CN209849151U - Lifting assembly and spraying robot - Google Patents

Abstract

The utility model provides a lifting unit and spraying robot, wherein, lifting unit includes: at least two driving wheels; the lifting motor is in transmission connection with one of all the transmission wheels; the drive belt, outside locating the drive wheel of being connected with the promotion motor transmission, drive belt and two at least drive wheel cooperations, wherein, one side of drive belt with support body fixed connection, the opposite side of drive belt is equipped with the spray gun subassembly to the drive belt motion under the drive of promotion motor, and the relative movement takes place for promotion subassembly and support body. The utility model provides a lifting assembly through the quantity of reasonable setting drive wheel, forms multistage promotion structure, can reduce the whole height of support body when making spraying robot spraying higher position, makes spraying robot get into narrow and small space more easily to adapt to the work occasion requirement of difference.

Description

Lifting assembly and spraying robot

Technical Field

The utility model relates to a spraying equipment technical field particularly, relates to a hoisting component and a spraying robot.

Background

At present, the traditional spraying work is usually carried out in a manual spraying mode, and due to the high cost of manual spraying, part of the spraying work begins to use semi-automatic spraying equipment for operation. The existing semi-automatic spraying equipment is generally simple in structure, single in function, limited by the height of the equipment and limited in spraying range. If the spray range is enlarged, the size of the spray equipment needs to be increased correspondingly, which causes a problem of increased cost. Meanwhile, the size of the spraying equipment is increased, so that the spraying equipment is difficult to adapt to working requirements in different scenes, and is particularly not favorable for the situation that the spraying equipment needs to enter a narrow space. Therefore, the existing semi-automatic spraying equipment still has the problems that the spraying range is limited by the height of the equipment, the dependence on manpower is strong, and the spraying cost is high.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, an object of the present invention is to provide a lifting assembly.

Another object of the utility model is to provide a spraying robot including above-mentioned hoisting component.

In order to achieve the above object, the present invention provides a lifting assembly, including: at least two driving wheels; the lifting motor is in transmission connection with one of all the transmission wheels; the transmission belt is wound outside the transmission wheels which are connected with the lifting motor in a transmission mode, the transmission belt is matched with at least two transmission wheels, one side of the transmission belt is fixedly connected with the frame body, the other side of the transmission belt is provided with the spray gun assembly, the transmission belt moves under the driving of the lifting motor, and the lifting assembly and the frame body move relatively.

The utility model provides a lifting assembly, one side of the conveyor belt is fixedly connected with the upper end of the frame body, two driving wheels are arranged in sequence along the length direction of the frame body, and the conveyor belt is wound outside the two driving wheels; and a spray gun assembly is arranged on the other side of the transmission belt. Like this, when the lifting unit wholly rises under the drive of motor, through the cooperation of drive wheel, the conveyer belt removes the end and rises for the support body through the drive wheel that is located the top to drive the spray gun subassembly and rise along with the rising of drive belt stiff end, in other words, the conveyer belt wholly takes place to shift up relatively for the support body, and the relative position of spray gun subassembly on the conveyer belt also takes place to shift up simultaneously. Wherein, under the effect of lifting component, the spray gun subassembly rises along the support body direction with twice the speed of lifting component. Thus, the lifting assembly presents a two-stage lifting structure: the lifting component is one-level, and the conveying belt is one-level. The length of the conveyor belt is the lifting height of the lifting assembly, i.e. when the lifting height of the lifting assembly is S, the height by which the spray gun assembly is lifted by the lifting assembly is 2S.

Wherein, need explain ground, the lift motor can be connected with a transmission in the drive wheel, and the quantity of action wheel is one promptly, realizes the removal of drive belt through the drive of an action wheel only, reduces the quantity of unnecessary drive mechanism, saves space.

