation units splice, every the 1 first of two concatenation units of arbitrary neighborhood is led Rail is connected smoothly, and after capable of making concatenation unit assembly good in this way, smoothly guide rail is capable of forming, so that spraying robot People can smooth motion in orbit, and be not susceptible to phenomenon of jolting.

In any of the above-described technical solution, it is preferable that the concatenation unit further includes be mounted on the mounting rack Two guide rails are provided with anti-skid structure on second guide rail, and second guide rail is arranged along the circumferential direction of the work body, institute Stating the first actuator includes the first electricity with the driving wheel of anti-skid structure cooperation and for driving the driving wheel rotation Machine, wherein the driving wheel can cooperate under the driving of the first motor with the anti-skid structure, and drive the hanger It is moved along multiple first guide rails and second guide rail.

In those technical solutions, concatenation unit further includes the second guide rail and the second guide rail for being provided with anti-skid structure Also it is arranged along the circumferential direction of work body, and the first actuator includes driving with the driving wheel of anti-skid structure cooperation and for driving The first motor that driving wheel is rotated, such first motor can drive hanger in multiple first guide rails and second by driving wheel It is moved on guide rail.And the setting of anti-skid structure can prevent hanger from back sliding after hanger stop motion, just can will hang in this way Frame accurately rests on preset lateral position.

In any of the above-described technical solution, it is preferable that the fixation kit include the pedestal that is mounted on the hanger and The multiple directive wheels being mounted on the pedestal, are formed with a guide channel between the multiple directive wheel, and multiple described first Guide rail can be slidably mounted in multiple guide channels of multiple fixation kits.

In those technical solutions, the quantity of fixation kit is preferably multiple, and each fixation kit preferably includes four A directive wheel, and connected by pedestal integral between four directive wheels, and it is capable of forming a guide channel by four directive wheels, And multiple fixation kits are bonded together, and just can form a longer channel, just can pass through multiple fixation kits in this way Directive wheel realizes the sliding between track and hanger.And during installation, two in four directive wheels can be mounted on first and led The inside of rail, and other two in four directive wheels is mounted on the outside of the first guide rail.Meanwhile it can be by multiple fixation kits It is divided into the multiple rows of setting of multiple row, and the number of rows of fixation kit is consistent with the quantity of the first guide rail, and the columns of fixation kit can basis Actual needs is configured.Specifically, such as when the quantity of the first guide rail is two, settable four fixation kits, and will Four fixation kits are arranged to two column two rows.

Wherein it is preferred to which the quantity of fixation kit is preferably four, and four fixation kits are preferably provided at hanger by wall On four angles in the face of setting.

In any of the above-described technical solution, it is preferable that the mounting rack includes multiple installing pipes.

In those technical solutions, mounting rack is preferably made of multiple installing pipes, can make the whole knot of mounting rack in this way Structure is simpler, thus can reduce cost.

In any of the above-described technical solution, it is preferable that when multiple concatenation units splice, two spellings of arbitrary neighborhood Second guide rail of order member is connected smoothly, and the anti-skid structure is rack gear or chain, and the driving wheel is and the rack gear Or the compatible gear of chain.

In those technical solutions, when multiple concatenation units splice, second guide rail of two concatenation units of arbitrary neighborhood is flat It slips over and crosses connection, after capable of making concatenation unit assembly good in this way, be capable of forming smoothly guide rail, so that spray robot energy Enough smooth motions on the second guide rail, and it is not susceptible to phenomenon of jolting.And anti-skid structure is preferably rack gear or chain, and driving wheel Preferably gear just can lock extension by the cooperation of wheel and rack or sprocket wheel in hanger transverse shifting and after stopping in this way Frame prevents hanger from skidding and retracts.Certainly, in other schemes, anti-skid structure and driving wheel can also be other structure types, and It is not limited to rack-and-pinion or chain.

Wherein, in specific installation, the second guide rail and installing pipe welding can be installed together.

In any of the above-described technical solution, it is preferable that each installing pipe along the longitudinal direction of the work body with Multiple first guide rail connections, and multiple installing pipes are arranged along the transverse direction interval of the work body.

In those technical solutions, preferably by multiple installing pipes along the longitudinal direction of work body namely short transverse Setting, and it connect installing pipe with each first guide rail, the first guide rails multiple so just can be connected by multiple installing pipes It is integral.And multiple installing pipes are arranged along the transverse direction interval of work body, and the horizontal span of mounting rack can be made bigger, thus It can make installing pipe scattering device, prevent installing pipe from excessively concentrating.

In any of the above-described technical solution, it is preferable that be provided with a hoisting structure in each installing pipe.

In those technical solutions, it can be respectively provided with a hoisting structure in each installing pipe, track can be made in this way More preferable lifting.Certainly, when the quantity of installing pipe is especially more, hoisting structure only can also be set in the installing pipe of part.

In any of the above-described technical solution, it is preferable that the quantity of first guide rail is two, the quantity of the installing pipe It is two, one end of each installing pipe is connect with first guide rail in two first guide rails, each described The other end of installing pipe is connect with another first guide rail in two first guide rails.

In those technical solutions, the first guide rail and quantity, the quantity of installing pipe are equal two preferred, can make track in this way Can either meet intensity requirement, and the structure of track can be prevented excessively complicated.And one end of each installing pipe with two the One first guide rail in one guide rail connects, and another first guide rail in the other end of each installing pipe and two the first guide rails connects It connects, i other words, in specific installation, the upper end of installing pipe can be connect with upper rail, and by the lower end of installing pipe and lower guideway Connection, can be such that the structure of two the first guide rails and two installing pipes more rationalizes in this way.

In any of the above-described technical solution, it is preferable that the quantity of the fixation kit is four, four fixation kits The hanger is symmetricly set on the face of the work body, each fixation kit includes four directive wheels, four institutes It states directive wheel to be symmetrically mounted on the pedestal, and surrounds a guide channel.

In those technical solutions, four fixation kits are preferably provided with to realize the connection between hanger and track, and four A fixation kit is preferably symmetrical arranged.And simultaneously, four directive wheels can be set on each fixation kit, to be led by four The guide channel passed through for the first guide rail is formed to wheel.And in this way, can either ensure fixation kit and the first guide rail it Between installation reliability, the relatively simple for structure of fixation kit can also be made.

In any of the above-described technical solution, it is preferable that the installing pipe include the vertical portion being arranged along the longitudinal direction and Two bendings being bent to form from the both ends of the vertical portion along the front-rear direction of the work body to the direction close to work body Portion；Wherein, the hoisting structure is arranged on the bending part, and the quantity of first guide rail is two, two described first Guide rail is separately mounted on the bending part.

In those technical solutions, the middle part of installing pipe is preferably vertically arranged to form vertical portion, and can will preferably pacify The upper and lower ends bending of tubulature just can make the perpendicular of the first guide rail and installing pipe to form the bending part of front-rear direction setting in this way Certain distance can be retained between straight portion, in order to the installation of hoisting structure and the second guide rail etc., and in advance installing pipe with The space for accommodating fixation kit is reserved between first guide rail, prevents installing pipe from interfering during installation with fixation kit.

In any of the above-described technical solution, it is preferable that two bending parts and the vertical portion are in U-shape setting, and two First guide rail is separately mounted on the end face of two one end of the bending part far from the vertical portion, second guide rail It is mounted on the bending part.

In those technical solutions, two bending parts and vertical portion are preferably in U-shape setting, because U-shaped structure is relatively common And good processing, certainly, two bending parts and vertical portion can also be arranged in U-like shape, and be not necessarily intended to be standard U-shaped.And second Guide rail is preferably mounted on bending part.

In any of the above-described technical solution, it is preferable that the adsorbent equipment includes: shell；Charged structures are mounted on described On shell；Vacuum pump is movably mounted on the shell, can be electrically connected with the charged structures or with the charged structures It disconnects；Second actuator, installation on the housing, are connect, for driving the vacuum pump and the band with the vacuum pump Electric structure electrical connection is disconnected with the charged structures；Sucker, installation on the housing, can the vacuum pump with it is described Charged structures are adsorbed in the work body when being electrically connected, and can when the vacuum pump and the charged structures are disconnected with The work body is detached from absorption.

In those technical solutions, adsorbent equipment includes shell, charged structures, vacuum pump, the second actuator and sucker, and Shell is for installing and accommodating the parts such as charged structures, vacuum pump, and charged structures are used to power for vacuum pump, and vacuum pump exists The gas in sucker can be extracted when energization, and vacuum pump can not extract the gas in sucker when power is off.And sucker is in vacuum Pump can be adsorbed when being powered with wall etc., and since work surface is generally all relatively rough, in vacuum pump power-off, Sucker can automatically disengage absorption with wall etc..And the second actuator is used to be controlled to a vacuum pump, so as to which vacuum pump is driven to transport It is dynamic, so as to vacuum pump is made to be electrically connected or make vacuum pump and charged structures to disconnect with charged structures, and after vacuum pump power-off, it inhales Disk and wall, which are detached from, to be adsorbed, and after vacuum pump connects electricity, sucker is mutually adsorbed with wall, so just can be reasonable by the second actuator The work for controlling sucker, so as to rationally control the absorption situation between the work surfaces such as track and wall, so that track It can either be fixed on wall etc., and can led to when track needs to move up and down by adsorbent equipment after highly adjusting It crosses adsorbent equipment and wall is detached from, so that track can adjust position according to actual needs and up and down.

