CN209924386U

CN209924386U - Spraying robot

Info

Publication number: CN209924386U
Application number: CN201920673142.2U
Authority: CN
Inventors: 许安鹏; 季瑞南; 巫广义; 李略
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-05-09
Filing date: 2019-05-09
Publication date: 2020-01-10
Anticipated expiration: 2029-05-09

Abstract

The utility model provides a spraying robot, include: suspension and lifting devices; the hanging rack is hung and installed on the hanging end of the suspension by the lifting device; the spray gun is movably arranged on the hanging rack and can spray the working surface; the feeding assembly is used for feeding materials to the spray gun; the control device is used for controlling the operation of the lifting device, the feeding assembly and the spray gun; the movable trolley can control the suspension to move transversely or along the direction vertical to the working surface; the surface of the hanging rack, which is close to the operation surface, is provided with the caster which can contact with the operation surface and can roll on the operation surface when the hanging rack moves. This scheme suspension is used for realizing the installation of hanging of stores pylon, and the spray gun can carry out the spraying to the operation face in different regions under the drive of stores pylon, and makes the stores pylon can support on the operation face through the truckle through setting up the truckle, like this alright prevent that the stores pylon is unsettled completely, can make the stores pylon more steady, light when removing through the roll of truckle on the operation face simultaneously.

Description

Spraying robot

Technical Field

The utility model relates to a spraying field, more specifically relates to a spraying robot.

Background

In the modern day of the rapid development of the urbanization process, various high-rise buildings are produced to meet the higher and higher living demands of people. In the building construction process, wall surface spraying is an indispensable construction step. When the spraying robot is used for automatically spraying an outer wall or an inner wall, a hanging rack part of the spraying robot needs to move along the vertical direction or the horizontal direction on a working surface such as a wall surface, so that the spraying of different areas can be realized. And present spraying robot, stores pylon are hung and are installed in the place ahead of operation face, do not set up bearing structure between it and the operation face, just so make the stores pylon take place to rock easily in the use.

Therefore, how to design a spraying robot with a hanger not easy to shake becomes a problem to be solved urgently at present.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.

Therefore, an object of the present invention is to provide a painting robot.

In order to achieve the above object, an embodiment of the first aspect of the present invention provides a spraying robot, including: the suspension is provided with a lifting device; a hanger which can be hung on a hanging end of the suspension by the lifting device; the spray gun is movably arranged on the hanging rack and can spray a working surface; the feeding assembly is arranged on the suspension and/or the hanging rack, is connected with the spray gun and is used for feeding materials to the spray gun; the control device is arranged on the suspension and/or the hanging rack and is connected with the lifting device, the feeding assembly and the spray gun; the suspension is mounted on the movable trolley, and the movable trolley can control the suspension to move along the transverse direction of the working surface and can drive the suspension to move along the direction vertical to the working surface; the hanging rack is provided with casters, the casters are arranged on the surface, close to the operation surface, of the hanging rack, and the casters can be in contact with the operation surface and can roll on the operation surface when the hanging rack moves.

According to the utility model discloses a spraying robot that embodiment provided can specifically be used for spraying high-rise building's outer wall or interior wall, for example spray paint or carry out water spray cleaning to high-rise building's outer wall, perhaps whitewash the building interior wall, for example spout emulsion paint etc.. Specifically, the spraying robot comprises a suspension, a hanging frame, a spray gun, a safety protection device, a feeding assembly, a control device and a moving trolley. The suspension can be specifically used for hanging and installing the eminence, for example install on waiting to spray the roof of building, and the stores pylon passes through elevating gear hoist and mount on the suspension, just so can install the stores pylon on operation faces such as the outer wall of high-rise building. The suspension, the lifting device can be designed as a basket structure in a similar building, so that the spray gun can move along the wall surface of a high-rise building and the like through the basket structure-similar device. The hanging rack is mainly used for bearing a spray gun and the like, so that the spray gun can be moved to a designated area to be sprayed through the hanging rack during spraying. The spray gun is particularly used for spraying working surfaces such as outer walls and inner walls of high-rise buildings, the control device is used for controlling the spray gun, the lifting device and the feeding assembly to work, for example, the spray gun is controlled to move forwards and backwards, or move leftwards and rightwards or rotate, and the feeding assembly is used for feeding materials to the spray gun.

Wherein, make the stores pylon can support on wall such as high-rise building's outer wall or interior wall through setting up the truckle, just so can prevent the stores pylon totally unsettled, therefore rocking of reducible stores pylon improves the installation stability of stores pylon when the spraying. In addition, the rack can be more stable and portable when moving due to the rolling of the caster wheels on the operation surface, so that the driving difficulty of the rack during lifting can be reduced.

Wherein, travelling car is connected with the suspension, like this through the travelling car alright drive the suspension along the transverse direction removal of operation face, for example remove about, just so can not remove different longitudinal region with the stores pylon to carry out the spraying to the region that the operation face is different, in addition, travelling car still can drive the suspension and follow the fore-and-aft direction motion of operation face, just so can adjust the distance between stores pylon and the operation face. The spraying robot can adjust the transverse position and the front-back direction of the spraying robot through the movable trolley during spraying, so that the position of the hanging rack can be adjusted along the transverse direction and the front-back direction of a working face, meanwhile, the height of the hanging rack can be adjusted through the lifting device, so that the spraying robot can move to different positions according to actual needs during spraying to spray different areas, and thus, the automatic spraying of the whole working face can be realized. In addition, the structure decomposes the spraying robot into a first part comprising the suspension and a second part comprising the suspension, and when the suspension is lifted, the suspension does not need to be moved, so that the whole spraying robot can be prevented from frequently moving.

In addition, according to the utility model discloses the spraying robot that above-mentioned embodiment provided still has following additional technical characterstic:

in any one of the above technical solutions, preferably, the number of the casters is multiple, and the casters are arranged on the hanger in multiple rows and multiple columns.

Among these technical scheme, through set up a plurality of truckles on the stores pylon to make a plurality of truckles be multiseriate multirow setting, make a plurality of truckles can form a steady holding surface, thereby can form effective support to the stores pylon. Preferably, the number of the caster wheels is 4, and the 4 caster wheels are preferably distributed on the hanging rack in a rectangular or square shape.

In any of the above technical solutions, preferably, the bottom of the hanger is provided with a plurality of rollers.

In these technical scheme, through the bottom at the stores pylon set up the gyro wheel for the bottom of stores pylon can be through contact such as a plurality of gyro wheels and ground, on removing the stores pylon such as on ground, just can realize the removal of stores pylon through the roll of gyro wheel, just so can reduce the degree of difficulty that removes the stores pylon such as on ground. Preferably, the number of the rollers is 4, and the 4 rollers are preferably distributed on the hanging rack in a rectangular or square shape.

Further preferably, a plurality of the rollers are arranged on the bottom of the hanging rack in a plurality of rows and columns. Make the stores pylon like this can vertical removal, and make the stores pylon can vertically place on ground etc. when installing parts such as spray gun on the stores pylon, just need not fall the stores pylon like this, therefore can improve the installation convenience of other parts on the stores pylon.

Further preferably, the structure, shape and size of the roller are identical to those of the caster.

In these technical schemes, the roller and the caster are preferably arranged in a structure with the same structure, shape and size, that is, the roller and the caster are preferably the same part, so that the types of parts can be reduced, the generation of special-shaped parts can be reduced, and the cost of products can be reduced. In addition, when the device is installed, the caster wheel and the roller wheel are not required to be distinguished intentionally, so that the installation convenience of the hanging rack can be improved.

In any one of the above technical solutions, preferably, the spraying robot further includes: the safety protection device comprises a safety connecting piece and a locking device, wherein the safety connecting piece can be arranged between the suspension and the hanging rack in a retractable mode, the locking device is arranged on the hanging rack and can detect the working state of the lifting device and lock the safety connecting piece when the working state of the lifting device is detected to be abnormal.

In these technical schemes, spraying robot still includes safety arrangement, and safety arrangement includes safety connecting piece and locking device, safety connecting piece can receive and release and install between suspension and stores pylon, safety connecting piece can be preferably the rope, chain isotructure, just so make the stores pylon except that installing on the suspension through elevating gear cable suspension, can also connect between suspension and stores pylon through safety connecting piece, when elevating gear breaks off the equal time like this, the hoist and mount of stores pylon is realized to accessible safety connecting piece, prevent that the stores pylon from directly dropping when the device breaks off that falls. In addition, the locking device can be matched with the lifting device to detect the state of the lifting device, and when the state of the lifting device is abnormal, the safety connecting piece is locked through the locking device, so that the safety connecting piece cannot be continuously retracted and extended, the hanging rack can be stopped to lift, and the safety of the hanging rack is ensured. Specifically, for example, the lifting speed of the lifting device may be detected by the locking device, and when the lifting speed of the lifting device is too high, the operating state of the lifting device is determined to be abnormal, and the safety connection member is locked, or the inclination angle of the lifting device may be detected by the locking device, and when the inclination angle of the lifting device is too large, the operating state of the lifting device is determined to be abnormal, and the safety connection member is locked. Of course, the locking device can also judge that the working state of the lifting device is abnormal when the tightness degree of the lifting rope of the lifting device is insufficient or the lifting rope is broken, and lock the safety connecting piece to ensure the use safety of the hanging rack.