When the lifting assembly is provided with three driving wheels, driving belts are respectively wound on two adjacent driving wheels to form a three-stage lifting structure. Set up two transfer areas like this, divide into the conveyer belt of former second grade promotion structure and the conveyer belt of the tertiary structure of promoting of newly-increased, the outside in the drive wheel of newly-increased and former two drive wheels is around locating to the conveyer belt of newly-increased, and replace the position of spray gun subassembly in the two-stage promotion structure, the position of spray gun subassembly sets up on newly-increased conveyer belt among the tertiary structure of promoting, by newly-increased conveyer belt drive, rise along with the rising of conveyer belt with driving the spray gun subassembly, and newly-increased conveyer belt is by former conveyer belt drive, rise along with the rising of former conveyer belt. Thus, the lifting assembly presents a three-level lifting structure: the lifting component is one level, the conveying belt of the original two-level lifting structure is one level, and the conveying belt of the newly-added three-level lifting structure is one level. The height at which the lance assembly is raised by the lift assembly may be 3S. It can be understood that the number of the transmission wheels can be multiple, when the number of the transmission wheels is N, an N-stage lifting structure is formed, and the height of the spray gun assembly lifted by the lifting assembly can be N times S.

To sum up, through the quantity that rationally sets up the drive wheel, form multistage promotion structure, can reduce the whole height of support body when making spraying robot spraying to higher position, make spraying robot get into narrow and small space more easily to adapt to the work occasion requirement of difference. Meanwhile, the lifting assembly is embedded into the frame body, or the lifting assemblies are sleeved with each other, so that the mounting structure can be simplified, and the cost is further saved.

Additionally, the utility model provides a lifting unit in above-mentioned embodiment can also have following additional technical characterstic:

among the above-mentioned technical scheme, the lifting means still includes: the transmission wheel, the lifting motor and the transmission belt are fixedly arranged on the fixed shell, and the fixed shell and the frame body move relatively under the driving of the lifting motor.

By additionally arranging the fixed shell and arranging the driving wheel, the lifting motor and the driving belt on the fixed shell, the driving belt and the driving wheel can be protected, and the stability of the lifting assembly is further improved; simultaneously, will promote the motor and set up on fixed casing, be favorable to reasonable wiring, improve the safety in utilization of product. In addition, the fixed shell can be detached from the support as an integral structure, and particularly when a plurality of driving wheels and a plurality of driving belts are arranged, the steps of mounting or dismounting can be simplified, and the cost is further reduced.

In the technical scheme, one side of the fixed shell, which is far away from the spray gun assembly, is provided with the insertion plate, and the insertion plate can extend out or retract in the back plate slot of the frame body.

The lower extreme at fixed casing is provided with the plugboard, and the plugboard can insert the backplate of support body in, realizes the swing joint of fixed casing and support body, utilizes the limit function that the plugboard has simultaneously, and the restriction promotes the position of subassembly, in the assembling process, can realize promoting the preinstallation of subassembly, guarantees to promote the accurate counterpoint of subassembly, is favorable to reducing the assembly degree of difficulty, and then improves assembly efficiency. Meanwhile, the connection relation between the fixed shell and the frame body is more reliable, the lifting assembly shakes when ascending or descending, the stability is better, and the use reliability of the lifting assembly is further improved.

Among the above-mentioned technical scheme, the lifting means still includes: a stop disposed within the stationary housing to limit a range of movement of the spray gun assembly on the stationary housing.

By providing a stop member, the range of movement of the spray gun assembly on the stationary housing is limited, further improving reliability of use. The stop piece can be detachably set up the arbitrary height on fixed casing, through the range of movement of restriction spray gun subassembly on fixed casing, the spraying scope of control spray gun can reach more accurate control effect.

In any of the above technical solutions, the axes of the plurality of driving wheels are coplanar, so that the spray gun assembly moves in a linear direction under the driving of the lifting motor.

The center with a plurality of drive wheels sets up on a straight line, can guarantee that the spray gun subassembly moves along the rectilinear direction, further improves the stability of product, simultaneously, when the face that the axis is vertical, can be so that the promotion height maximize of spray gun subassembly.

In any one of the above technical solutions, the number of the transmission wheels is two, and the lifting motor is in transmission connection with one of the two transmission wheels far away from the frame body.

When the number of the driving wheels is two, the structure is simple, and the installation and the operation are simple and convenient. When the support body rises under the drive of motor, through the cooperation of drive wheel, the conveyer belt rises in the support body through the drive wheel to drive the spray gun subassembly and rise along with the rising of drive belt, it is connected to keep away from a transmission of support body in lift motor and two drive wheels, can reduce the drive belt and to the interference of motor circuit, is favorable to reasonable wiring, improves the safety in utilization of product.