In any of the above-described technical solution, it is preferable that the quantity of the sucker be it is multiple, the quantity of the vacuum pump is more It is a, and multiple suckers are arranged in a one-to-one correspondence with multiple vacuum pumps；Multiple vacuum pumps can drive described second Around annular trace shuttling movement under the action of moving part, multiple suckers are movably mounted on shell, can be described second With multiple vacuum pump shuttling movements under the action of actuator, and when multiple sucker shuttling movements, multiple suckers It can be adsorbed in turn in the work body；Wherein, the charged structures correspond to the portion setting of the annular trace, more A vacuum pump can circulate through the charged structures and can recycle with the charged structures and be electrically connected, so that multiple institutes Stating sucker can be adsorbed in turn in the work body.

In those technical solutions, settable multiple suckers and multiple vacuum pumps, and preferably, it can be by sucker and vacuum pump It is arranged in a one-to-one correspondence, so that vacuum pump can vacuumize fixed sucker.Meanwhile the second actuator can be rationally set The position of structure and multiple vacuum pumps, so that multiple vacuum pumps can recycle under the action of the second actuator around annular trace Movement, and multiple suckers can actively correspond multiple vacuum pump settings, so that multiple suckers can be with multiple vacuum pumps It moves synchronously.And charged structures correspond to the portion setting of annular trace, i other words there is no around entire annular for charged structures Track setting circularizes, and vacuum pumps multiple so just can pass through band when along annular trace shuttling movement in turn and cyclically Electric structure, and be electrically connected in turn and cyclically with charged structures, vacuum pumps multiple so just can be powered in turn, be broken Electricity, to be vacuumized in turn to multiple suckers, so that multiple suckers can in turn and cyclically be inhaled with wall etc. Attached or disengaging absorption, just can be realized adsorbent equipment on wall etc. by the absorption in turn of multiple suckers and disengaging absorption in this way Automatic creeping.And when specifically used, hanger can be made to move synchronously with adsorbent equipment, so that adsorbent equipment can be under hanger The height and position for crawling into and being adapted with track can be synchronized when putting track, with track to ensure that track and adsorbent equipment can Always in place on be adapted to so that track can after adjusting height still can be inhaled by adsorbent equipment It is attached on wall etc..And this structure, in the height and position of adjustment track up and down and then adjustment spray robot, adsorbent equipment Always it is adsorbed on wall, without being detached from wall, just can ensure stability of track during up and down motion in this way, Situations such as preventing track from accidental falling occurring when moving up and down.

Wherein, in the actual process, it in order to which multiple suckers are during circulation rotating, can be adsorbed with wall, it can Multiple suckers are arranged on the face of vertical wall and are circularized, in this way by the rotation of multiple suckers, multiple suckers just can be taken turns Stream is adsorbed with wall.I.e. here annular trace is preferably perpendicular to wall setting.

In any of the above-described technical solution, it is preferable that second actuator include can rotatably endless drive part, it is more A vacuum pump is distributed along the circumferential direction of the endless drive part, and is connect with the endless drive part, the annular Driving member rotation, is able to drive multiple vacuum pumps and multiple suckers is rotated with the endless drive part.

In those technical solutions, the second actuator includes can rotatably endless drive part, endless drive part can be specific For structures such as belt or chains.And multiple vacuum pumps can be directly distributed along the circumferential direction of endless drive part, so that multiple vacuum Pump and multiple suckers can rotate together with endless drive part.And this structure can be simply and easily real by endless drive part Show multiple vacuum pumps and multiple suckers around the rotation of fixation locus, it is thus possible to make the relatively simple for structure of product.Certainly, here Endless drive part can also be the structures such as turntable.

Wherein, it is adsorbed in turn to be able to drive multiple suckers when the rotation of endless drive part with wall, it can be by endless drive Part is arranged along the direction perpendicular to wall, i.e., the front-rear direction by endless drive part along work body is arranged.

In any of the above-described technical solution, it is preferable that the charged structures are electrification sliding rail, and multiple vacuum pumps are revolving When turning, at least there are two the vacuum pumps to be electrically connected simultaneously with the electrification sliding rail.

In those technical solutions, charged structures are preferably arranged to the electrification sliding rail with certain length, are existed in this way When multiple vacuum pump circulation rotatings, multiple vacuum pumps just can be enable to be electrically connected simultaneously with electrification sliding rail, allow for inhaling in this way Adsorption device has multiple sucker suctions on wall etc. when creeping, this ensure that reliability of the adsorbent equipment when creeping. Wherein it is preferred to the distance between the length for charging sliding rail and two neighboring vacuum pump can rationally be arranged, so that multiple vacuum pumps When rotated, there are two or the vacuum pump of three or more can be electrically connected with electrification sliding rail simultaneously.

In any of the above-described technical solution, it is preferable that second actuator includes second of installation on the housing The V belt translation component or chain drive component of motor and installation on the housing, second actuator includes V belt translation component When, the endless drive part is the belt of the V belt translation component, described when second actuator includes chain drive component Endless drive part is the chain of the chain drive component.

In those technical solutions, the second actuator further includes the second motor and V belt translation component or chain drive component Etc. structures, just can pass through the synchronous driving that belt or chain etc. realize multiple vacuum pumps in this way.And V belt translation component or chain The driven wheel that transmission component specifically includes the driving wheel that one connect with the second motor and connect by belt with driving wheel.And For V belt translation component, driving wheel and driven wheel are belt pulley, and for chain drive component, driving wheel and driven Wheel is sprocket wheel.And in other schemes, the second actuator can also be include the second motor being mounted on shell and with second electricity The gear assembly or the structures such as turning collar or rotating disc of machine connection.

In any of the above-described technical solution, it is preferable that the quantity of the sucker is 6, and the quantity of the vacuum pump is 6 It is a.

In those technical solutions, the quantity of sucker and the quantity of vacuum pump are preferably 6, can make the number of sucker in this way Amount and the quantity of vacuum pump are more moderate, without excessive, and cause adsorbent equipment overall structure excessively complicated.

In any of the above-described technical solution, it is preferable that the quantity of the endless drive part is two, and two annulars pass Moving part is symmetricly set on the two sides of multiple vacuum pumps.

In those technical solutions, the quantity of endless drive part is preferably two, and two endless drive parts move synchronously, Just multiple vacuum pumps and multiple suckers can be driven to move synchronously by two endless drive parts in this way, it can thus be ensured that annular Connection reliability between driving member and vacuum pump and sucker.

In any of the above-described technical solution, it is preferable that the endless drive part is arranged along the front-rear direction of the work body. I.e. endless drive part preferred vertical or substantially vertical wall setting, and in this way, by multiple suckers around endless drive part When circumferential setting, multiple suckers can be adsorbed when turning to by wall one side with wall, and is turning to back It just can be detached from and adsorb with wall when one side from wall.

Wherein it is preferred to which the endless drive part is strip, for example it is in kidney-shaped, allows for endless drive part energy in this way The enough length cooperated with wall is longer, so that multiple suckers can be adsorbed with wall simultaneously.Certainly, in special circumstances Under, endless drive part can also be rounded or oval.

In any of the above-described technical solution, it is preferable that be provided with mounting groove, the sucker and the vacuum on the shell Pump is installed in the mounting groove, the symmetrical two sidewalls for being mounted on the mounting groove and being oppositely arranged of the charged structures On and/or the charged structures include two electrification sliding rails for being symmetrically distributed in two inner sidewalls of the mounting groove, and the band Electric sliding rail is arranged close to the notch of the mounting groove；Second actuator includes the second motor being mounted on outside the mounting groove With the transmission component being mounted in the mounting groove, the transmission component is connect with second motor and the vacuum pump, energy It is enough that the vacuum pump is driven to move under the action of second motor, so that the vacuum pump is electrically connected with the charged structures Or it is disconnected with the charged structures.

In those technical solutions, mounting groove can be set on shell, so as to which the parts such as sucker and vacuum pump are pacified In mounting groove, just the parts such as sucker and vacuum pump can be protected by shell in this way.And charged structures are preferably right Claim distributing installation on the two sidewalls that mounting groove is oppositely arranged, and it is further preferred that charged structures include two symmetrical It in the electrification sliding rail of two inner sidewalls of mounting groove, and charges sliding rail and is arranged close to the notch of mounting groove, allow for mounting groove in this way Notch at the left and right sides can be conductive, and prevent the two sides side wall of mounting groove close to the position of slot bottom from charging, thus So that vacuum pump just can be electrically connected when moving to the position at notch with electrification sliding rail, and moving at slot bottom It can not be electrically connected with electrification sliding rail when position.And the length of charged structures can be increased by charging sliding rail, so that band Electric sliding rail can be powered simultaneously for multiple vacuum pumps.And endless drive part is preferably arranged along the longitudinal direction, and endless drive The excellent quantity of part is preferably two, and two endless drive parts are preferably symmetricly set on the two sidewalls of mounting groove.And it is multiple true Sky pump is preferably substantially equally spacedly mounted on endless drive part, in this way in multiple vacuum pumps with endless drive part cycle rotation When, there will be partial vacuum pump to be emerging in the outside of adsorbent equipment, and partial vacuum pump hides the inside for being mounted on adsorbent equipment, And be not readily visible, and be arranged in this way and multiple vacuum pumps rotated in the same anterior-posterior plane, it is thus possible to it is same The corresponding work surface in one lateral position is adsorbed, and is passed through the shuttling movement of multiple vacuum pumps in this way, just be can be realized absorption The automatic creeping of device.