In any one of the above technical solutions, preferably, the control device is further connected to the locking device, and is capable of stopping the operation of the lifting device when the locking device detects that the operation state of the lifting device is abnormal.

In the technical schemes, the locking device is connected with the control device, so that the control device can acquire the state of the lifting device at any time, and the working of the lifting device can be controlled through the control device when the state of the lifting device is abnormal, for example, the lifting device stops working or the lifting speed of the lifting device is reduced, so that the lifting device can stop working immediately when the safety connecting piece is locked when the lifting device is abnormal, and the situation that the lifting device continues to work when the safety connecting piece is locked is prevented.

In any one of the above technical solutions, preferably, the lifting device includes: a power member mounted on the suspension; the lifting connecting piece is connected between the power piece and the hanging rack and can lift the hanging rack under the action of the power piece; the safety connecting piece is a safety rope, the locking device is a safety lock, and the safety lock can lock the safety rope when the state of the lifting connecting piece is abnormal; the abnormal state of the lifting connecting piece comprises that the speed of the lifting connecting piece is greater than a preset speed, the tightness of the lifting connecting piece does not meet a preset tightness requirement, the lifting connecting piece is broken, and the inclination angle of the lifting connecting piece does not meet one or more of preset angle requirements.

In these technical scheme, elevating gear is including installing the power spare on the suspension and connecting the lift connecting piece between suspension and stores pylon, and wherein, power spare is used for promoting power, and the lift connecting piece is used for realizing the lift of stores pylon under the effect of power spare. And the safety link is preferably a safety rope, and the locking device is preferably a safety lock capable of locking the safety rope when the state of the lifting link is abnormal. The safety lock can be a structure like the safety lock used in the construction basket, and the specific working principle of the safety lock can be participated in the principle of the safety lock used in the construction basket. The abnormal state of the lifting connecting piece can be specifically that the speed of the lifting connecting piece is higher than the preset speed, the tightness of the lifting connecting piece does not meet the preset tightness requirement, the lifting connecting piece is broken, the inclination angle of the lifting connecting piece does not meet one or more of the preset angle requirements, and different safety locks can be set for different abnormal states. Specifically, for example, the abnormality that the speed of the lifting connecting member is higher than the preset speed may be set a safety lock capable of detecting the speed and locking the safety rope when the speed is abnormal, and the abnormality that the inclination angle of the lifting connecting member does not satisfy the requirement of the preset angle may be set a safety lock capable of detecting the preset angle and locking the safety rope when the preset angle is too large.

Preferably, the security lock comprises: the locking block is arranged on the hanging rack and can clamp or loosen the safety lock; the centrifugal trigger piece is arranged on the hanging frame and can drive the locking block to lock the safety rope when being triggered; the speed detection piece corresponds the setting of the lifting connecting piece, can sense the speed of the lifting connecting piece and can trigger the centrifugal trigger piece when the speed of the lifting connecting piece is greater than the preset speed.

In these technical schemes, the safety lock includes speed detection piece and centrifugal trigger spare and latch segment, and speed detection structure can specifically be one can produce the flyweight of centrifugal force under the effect of lift connecting piece, and when the falling speed of stores pylon exceeded certain numerical value like this, the centrifugal force that the flyweight produced just can overcome the confined power of spring and outwards get rid of to a certain extent to just can touch the centrifugal trigger spare in waiting, just can lock the latch segment on the safety rope after the centrifugal trigger spare is triggered.

In yet another aspect, the security lock comprises: the locking block is arranged on the hanging rack and can clamp or loosen the safety lock; the centrifugal trigger piece is arranged on the hanging frame and can drive the locking block to lock the safety rope when being triggered; the angle detection mechanism corresponds to the lifting connecting piece and can trigger the centrifugal trigger piece when the inclination angle of the lifting connecting piece is larger than a preset angle or the lifting connecting piece is broken or the lifting connecting piece is loose.

In these technical scheme, accessible angle detection mechanism detects the inclination change of lift connecting piece, just so can trigger the centrifugation when the unusual slope appears in the lift connecting piece and trigger the piece to drive the latch segment action, just so can pin the safety rope, thereby realize pinning of stores pylon.

In any one of the above technical solutions, preferably, the power member is a hoist, and the lifting connecting member is a steel wire rope or a chain.

In these technical schemes, can set up the power part into the lifting machine, and set up the lift connecting piece into wire rope or chain, alright like this the lift of the relatively more commonly used elevating gear realization stores pylon in the building.

In the above another technical solution, preferably, the power member is an electric block, and the lifting connecting member is a chain.

In the technical schemes, the lifting device can be arranged to be of a structure comprising the electric hoist and the chain, so that the lifting of the hanging rack can be realized through the electric hoist and the chain.

Of course, in other schemes, the lifting of the hanging rack can be realized through a hydraulic structure and the like.

In any of the above technical solutions, preferably, the moving trolley is an AGV trolley.

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

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

In any one of the above solutions, preferably, the control device includes a first control element and a second control element, the first control element is installed on the suspension and connected to the lifting device and the feeding assembly, and the second control element is installed on the suspension and connected to the first control element and the spray gun.

In these solutions, it is difficult for a single control member to meet the load requirements of the painting robot in view of the large control workload of the painting robot. Therefore, it may be preferable to divide the control device of the whole machine into two parts, i.e., a first control member and a second control member, and it may be preferable that the first control member is mounted on the hanger to control the operation of the electrical device mounted on the hanger and the second control member is mounted on the hanger to control the operation of the electrical device mounted on the hanger. The second control part is preferably connected with the first control part, so that the control parts of the whole machine can be communicated, the whole machine can be subjected to linkage control, and the phenomenon of independent control of the whole machine is avoided. The arrangement can control the whole machine through two separated control pieces, so that the load of each control piece can be reduced, and the safety of the control device is ensured.

In any one of the above technical solutions, preferably, the supply assembly includes an air compressor and a storage device, the air compressor is installed on the suspension, and with the first control member is connected, the storage device is installed on the hanger, just one end of the storage device with the air compressor is connected, the other end of the storage device with the spray gun is connected.

Among these technical scheme, the feed subassembly includes air compressor and storage device, and wherein, air compressor is used for to storage device in the input air to can increase the pressure in the storage device, and the material in the storage device can be discharged into the spray gun from storage device's discharge gate after pressure increases gradually in the pressure effect, like this through air compressor and storage device alright realize the supply of spraying material. Wherein, the storage device is preferably a storage tank. And through setting air compressor on the suspension, can reduce the weight of stores pylon, make the stores pylon can be more convenient when going up and down. And storage device sets up on the stores pylon, can make storage device and spray gun apart from being nearer to can prevent conveying pipeline overlength.

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

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

In any one of the above technical solutions, preferably, the spraying robot further includes: the cable drum is mounted on the suspension and comprises a cable, one end of the cable is connected with an external power supply or the first control piece, and the other end of the cable is connected with the second control piece; the power line is connected with the first control piece and supplies power to the first control piece; when one end of the cable is connected with the external power supply, the first control piece and the second control piece transmit information in a wireless mode.

In these technical scheme, spraying robot still includes cable drum and power cord, and wherein, the power cord specifically is used for supplying power for first control spare. The cable drum may in one embodiment be used to supply power to the second control member, in which case one end of a cable on the cable drum is connected to an external power source, and in which case the first control member is preferably connected to the second control member wirelessly. In yet another embodiment, the energizing and signal transmission between the first and second control members may be accomplished directly through a cable spool, with the cable connected between the first and second control members. And the setting of cable drum makes the hanger frame in the lift in-process, and the cable conductor can be receive and release along with the lift of hanger, just so can standardize the management to the cable conductor, prevents that the cable conductor overlength from appearing cable conductor winding or cable conductor and other object mutual card dead problems. The first control piece and the second control piece are connected in a wireless mode, so that signal cables of the first control piece and the second control piece can be omitted, and the overall structure of the product is simplified.

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

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

In any one of the above technical solutions, preferably, the spraying robot further includes: a counterweight mounted on a non-suspended end of the suspension.

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

In any one of the above technical solutions, preferably, the spraying robot further includes: a sliding assembly mounted on the hanger and capable of sliding on the hanger along the longitudinal direction of the working surface and/or along the transverse direction of the working surface; the sliding driving piece is connected with the sliding assembly and can drive the sliding assembly to slide; a rotating assembly mounted on the sliding assembly; wherein the spray gun is arranged on the rotating assembly, can slide under the action of the sliding assembly and can rotate under the action of the rotating assembly.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

In any one of the above technical solutions, preferably, the spraying robot further includes: the signal measuring instrument is arranged on the suspension, can emit a ranging signal and receive a reflected signal reflected by a signal reflector, and can determine the distance between the hanger and the suspension according to the emitted ranging signal and the received reflected signal; a signal reflector mounted on the hanger for reflecting ranging signals applied to the signal reflector back to the signal measuring instrument; the control device is also connected with the signal measuring instrument and can control the suspension and the movable trolley to work according to the distance between the hanger and the suspension determined by the signal measuring instrument.