In any of the above technical solutions, the lifting assembly further includes: the fixing part is arranged on the frame body, and the shape of the fixing part is matched with that of the concave teeth of the transmission belt so as to realize the fixed connection of the transmission belt and the frame body.

The fixing part is additionally arranged on the frame body, so that the fixed connection between the transmission belt and the frame body can be realized, and the stability of the product is further improved.

Likewise, it will be appreciated that when there are three stages of lifting structures, or N stages of lifting structures, the fixing portion may also be provided on the belt, also cooperating with the shape of the concave toothing of the other belt. When the spray gun assembly works, the spray gun assembly rises along with the rising of the moving end of the transmission belt at the beginning, when the spray gun assembly rises to a certain height, the fixed part on the transmission belt is connected with the concave teeth of the other transmission belt, after the fixed connection is realized, the other transmission belt continues to rise under the driving of the motor, and through the matching of the transmission wheels, the other transmission belt drives the spray gun assembly to continue to rise, so that the moving distance of the spray gun assembly is increased, and the spraying range of the spraying robot is larger.

In any of the above technical solutions, the transmission wheel is a gear, and the transmission belt is a rack; or the transmission wheel is a belt wheel, and the transmission belt is a synchronous belt; or the driving wheel is a chain wheel, and the driving belt is a chain belt.

The transmission wheel can be, but is not limited to, a gear, a belt wheel or a chain wheel; the driving wheel is a rack, a synchronous belt or a chain belt. Optionally, according to different needs: the gear has compact structure, high meshing degree with the rack and low cost; the belt wheel and the synchronous belt are stably driven, and the vibration is small; the chain belt has low elongation, small diameter of the chain wheel and large bearing capacity.

The utility model discloses technical scheme of the second aspect provides a spraying robot, include: the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body; the lifting assembly of any of the aspects of the first aspect, being movable within the lifting channel; the spray gun assembly is arranged on the lifting assembly.

The utility model discloses the spraying robot that technical scheme of second aspect provided, through being provided with any one of the above-mentioned first aspect technical scheme lift assembly to have above whole beneficial effect, no longer give unnecessary details here.

Among the above-mentioned technical scheme, spraying robot still includes: the cushion block is arranged in the frame body, and the cushion block is arranged at the lowest position of the lifting assembly moving in the frame body.

Be provided with the cushion in the support body, can play absorbing effect, when lifting unit removed the support body extreme low position, lifting unit contradicts with the cushion, can slow down the support body to lifting unit's impact, and the reduction vibration makes spray gun subassembly motion more steady, and the spraying effect is better.

Among the above-mentioned technical scheme, spraying robot still includes: the feeding assembly is arranged in the frame body and communicated with a spray gun of the spray gun assembly so as to feed materials into the spray gun; and/or the moving device is arranged at the bottom of the frame body so as to move the frame body; and/or the power supply device is arranged in the frame body and used for supplying electric energy when the spraying robot runs.

A supply assembly is coupled to the spray gun assembly for providing coating to the spray gun assembly.

The bottom of the frame body is provided with the moving device, so that the rotation of the spraying robot can be realized by moving the frame body, and the spraying work on a larger area or a curved surface or a folded surface can be completed. The moving device can also comprise a sensing device, such as a laser sensor, which can sense the working environment, so as to adjust the position and the orientation of the spray gun assembly and realize automatic control.

The power supply device is arranged in the frame body and provides electric energy for the spraying robot, and compared with a wired power supply line, the interference of the line to the spraying robot in the use process is reduced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a painting robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a painting robot according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of another perspective view of the painting robot according to an embodiment of the present invention;

FIG. 4 is an enlarged schematic view of the portion A shown in FIG. 3;

fig. 5 is a schematic structural diagram of a part of a spraying robot according to an embodiment of the present invention;

wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:

1 lifting component, 11 fixing shell, 111 driving wheel, 113 lifting motor, 115 driving belt, 1151 concave tooth, 117 plugboard, 119 stop piece, 2 frame body, 21 cushion block, 23 feeding component, 25 moving device, 27 power supply device, 201 back plate, 203 fixing part, 205 lifting channel, 3 spray gun component, 331 spray gun, 100 spraying robot.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The lifting assembly 1 and the painting robot 10 according to some embodiments of the present invention are described below with reference to fig. 1 to 5.