Meanwhile second the structure of actuator preferably comprise the structure of the second motor and transmission component, and the second motor is excellent Choosing is mounted on outside mounting groove, such as on the side wall of shell, and transmission component is preferably mounted in mounting groove, with facilitate its with it is multiple Vacuum pump carries out cooperation driving.And transmission component can be specially V belt translation component or chain drive component, or transmission is enclosed or turned The structures such as Moving plate or gear assembly.And transmission component is specifically used for driving vacuum pump movement under the action of the second motor, with Vacuum pump is set to be electrically connected with charged structures or disconnect with charged structures.

In any of the above-described technical solution, it is preferable that the hanger is single-cantilever hanger.

In those technical solutions, hanger is preferably single-cantilever hanger, i.e., the hanger of cantilever namely width ratio at only one Relatively narrow hanger, in other words at only one overhung construction hanger, and this structure, due to there was only cantilever at one, thus wide It spends settable relatively narrow, just hanger can be made to have many advantages, such as that structure is relatively easy in this way, occupied area is small.And the prior art and Hanger in the related technology is the stability for keeping lifting, all at least provided with two cantilevers, so as at least realize at two Lifting, and will lead to the bulky of hanger in this way, structure is complicated, and land occupation is big, thus is unfavorable for transport, storage and processing. And the specific structure of hanger can refer to the hanger structure of external wall spraying machine people in the prior art or suspension frame structure is designed, Details are not described herein.

In any of the above-described technical solution, it is preferable that the spray equipment includes: third guide rail, is mounted on the hanger Top；4th guide rail is slidably mounted on the third guide rail；Spray gun assembly is slidably mounted on the 4th guide rail On；Wherein, the third guide rail is arranged at the top of the hanger along the longitudinal direction of the work body, the 4th guide rail edge The longitudinal direction of the work body is slidably mounted on the third guide rail, and along the work body on the 4th guide rail Front-rear direction setting, the spray gun assembly is slidably mounted on the 4th guide rail along the front-rear direction of the work body, Or the third guide rail is arranged at the top of the hanger along the front-rear direction of the work body, the 4th guide rail is along the work The front-rear direction of industry body is slidably mounted on the third guide rail, and along the longitudinal direction of the work body on the 4th guide rail Direction setting, the spray gun assembly are slidably mounted on the 4th guide rail along the longitudinal direction of the work body.

In those technical solutions, spray equipment includes third guide rail and the 4th guide rail and spray gun assembly, and third is led Rail is fixed guide rail, and the 4th guide rail is the guide rail being slidably mounted on third guide rail, and third guide rail and the 4th One in guide rail is arranged along the longitudinal direction, another is arranged along the longitudinal direction, and spray gun assembly being capable of prolonging along the 4th guide rail Stretch direction sliding, in this way by the sliding of the 4th guide rail and the sliding of spray gun assembly can realize spray gun assembly longitudinal direction with It slides in the front-back direction, the height and longitudinal separation of spray gun assembly can be adjusted according to actual needs in this way, allow for spraying in this way Spraying position can be adjusted flexibly according to the case where actual job face in rifle component, so that spray robot can be to operation Abnormal area on face is sprayed, for example the shaped faces such as External Wall balcony and air-conditioning groove are effectively sprayed.

In any of the above-described technical solution, it is preferable that the spray gun assembly includes: the first rotating mechanism, rotatably It is mounted on the 4th guide rail, and the rotation axis of first rotating mechanism is arranged along the longitudinal direction of the work body； Second rotating mechanism is rotatably mounted on first rotating mechanism, and the rotation axis of second rotating mechanism Transverse direction along the work body is arranged；Spray head is mounted on second rotating mechanism.

In those technical solutions, spray gun assembly includes the first rotating mechanism, the second rotating mechanism and spray head, and first revolves Rotation mechanism is arranged along the longitudinal direction, enables spray head left-right rotation in the horizontal plane, and the second rotating mechanism is along work body Transverse direction setting, is able to drive spray head and rotates upwardly and downwardly in fore-and-aft plane.Pass through the first rotating mechanism, the second whirler in this way The rotation of structure just can further realize the angular adjustment of spray head, so that spray head can adjust spraying in spraying more flexiblely Position.

Wherein it is preferred to be provided with feeding device on hanger, the spray head connection of feeding device and spray equipment, for for Spray head feed.

Wherein it is preferred to which hanger includes the hoisting rope connecting with track and the safety rope that connect with hanger, also set on hanger It is equipped with safety lock, safety lock can lock safety rope when safety rope is abnormal, and clump weight is provided on the frame body of hanger, is mentioned One end of the machine of liter and pulley assembly, hoisting rope and safety rope is connect with elevator, and the other end of hoisting rope is around after pulley assembly It is connect with track, the other end of safety rope is connect after bypassing pulley assembly with hanger.And hoisting rope be specifically used for realize hanger with Specifically the structures such as hanging ring can be arranged in connection between hanger on hanger, can realize safety by structures such as hanging rings in this way Connection between rope and hanger.And safety lock and safety rope play the role of sprayed protection robot, prevent spray robot from existing Occur the abnormal phenomenon such as decrease speed is too fast during decline.And by setting clump weight can by clump weight come balance hanger from The weight of body thus prevents spray robot overweight, and the phenomenon that cause entire paint finishing to be toppled.And elevator is used In the promotion and decline of realizing hoisting rope and safety rope, and then spray robot is driven to realize rise and fall.And pulley assembly Specifically for guidance hoisting rope and safety rope, prevent hoisting rope and safety rope from knotting.

Wherein it is preferred to which hoisting rope and safety rope are wirerope, the intensity of hoisting rope and safety rope can ensure that in this way. Wherein it is preferred to hoist engine is provided on hanger, and hoist engine is for realizing the contraction and release of hoisting rope and safety rope.Its In, it is preferable that circumscripted power line is provided on hanger, and circumscripted power line is used to power for whole system.Wherein it is preferred to Spray robot further include: weighing instrument is mounted on hanger, and the coating case of feeding device is mounted on weighing instrument, passes through setting Weighing instrument, can be by weighing instrument come the material in coating case at any time, so as to be supervised at any time to the material in coating case Pipe.

Wherein it is preferred to which first motor and the second motor are servo motor.Because the control precision of servo motor is high, It can thus ensure the deposition accuracies of spray gun.

Wherein, hanger and hanger are relatively common and mature structure in the prior art, therefore, other to be not involved with Structure, can be designed referring in particular to structure in the prior art, details are not described herein.

Wherein it is preferred to which paint finishing is external wall spraying system.Certainly, paint finishing can also be the spray of glass curtain wall etc. It applies cleaning system or paint finishing can also be interior wall paint finishing.

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

Detailed description of the invention

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

Fig. 1 is the assembling structure schematic diagram of the paint finishing that embodiment according to the present invention provides and work body；

Fig. 2 is the partial enlargement structural representation at the A in Fig. 1；

Fig. 3 is the structural schematic diagram of the hanger for the paint finishing that embodiment according to the present invention provides；

Fig. 4 is the structural schematic diagram of the track for the paint finishing that embodiment according to the present invention provides；

Fig. 5 is the partial structural diagram of the concatenation unit for the track that embodiment according to the present invention provides；

Fig. 6 is the structural schematic diagram of the adsorbent equipment for the paint finishing that embodiment according to the present invention provides；

Fig. 7 is the partial structure diagram for the adsorbent equipment that embodiment according to the present invention provides；

Fig. 8 is another part structural schematic diagram for the adsorbent equipment that embodiment according to the present invention provides；

Fig. 9 is the assembling structure signal of the adsorbent equipment and track for the paint finishing that embodiment according to the present invention provides Figure；

Figure 10 is the structural schematic diagram of the spray robot for the paint finishing that embodiment according to the present invention provides；

Figure 11 is the structural schematic diagram of the fixation kit for the spray robot that embodiment according to the present invention provides；

Figure 12 is the assembling structure schematic diagram of the spray robot that embodiment according to the present invention provides and track.

Wherein, corresponding relationship of the Fig. 1 into Figure 12 between appended drawing reference and component names are as follows:

1 hanger, 10 frame bodies, 12 hoisting ropes, 14 safety ropes, 16 clump weights, 17 elevators, 18 pulley assemblies, 19 hoist engines, 2 tracks, 22 concatenation units, 222 installing pipes, 2222 vertical portions, 2224 bending parts, 224 hoisting structures, 226 first guide rails, 228 Second guide rail, 2282 rack gears, 3 adsorbent equipments, 30 shells, 302 mounting grooves, 32 electrification sliding rails, 34 vacuum pumps, 36 second drivings Part, 362 second motors, 364 chain drive components, 38 suckers, 4 hangers, 42 fixation kits, 422 pedestals, 424 directive wheels, 426 Guide channel, 44 first actuators, 442 driving wheels, 444 first motors, 46 feeding devices, 5 spray equipments, 52 third guide rails, 54 the 4th guide rails, 56 spray gun assemblies, 562 first rotating mechanisms, 564 second rotating mechanisms, 566 spray heads, 6 work body.

Specific embodiment

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application Feature in example and embodiment can be combined with each other.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool The limitation of body embodiment.

The paint finishing of the embodiment of the present invention offer is described referring to Fig. 1 to Figure 12.