In the technical schemes, the hanging rack, the spray gun and other parts on the hanging rack of the spraying robot as a whole need to be continuously moved on the working surface so as to realize spraying in different areas. And the signal measurement instrument is installed on the suspension for send the signal of finding a distance and receive the reflected signal that the signal reflector reflects back, and the signal reflector is installed on the stores pylon, can reflect the signal measurement instrument back with the signal measurement instrument that the signal measurement instrument sent, just so can confirm the route that the signal went through the time difference of the sending and receipt of these two kinds of signals and the propagation velocity of signal, thereby alright confirm the difference in height between suspension and the stores pylon according to this route, and then just can separate out the high position of stores pylon according to the difference in height between suspension and the stores pylon, just so can confirm this holistic high position of stores pylon, other parts constitution on spray gun and the stores pylon. Simultaneously, because the transverse position of spraying robot is by the travelling car control, consequently, through the travelling car alright know the transverse position of spraying robot, the high position through the stores pylon like this and according to the transverse position that the travelling car determined alright accurately judge the position of stores pylon to alright determine stores pylon, spraying and the overall structure's of other parts constitution on the stores pylon position. And after the position of the hanging rack is determined, the spraying robot can perform route control on the hanging rack according to the position of the hanging rack, so that the hanging rack can automatically avoid obstacles such as windowsills, balconies, corners and the like in the moving process. Specifically, the specific positions of the windowsill, the balcony, the corner and the like can be known in advance according to the construction drawing and the like, and the positions of the windowsill, the balcony, the corner and the like are implanted into the control device in advance, so that when the control device controls the hanger to move, the moving route of the spraying robot can be planned according to the position of the hanger and the specific positions of the windowsill, the balcony, the corner and the like, so that the spraying robot can automatically avoid obstacles such as the windowsill, the balcony, the corner and the like in the moving process, and specifically, for example, when the hanger is controlled to lift up and down, if obstacles such as the windowsill, the balcony, the corner and the like are arranged above and below the hanger, the hanger can be controlled to continue to move after bypassing obstacles such as the windowsill, the balcony, the corner and the like immediately before the hanger is lifted up and down to reach the effect of effectively avoiding obstacles.

In any one of the above technical solutions, preferably, a map of the working surface is provided in the control device, and the control device can control the moving route of the hanger according to the map of the working surface, the distance between the hanger and the suspension, and the position of the mobile cart.

In these solutions, the control device can know the position of obstacles such as windowsills, balconies, corners, and the like by providing a map of the work surface in the control device. And the distance between the hanging rack and the suspension bracket and the position of the movable trolley can represent the position of the hanging rack, therefore, according to the scheme, the control device can obtain the moving route of the hanging rack according to the positions of the obstacles such as the windowsill, the balcony and the corner and the position of the hanging rack, so that the hanging rack can automatically avoid the obstacles such as the windowsill, the balcony and the corner in the moving process.

In any one of the above technical solutions, preferably, the signal measuring instrument is a laser measuring instrument, and the signal reflector is a laser reflecting plate.

In the technical schemes, the distance between the suspension and the hanger can be measured and calculated in a laser ranging mode. Because the laser ranging mode is mature and easy to realize, the cost of the product can be simplified, and the ranging difficulty is reduced. Specifically, the signal measuring instrument can be set as a laser measuring instrument, the hanging rack is provided with a laser reflecting plate, in the structure, the laser measuring instrument is used for sending out a laser signal, receiving the signal reflected by the laser reflecting plate and determining the distance between the hanging rack and the hanging rack according to the two signals, and the laser reflecting plate is used for reflecting the signal sent out by the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can calculate the distance traveled by the laser according to the time from the answering to the receiving of the laser and the propagation speed of the laser in the air, and the distance between the hanging rack and the hanging rack can be determined according to the distance traveled by the laser.

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

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

In any of the above solutions, preferably, the suspension includes a suspended end and a non-suspended end, and the signal measuring instrument is mounted on an end of the suspended end away from the non-suspended end.

In these solutions, the suspension can be mounted on a roof or the like, and the other end of the suspension can be suspended from the work surface. At the moment, the signal measuring instrument can be arranged on the end part of the suspension end, and the suspension can be prevented from blocking interference on the signal sent by the signal measuring instrument, so that the signal sent by the signal measuring instrument can be directly applied to the signal reflector on the suspension frame, the signal intensity applied to the signal reflector can be ensured, and the ranging accuracy of the signal measuring instrument is improved.

In any one of the above technical solutions, preferably, be provided with the depressed area on the bottom of suspension, the suspension can pass through the depressed area is installed on the AGV dolly, be provided with a plurality of pulleys on the bottom of suspension, the suspension is installed when the AGV dolly is last, the suspension can pass through a plurality ofly the pulley with the place the platform contact.

Among these technical scheme, can set up the depressed area in the bottom of suspension, then install the AGV dolly in the depressed area, just so can drive the holistic volume that suspension and AGV dolly constitute through the AGV dolly when, to reduce the area of product. And through set up the pulley on the bottom of suspension for the suspension can with ground contact, and can slide through the pulley when moving along with the AGV dolly, just so can make the removal of suspension more convenient.

Wherein, preferably, the spraying robot is an exterior wall spraying robot. Of course, the spraying robot may be a cleaning robot for a glass curtain wall or the like, or the spraying robot may be an interior wall spraying robot.

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

Drawings

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

fig. 1 is a schematic structural diagram of a spraying robot provided according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a spraying robot including a suspension part according to an embodiment of the present invention;

fig. 3 is another schematic structural diagram of a painting robot including a suspension part according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a spraying robot including a hanging rack part according to an embodiment of the present invention;

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

FIG. 6 is a partial enlarged schematic view of FIG. 5 at A;

fig. 7 is a schematic structural diagram of a spraying robot including a hanging rack part according to an embodiment of the present invention;

fig. 8 is a schematic view of another structure of a coating robot including a hanging rack part according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a spraying robot including a sliding assembly portion provided according to an embodiment of the present invention;

fig. 10 is another schematic structural view of a painting robot including a sliding assembly portion provided in accordance with an embodiment of the present invention;

fig. 11 is a schematic connection diagram between an air compressor, a storage device and a spray gun of a painting robot according to an embodiment of the present invention.

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

1 suspension, 10 recessed areas, 122 power components, 124 lifting connectors, 14 clump weights, 16 cable drums, 18 pulleys, 2 hangers, 20 casters, 22 rollers, 24 weighing instruments, 3 spray guns, 42 safety connectors, 44 safety locks, 50 air compressors, 52 magazines, 54 first valves, 56 second valves, 58 third valves, 62 first controls, 64 second controls, 7 travelling carts, 80 first rails, 82 sliding assemblies, 822 first sliders, 824 second rails, 826 second sliders, 828 first connecting plates, 84 sliding drives, 842 first motors, 844 second motors, 846 first shields, 848 second shields, 86 rotating assemblies, 862 third motors, 864 reducers, 866 second connecting plates, 88 third rails, 92 image acquisition devices, 94 fixed plates, 96 signal measuring instruments, 98 signal reflectors.

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.

A painting robot provided according to an embodiment of the present invention is described below with reference to fig. 1 to 11.

As shown in fig. 1 to 11, an embodiment of the first aspect of the present invention provides a painting robot, which includes a suspension 1, a hanger 2, a spray gun 3, a feeding assembly, a control device, and a moving cart 7. Wherein, a lifting device is arranged on the suspension 1; a hanging rack 2 which can be hung and installed on the hanging end of the suspension rack 1 by a lifting device; the spray gun 3 is movably arranged on the hanging rack 2 and can spray a working surface; a supply assembly mounted on the hanger bracket 1 and/or the hanger bracket 2, connected to the spray gun 3, for supplying the spray gun 3, and the supply assembly may be embodied in a structure including an air compressor 50 and a storage device 52; the control device is arranged on the suspension bracket 1 and/or the hanging bracket 2 and is connected with the lifting device, the feeding assembly and the spray gun 3, and the control device can be a structure comprising a first control element 62 and a second control element 64; the suspension 1 is arranged on a movable trolley 7, and the movable trolley 7 can control the suspension 1 to move along the transverse direction of the working surface and can drive the suspension 1 to move along the direction vertical to the working surface; as shown in fig. 1, 4 and 5, the hanger 2 is provided with casters 20, the casters 20 are provided on a surface of the hanger 2 close to the work surface, and the casters 20 can contact the work surface and roll on the work surface when the hanger 2 moves.