As shown in fig. 1 to 3, the present invention provides a lifting assembly 1 for a painting robot 100, including: at least two drive wheels 111; the spraying robot comprises a lifting motor 113 and a transmission belt 115, wherein one side of the transmission belt 115 is fixedly connected with the frame body 2 of the spraying robot 100, the other side of the transmission belt 115 is provided with a spray gun assembly 3, the transmission belt 115 moves under the driving of the lifting motor 113, and the lifting assembly 1 and the frame body 2 move relatively.

Example one

As shown in fig. 1 and 4, in the lifting assembly 1 of the present invention, one side of the conveyor belt (the fixed end of the conveyor belt 115) is fixedly connected to the upper end of the frame body 2, two driving wheels 111 are sequentially disposed along the length direction of the frame body 2, and the conveyor belt is wound around the two driving wheels 111; on the other side of the belt 115 (the moving end of the belt 115) is located a spray gun assembly 3. In this way, when the lifting assembly 1 is driven by the motor to ascend, the movable end of the conveyor belt ascends relative to the frame body 2 through the transmission wheel 111 located above by matching of the transmission wheel 111, so as to drive the spray gun assembly 3 to ascend along with the ascending of the fixed end of the conveyor belt 115. Wherein, under the effect of lifting unit 1, spray gun subassembly 3 rises along support body 2 direction with twice as fast as lifting unit 1. In this way, the lifting assembly 1 presents a two-stage lifting structure: the lifting component 1 is a first-level, and the conveying belt is a first-level. The length of the conveyor belt is the lifting height of the lifting assembly 1, i.e. when the lifting height of the lifting assembly 1 is S, the height at which the spray gun assembly 3 is lifted by the lifting assembly 1 is 2S.

When the lifting assembly 1 is provided with three transmission wheels 111, the transmission belts 115 are respectively wound on two adjacent transmission wheels 111, so as to form a three-stage lifting structure. Two conveyer belts are arranged like this, and are divided into a conveyer belt (a first conveyer belt 115) with a two-stage lifting structure and a conveyer belt (a second conveyer belt 115) with a three-stage lifting structure, the second conveyer belt 115 is wound on one outer side of the added driving wheels 111 and the two original driving wheels 111 and replaces the position of the spray gun assembly 3 in the two-stage lifting structure, the position of the spray gun assembly 3 in the three-stage lifting structure is arranged on the second conveyer belt 115 and is driven by the second conveyer belt 115 to drive the spray gun assembly 3 to ascend along with the ascending of the second conveyer belt 115, and the second conveyer belt 115 is driven by the first conveyer belt 115 and ascends along with the ascending of the first conveyer belt 115. In this way, the lifting assembly 1 presents a three-level lifting structure: the lifting assembly 1 is a single stage, the first belt 115 is a single stage, and the second belt 115 is a single stage. The height at which the lance assembly 3 is raised by the lifting assembly 1 may be 3S. It is understood that the number of the transmission wheels 111 may be multiple, and when the number of the transmission wheels 111 is N, the N-step lifting structure is formed, and the height of the spray gun assembly 3 raised by the lifting assembly 1 may be N times S.

Through the quantity that rationally sets up drive wheel 111, form multistage promotion structure, can reduce the whole height of support body 2 when making spraying robot 100 spray to higher position, make spraying robot 100 get into narrow and small space more easily to the work occasion requirement of adaptation difference. Meanwhile, the lifting assembly 1 is embedded into the frame body 2, or the lifting assembly 1 is sleeved with the frame body, so that the mounting structure can be simplified, and the cost is further saved.

Further, the lifting assembly 1 further comprises: the fixed shell 11, the transmission wheel 111, the lifting motor 113 and the transmission belt 115 are fixedly arranged on the fixed shell 11, and the fixed shell 11 and the frame body 2 can move relatively under the driving of the lifting motor 113.