As shown in Figures 1 to 12, the embodiment of first aspect present invention provides a kind of paint finishing, for work body 6 work surface is sprayed, wherein paint finishing includes multiple hangers 1, track 2, adsorbent equipment 3 and spray robot, specifically Ground, as depicted in figs. 1 and 2, multiple hangers 1 are mounted on the top of work body 6 spaced reciprocally；Track 2 is lifted on multiple hangers 1 On, and be arranged along the circumferential direction of work body 6；Adsorbent equipment 3 is mounted on track 2 (as shown in Figure 9), and can adsorb installation Onto work body 6；Spray robot includes hanger 4 and spray equipment 5, and hanger 4 is mounted on track 2, and can be on track 2 Movement, spray equipment 5 are mounted on hanger 4, can spray to the work surface of work body 6.

The paint finishing that embodiment according to the present invention provides can be specifically used for carrying out the exterior wall or interior wall of skyscraper Spraying, for example spray painting is carried out to the exterior wall of skyscraper and spraying-rinsing perhaps is carried out to the exterior wall of skyscraper or to building Interior wall is painted, such as spray emulsion paint etc..And paint finishing specifically includes multiple hangers 1, track 2, adsorbent equipment 3 and spraying Robot, wherein hanger 1 is installed aloft for hanging, for example is mounted on the roofs of work body 6 such as building, so as to Realize lifting of the track 2 on the side of building, and track 2 is mounted on the operation that the work body 6 such as building need to spray by hanger 1 At face, and along the setting of the circumferential direction of the work body 6 such as building.And track 2 can be realized the installation of spray robot, and can be The transverse shifting of spray robot provides a travelling platform.And adsorbent equipment 3 is used for after the lifting of track 2 is good, by track 2 with Construction wall etc. is attached, so as to ensure fixation of the track 2 after lifting, after just capable of ensuring that track 2 is installed in this way Stability.And spray robot is specifically used for spraying the work surfaces such as wall, and spray robot includes for placing It the hanger 4 that is connect between article and realization and track 2 and is mounted on hanger 4, specifically for being sprayed to work surface The spray equipment 5 of painting.And this kind of structure passes through setting track 2, and hanger 4 can be mounted on track 2 along track 2 in which move On, it can be realized spray robot flexibly moving in the transverse direction of work body 6, so as to realize laterally automatic spraying And turning, it solves the problems, such as that current spray robot transverse shifting is not flexible and needs human assistance mobile.And pass through Adsorbent equipment 3 is installed on track 2, so that track 2 after installing, can be adsorbed on wall etc. by adsorbent equipment 3, this Sample can carry out dual fixation to track 2 by hanger 1 and adsorbent equipment 3, it can thus be ensured that the stability that track 2 is installed, this Sample just can reduce the shaking of track 2 when hanger 4 is moved along track 2, so that spray robot can move more stablely, To which spray robot can be avoided in spraying, spraying position deviation occurs due to shaking and the feelings accurately sprayed can not be pinpointed Condition occurs.Meanwhile the generation for phenomena such as easily being fallen prevented also from the part on hanger 4 etc. because of shaking.And in fact, building The sprayings such as the exterior wall built are directed to high altitude operation, and high altitude operation, slight shaking all can be to spraying effects and to product Large effect itself is generated, and the application can be effectively improved high-altitude shaking by the way that adsorbent equipment 3 is arranged, it can thus be ensured that spray Quality is applied, reduces spray robot because shaking the adverse effect generated.

Wherein, the longitudinal direction for the work body 6 that the application mentions is the direction OZ shown in Fig. 1 and Figure 10, and the application mentions The transverse direction of the work body 6 arrived is the direction OX shown in Fig. 1 and Figure 10, the front-rear direction for the work body 6 that the application mentions For the direction OY shown in Fig. 1 and Figure 10.

In the above embodiment, it is preferable that track 2 is spliced to form by multiple concatenation units 22, multiple concatenation units 22 it Between mutually can releasably connect or multiple concatenation units 22 between for integral type connect.

In those embodiments, track 2 is spliced to form by multiple concatenation units 22, so that in specific deployment rails 2, it can According to different external wall profile free splicing tracks 2, solving track 2 cannot be reused and track 2 transport assembly Problem.Meanwhile in this way setting but also track 2 can according to building etc. work body 6 actual profile and be adaptively adjusted, So that paint finishing is adaptable to the spraying of the work body 6 of various shapes.And it is preferably able between multiple concatenation units 22 It releasably connects, the transport and modular repair replacement of track 2 can be facilitated in this way, being repeated as many times for track 2 is also facilitated to utilize. Certainly, it can also connect, or unremovably connect, for example welded for integral type between multiple concatenation units 22.

In any of the above-described embodiment, it is preferable that as shown in Figure 4 and Figure 5, concatenation unit 22 includes: mounting rack, mounting rack On be provided with hoisting structure 224, mounting rack is lifted on hanger 1 by hoisting structure 224, and adsorbent equipment 3 is mounted on mounting rack On；Multiple first guide rails 226, every one first guide rail 226 is arranged along the transverse direction of work body 6, and multiple first guide rails 226 Longitudinal direction interval along work body 6 is mounted on mounting rack；Wherein, spray robot includes the first actuator 44 and multiple solid Determine component 42, multiple fixation kits 42 are slidably mounted on multiple first guide rails 226, and the first actuator 44 can drive hanger 4 move along multiple first guide rails 226.

In those embodiments, concatenation unit 22 includes mounting rack and the first guide rail 226, and mounting rack is for realizing splicing Specifically hoisting structure 224 can be arranged in connection between unit 22 and adsorbent equipment 3 and hanger 1 on mounting rack, such as Hanging ring, to realize the connection between concatenation unit 22 and hanger 1, and mounting rack is preferably able to releasably connect with adsorbent equipment 3, For example screw connection also can weld connection certainly between mounting rack and adsorbent equipment 3.And multiple first guide rails 226 for realizing Being slidably installed between track 2 and hanger 4, and movement for hanger 4 are oriented to.And the first guide rail 226 is preferably The cross slide way being laterally arranged, and setting is preferably spaced apart from each other between multiple cross slide ways along the longitudinal direction, it so just being capable of shape At multiple height, equal guide rail just can not in this way so as to which the different height position of hanger 4 to be attached with track 2 Enough enhance the mounting stability of hanger 4.Certainly, the quantity of the first guide rail 226 can also be one or multiple first guide rails 226 It can also be arranged along the longitudinal direction, the bottom of hanger 4 or top can be attached with track 2 in this way.

Wherein, in specific installation, preferably adsorbent equipment 3 and mounting rack are attached by screw.

Wherein, here illustratively, only one of concatenation unit 22 presented in this application, and for entire track For 2, the concrete shape of concatenation unit 22 can be configured into different size or specification of the same race according to actual needs, and splice single Member 22 both can be standard concatenation unit, can also be special-shaped concatenation unit, for example can set at the turning of track 2 or other positions Set special special-shaped concatenation unit.

In any of the above-described embodiment, it is preferable that when multiple concatenation units 22 splice, two concatenation units 22 of arbitrary neighborhood Every one first guide rail 226 be connected smoothly.

In those embodiments, when multiple concatenation units 22 splice, every the one first of two concatenation units 22 of arbitrary neighborhood Guide rail 226 is connected smoothly, and after capable of making the assembly of concatenation unit 22 good in this way, is capable of forming smoothly guide rail, so that Spray robot can the smooth motion on track 2, and be not susceptible to phenomenon of jolting.

In any of the above-described embodiment, it is preferable that as shown in figure 5, concatenation unit 22 further includes being mounted on mounting rack Second guide rail 228 is provided with anti-skid structure on second guide rail 228, and the second guide rail 228 is arranged along the circumferential direction of work body 6, the One actuator 44 includes the first motor with the driving wheel 442 of anti-skid structure cooperation and for driving driving wheel 442 to rotate 444, wherein driving wheel 442 can cooperate under the driving of first motor 444 with anti-skid structure, and drive hanger 4 along multiple the One guide rail 226 and the movement of the second guide rail 228.

In those embodiments, concatenation unit 22 further includes the second guide rail 228 and second for being provided with anti-skid structure Guide rail 228 is also arranged along the circumferential direction of work body 6, and the first actuator 44 includes the driving wheel 442 with anti-skid structure cooperation And the first motor 444 for driving driving wheel 442 to be rotated, such first motor 444 can pass through 442 band of driving wheel Dynamic hanger 4 moves on multiple first guide rails 226 and the second guide rail 228.And the setting of anti-skid structure can stop transporting in hanger 4 After dynamic, prevent hanger 4 from back sliding, just hanger 4 can accurately be rested on preset lateral position in this way.

In any of the above-described embodiment, it is preferable that as shown in Figure 10 to Figure 12, fixation kit 42 includes being mounted on hanger 4 On pedestal 422 and multiple directive wheels 424 for being mounted on pedestal 422, be formed with a guide channel between multiple directive wheels 424 426, multiple first guide rails 226 can be slidably mounted in multiple guide channels 426 of multiple fixation kits 42.

In those embodiments, the quantity of fixation kit 42 is preferably multiple, and each fixation kit 42 preferably includes Four directive wheels 424, and connected between four directive wheels 424 by pedestal 422 it is integral, and can by four directive wheels 424 A guide channel 426 is formed, and multiple fixation kits 42 are bonded together, and just can form a longer channel, just can in this way The sliding between track 2 and hanger 4 is enough realized by the directive wheel 424 of multiple fixation kits 42.And during installation, it can be by four Two in directive wheel 424 are mounted on the inside of the first guide rail 226, and other two in four directive wheels 424 is mounted on The outside of first guide rail 226.Meanwhile multiple fixation kits 42 can be divided into the multiple rows of setting of multiple row, and the number of rows of fixation kit 42 It is consistent with the quantity of the first guide rail 226, and the columns of fixation kit 42 can be configured according to actual needs.Specifically, such as When the quantity of the first guide rail 226 is two, settable four fixation kits 42, and four fixation kits 42 are arranged to two column It is two rows of.