According to the utility model discloses a spraying robot that embodiment provided can specifically be used for spraying high-rise building's outer wall or interior wall, for example spray paint or carry out water spray cleaning to high-rise building's outer wall, perhaps whitewash the building interior wall, for example spout emulsion paint etc.. Specifically, the spraying robot comprises a suspension 1, a hanger 2, a spray gun 3, a safety protection device, a feeding assembly, a control device and a moving trolley 7. The suspension 1 can be specifically used for being suspended and installed at a high place, for example, on the roof of a building to be painted, and the hanging frame 2 is hung on the suspension 1 through the lifting device, so that the hanging frame 2 can be installed on the working surfaces such as the outer wall of a high-rise building. That is, the suspension 1, the suspension 2, the lifting device can here be designed like a basket structure in a building, so that the movement of the spray gun 3 along the wall of a high-rise building or the like can be realized by means of the basket structure-like device. And the hanging rack 2 is mainly used for realizing the bearing of the spray gun 3 and the like, so that the spray gun 3 can be moved to a designated area through the hanging rack 2 for spraying when spraying. The spray gun 3 is specifically used for spraying the working surfaces of the outer wall, the inner wall and the like of the high-rise building, the control device is used for controlling the work of the spray gun 3, the lifting device and the feeding assembly, for example, the work of controlling the spray gun 3 to move back and forth or move left and right or rotate and the like, and the feeding assembly is used for feeding materials to the spray gun 3.

Wherein, make stores pylon 2 can support on wall such as high-rise building's outer wall or interior wall through setting up truckle 20, just so can prevent that stores pylon 2 is unsettled completely, therefore reducible 2 rocking of stores pylon improves the installation stability of stores pylon 2 when the spraying. In addition, the rack 2 can be moved more stably and lightly by the rolling of the caster 20 on the working surface, so that the driving difficulty of the rack 2 during the lifting can be reduced.

Wherein, travelling car 7 is connected with suspension 1, like this through travelling car 7 alright drive suspension 1 along the transverse direction removal of operation face, for example remove about, just so can not remove different vertical region with stores pylon 2 to the region spraying different to the operation face, in addition, travelling car 7 still can drive suspension 1 along the fore-and-aft direction motion of operation face, just so can adjust the distance between stores pylon 2 and the operation face. That is, the transverse position and the front-back direction of the spraying robot can be adjusted by moving the trolley 7 during spraying, so that the position of the hanging rack 2 can be adjusted along the transverse direction and the front-back direction of the working surface, and the height of the hanging rack 2 can be adjusted by the lifting device, so that the spraying robot can move to different positions according to actual needs during spraying to spray different areas, so that the automatic spraying of the whole working surface can be realized. In addition, the structure decomposes the spraying robot into a first part comprising the suspension 1 and a second part comprising the suspension 2, when only the suspension 2 needs to be lifted, the suspension 1 does not need to be moved, so that the whole spraying robot can be prevented from frequently moving, and in addition, the structure can realize the installation of the suspension 2 through the suspension 1, so that the installation does not need to be carried out on other objects for punching installation.

In any of the above embodiments, preferably, as shown in fig. 1, 4 and 5, the number of the casters 20 is plural, and the plural casters 20 are arranged in plural rows and plural columns on the hanger 2.

In these embodiments, the casters 20 are disposed on the hanger 2, and the casters 20 are disposed in multiple rows and columns, so that the casters 20 can form a stable supporting surface, and the hanger 2 can be effectively supported. Preferably, the number of the casters 20 is 4, and the 4 casters 20 are preferably distributed on the hanger 2 in a rectangular or square shape.

In any of the above embodiments, preferably, as shown in fig. 5, a plurality of rollers 22 are provided on the bottom of the hanger 2.

In these embodiments, the rollers 22 are disposed at the bottom of the hanging rack 2, so that the bottom of the hanging rack 2 can contact with the ground through the rollers 22, and the like, and thus, when the hanging rack 2 is moved on the ground, the movement of the hanging rack 2 can be realized through the rolling of the rollers 22, and thus, the difficulty of moving the hanging rack 2 on the ground can be reduced. Preferably, the number of rollers 22 is 4, and the 4 rollers 22 are preferably distributed on the pylon 2 in a rectangular or square shape.

Further preferably, as shown in fig. 5, a plurality of rollers 22 are arranged on the bottom of the pylon 2 in a plurality of rows and columns. Make stores pylon 2 can vertical removal like this, and make stores pylon 2 can vertically place on ground etc. when installing parts such as spray gun 3 on stores pylon 2, just need not put stores pylon 2 down like this, therefore can improve the installation convenience of other parts on stores pylon 2.

It is further preferred that the rollers 22 be constructed, shaped and sized to correspond to the construction, shape and size of the caster 20, as shown in fig. 5.

In these embodiments, it is preferable to provide the roller 22 and the caster 20 in the same structure, shape and size, that is, the roller 22 and the caster 20 are preferably the same component, so that the types of components can be reduced, the generation of profile can be reduced, and the cost of the product can be reduced. In addition, when the installation is carried out, the caster 20 and the roller 22 are not distinguished from each other, so that the convenience of installation of the hanger 2 can be improved.

In any of the above embodiments, preferably, as shown in fig. 1 and 4, the spray robot further includes: safety arrangement, including safety connection 42 and locking device, safety connection 42 can receive and release and install between suspension 1 and stores pylon 2, and locking device installs on stores pylon 2, can detect elevating gear's operating condition to can pin safety connection 42 when detecting elevating gear's operating condition appearance is unusual.

In these embodiments, the spraying robot further includes a safety protection device, and the safety protection device includes a safety connection member 42 and a locking device, the safety connection member 42 can be installed between the suspension 1 and the hanger 2 in a retractable manner, the safety connection member 42 can preferably be a rope, a chain and other structures, so that the hanger 2 can be connected between the suspension 1 and the hanger 2 through the safety connection member 42 except for being installed on the suspension 1 through the lifting device in a hanging manner, and thus when the lifting device breaks and the like, the hanger 2 can be hoisted through the safety connection member 42, and the hanger 2 is prevented from directly falling when the lifting device breaks. In addition, the locking device can be matched with the lifting device to detect the state of the lifting device, and when the state of the lifting device is abnormal, the safety connecting piece 42 is locked through the locking device, so that the safety connecting piece 42 cannot be continuously folded and unfolded, and the lifting of the hanging rack 2 can be stopped, and the safety of the hanging rack 2 is ensured. Specifically, for example, the lifting speed of the lifting device may be detected by the locking device, and when the lifting speed of the lifting device is too high, the operating state of the lifting device is determined to be abnormal, and the safety link 42 is locked, or the inclination angle of the lifting device may be detected by the locking device, and when the inclination angle of the lifting device is too large, the operating state of the lifting device is determined to be abnormal, and the safety link 42 is locked. Of course, the locking device can also determine that the working state of the lifting device is abnormal when the tightness degree of the lifting rope of the lifting device is insufficient or the lifting rope is broken, and lock the safety connecting piece 42 to ensure the use safety of the hanging frame 2.

In any of the above embodiments, preferably, the control device is further connected to a locking device, and is capable of stopping the operation of the lifting device when the locking device detects that the operation state of the lifting device is abnormal.

In these embodiments, the locking device is connected to the control device, so that the control device can acquire the state of the lifting device at any time, and thus, when the state of the lifting device is abnormal, the control device can control the operation of the lifting device, for example, the lifting device stops operating or the lifting speed of the lifting device is reduced, so that when the lifting device is abnormal and the safety connecting member 42 is locked, the lifting device can stop operating immediately, and the situation that the lifting device continues to operate when the safety connecting member 42 is locked is prevented.

In any of the above embodiments, preferably, as shown in fig. 1, the lifting device includes: a power member 122 mounted on the suspension 1; the lifting connecting piece 124 is connected between the power piece 122 and the hanging rack 2 and can lift the hanging rack 2 under the action of the power piece 122; the safety connecting piece 42 is a safety rope, the locking device is a safety lock 44, and the safety lock 44 can lock the safety rope when the state of the lifting connecting piece 124 is abnormal; the abnormal state of the lifting connecting member 124 includes that the speed of the lifting connecting member 124 is greater than a preset speed, the tightness of the lifting connecting member 124 does not meet a preset tightness requirement, the lifting connecting member 124 is broken, and the inclination angle of the lifting connecting member 124 does not meet one or more of preset angle requirements.

In the embodiments, the lifting device includes a power member 122 installed on the suspension 1 and a lifting connection member 124 connected between the suspension 1 and the hanging rack 2, wherein the power member 122 is used for lifting power, and the lifting connection member 124 is used for realizing the lifting of the hanging rack 2 under the action of the power member 122. While the safety link 42 is preferably a safety cord, the locking device is preferably a safety lock 44 capable of locking the safety cord when the condition of the lifting link 124 is abnormal. The safety lock 44 here may be of the same construction as the safety lock used in the construction basket, the specific operating principle of which may take part in the principle of the safety lock used in the construction basket. The abnormal state of the lifting connecting member 124 may be specifically one or more of a speed of the lifting connecting member 124 is greater than a preset speed, a tightness of the lifting connecting member 124 does not meet a preset tightness requirement, the lifting connecting member 124 is broken, an inclination angle of the lifting connecting member 124 does not meet a preset angle requirement, and different safety locks may be set for different abnormal states. Specifically, for example, for an abnormality that the speed of the lifting link 124 is greater than a preset speed, a safety lock capable of detecting the speed and locking the safety rope when the speed is abnormal may be provided, and for an abnormality that the inclination angle of the lifting link 124 does not satisfy a requirement of a preset angle, a safety lock capable of detecting the preset angle and locking the safety rope when the preset angle is too large may be provided.