As shown in fig. 2 and 3, by additionally providing the fixed housing 11 and disposing the transmission wheel 111, the lifting motor 113 and the transmission belt 115 on the fixed housing 11, the transmission belt 115 and the transmission wheel 111 can be protected, and the stability of the lifting assembly 1 can be further improved; meanwhile, the lifting motor 113 is arranged on the fixed shell 11, so that reasonable wiring is facilitated, and the use safety of a product is improved. In addition, the fixed housing 11 can be detached from the support as an integral structure, and particularly when a plurality of driving wheels 111 and a plurality of driving belts 115 are arranged, the mounting or dismounting steps can be simplified, and the cost is further reduced.

Further, a side of the fixing housing 11 away from the spray gun assembly 3 is provided with a plug board 117, and the plug board 117 can extend out or retract in the slot of the back plate 201 of the frame body 2.

The lower end of the fixed housing 11 is provided with a plug board 117, and the plug board 117 can be inserted into the back plate 201 of the frame body 2, so as to realize the movable connection between the fixed housing 11 and the frame body 2. Utilize pinboard 117 simultaneously, limit function that has restricts the position of promotion subassembly 1, in assembly process, can realize promoting the accurate counterpoint of subassembly 1 in advance of installation, guarantee to promote the subassembly 1, be favorable to reducing the assembly degree of difficulty, and then improve assembly efficiency. Meanwhile, the connection relation between the fixed shell 11 and the frame body 2 is more reliable, the lifting assembly 1 shakes when ascending or descending, the stability is better, and the use reliability of the lifting assembly 1 is further improved.

Further, the lifting assembly 1 further comprises: and a stopper 119 provided in the stationary housing 11 to limit a moving range of the spray gun assembly 3 on the stationary housing 11.

By providing the stop 119, the range of movement of the spray gun assembly 3 on the stationary housing 11 is limited, further improving reliability of use. The stop member 119 may be any height detachably disposed on the fixed housing 11, and by limiting the moving range of the spray gun assembly 3 on the fixed housing 11, the spraying range of the spray gun 331 is controlled, so that a more precise control effect can be achieved.

Further, as shown in fig. 5, the axes of the plurality of transmission wheels 111 are coplanar so that the torch assembly 3 moves in a linear direction by the elevating motor 113.

The centers of the plurality of driving wheels 111 are arranged on a straight line, so that the spray gun assembly 3 can move along the straight line direction, the stability of a product is further improved, and meanwhile, the lifting height of the spray gun assembly 3 is maximized.

In some embodiments, as shown in fig. 5, the number of the transmission wheels 111 is two, and the lifting motor 113 is drivingly connected to one of the two transmission wheels 111, which is far from the frame body 2.

When the number of the transmission wheels 111 is two, the structure is simple, and the installation and the operation are simple and convenient. When the support body 2 ascends under the driving of the motor, through the matching of the driving wheels 111, the conveying belt ascends in the support body 2 through the driving wheels 111 to drive the spray gun assembly 3 to ascend along with the ascending of the conveying belt 115, the lifting motor 113 is connected with one transmission far away from the support body 2 in the two driving wheels 111, the interference of the conveying belt 115 to the motor circuit can be reduced, the reasonable wiring is facilitated, and the use safety of products is improved.

Example two

The difference from the first embodiment is that, on the basis of the first embodiment, the lifting assembly 1 further includes: the fixing portion 203 is disposed on the frame body 2, and the shape of the fixing portion 203 matches with the shape of the concave teeth 1151 of the transmission belt 115, so as to fixedly connect the transmission belt 115 with the frame body 2. As shown in fig. 5.

The fixing part 203 is additionally arranged on the frame body 2, so that the fixed connection between the transmission belt 115 and the frame body 2 can be realized, and the stability of the product is further improved.

Likewise, it will be appreciated that when there are three stages of lifting structures, or N stages of lifting structures, the fixed portion 203 may also be provided on the belt 115, with the shape of the concave teeth 1151 of the other belt 115 also being complementary. When the spray gun assembly 3 works, the spray gun assembly rises along with the rising of the moving end of the transmission belt 115 at the beginning, when the transmission belt rises to a certain height, the fixing part 203 on the transmission belt 115 is connected with the concave teeth 1151 of the other transmission belt 115, after the fixed connection is realized, the other transmission belt 115 continues rising under the driving of the motor, and through the matching of the transmission wheel 111, the other transmission belt drives the spray gun assembly 3 to continue rising, so that the moving distance of the spray gun assembly 3 is increased, and the spraying range of the spraying robot 100 is larger.