Wherein it is preferred to which as shown in Figure 10 to Figure 12, the quantity of fixation kit 42 is preferably four, and four fixed groups Part 42 is preferably provided at hanger 4 on four angles in the face of wall setting.

In any of the above-described embodiment, it is preferable that as shown in figure 5, mounting rack includes multiple installing pipes 222.

In those embodiments, mounting rack is preferably made of multiple installing pipes 222, can make the whole knot of mounting rack in this way Structure is simpler, thus can reduce cost.

In any of the above-described embodiment, it is preferable that as shown in figure 5, when multiple concatenation units 22 splice, arbitrary neighborhood two Second guide rail 228 of concatenation unit 22 is connected smoothly, and anti-skid structure is rack gear 2282, certainly can also be for chain (in figure not Show), as shown in fig. 10 and fig. 12, driving wheel 442 is gear compatible with rack gear 2282 or chain.

In those embodiments, when multiple concatenation units 22 splice, second guide rail of two concatenation units 22 of arbitrary neighborhood 228 are connected smoothly, and after capable of making the assembly of concatenation unit 22 good in this way, smoothly guide rail are capable of forming, so that spraying Robot can the smooth motion on the second guide rail 228, and be not susceptible to phenomenon of jolting.And anti-skid structure is preferably rack gear 2282 Or chain, and driving wheel 442 is preferably gear, just can pass through wheel and rack in 4 transverse shifting of hanger and after stopping in this way 2282 or sprocket wheel cooperation lock hanger 4, prevent hanger 4 skid retract.Certainly, in other schemes, anti-skid structure and driving Wheel 442 can also be other structure types, and be not limited to rack-and-pinion 2282 or chain.

Wherein, in specific installation, the second guide rail 228 and the welding of installing pipe 222 can be installed together.

In any of the above-described embodiment, it is preferable that as shown in figure 5, each installing pipe 222 is along the longitudinal direction side of work body 6 It is connect to multiple first guide rails 226, and multiple installing pipes 222 are arranged along the transverse direction interval of work body 6.

In those embodiments, preferably by multiple installing pipes 222 along the longitudinal direction of work body 6, namely height side To setting, and it connect installing pipe 222 with each first guide rail 226, the first guide rails 226 multiple so just can be by multiple Installing pipe 222 connects integral.And multiple installing pipes 222 are arranged along the transverse direction interval of work body 6, can make mounting rack Horizontal span is bigger, it is thus possible to make 222 scattering device of installing pipe, prevent installing pipe 222 from excessively concentrating.

In any of the above-described embodiment, it is preferable that be provided with a hoisting structure 224 in each installing pipe 222.

In those embodiments, it can be respectively provided with a hoisting structure 224 in each installing pipe 222, can make in this way Track 2 more preferably lifts.Certainly, when the quantity of installing pipe 222 is especially more, lifting can also be only set in part installing pipe 222 Structure 224.

In any of the above-described embodiment, it is preferable that as shown in Figure 4 and Figure 5, the quantity of the first guide rail 226 is two, installation The quantity of pipe 222 is two, and one end of each installing pipe 222 is connect with one first guide rail 226 in two the first guide rails 226, The other end of each installing pipe 222 is connect with another first guide rail 226 in two the first guide rails 226.

In those embodiments, the first guide rail 226 and quantity, the quantity of installing pipe 222 are equal two preferred, can make in this way Track 2 can either meet intensity requirement, and the structure of track 2 can be prevented excessively complicated.And one end of each installing pipe 222 It is connect with one first guide rail 226 in two the first guide rails 226, the other end of each installing pipe 222 and two the first guide rails 226 In the connection of another first guide rail 226, i other words, in specific installation, the upper end of installing pipe 222 can be connect with upper rail, And connect the lower end of installing pipe 222 with lower guideway, the knot of two first guide rails 226 and two installing pipes 222 can be made in this way Structure more rationalizes.

In any of the above-described embodiment, it is preferable that as shown in Figure 10 to Figure 12, the quantity of fixation kit 42 is four, four A fixation kit 42 is symmetricly set on hanger 4 on the face of work body 6, and each fixation kit 42 includes four directive wheels 424, Four directive wheels 424 are symmetrically mounted on pedestal 422, and surround a guide channel 426.

In those embodiments, four fixation kits 42 are preferably provided with to realize the connection between hanger 4 and track 2, and Four fixation kits 42 are preferably symmetrical arranged.And simultaneously, can four directive wheels 424 be set on each fixation kit 42, with The guide channel 426 passed through for the first guide rail 226 is formed by four directive wheels 424.And in this way, can either ensure solid Determine the installation reliability between component 42 and the first guide rail 226, the relatively simple for structure of fixation kit 42 can also be made.

In any of the above-described embodiment, it is preferable that as shown in figure 5, installing pipe 222 is vertical including being arranged along the longitudinal direction Portion 2222 and two from the both ends of vertical portion 2222 along work body 6 front-rear direction to the direction bent close to work body 6 At bending part 2224；Wherein, hoisting structure 224 is arranged on bending part 2224, and the quantity of the first guide rail 226 is two, and two A first guide rail 226 is separately mounted on bending part 2224.

In those embodiments, the middle part of installing pipe 222 is preferably vertically arranged to form vertical portion 2222, and preferably may be used The bending part 2224 that the upper and lower ends bending of installing pipe 222 is formed to front-rear direction setting, just can make the first guide rail in this way Certain distance can be retained between 226 and the vertical portion 2222 of installing pipe 222, in order to hoisting structure 224 and the second guide rail 228 Deng installation, and in advance reserved between installing pipe 222 and the first guide rail 226 accommodate fixation kit 42 space, prevent Installing pipe 222 interferes during installation with fixation kit 42.

In any of the above-described embodiment, it is preferable that as shown in figure 5, two bending parts 2224 and vertical portion 2222 are in U-shape and set It sets, two the first guide rails 226 are separately mounted on the end face of two one end of bending part 2224 far from vertical portion 2222, and second leads Rail 228 is mounted on bending part 2224.

In those embodiments, the preferred setting that is in U-shape of two bending parts 2224 and vertical portion 2222, because of U-shaped structure ratio It more typically and well processes, certainly, two bending parts 2224 and vertical portion 2222 can also be arranged in U-like shape, and being not necessarily intended to is mark Quasi- U-shaped.And the second guide rail 228 is preferably mounted on bending part 2224.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, adsorbent equipment 3 includes: shell 30；Charged structures, peace On shell 30；Vacuum pump 34 is movably mounted on shell 30, can be electrically connected with charged structures or disconnected with charged structures It opens；Second actuator 36, is mounted on shell 30, connect with vacuum pump 34, for driving vacuum pump 34 and charged structures to be electrically connected It connects or is disconnected with charged structures；Sucker 38 is mounted on shell 30, can be adsorbed when vacuum pump 34 is electrically connected with charged structures In work body 6, and it can be detached from and adsorb with work body 6 when vacuum pump 34 and charged structures are disconnected.

In those embodiments, adsorbent equipment 3 includes shell 30, charged structures, vacuum pump 34, the second actuator 36 and inhales Disk 38, and shell 30 is used to install and accommodate the parts such as charged structures, vacuum pump 34, and charged structures are used to supply for vacuum pump 34 Electricity, and vacuum pump 34 can extract the gas in sucker 38 when being powered, and vacuum pump 34 can not extract sucker 38 when power is off Interior gas.And sucker 38 can be adsorbed when vacuum pump 34 is powered with wall etc., and since work surface generally all compares Coarse, therefore, when vacuum pump 34 powers off, the meeting of sucker 38 and wall etc. automatically disengage absorption.And the second actuator 36 be used for Vacuum pump 34 connects, so as to drive vacuum pump 34 to move, so as to which vacuum pump 34 is made to be electrically connected or make with charged structures Vacuum pump 34 and charged structures disconnect, and after vacuum pump 34 powers off, sucker 38 and wall are detached from and adsorb, and vacuum pump 34 connects electricity Afterwards, sucker 38 is mutually adsorbed with wall, just can rationally control the work of sucker 38 by the second actuator 36 in this way, so as to The rationally absorption situation between the control work surfaces such as track 2 and wall, so that track 2 can either lead to after highly adjusting It crosses adsorbent equipment 3 to be fixed on wall etc., and can be de- by adsorbent equipment 3 and wall when track 2 needs to move up and down From so that track 2 can adjust position according to actual needs and up and down.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, the quantity of sucker 38 is multiple, the quantity of vacuum pump 34 To be multiple, and multiple suckers 38 are arranged in a one-to-one correspondence with multiple vacuum pumps 34；Multiple vacuum pumps 34 can be in the second actuator 36 Under the action of around annular trace shuttling movement, multiple suckers 38 are movably mounted on shell 30, can be in the second actuator 36 Under the action of with multiple 34 shuttling movements of vacuum pump, and when multiple 38 shuttling movements of sucker, multiple suckers 38 can adsorb in turn In work body 6；Wherein, charged structures correspond to the portion setting of annular trace, and multiple vacuum pumps 34 can circulate through Charged structures can be simultaneously electrically connected with charged structures circulation, so that multiple suckers 38 can be adsorbed in turn in work body 6.