In one embodiment (not shown), the security lock 44 comprises: a locking block mounted on the hanger 2 and capable of clamping or unclamping the safety lock 44; the centrifugal trigger piece is arranged on the hanging rack 2 and can drive the locking block to lock the safety rope when being triggered; the speed detection piece corresponds the setting of lift connecting piece 124, can respond to the speed of lift connecting piece 124 to can be when the speed of lift connecting piece 124 is greater than preset speed, trigger centrifugal trigger piece.

In these embodiments, the safety lock 44 includes a speed detecting member, a centrifugal trigger member and a locking block, and the speed detecting structure may be embodied as a flyweight capable of generating a centrifugal force under the action of the lifting connecting member 124, so that when the descending speed of the hanger 2 exceeds a certain value, the centrifugal force generated by the flyweight can overcome the constraint force of the spring and be thrown outwards to a certain extent, so as to trigger the centrifugal trigger member in the waiting state, and the centrifugal trigger member can lock the locking block on the safety rope after being triggered.

In yet another version (not shown), the security lock 44 comprises: a locking block mounted on the hanger 2 and capable of clamping or unclamping the safety lock 44; the centrifugal trigger piece is arranged on the hanging rack 2 and can drive the locking block to lock the safety rope when being triggered; the angle detection mechanism is arranged corresponding to the lifting connecting piece 124, and can trigger the centrifugal trigger piece when the inclination angle of the lifting connecting piece 124 is larger than a preset angle or the lifting connecting piece 124 is broken or the lifting connecting piece 124 is loose.

In these embodiments, the change of the inclination angle of the lifting connecting member 124 can be detected by the angle detecting mechanism, so that the centrifugal trigger member can be triggered when the lifting connecting member 124 is abnormally inclined, and the locking block is driven to move, so that the safety rope can be locked, and the locking of the hanger 2 is realized.

In any of the above embodiments, preferably, as shown in fig. 1, the power member 122 is a hoist, and the lifting connecting member 124 is a wire rope or a chain.

In such embodiments, the power member 122 may be configured as a hoist and the lifting link 124 may be configured as a wire rope or chain, such that the lifting of the hanger 2 may be accomplished by a lifting device that is relatively common in buildings.

In the above-mentioned another embodiment, the power member 122 is preferably an electric hoist (not shown in the figure), and the lifting connecting member 124 is preferably a chain.

In these embodiments, the lifting device may be configured to include an electric block and a chain, so that the lifting of the hanger 2 can be performed by the electric block and the chain.

Of course, in other solutions, the lifting of the pylon 2 can also be achieved by means of hydraulic structures or the like.

In any of the above embodiments, the mobile cart 7 is preferably an AGV cart.

In such embodiments, it may be preferable to perform the overall movement of the suspension 1 by the AGV cart, such as side-to-side or front-to-back. Because the AGV trolley can scan the map and automatically move, the spraying route of the spraying robot can be automatically planned.

In any of the above embodiments, preferably, the control means comprises a first control member 62, as shown in fig. 1 and 2, and a second control member 64, as shown in fig. 5, the first control member 62 being mounted on the hanger 1, as shown in fig. 1 and 2, in connection with the lifting device, the signal measuring instrument 96 and the feed assembly, and the second control member 64 being mounted on the hanger 2, as shown in fig. 5, in connection with the first control member 62 and the lance 3.

In such embodiments, it is difficult for a single control member to meet the load requirements of the painting robot given the large amount of control effort of the painting robot. Therefore, it may be preferable to divide the control device of the whole machine into two parts, i.e., the first control member 62 and the second control member 64, and it may be preferable to mount the first control member 62 on the hanger 1 to control the operation of the electric device mounted on the hanger 1 and to mount the second control member 64 on the hanger 2 to control the operation of the electric device mounted on the hanger 2. And the second control member 64 is preferably connected with the first control member 62, so that the control parts of the whole machine can be communicated, and the whole machine can be controlled in a linkage manner without the phenomenon of independent control. The arrangement can control the whole machine through two separated control pieces, so that the load of each control piece can be reduced, and the safety of the control device is ensured.

In any of the above embodiments, preferably, the supply assembly includes an air compressor 50 as shown in fig. 1 and 3 and a stocker 52 as shown in fig. 1 and 4, the air compressor 50 is mounted on the hanger bracket 1 and connected to the first control member 62 as shown in fig. 1 and 3, the stocker 52 is mounted on the hanger bracket 2, one end of the stocker 52 is connected to the air compressor 50, and the other end of the stocker 52 is connected to the spray gun 3 as shown in fig. 1 and 5.

In the embodiments, the supply assembly includes an air compressor 50 and a storage device 52, wherein the air compressor 50 is used for inputting air into the storage device 52 so as to increase the pressure in the storage device 52, and the material in the storage device 52 can be discharged into the spray gun 3 from the discharge port of the storage device 52 under the action of pressure after the pressure is gradually increased, so that the supply of the spraying material can be realized through the air compressor 50 and the storage device 52. Wherein the storage device 52 is preferably a storage tank. And the air compressor 50 is arranged on the suspension 1, so that the weight of the hanger 2 can be reduced, and the hanger 2 can be more conveniently lifted. And storage device 52 sets up on stores pylon 2, can make storage device 52 and spray gun 3's distance be nearer to can prevent the conveying pipeline overlength.

In any of the above embodiments, preferably, as shown in fig. 1 and 4, the spray robot further includes: the weighing apparatus 24 is mounted on the hanger 2 and electrically connected to the second control member 64, and the stocker 52 is mounted on the weighing apparatus 24.

In such embodiments, the scale 24 may be provided on the rack 2, and the magazine 52 may be mounted on the scale 24, so that the material in the magazine 52 can be detected by the scale 24 at any time, so that the material in the magazine 52 can be monitored at any time. The weighing apparatus 24 is connected to the second control member 64 and is capable of sending the weight data of the storage device 52 to the second control member 64, so that when the material in the storage device 52 is too little, the second control member 64 and the first control member 62 control the operation of the lifting device, so that the hanging rack 2 can be moved to a place where the loading operation of the user is convenient, and thus the material can be added into the storage device 52 in time, and the phenomenon that the material in the storage device 52 is used up and is not found yet is prevented.

In any of the above embodiments, preferably, as shown in fig. 1 to 3, the spray robot further includes: the cable drum 16 is installed on the suspension 1, the cable drum 16 comprises a cable, one end of the cable is connected with an external power supply or a first control part 62, and the other end of the cable is connected with a second control part 64; a power cord connected to the first control member 62 and supplying power to the first control member 62; when one end of the cable is connected with an external power supply, the first control element 62 and the second control element 64 transmit information in a wireless mode.

In these embodiments, the painting robot further includes a cable spool 16 and a power cord, wherein the power cord is specifically configured to power the first control member 62. Cable drum 16, in one embodiment, is operable to provide power to second control member 64, wherein one end of a cable on cable drum 16 is connected to an external power source, and wherein the connection between first control member 62 and second control member 64 is preferably wireless. In yet another embodiment, electrical power and signal transmission between first and

second control members

62 and 64 may be accomplished directly through cable spool 16, with the cable wire connected between first and

second control members

62 and 64. And the setting of cable drum 16 makes stores pylon 2 in the lift in-process, and the cable conductor can be receive and release along with the lift of stores pylon 2, just so can standardize the management to the cable conductor, prevents that the cable conductor overlength from appearing the cable conductor winding or the dead problem of cable conductor and other object mutual card. The first control element 62 and the second control element 64 are connected in a wireless manner, so that signal cables of the first control element 62 and the second control element 64 can be omitted, and the overall structure of the product is simplified.

In any of the above embodiments, preferably, as shown in fig. 11, the feed assembly further comprises: the first valve 54 is connected between the air compressor 50 and the storage device 52 and used for controlling the on-off between the air compressor 50 and the storage device 52; the second valve 56 is connected between the storage device 52 and the spray gun 3 and is used for controlling the on-off between the air compressor 50 and the spray gun 3; a third valve 58 is connected between the magazine 52 and the lance 3 for controlling the flow between the air compressor 50 and the lance 3.