In some embodiments, the drive wheel 111 is a gear and the drive belt 115 is a rack.

In some embodiments, the drive pulley 111 is a pulley and the drive belt 115 is a timing belt.

In some embodiments, drive wheel 111 is a sprocket and drive belt 115 is a chain belt.

The driving wheel 111 can be, but is not limited to, a gear, a pulley, or a sprocket; the transmission wheel 111 is a rack, a timing belt, or a chain belt. Can choose according to different needs, wherein: the gear has compact structure, high meshing degree with the rack and low cost; the belt wheel and the synchronous belt are stably driven, and the vibration is small; the chain belt has low elongation, small diameter of the chain wheel and large bearing capacity.

An embodiment of the second aspect of the present invention provides a painting robot 100, including: the frame body 2 is internally provided with a lifting channel 205; the lifting assembly 1 of any of the embodiments of the first aspect, being movable within the lifting channel 205; and the spray gun assembly 3 is arranged on the lifting assembly 1.

The utility model discloses the embodiment of second aspect provides a spraying robot 100 through being provided with the lifting means 1 of any one in the above-mentioned first aspect embodiment to have above all beneficial effects, no longer describe herein.

Further, the painting robot 100 further includes: the cushion block 21 is disposed in the frame body 2, and the cushion block 21 is disposed at the lowest position where the lifting assembly 1 moves in the frame body 2.

Be provided with cushion 21 in support body 2, can play absorbing effect, when lifting unit 1 removed 2 extreme low positions of support body, lifting unit 1 contradicts with cushion 21, can slow down support body 2 to lifting unit 1's impact, reduces the vibration, makes spray gun subassembly 3 motion more steady, and the spraying effect is better.

Further, the painting robot 100 further includes: the feeding assembly 23 is disposed in the frame body 2, and the feeding assembly 23 is communicated with the spray gun 331 of the spray gun assembly 3 to feed into the spray gun 331.

A supply assembly 23 is connected to the spray gun assembly 3 for supplying coating material to the spray gun assembly 3.

Further, the painting robot 100 further includes: and a moving device 25 provided at the bottom of the frame body 2 to move the frame body 2.

The moving device 25 is arranged at the bottom of the frame body 2, so that the rotation of the spraying robot 100 can be realized by moving the frame body 2, and the spraying work on a larger area or a curved surface or a folded surface can be completed. The moving device 25 may further include a sensing device, such as a laser sensor, which can sense the working environment, so as to adjust the position and orientation of the spray gun assembly 3 for automatic control.

Further, the painting robot 100 further includes: and a power supply device 27 disposed in the frame body 2 to supply power when the painting robot 100 operates.

The power supply device 27 is arranged in the frame body 2 and provides electric energy for the spraying robot 100, and compared with a wired power supply line, the interference of the line to the spraying robot 100 in the use process is reduced.

Further, as shown in fig. 4, a spray gun 331 is provided on the spray gun assembly 3

And sensing devices, such as sensors, may be used to detect the height of the spray gun assembly. For example, after finishing spraying the wall surface, the spray gun assembly is horizontally arranged at the position of the wall surface close to the ceiling, and the orientation of the spray gun assembly can be rotated by the sensing device to enable the spray gun to face the ceiling, so that the spraying is continued, and the automatic spraying process is realized.

The painting robot provided by the present application is described in detail below with reference to one embodiment described above, and in contrast to the prior art.

At present, the existing spraying industry generally adopts manual roll coating or spraying, and some devices capable of realizing semi-automatic spraying are provided, but the semi-automatic devices are simple in structure and single in function. For example, the spraying system is separated from the equipment, can not walk independently, has low precision and automation degree and has strong dependence on manpower.

Therefore, the utility model provides a spraying robot that can full-automatic spraying, including automatic spraying system, robot walking and route planning system, lifting mechanism system. The spraying device can be used for realizing automatic spraying of wall surfaces and ceilings, spraying quality detection and the like.