In those embodiments, settable multiple suckers 38 and multiple vacuum pumps 34, and preferably can be by suckers 38 and true Sky pump 34 is arranged in a one-to-one correspondence, so that vacuum pump 34 can vacuumize fixed sucker 38.Meanwhile it can rationally be arranged The structure of two actuators 36 and the position of multiple vacuum pumps 34, so that multiple vacuum pumps 34 can be in the work of the second actuator 36 Around annular trace shuttling movement under, and multiple suckers 38 can actively correspond multiple vacuum pumps 34 and be arranged, so that more A sucker 38 can be moved synchronously with multiple vacuum pumps 34.And charged structures correspond to the portion setting of annular trace, are Charged structures are said there is no circularizing around the setting of entire annular trace, vacuum pumps 34 multiple in this way are along annular trace shuttling movement When, it just can pass through charged structures in turn and cyclically, and be electrically connected in turn and cyclically with charged structures, it is multiple in this way Vacuum pump 34 just can be powered in turn, be powered off, to vacuumize in turn to multiple suckers 38, so that multiple suckers 38 in turn and cyclically can be adsorbed or be detached from absorption with wall etc., in this way by the absorption in turn of multiple suckers 38 and de- It just can be realized automatic creeping of the adsorbent equipment 3 on wall etc. from absorption.And when specifically used, hanger 1 and absorption can be made Device 3 moves synchronously, and crawls into and rail so that adsorbent equipment 3 can be synchronized when hanger 1 transfers track 2 with track 2 The adaptable height and position in road 2, with ensure track 2 and adsorbent equipment 3 can always in place on be adapted to, thus Track 2 can be still adsorbed on wall etc. after adjusting height by adsorbent equipment 3.And this structure, upper It is lower adjustment track 2 so that adjust spray robot height and position when, adsorbent equipment 3 is adsorbed on wall always, without with Wall is detached from, and just can ensure stability of the track 2 during up and down motion in this way, prevents the hair when moving up and down of track 2 Situations such as raw accidental falling.

Wherein, in the actual process, it in order to which multiple suckers 38 are during circulation rotating, can be adsorbed with wall, Multiple suckers 38 can be arranged on the face of vertical wall and circularize, pass through the rotation of multiple suckers 38, multiple suckers 38 in this way Just it can be adsorbed in turn with wall.I.e. here annular trace is preferably perpendicular to wall setting.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, the second actuator 36 includes rotatably annular passing Moving part, multiple vacuum pumps 34 are distributed along the circumferential direction of endless drive part, and are connect with endless drive part, the rotation of endless drive part Turn, is able to drive multiple vacuum pumps 34 and multiple suckers 38 are rotated with endless drive part.

In those embodiments, the second actuator 36 includes can rotatably endless drive part, endless drive part can be specific For structures such as belt or chains.And multiple vacuum pumps 34 can be directly distributed along the circumferential direction of endless drive part, so that multiple true Sky pump 34 and multiple suckers 38 can rotate together with endless drive part.And this structure can be passed simply and easily by annular Moving part realizes multiple vacuum pumps 34 and multiple suckers 38 around the rotation of fixation locus, it is thus possible to keep the structure of product simpler It is single.Certainly, endless drive part here can also be the structures such as turntable.

Wherein, it adsorbs, annular can be passed in turn with wall in order to be able to drive multiple suckers 38 when the rotation of endless drive part Moving part is arranged along the direction perpendicular to wall, i.e., the front-rear direction by endless drive part along work body 6 is arranged.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, charged structures are electrification sliding rail 32, multiple vacuum pumps 34 When rotated, at least there are two vacuum pumps 34 to be electrically connected simultaneously with electrification sliding rail 32.

In those embodiments, charged structures are preferably arranged to the electrification sliding rail 32 with certain length, are existed in this way When multiple 34 circulation rotatings of vacuum pump, multiple vacuum pumps 34 just can be enable to be electrically connected simultaneously with electrification sliding rail 32, thus So that adsorbent equipment 3 when creeping, has multiple suckers 38 to be adsorbed on wall etc., this ensure that adsorbent equipment 3 is being creeped When reliability.Wherein it is preferred to can rationally be arranged electrification sliding rail 32 length and two neighboring vacuum pump 34 between away from From so that multiple vacuum pumps 34 are when rotated, there are two or three or more vacuum pump 34 can simultaneously with electrification sliding rail 32 Electrical connection.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, the second actuator 36 includes being mounted on shell 30 Second motor 362 and the V belt translation component or chain drive component 364 that are mounted on shell 30, and the second actuator 36 includes that band passes When dynamic component, endless drive part is the belt of V belt translation component, when the second actuator 36 includes chain drive component 364, annular Driving member is the chain of chain drive component 364.

In those embodiments, the second actuator 36 further includes the second motor 362 and V belt translation component or chain drive The structures such as component 364 just can realize that the synchronous of multiple vacuum pumps 34 drives by belt or chain etc. in this way.And V belt translation group Part or chain drive component 364 specifically include the driving wheel that one connect with the second motor 362 and by belt and driving wheels The driven wheel of connection.And for V belt translation component, driving wheel and driven wheel are belt pulley, and for chain drive component For 364, driving wheel and driven wheel are sprocket wheel.And in other schemes, the second actuator 36 can also be include being mounted on shell The second motor 362 on 30 and the gear assembly or the structures such as turning collar or rotating disc being connect with the second motor 362.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, the quantity of sucker 38 is 6, the quantity of vacuum pump 34 It is 6.Wherein, 3 suckers 38 are located at outermost in Fig. 6, in addition 3 suckers 38 are located at the inside of adsorbent equipment 3, in Fig. 6 In angle be not easy to find out.

In those embodiments, the quantity of sucker 38 and the quantity of vacuum pump 34 are preferably 6, can make sucker 38 in this way Quantity and vacuum pump 34 quantity it is more moderate, without excessive, and cause 3 overall structure of adsorbent equipment excessively complicated.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, the quantity of endless drive part is two, two annulars are passed Moving part is symmetricly set on the two sides of multiple vacuum pumps 34.

In those embodiments, the quantity of endless drive part is preferably two, and two endless drive parts move synchronously, this Sample just can drive multiple vacuum pumps 34 and multiple suckers 38 to move synchronously by two endless drive parts, it can thus be ensured that ring Connection reliability between shape driving member and vacuum pump 34 and sucker 38.

In any of the above-described embodiment, it is preferable that as shown in fig. 6, endless drive part is set along the front-rear direction of work body 6 It sets.That is endless drive part preferred vertical or the setting of substantially vertical wall, and in this way, by multiple suckers 38 around endless drive When the circumferential setting of part, multiple suckers 38 can be adsorbed when turning to by wall one side with wall, and is turning It just can be detached from and adsorb with wall when moving away from the one side of wall.

It wherein it is preferred to which endless drive part is strip, for example is in kidney-shaped, allowing for endless drive part in this way can be with The length of wall cooperation is longer, so that multiple suckers 38 can be adsorbed with wall simultaneously.Certainly, in special circumstances Under, endless drive part can also be rounded or oval.

In any of the above-described embodiment, it is preferable that as shown in Figure 6 to 8, mounting groove 302, sucker are provided on shell 30 38 and vacuum pump 34 be installed in mounting groove 302, the symmetrical two sides for being mounted on mounting groove 302 and being oppositely arranged of charged structures On wall and/or charged structures include two electrification sliding rails 32 for being symmetrically distributed in two inner sidewalls of mounting groove 302, and charge and slide Rail 32 is arranged close to the notch of mounting groove 302；Second actuator 36 includes 362 He of the second motor being mounted on outside mounting groove 302 The transmission component being mounted in mounting groove 302, transmission component are connect with the second motor 362 and vacuum pump 34, can be in the second electricity Vacuum pump 34 is driven to move under the action of machine 362, so that vacuum pump 34 is electrically connected with charged structures or disconnects with charged structures.

In those embodiments, mounting groove 302 can be set on shell 30, so as to by sucker 38 and vacuum pump 34 etc. Part is mounted in mounting groove 302, just can be protected in this way by shell 30 to parts such as sucker 38 and vacuum pumps 34.And As shown in Figure 6 to 8, charged structures are preferably symmetrical is mounted on the two sidewalls that mounting groove 302 is oppositely arranged, and further Preferably, charged structures include two electrification sliding rails 32 for being symmetrically distributed in two inner sidewalls of mounting groove 302, and charge sliding rail 32 Notch close to mounting groove 302 is arranged, and the left and right sides allowed at the notch of mounting groove 302 in this way can be conductive, and makes The two sides side wall of mounting groove 302 cannot be charged close to the position of slot bottom, so that vacuum pump 34 is moving to the position at notch When setting just can with electrification sliding rail 32 be electrically connected, and when moving to the position at slot bottom can not with electrification sliding rail 32 into Row electrical connection.And the length of charged structures can be increased by charging sliding rail 32, so that electrification sliding rail 32 can be multiple simultaneously Vacuum pump 34 is powered.And endless drive part is preferably arranged along the longitudinal direction, and the excellent quantity of endless drive part is preferably two It is a, and two endless drive parts are preferably symmetricly set on the two sidewalls of mounting groove 302.And multiple vacuum pumps 34 are preferably substantially etc. It is mounted on to spacing on endless drive part, in this way when multiple vacuum pumps 34 are with endless drive part cycle rotation, will there is part Vacuum pump 34 is emerging in the outside of adsorbent equipment 3, and partial vacuum pump 34 hides the inside for being mounted on adsorbent equipment 3, and is not easy Be seen, and be arranged in this way and multiple vacuum pumps 34 are rotated in the same anterior-posterior plane, it is thus possible to it is same The corresponding work surface in lateral position is adsorbed, and passes through the shuttling movement of multiple vacuum pumps 34 in this way, just can be realized absorption dress Set 3 automatic creeping.