In these embodiments, the first valve 54 is provided to control the on/off between the air compressor 50 and the storage device 52, so as to control the pressure in the air compressor 50, and thus achieve the purpose of controlling the start/stop of the air compressor 50. Of course, the start-stop control of the air compressor 50 may also be controlled by a start-stop switch. The first valve 54 is preferably a solenoid valve, because the control of the solenoid valve is more convenient and accurate. The second valve 56 is preferably a proportional valve, and the second valve 56 is arranged to control the on-off between the storage device 52 and the spray gun 3, so that the start-stop of the spray gun 3 can be controlled. And the second valve 56 may preferably be a needle-top valve. And a third valve 58 may be used to control the flow between the magazine 52 and the lance 3 so that the flow of air and hence the rate of atomisation of the material from the lance 3 can be controlled. I.e. here the third valve 58 is a flow regulating valve.

In any of the above embodiments, preferably, as shown in fig. 1 to 3, the spray robot further includes: a counterweight 14 mounted on the non-suspended end of the suspension 1.

In these embodiments, the weight 14 is provided to balance the weight of the suspension 1 itself, so as to prevent the suspension 1 from being too heavy and the whole suspension structure from overturning.

In any of the above embodiments, preferably, as shown in fig. 4 to 10, the spray robot further includes: a sliding assembly 82 mounted on the hanger 2 and capable of sliding on the hanger 2 in the longitudinal direction of the work surface and/or in the transverse direction of the work surface; a sliding driving member 84 connected to the sliding member 82 and capable of driving the sliding member 82 to slide; a rotating assembly 86 mounted on the sliding assembly 82; wherein the spray gun 3 is mounted on the rotating assembly 86, can slide under the action of the sliding assembly 82, and can rotate under the action of the rotating assembly 86.

In these embodiments, the sliding assembly 82 is slidably mounted on the hanger 2 and can slide along the height direction or the transverse direction of the working surface of the assembly of the spray gun 3, so as to drive the spray gun 3 to move along the height direction or the transverse direction of the working surface, and the sliding driving member 84 is used for driving the sliding assembly 82 to slide, so that the sliding assembly 82 can be automatically driven by the sliding driving member 84, and thus the automatic sliding of the spray gun 3 along the up-down left-right direction of the working surface can be realized. The rotating assembly 86 is mounted on the sliding assembly 82 and can rotate relative to the working surface, so that the spray gun 3 can be driven to rotate by the rotating assembly 86. By providing the rotating unit 86, the corner of the work surface and the like can be painted by the painting robot by rotating the rotating unit 86 at the time of painting. The spray gun 3 of this structure can slide in the height direction and/or the lateral direction of the work surface by the slide unit 82 and can rotate by the rotation unit 86, and the spray gun 3 of this structure has a high degree of freedom, and specifically, the spray gun can freely move in the vertical and horizontal directions of the work surface and can freely rotate, so that when the outer wall or the inner wall of a high-rise building is painted and cleaned by the spray gun 3, the area around the spray gun 3 can be painted and cleaned by the free movement and rotation of the spray gun 3, and the area where the spray gun 3 can paint can be increased each time, and the suspension 1 of the spray robot does not need to be frequently moved, and the spray robot does not need to be frequently moved as a whole. And for the spraying robot, the spraying robot is difficult to move, so the control difficulty of the spraying robot can be reduced by increasing the degree of freedom of the spray gun 3 and reducing the moving times of the spraying robot, and the structure of a product is simplified.

Wherein, the angle that the spray gun 3 can rotate is preferably more than or equal to 0 degrees and less than or equal to 180 degrees, namely in the application, the spray gun 3 preferably only rotates 180 degrees, so that the structure of the spray gun 3 can be more reasonable and compact. Of course, the lance 3 may also be provided with a structure capable of rotating 360 °.

In any of the above embodiments, preferably, as shown in fig. 4, 7, 9 and 10, the painting robot further includes a first rail 80, the first rail 80 being mounted on the hanger 2 and disposed in a transverse direction of the work surface, and as shown in fig. 9 and 10, the sliding assembly 82 includes: a first slider 822 slidably attached to the first rail 80 and slidable along the first rail 80; a second guide rail 824 installed on the first slider 822 and disposed in a longitudinal direction of the work surface; a second slider 826 slidably attached to the second rail 824 and slidable along the second rail 824; the rotating assembly 86 is mounted on the second slider 826, the sliding driving member 84 includes a first driving member and a second driving member, the first driving member is mounted on the hanger 2, connected to the first slider 822, and used for driving the first slider 822 to slide, and the second driving member is mounted on the hanger 2, connected to the second slider 826, and used for driving the second slider 826 to slide.

In this embodiment, the spraying robot further includes a first rail 80, the first rail 80 is disposed along a transverse direction of the working surface, i.e., a left-right direction of the working surface, and the sliding assembly 82 includes a first slider 822, a second rail 824 and a second slider 826, the sliding assembly 82 can be slidably mounted on the first rail 80 through the first slider 822 and can slide along the first rail 80, so that the sliding assembly 82 can drive the spray gun 3 to slide along the transverse direction, and the second slider 826 can be slidably mounted on the second rail 824, so that the spray gun 3 can be driven to slide along the height direction through the sliding of the second slider 826 on the second rail 824, so that the up-down, left-right, and up-down positions of the spray gun 3 can be adjusted through the sliding of the sliding assembly 82 on the first rail 80 and the sliding of the second slider 826 on the second rail 824. The first guide rail 80 and the second guide rail 824 can limit the sliding direction, so that the sliding assembly 82 and the second slide block 826 can be prevented from deviating from the predetermined route when sliding, and the spray gun 3 can slide to the predetermined position according to the predetermined route to spray the working surface of the predetermined area. The structure can adjust the position of the spray gun 3 through the sliding in the height direction and the left-right direction, so that the height position adjustment and the left-right position adjustment of the spray gun 3 are independent, and the convenience of the height adjustment and the left-right adjustment of the spray gun 3 can be improved. Meanwhile, the first driving part which can drive the first sliding block 822 to slide is installed corresponding to the first guide rail 80, and the second driving part which can drive the second sliding block 826 to slide is installed corresponding to the second guide rail 824, so that the first sliding block 822 and the second sliding block 826 can be driven independently through two independent driving parts, and the first sliding block 822 and the second sliding block 826 can be independent and do not mutually interfere with each other when sliding, so that the transverse independent adjustment and the height independent adjustment of the spray gun 3 can be realized, and the freedom degree of the movement of the spray gun 3 is improved.

In any of the above embodiments, preferably, as shown in fig. 4 and 7, the spray robot further includes: a third guide rail 88 mounted on the hanger 2 and arranged in the transverse direction of the work surface; and a third slider slidably mounted on the third rail 88 and connected to the second rail 824.

In these embodiments, the third guide rail 88 is disposed on the hanging rack 2, and the third sliding block is slidably mounted on the third guide rail 88 and connected to the sliding assembly 82, specifically, connected to the second guide rail 824, so that when the sliding assembly 82 slides relative to the first guide rail 80, the third sliding block can be driven to slide on the third guide rail 88, and thus, the sliding movement of the sliding assembly 82 can be guided by the first guide rail 80 and the third guide rail 88 at the same time. That is, the slide assembly 82 is slidably mounted on the third rail 88 and the first rail 80 in this configuration. And the reliability of the connection between the sliding assembly 82 and the hanging rack 2 can be enhanced by arranging the third guide rail 88, and the instable installation of the sliding assembly 82 is prevented.

In any of the above embodiments, preferably, the first guide rail 80 and the hanger 2 are of a split structure, or the first guide rail 80 and the hanger 2 are of an integrated structure; the third guide rail 88 and the hanging rack 2 are of a split structure, or the third guide rail 88 and the hanging rack 2 are of an integrated structure.

In these embodiments, the first rail 80 and the hanger 2 are preferably a split structure, i.e., two separate structures, and the hanger 2 and the first rail 80 are preferably detachably connected, so that the first rail 80 can be detached together with the assembly of the spray gun 3, so that the first rail 80 and the assembly of the spray gun 3 can be disassembled, repaired or replaced as a single part in the actual process. Of course, the first rail 80 and the hanging rack 2 can be of an integral structure. Similarly, the third guide rail 88 and the hanging rack 2 are preferably of a split structure, but of course, may be of an integral structure.

In any of the above embodiments, preferably, as shown in fig. 9 and 10, a first connection plate 828 is disposed between the first slider 822 and the second rail 824, the first connection plate 828 is connected with the first slider 822 through a screw, and the first connection plate 828 is connected with the second rail 824 through a screw.

In these embodiments, the first connection plate 828 may be disposed between the first slider 822 and the second guide rail 824, which may enable the first slider 822 and the second guide rail 824 to be more firmly connected, and preferably, the first connection plate 828 and the first slider 822 and the first connection plate 828 and the second guide rail 824 are preferably connected by screws, because the screws are simpler and more reliable.