Wherein the spray gun in the spray gun group is equipped with the degree of freedom of two dimensions, can realize 360 rotations in the aspect of level and vertical, and the spray gun subassembly has the extension arm in addition, combines the rotatory spraying that can realize the opposite sex wall such as window that wafts of shower nozzle, and optionally, spray gun outrigger mechanism is equipped with can fold rotary mechanism, makes things convenient for equipment business turn over elevator, narrow and small space region such as room door. And simultaneously, the utility model provides a spraying robot spraying that can full-automatic spraying, with the storage, the power supply, the navigation, function such as walking gathers entirely and the whole body, realizes full-automatic spraying operation.

The lifting component provided by the utility model is arranged as a two-stage lifting mechanism, is provided with two synchronous wheels, one is a driving wheel, and the other is a driven wheel, so that the lifting to the ceiling wall surface in two stages can be realized, the ceiling spraying can be realized, meanwhile, because the lifting in two stages is realized, the accommodating size is smaller, the lifting component can easily enter small space areas such as an elevator and a secondary bed; in addition, the single motor realizes two-stage lifting, and has simple structure, reliability and low cost.

To sum up, through the quantity that rationally sets up the drive wheel, form multistage promotion structure, can reduce the whole height of support body when making spraying robot spraying to higher position, make spraying robot get into narrow and small space more easily to adapt to the work occasion requirement of difference. Meanwhile, the lifting assembly is embedded into the frame body, or the lifting assemblies are sleeved with each other, so that the mounting structure can be simplified, and the cost is further saved.

In the present application, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. The utility model provides a lifting unit for spraying robot, spraying robot includes support body and spray gun subassembly, its characterized in that, lifting unit includes:

at least two driving wheels;

the lifting motor is in transmission connection with one of all the transmission wheels;

a transmission belt wound outside the transmission wheels in transmission connection with the lifting motor, the transmission belt is matched with at least two transmission wheels,

one side of the transmission belt is fixedly connected with the frame body, the other side of the transmission belt is provided with the spray gun assembly, so that the transmission belt moves in the frame body under the driving of the lifting motor, and the lifting assembly and the frame body move relatively.

2. The lift assembly of claim 1, further comprising:

the transmission wheel, the lifting motor and the transmission belt are fixedly arranged on the fixed shell, and the fixed shell and the frame body move relatively under the driving of the lifting motor.

3. The lift assembly of claim 2, wherein a side of the stationary housing remote from the spray gun assembly is provided with a patch panel that is extendable and retractable within a back panel slot of the frame body.

4. The lift assembly of claim 3, further comprising:

a stop disposed within the stationary housing to limit a range of movement of the spray gun assembly on the stationary housing.

5. The lift assembly of claim 1, wherein the axes of the plurality of drive wheels are coplanar such that the spray gun assembly moves in a linear direction when driven by the lift motor.

6. The lifting assembly of claim 1, wherein the number of drive wheels is two, and the lifting motor is drivingly connected to one of the two drive wheels remote from the frame body.

7. The lift assembly of claim 1, further comprising:

the fixing part is arranged on the frame body, and the shape of the fixing part is matched with that of the concave teeth of the transmission belt so as to realize the fixed connection of the transmission belt and the frame body.

8. The lift assembly of claim 1,

the transmission wheel is a gear, and the transmission belt is a rack; or

The transmission wheel is a belt wheel, and the transmission belt is a synchronous belt; or

The driving wheel is a chain wheel, and the driving belt is a chain belt.

9. A painting robot, comprising:

the lifting device comprises a frame body, wherein a lifting channel is arranged in the frame body;

a lifting assembly as claimed in any one of claims 1 to 8, movable within the lifting channel;

the spray gun assembly is arranged on the lifting assembly.

10. The spray coating robot of claim 9 further comprising:

the cushion block is arranged in the frame body, and the cushion block is arranged at the lowest position of the lifting assembly moving in the frame body.

11. The spray coating robot of claim 9 further comprising:

the feeding assembly is arranged in the frame body and communicated with a spray gun of the spray gun assembly so as to feed materials into the spray gun; and/or

The moving device is arranged at the bottom of the frame body so as to move the frame body; and/or

And the power supply device is arranged in the frame body and is used for providing electric energy when the spraying robot runs.