Meanwhile second the structure of actuator 36 preferably comprise the structure of the second motor 362 and transmission component, and the second electricity Machine 362 is preferably mounted at outside mounting groove 302, such as on the side wall of shell 30, and transmission component is preferably mounted at mounting groove 302 It is interior, to facilitate it to carry out cooperation driving with multiple vacuum pumps 34.And transmission component can be specially V belt translation component or chain drive Component 364 is either driven circle or the structures such as rotating disc or gear assembly.And transmission component is specifically used in the second motor 362 Under the action of drive vacuum pump 34 move so that vacuum pump 34 can be electrically connected with charged structures or with charged structures disconnection.

In any of the above-described embodiment, it is preferable that as shown in figure 3, hanger 1 is single-cantilever hanger.

In those embodiments, hanger 1 is preferably single-cantilever hanger, i.e., the hanger namely width ratio of cantilever at only one Relatively narrow hanger, in other words at only one overhung construction hanger, and this structure, due to there was only cantilever at one, thus wide It spends settable relatively narrow, just hanger 1 can be made to have many advantages, such as that structure is relatively easy in this way, occupied area is small.And the prior art Hanger in the related technology is the stability for keeping lifting, all at least provided with two cantilevers, so as at least realize two Place's lifting, and will lead to the bulky of hanger in this way, structure is complicated, and land occupation is big, thus is unfavorable for transport, storage and adds Work.And the specific structure of hanger 1 can refer to the hanger structure of external wall spraying machine people in the prior art or suspension frame structure carries out Design, details are not described herein.

In any of the above-described embodiment, it is preferable that as shown in fig. 10 and fig. 12, spray equipment 5 includes: third guide rail 52, It is mounted on the top of hanger 4；4th guide rail 54 is slidably mounted on third guide rail 52；Spray gun assembly 56, is slidably mounted on On 4th guide rail 54；Wherein, third guide rail 52 is arranged at the top of hanger 4 along the longitudinal direction of work body 6,54 edge of the 4th guide rail The longitudinal direction of work body 6 is slidably mounted on third guide rail 52, and along the front-rear direction of work body 6 on the 4th guide rail 54 Setting, spray gun assembly 56 is slidably mounted on the 4th guide rail 54 along the front-rear direction of work body 6 or third guide rail 52 is in hanger 4 top is arranged along the front-rear direction of work body 6, and the 4th guide rail 54 is slidably mounted on third along the front-rear direction of work body 6 On guide rail 52, and it is arranged on the 4th guide rail 54 along the longitudinal direction of work body 6, spray gun assembly 56 is along the longitudinal direction side of work body 6 To being slidably mounted on the 4th guide rail 54.

In those embodiments, spray equipment 5 includes third guide rail 52 and the 4th guide rail 54 and spray gun assembly 56, and the Three guide rails 52 are fixed guide rail, and the 4th guide rail 54 is the guide rail being slidably mounted on third guide rail 52, and third One in guide rail 52 and the 4th guide rail 54 is arranged along the longitudinal direction, another is arranged along the longitudinal direction, and 56 energy of spray gun assembly Enough extending directions along the 4th guide rail 54 slide, in this way can be real by the sliding of the 4th guide rail 54 and the sliding of spray gun assembly 56 Existing spray gun assembly 56 is slided in longitudinal direction and in the front-back direction, can adjust the height of spray gun assembly 56 according to actual needs in this way Degree and longitudinal separation, spraying position can be adjusted flexibly according to the case where actual job face by allowing for spray gun assembly 56 in this way, So that spray robot can spray the abnormal area in work surface, such as External Wall balcony and air-conditioning groove etc. Shaped face is effectively sprayed.

In any of the above-described embodiment, it is preferable that as shown in fig. 10 and fig. 12, spray gun assembly 56 includes: the first whirler Structure 562 is rotatably mounted on the 4th guide rail 54, and the rotation axis of the first rotating mechanism 562 is along the longitudinal direction of work body 6 Direction setting；Second rotating mechanism 564 is rotatably mounted on the first rotating mechanism 562, and the second rotating mechanism 564 Rotation axis along work body 6 transverse direction be arranged；Spray head 566 is mounted on the second rotating mechanism 564.

In those embodiments, spray gun assembly 56 includes the first rotating mechanism 562, the second rotating mechanism 564 and spray head 566, and the first rotating mechanism 562 is arranged along the longitudinal direction, enable the left-right rotation in the horizontal plane of spray head 566, and second Rotating mechanism 564 is arranged along the transverse direction of work body 6, is able to drive spray head 566 and rotates upwardly and downwardly in fore-and-aft plane.It is logical in this way Cross the first rotating mechanism 562, the rotation of the second rotating mechanism 564 just can further realize the angular adjustment of spray head 566 so that Spray head 566 can adjust spraying position in spraying more flexiblely.

Wherein it is preferred to as shown in fig. 10 and fig. 12, feeding device 46, feeding device 46 and spraying are provided on hanger 4 The spray head 566 of device 5 connects, for being fed for spray head 566.

Wherein it is preferred to which as shown in figure 3, hanger 1 includes the hoisting rope 12 connecting with track 2 and the peace connecting with hanger 4 Full rope 14 is additionally provided with safety lock on hanger 4, and safety lock can lock safety rope 14 when safety rope 14 is abnormal, such as Fig. 3 It is shown, it is provided with clump weight 16, elevator 17 and pulley assembly 18 on the frame body 10 of hanger 1, hoisting rope 12 and safety rope 14 One end is connect with elevator 17, the other end of hoisting rope 12 around being connect after pulley assembly 18 with track 2, safety rope 14 it is another End is connect after bypassing pulley assembly 18 with hanger 4.And hoisting rope 12 is specifically used for realizing the connection between hanger 1 and hanger 4, tool Body, the structures such as hanging ring can be set on hanger 4, can be realized in this way by structures such as hanging rings between safety rope 14 and hanger 4 Connection.And safety lock and safety rope 14 play the role of sprayed protection robot, prevent spray robot during decline There are the abnormal phenomenon such as decrease speed is too fast.And it can be by clump weight 16 come balance hanger 1 itself by setting clump weight 16 Weight thus prevents spray robot overweight, and the phenomenon that cause entire paint finishing to be toppled.And elevator 17 is used for It realizes the promotion and decline of hoisting rope 12 and safety rope 14, and then spray robot is driven to realize rise and fall.And pulley blocks Part 18 is specifically used for guidance hoisting rope 12 and safety rope 14, prevents hoisting rope 12 and safety rope 14 from knotting.

Wherein it is preferred to which hoisting rope 12 and safety rope 14 are wirerope, hoisting rope 12 and safety rope 14 can ensure that in this way Intensity.Wherein it is preferred to hoist engine 19 is provided on hanger 1, and hoist engine 19 is for realizing hoisting rope 12 and safety rope 14 Contraction and release.Wherein it is preferred to circumscripted power line is provided on hanger 1, and circumscripted power line is used to supply for whole system Electricity.Wherein it is preferred to spray robot further include: weighing instrument is mounted on hanger 4, and the coating case of feeding device 46 is mounted on It, can be by weighing instrument come the material in coating case at any time, so as to in coating case by the way that weighing instrument is arranged on weighing instrument Material supervised at any time.

Wherein it is preferred to which first motor 444 and the second motor 362 are servo motor.Because of the control essence of servo motor Degree is high, it is thus possible to ensure the deposition accuracies of spray gun.

Wherein, hanger 1 and hanger 4 are relatively common and mature structure in the prior art, therefore, it is other without reference to The structure arrived can be designed referring in particular to structure in the prior art, and details are not described herein.

Wherein it is preferred to which paint finishing is external wall spraying system.Certainly, paint finishing can also be the spray of glass curtain wall etc. It applies cleaning system or paint finishing can also be interior wall paint finishing.

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

In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc. Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with Suitable mode combines.

These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification, Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (16)

1. a kind of paint finishing, for being sprayed to the work surface of work body (6), which is characterized in that the paint finishing packet It includes:

Multiple hangers (1), multiple hangers (1) are mounted on the top of the work body (6) spaced reciprocally；

Track (2) is lifted on multiple hangers (1), and is arranged along the circumferential direction of the work body (6)；

Adsorbent equipment (3) is mounted on the track (2), and can be adsorbed and be installed on the work body (6)；

Spray robot, the spray robot include hanger (4) and spray equipment (5), and the hanger (4) is mounted on the rail It on road (2), and can be moved on the track (2), the spray equipment (5) is mounted on the hanger (4), can be to institute The work surface for stating work body (6) is sprayed.

2. paint finishing according to claim 1, which is characterized in that

The track (2) is spliced to form by multiple concatenation units (22), can mutually be torn open between multiple concatenation units (22) Connect with unloading or multiple concatenation units (22) between for integral type connect.

3. paint finishing according to claim 2, which is characterized in that the concatenation unit (22) includes:

Mounting rack is provided with hoisting structure (224) on the mounting rack, and the mounting rack is hung by the hoisting structure (224) On the hanger (1), the adsorbent equipment (3) is mounted on the mounting rack；

Multiple first guide rails (226), each first guide rail (226) are arranged along the transverse direction of the work body (6), and Multiple first guide rails (226) are mounted on the mounting rack along the longitudinal direction interval of the work body (6)；

Wherein, the spray robot includes the first actuator (44) and multiple fixation kits (42), multiple fixation kits (42) it is slidably mounted on multiple first guide rails (226), first actuator (44) can drive the hanger (4) It is moved along multiple first guide rails (226).