In any of the above embodiments, preferably, as shown in fig. 9 and 10, the driving member one includes a first motor 842, a first driving belt, a first driving wheel and a first driven wheel, the first motor 842 is mounted on the hanger 2, the first driving wheel is mounted on a motor shaft of the first motor 842, the first driven wheel is rotatably mounted on the hanger 2, the first driving belt is mounted on the first driving wheel and the first driven wheel in a sleeving manner and is connected with the first sliding block 822; the driving member two includes a second motor 844, a second transmission belt, a second driving wheel and a second driven wheel, the second motor 844 is installed on the hanger 2, the second driving wheel is installed on a motor shaft of the second motor 844, the second driven wheel is rotatably installed on the hanger 2, and the second transmission belt is sleeved on the second driving wheel and the second driven wheel and is connected with the second slider 826.

In these embodiments, the first motor 842 preferably drives the first sliding block 822 to slide, and the first motor 842 and the first sliding block 822 are preferably connected through a first transmission belt, a first driving wheel and a first driven wheel, and the second motor 844 can drive the second sliding block 826 to slide, and the second motor 844 and the second sliding block 826 are preferably connected through a second transmission belt, a second driving wheel and a second driven wheel. The structure can drive the first slider 822 and the second slider 826 in a belt transmission mode, so that the structures of the first driving piece and the second driving piece are simpler, and the structure of a product can be simplified. Preferably, the first motor 842 and the second motor 844 can be connected with the first slider 822 and the second slider 826 through belts and pulleys, and of course, transmission structures such as gears can be further arranged between the first motor 842 and the first slider 822 and between the second motor 844 and the second slider 826, so as to reasonably control the speed of the first slider 822 and the second slider 826.

Here, the first motor 842 and the second motor 844 are preferably both servo motors. Since the control accuracy of the servo motor is high, the coating accuracy of the spray gun 3 can be ensured.

Here, preferably, the second motor 844 is preferably installed at a lower end of the second rail 824, so that the second motor 844 can perform sliding driving of the second slider 826 from the lower end of the second rail 824.

In any of the above embodiments, preferably, as shown in fig. 9 and 10, the spraying robot further includes a first protective cover 846 and a second protective cover 848, the first protective cover 846 is mounted at a motor shaft end of the first motor 842 and can cover a motor shaft of the first motor 842, and the second protective cover 848 is mounted at a motor shaft end of the second motor 844 and can cover a motor shaft of the second motor 844.

In these embodiments, by providing the first protective cover 846 and the second protective cover 848, rainwater and dust can be effectively prevented from affecting the operation of the first motor 842 and the second motor 844. Among them, it is preferable that the first and second protection caps 846 and 848 have a square shape because the square shape has a large area, so that the protection performance of the protection cap can be enhanced.

In any of the above embodiments, preferably, as shown in fig. 5, 6, 9 and 10, the rotating assembly 86 includes: a third motor 862 mounted on the slide assembly 82; a reducer 864 installed on the sliding assembly 82 and connected to the third motor 862; a second connecting plate 866 mounted on the output shaft of the reducer 864; wherein, spray gun 3 is installed on second connecting plate 866, and third motor 862 rotates and can drive spray gun 3 and rotate.

In such embodiments, power may be supplied by the third electric motor 862 while the reducer 864 is used to adjust the speed of the spray gun 3 while increasing the output torque so that the speed of the output shaft can be controlled within a reasonable range. And the second connecting plate 866 is used for realizing the installation of the spray gun 3, and meanwhile, the second connecting plate 866 can increase the rotating radius of the spray gun 3 so that the spray gun 3 can spray a larger area at one time through rotation. In addition, the second connection plate 866 can increase the installation space of the lance 3, increase the contact area between the lance 3 and the decelerator 864, and improve the installation stability between the decelerator 864 and the lance 3.

Among them, the third motor 862 is preferably a servo motor because the control accuracy of the servo motor is higher, so that the control accuracy of the speed of the rotating shaft and the like can be improved.

In any of the above embodiments, preferably, as shown in fig. 5 and 6, the spray robot further includes: the image acquisition device 92 is arranged on the hanging rack 2 and used for acquiring the image of the sprayed working surface; the second control element 64 is further connected to the image acquisition device 92, and can determine whether the spraying of the working surface is qualified or not according to the comparison between the image acquired by the image acquisition device 92 and the standard image, and control the spray gun 3 to re-spray the working surface when determining that the spraying of the working surface is not qualified.

In these embodiments, the image capturing device 92 is configured to capture an image of the work surface that has been sprayed, the second control element 64 is further connected to the image capturing device 92, and can determine whether the spraying of the work surface is qualified according to the image captured by the image capturing device 92 and the standard image, and the second control element 64 can also perform re-spraying on the work surface when determining that the spraying of the work surface is not qualified. This kind of structure can gather the spraying condition of the operation face after the spraying through image acquisition device 92, can compare the image of gathering with the standard figure simultaneously to it is qualified to determine the spraying of operation face, just so can be after spraying machine people spraying is unqualified, carries out the spraying again to the operation face of spraying, just so can ensure the spraying quality, avoids the spraying defect, prevents that the phenomenon that the quality of automatic spraying is not good from taking place.

In the above embodiment, it is preferable that the image pickup device 92 is an industrial camera or a video camera.

In this embodiment, the image capturing device 92 may be an industrial camera or a video camera, and when the image capturing device 92 is an industrial camera, the image capturing device can directly store the painted working surface in the form of a picture through the industrial camera, and at this time, a qualified standard picture can be stored in the storage device in advance, so that whether the painting quality is qualified can be determined by analyzing and comparing the difference between the picture shot by the industrial camera and the pre-stored pattern sample. When the image acquisition device 92 is a camera, the sprayed working surface can be directly stored in a video mode through the camera, at the moment, a qualified standard video can be stored in the storage device in advance, and whether the spraying quality is qualified or not can be judged by analyzing and comparing the difference between the video shot by the camera and the pre-stored standard video.

Further preferably, as shown in fig. 5 and 6, the image capturing device 92 is mounted on the second slider 826. This enables the image capturing device 92 and the spray gun 3 to be installed correspondingly, so that the image capturing device 92 and the spray gun 3 can be installed at substantially the same position, so that the image after spraying can be conveniently captured by the image capturing device 92 after the spray gun 3 is sprayed. In addition, the structure can realize the position adjustment of the image acquisition device 92 and the spray gun 3 through the same sliding assembly 82, thereby simplifying the structure of the product and reducing the cost of the product.

In any of the above embodiments, preferably, as shown in fig. 5 and 6, the spray robot further includes: and a fixing plate 94 mounted on the second slider 826 by screws, and the image pickup device 92 is mounted on the fixing plate 94.

In such embodiments, a fixing plate 94 may be disposed on the second slide block 826, the fixing plate 94 is preferably fixed to the second slide block 826 by screws, and the image capture device 92 may be directly fixed to the fixing plate 94, such that the image capture device 92 is mounted on the slide assembly 82. And specifically, the structure of the fixing plate 94 may be reasonably arranged so that the fixing plate 94 can perform reasonable limit fixing on the image capturing device 92.

In any of the above embodiments, preferably, as shown in fig. 1 and 3, the spray robot further includes: a signal measuring instrument 96 which is installed on the suspension 1, can emit a ranging signal and receive a reflected signal reflected by the signal reflector 98, and can determine the distance between the hanger 2 and the suspension 1 according to the emitted ranging signal and the received reflected signal; as shown in fig. 5, 7 and 8, the painting robot further includes: a signal reflector 98 mounted on the hanger 2 for reflecting the ranging signal applied to the signal reflector 98 back to the signal measuring instrument 96; the control device is also connected with the signal measuring instrument 96 and can control the suspension 1 and the movable trolley 7 to work according to the distance between the hanger 2 and the suspension 1 determined by the signal measuring instrument 96.

In these embodiments, the hanger 2, the spray gun 3 and other parts on the hanger 2 of the painting robot as a whole need to be moved continuously over the work surface to achieve painting of different areas. The signal measuring instrument 96 is installed on the suspension 1 and used for sending a distance measuring signal and receiving a reflection signal reflected by the signal reflector 98, the signal reflector 98 is installed on the suspension 2 and can reflect the distance measuring signal sent by the signal measuring instrument 96 back to the signal measuring instrument 96, so that the distance traveled by the signal can be determined according to the time difference between sending and receiving of the two signals and the propagation speed of the signal, the height difference between the suspension 1 and the suspension 2 can be determined according to the distance, the height position of the suspension 2 can be analyzed according to the height difference between the suspension 1 and the suspension 2, and the overall height position formed by the suspension 2, the spray gun 3 and other parts on the suspension 2 can be determined. Simultaneously, because the transverse position of spraying robot is controlled by travelling car 7, consequently, through travelling car 7 alright know the transverse position of spraying robot, the position of stores pylon 2 can accurately be judged with the transverse position who determines according to travelling car 7 through the high position of stores pylon 2 like this to alright determine stores pylon 2, spraying and stores pylon 2 on the overall structure's of other parts constitutions position. And after the position of the hanging rack 2 is determined, the spraying robot can perform route control on the hanging rack 2 according to the position of the hanging rack 2, so that the hanging rack 2 can automatically avoid obstacles such as windowsill opening, balcony and corner in the moving process. Specifically, the specific positions of the windowsill, the balcony, the corner and the like can be known in advance according to the construction drawing and the like, and the positions of the windowsill, the balcony, the corner and the like are implanted into the control device in advance, so that when the control device controls the hanging rack 2 to move, the moving route of the spraying robot can be planned according to the position of the hanging rack 2 and the specific positions of the windowsill, the balcony, the corner and the like, so that the spraying robot can automatically avoid obstacles such as the windowsill, the balcony, the corner and the like in the moving process, specifically, for example, when the hanging rack 2 is controlled to lift up and down, if obstacles such as the windowsill, the balcony, the corner and the like are arranged above and below the hanging rack 2, the hanging rack 2 can be controlled to continue to move after bypassing obstacles such as the windowsill, the balcony, the corner and the like, and thus, the effect of effectively avoiding obstacles can be achieved.