4. paint finishing according to claim 3, which is characterized in that

When multiple concatenation units (22) are spliced, each first guide rail of arbitrary neighborhood two concatenation units (22) (226) it is connected smoothly；And/or

The concatenation unit (22) further includes the second guide rail (228) being mounted on the mounting rack, second guide rail (228) On be provided with anti-skid structure, second guide rail (228) is arranged along the circumferential direction of the work body (6), first driving Part (44) includes the with the driving wheel (442) of anti-skid structure cooperation and for driving that the driving wheel (442) rotate One motor (444), wherein the driving wheel (442) can under the driving of the first motor (444) with the anti-skid structure Cooperation, and the hanger (4) is driven to move along multiple first guide rails (226) and second guide rail (228)；And/or

The fixation kit (42) includes the pedestal (422) being mounted on the hanger (4) and is mounted on the pedestal (422) Multiple directive wheels (424), be formed with a guide channel (426) between the multiple directive wheel (424), multiple described first lead Rail (226) can be slidably mounted in multiple guide channels (426) of multiple fixation kits (42)；And/or

The mounting rack includes multiple installing pipes (222).

5. paint finishing according to claim 4, which is characterized in that

When multiple concatenation units (22) are spliced, the second guide rail (228) of arbitrary neighborhood two concatenation units (22) is flat Slip over and cross connection, the anti-skid structure be rack gear (2282) or chain, the driving wheel (442) be with the rack gear (2282) or The compatible gear of chain；And/or

Each installing pipe (222) connects along the longitudinal direction of the work body (6) and multiple first guide rails (226) It connects, and multiple installing pipes (222) are arranged along the transverse direction interval of the work body (6)；And/or

A hoisting structure (224) is provided on each installing pipe (222)；And/or

The quantity of first guide rail (226) is two, and the quantity of the installing pipe (222) is two, each installing pipe (222) one end is connect with first guide rail (226) in two first guide rails (226), each installing pipe (222) the other end is connect with another first guide rail (226) in two first guide rails (226)；And/or

The quantity of the fixation kit (42) is four, and four fixation kits (42) are symmetricly set on the hanger (4) and lean on On the face of the nearly work body (6), each fixation kit (42) includes four directive wheels (424), four directive wheels (424) it is symmetrically mounted on the pedestal (422), and surrounds a guide channel (426).

6. paint finishing according to claim 5, which is characterized in that

The installing pipe (222) includes the vertical portion (2222) being arranged along the longitudinal direction and two by the vertical portion (2222) Both ends along the work body (6) front-rear direction to the bending part (2224) that is bent to form of direction close to work body (6)；

Wherein, the hoisting structure (224) is arranged on the bending part (2224), and the quantity of first guide rail (226) is Two, two first guide rails (226) are separately mounted on the bending part (2224).

7. paint finishing according to claim 6, which is characterized in that

Two bending parts (2224) and the vertical portion (2222) are in U-shape setting, and two first guide rails (226) are respectively It is mounted on end face of two bending parts (2224) far from the one end of the vertical portion (2222), second guide rail (228) it is mounted on the bending part (2224).

8. paint finishing according to any one of claim 1 to 7, which is characterized in that the adsorbent equipment (3) includes:

Shell (30)；

Charged structures are mounted on the shell (30)；

Vacuum pump (34) is movably mounted on the shell (30), can be electrically connected with the charged structures or with the band Electric structure disconnects；

Second actuator (36) is mounted on the shell (30), is connect with the vacuum pump (34), for driving the vacuum Pump (34) is electrically connected with the charged structures or disconnects with the charged structures；

Sucker (38) is mounted on the shell (30), can be when the vacuum pump (34) are electrically connected with the charged structures Be adsorbed on the work body (6), and can when the vacuum pump (34) and the charged structures are disconnected with the operation Body (6) is detached from absorption.

9. paint finishing according to claim 8, which is characterized in that

The quantity of the sucker (38) be it is multiple, the quantity of the vacuum pump (34) be it is multiple, and multiple suckers (38) with Multiple vacuum pumps (34) are arranged in a one-to-one correspondence；

Multiple vacuum pumps (34) can be multiple under the action of the second actuator (36) around annular trace shuttling movement The sucker (38) is movably mounted on shell (30), can be under the action of the second actuator (36) with multiple described Vacuum pump (34) shuttling movement, and when multiple suckers (38) shuttling movement, multiple suckers (38) can be adsorbed in turn On the work body (6)；

Wherein, the charged structures correspond to the portion setting of the annular trace, and multiple vacuum pumps (34) can follow Ring is by the charged structures and can be electrically connected with charged structures circulation, so that multiple suckers (38) can be in turn It is adsorbed on the work body (6).

10. paint finishing according to claim 9, which is characterized in that

Second actuator (36) includes rotatably endless drive part, multiple vacuum pumps (34) passing along the annular The circumferential direction of moving part is distributed, and is connect with the endless drive part, and the endless drive part rotation is able to drive multiple institutes It states vacuum pump (34) and multiple suckers (38) is rotated with the endless drive part；And/or

The charged structures are electrification sliding rail (32), and when rotated, at least there are two the vacuum for multiple vacuum pumps (34) Pump (34) can be electrically connected with the electrification sliding rail (32) simultaneously.

11. paint finishing according to claim 10, which is characterized in that

Second actuator (36) includes the second motor (362) being mounted on the shell (30) and is mounted on the shell (30) V belt translation component or chain drive component (364) on, it is described when second actuator (36) includes V belt translation component Endless drive part is the belt of the V belt translation component, when second actuator (36) includes chain drive component (364), institute State the chain that endless drive part is the chain drive component (364)；And/or

The quantity of the sucker (38) is 6, and the quantity of the vacuum pump (34) is 6；And/or

The quantity of the endless drive part is two, and two endless drive parts are symmetricly set on multiple vacuum pumps (34) Two sides；And/or

The endless drive part is arranged along the front-rear direction of the work body (6).

12. paint finishing according to claim 8, which is characterized in that

It is provided with mounting groove (302) on the shell (30), the sucker (38) and the vacuum pump (34) are installed in described In mounting groove (302), the charged structures are symmetrical to be mounted on the two sidewalls that the mounting groove (302) is oppositely arranged, and/ Or the charged structures are symmetrically distributed in the electrification sliding rails (32) of two inner sidewalls of the mounting groove (302), and institute including two Notch of electrification sliding rail (32) close to the mounting groove (302) is stated to be arranged；

Second actuator (36) includes the second motor (362) being mounted on the mounting groove (302) outside and is mounted on described Transmission component in mounting groove (302), the transmission component are connect with second motor (362) and the vacuum pump (34), The vacuum pump (34) can be driven to move under the action of the second motor (362), so that the vacuum pump (34) and institute It states charged structures electrical connection or is disconnected with the charged structures.

13. paint finishing according to any one of claim 1 to 7, which is characterized in that

The hanger (1) is single-cantilever hanger.

14. paint finishing according to any one of claim 1 to 7, which is characterized in that the spray equipment includes:

Third guide rail (52), is mounted on the top of the hanger (4)；

4th guide rail (54) is slidably mounted on the third guide rail (52)；

Spray gun assembly (56) is slidably mounted on the 4th guide rail (54)；

Wherein, the third guide rail (52) is arranged at the top of the hanger (4) along the longitudinal direction of the work body (6), institute It states the 4th guide rail (54) to be slidably mounted on the third guide rail (52) along the longitudinal direction of the work body (6), and in institute It states and is arranged on the 4th guide rail (54) along the front-rear direction of the work body (6), the spray gun assembly (56) is along the work body (6) Front-rear direction be slidably mounted on the 4th guide rail (54), or

The third guide rail (52) is arranged at the top of the hanger (4) along the front-rear direction of the work body (6), and the described 4th Guide rail (54) is slidably mounted on the third guide rail (52) along the front-rear direction of the work body (6), and the described 4th It is arranged on guide rail (54) along the longitudinal direction of the work body (6), longitudinal direction of the spray gun assembly (56) along the work body (6) Direction is slidably mounted on the 4th guide rail (54).

15. paint finishing according to claim 14, which is characterized in that the spray gun assembly (56) includes:

First rotating mechanism (562) is rotatably mounted on the 4th guide rail (54), and first rotating mechanism (562) rotation axis is arranged along the longitudinal direction of the work body (6)；

Second rotating mechanism (564) is rotatably mounted on first rotating mechanism (562), and second rotation The rotation axis of mechanism (564) is arranged along the transverse direction of the work body (6)；

Spray head (566) is mounted on second rotating mechanism (564).

16. paint finishing according to any one of claim 1 to 7, which is characterized in that

It is provided with feeding device (46) on the hanger (4), the spray head of the feeding device (46) and the spray equipment (5) (566) it connects, for being fed for the spray head (566)；And/or

The hanger (1) includes the hoisting rope (12) connecting with the track (2) and the safety rope connecting with the hanger (4) (14), safety lock is additionally provided on the hanger (4), the safety lock being capable of the latching when the safety rope (14) are abnormal The safety rope (14) is provided with clump weight (16), elevator (17) and pulley assembly on the frame body (10) of the hanger (1) (18), one end of the hoisting rope (12) and the safety rope (14) is connect with the elevator (17), the hoisting rope (12) The other end connect with the track (2) afterwards around the pulley assembly (18), the other end of the safety rope (14) is around institute Pulley assembly (18) is stated to connect with the hanger (4) afterwards.