In any of the above embodiments, it is preferable that a map of the work surface is provided in the control device, and the control device can control the movement path of the hanger 2 based on the map of the work surface, the distance between the hanger 2 and the suspension 1, and the position of the traveling carriage 7.

In these embodiments, the control device can know the position of obstacles such as windowsills, balconies, corners, and the like by providing a map of the work surface in the control device. And the distance between the hanging rack 2 and the suspension bracket 1 and the position of the movable trolley 7 can represent the position of the hanging rack 2, therefore, according to the scheme, the control device can drive the moving route of the hanging rack 2 according to the positions of obstacles such as windowsills, balconies, corners and the like and the position of the hanging rack 2, so that the hanging rack 2 can automatically avoid the obstacles such as the windowsills, the balconies, the corners and the like in the moving process.

In any of the above embodiments, preferably, as shown in fig. 1 and 3, the signal measuring instrument 96 is a laser measuring instrument, and as shown in fig. 5, 7 and 8, the signal reflector 98 is a laser reflecting plate.

In these embodiments, the distance between the suspension 1 and the hanger 2 can be measured by laser ranging. Because the laser ranging mode is mature and easy to realize, the cost of the product can be simplified, and the ranging difficulty is reduced. Specifically, the signal measuring instrument 96 may be a laser measuring instrument, and a laser reflecting plate may be provided on the hanger 2, and in this structure, the laser measuring instrument is configured to emit a laser signal, receive a signal reflected by the laser reflecting plate, and determine the distance between the hanger 2 and the hanger 1 based on the two signals, and the laser reflecting plate is configured to reflect the signal emitted by the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can calculate the distance traveled by the laser based on the time from the answer to the receipt of the laser and the propagation speed of the laser in the air, and the distance between the hanger 2 and the hanger 1 can be determined based on the distance traveled by the laser.

In any of the above embodiments, preferably, as shown in fig. 5, 7 and 8, the number of the laser reflection plates is two, and the two laser reflection plates are symmetrically mounted on the hanger 2 in the transverse direction of the work surface.

In these embodiments, the laser that can come to laser measuring apparatu send through two laser reflecting plates reflects, can strengthen the volume of the laser that reflects back like this to can strengthen the feedback signal that laser measuring apparatu can receive, just so can be when carrying out contrastive analysis through the laser signal who sends and the laser signal of feedback, the reliability of the laser signal of reinforcing feedback improves the accuracy of laser rangefinder, thereby can realize the accurate control to the position shift of stores pylon 2.

In any of the above embodiments, preferably, as shown in fig. 1 and 3, the suspension 1 includes a suspended end and an unsuspended end, and the signal measuring instrument 96 is mounted on an end of the suspended end remote from the unsuspended end.

In these embodiments, the suspension 1 may be installed on a roof or the like, and the other end of the suspension 1 may be suspended from the work surface. At this time, the signal measuring instrument 96 can be installed on the end of the suspension end, and the arrangement can prevent the suspension 1 from blocking interference to the signal sent by the signal measuring instrument 96, so that the signal sent by the signal measuring instrument 96 can be directly applied to the signal reflector 98 on the suspension 2, the signal intensity applied to the signal reflector 98 can be ensured, and the ranging accuracy of the signal measuring instrument 96 can be improved.

In any of the above embodiments, preferably, as shown in fig. 3, the bottom of the suspension 1 is provided with a recessed area 10, and the suspension 1 can be mounted on the AGV cart through the recessed area 10, as shown in fig. 1 and 3, the bottom of the suspension 1 is provided with a plurality of pulleys 18, and when the suspension 1 is mounted on the AGV cart, the suspension 1 can be in contact with the placing platform through the plurality of pulleys 18.

In these embodiments, can set up depressed area 10 in the bottom of suspension 1, then install the AGV dolly in depressed area 10, just so can drive the holistic volume that suspension 1 and AGV dolly constitute through the AGV dolly when moving suspension 1 wholly, with the area that reduces the product. By arranging the pulley 18 on the bottom of the suspension 1, the suspension 1 can be in contact with the ground and can slide through the pulley 18 when moving with the AGV trolley, so that the movement of the suspension 1 can be more convenient.

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

1. A painting robot, comprising:

the suspension (1), install the lifting gear on the said suspension (1);

a hanging rack (2) which can be hung and mounted on the hanging end of the suspension (1) by the lifting device;

the spray gun (3) is movably arranged on the hanging rack (2) and can spray a working surface;

the feeding assembly is arranged on the suspension bracket (1) and/or the hanging bracket (2), is connected with the spray gun (3) and is used for feeding the spray gun (3);

the control device is arranged on the suspension (1) and/or the hanging rack (2) and is connected with the lifting device, the feeding assembly and the spray gun (3);

the suspension (1) is mounted on the moving trolley (7), and the moving trolley (7) can control the suspension (1) to move along the transverse direction of the working surface and can drive the suspension (1) to move along the direction vertical to the working surface;

the hanging rack (2) is provided with casters (20), the casters (20) are arranged on the surface, close to the operation surface, of the hanging rack (2), and the casters (20) can be in contact with the operation surface and can roll on the operation surface when the hanging rack (2) moves.

2. The painting robot of claim 1,

the quantity of truckle (20) is a plurality of, a plurality of truckle (20) are in be multiseriate multirow setting on the stores pylon (2).

3. The painting robot of claim 1,

the bottom of the hanging rack (2) is provided with a plurality of rollers (22).

4. A painting robot according to claim 3,

the rollers (22) are arranged on the bottom of the hanging rack (2) in multiple rows and columns; and/or

The structure, shape and size of the roller (22) are consistent with the structure, shape and size of the caster (20).

5. The painting robot of claim 1,

the moving trolley (7) is an AGV trolley.

6. The painting robot of claim 1,

the control device comprises a first control member (62) and a second control member (64), the first control member (62) is mounted on the suspension (1) and is connected with the lifting device and the feeding assembly, the second control member (64) is mounted on the hanger (2) and is connected with the first control member (62) and the spray gun (3);

the feed assembly comprises an air compressor (50) and a storage device (52), wherein the air compressor (50) is installed on the suspension (1) and connected with the first control element (62), the storage device (52) is installed on the suspension rack (2), one end of the storage device (52) is connected with the air compressor (50), and the other end of the storage device (52) is connected with the spray gun (3).

7. The spray coating robot of claim 6 further comprising:

a cable drum (16) mounted on the suspension (1), the cable drum (16) comprising a cable, one end of the cable being connected to an external power source or to the first control element (62), the other end of the cable being connected to the second control element (64);

a power cord connected to the first control member (62) and supplying power to the first control member (62);

when one end of the cable is connected with the external power supply, the first control part (62) and the second control part (64) transmit information in a wireless mode.

8. A painting robot as claimed in any one of claims 1 to 7, further comprising:

a counterweight (14) mounted on the non-suspended end of the suspension (1).

9. A painting robot as claimed in any one of claims 1 to 7, further comprising:

a sliding assembly (82) mounted on the hanger (2) and capable of sliding on the hanger (2) in the longitudinal direction of the work surface and/or in the transverse direction of the work surface;

a sliding driving piece (84) which is connected with the sliding assembly (82) and can drive the sliding assembly (82) to slide;

a rotating assembly (86) mounted on the sliding assembly (82);

wherein the lance (3) is mounted on the rotating assembly (86) slidable under the action of the sliding assembly (82) and rotatable under the action of the rotating assembly (86).

10. A painting robot according to claim 9, characterized in that it further comprises a first guide rail (80), said first guide rail (80) being mounted on said pylon (2) and being arranged in a direction transverse to said work plane, said sliding assembly (82) comprising:

a first slider (822) slidably attached to the first rail (80) and slidable along the first rail (80);

a second guide rail (824) attached to the first slider (822) and arranged in the longitudinal direction of the work surface;

a second slider (826) slidably attached to the second rail (824) and slidable along the second rail (824);

the rotating assembly (86) is mounted on the second sliding block (826), the sliding driving member (84) comprises a first driving member and a second driving member, the first driving member is mounted on the hanger (2) and connected with the first sliding block (822) for driving the first sliding block (822) to slide, and the second driving member is mounted on the hanger (2) and connected with the second sliding block (826) for driving the second sliding block (826) to slide.