CN210459896U

CN210459896U - Spray coating system

Info

Publication number: CN210459896U
Application number: CN201921252961.6U
Authority: CN
Inventors: 阳凯; 赵继开; 丁兆瑞; 李略
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2020-05-05
Anticipated expiration: 2029-08-05

Abstract

The utility model provides a spraying system, include: a suspension assembly comprising a suspension, a lifting device and a connection to the lifting device; the spraying robot is connected with one end of the connecting piece, which is far away from the lifting device, and can lift under the action of the lifting device and the connecting piece, and the spraying robot is used for spraying the operation body; the safety protection device is installed on the suspension, corresponds to the connecting piece and is arranged, so that the state of the connecting piece can be detected, and the spraying robot can stop lifting when the connecting piece is in an abnormal state. This scheme spraying system specifically includes suspension assembly, spraying robot and safety arrangement, and suspension assembly is used for realizing the hoist and mount of spraying robot on the side of building, and safety arrangement corresponds the connecting piece setting, can make spraying robot stop the lift when the connecting piece takes place abnormal conditions, and when connecting piece abnormal conditions such as fracture took place, accessible safety arrangement made spraying robot stop the lift like this.

Description

Spray coating system

Technical Field

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

Background

In the modern day of the rapid development of the urbanization process, various high-rise buildings are produced to meet the higher and higher living demands of people. In the process of building construction, wall surface spraying is an indispensable construction step, and the current spraying system comprises a suspension assembly and a spraying robot, and the spraying robot needs to move on working bodies such as wall surfaces along the vertical direction or the left-right direction so as to realize spraying of different areas. However, in the existing spraying system, when the spraying robot ascends and descends, certain safety protection measures are not provided, so that when an emergency such as rope breakage occurs, the spraying robot cannot be stopped to ascend and descend in time, and thus the safety of the spraying robot in use cannot be ensured, so that the spraying robot is easily damaged on one hand, and accidents such as smashing and the like are easily caused by the falling of the spraying robot on the other hand.

Therefore, how to design a spraying system capable of improving the safety of the spraying robot in use is 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 spraying system.

In order to achieve the above object, an embodiment of the first aspect of the present invention provides a spraying system for spraying a working object, the spraying system includes: a suspension assembly for mounting to the body, the suspension assembly comprising a suspension, a lifting device mounted on the suspension, and a connection to the lifting device; the spraying robot can be connected with one end, far away from the lifting device, of the connecting piece and can lift under the action of the lifting device and the connecting piece, and the spraying robot is used for spraying the operation body; and the safety protection device is arranged on the suspension, corresponds to the connecting piece, can detect the state of the connecting piece and can enable the spraying robot to stop lifting when the connecting piece is in an abnormal state.

According to the utility model discloses a paint finishing, 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.. The spraying system specifically comprises a suspension assembly, a spraying robot and a safety protection device, wherein the suspension assembly is used for being suspended and installed at a high place, for example, on a roof of an operation body such as a building, so that the spraying robot can be hoisted on the side face of the building, the suspension assembly specifically comprises a suspension, a lifting device and a connecting piece, the suspension is used for supporting and installing the lifting device and the connecting piece, the lifting device is used for providing driving force so as to achieve lifting of the spraying robot, the connecting piece is used for achieving hanging and installing of the spraying robot on the suspension assembly, and the structure of the connecting piece can be set into a rope, a chain and other structures according to actual needs. The spraying robot is particularly used for spraying operation bodies such as building outer walls and the like, and can lift up and down under the action of the lifting device and the connecting piece so as to spray the operation bodies up and down. And safety arrangement sets up on the suspension, corresponds the connecting piece setting, can detect the state of connecting piece to can make spraying robot stop to go up and down when the connecting piece takes place abnormal condition, like this when the connecting piece takes place unusual conditions such as fracture, accessible safety arrangement makes spraying robot stop to go up and down, alright guarantee spraying robot's safety in utilization like this. Specifically, for example, the lifting speed of the connecting member may be detected by the safety protection device, and when the lifting speed of the connecting member is too high, the working state of the connecting member is determined to be abnormal, and the connecting member is locked, or the inclination angle of the connecting member may be detected by the safety protection device, and when the inclination angle of the connecting member is too large, the working state of the connecting member is determined to be abnormal, so that the connecting member is locked, and the spraying robot stops lifting. Of course, the safety protection device can also judge that the working state of the lifting device is abnormal when the tension degree of the connecting piece is insufficient or the connecting piece breaks, so that the connecting piece is locked, and the spraying robot can be ensured to stop lifting in time.

In addition, since the painting system in the present application does not require a person to be carried on the painting robot, it is different from a basket in the construction industry, and by installing the lifting device and the safety device on the hanger, it is possible to more conveniently maintain, replace, and manually control the lifting device and the safety device when the lifting device malfunctions. Of course, the lifting device and the safety protection device can be more conveniently subjected to safety inspection in the daily use process.

In addition, according to the utility model discloses the paint finishing that above-mentioned embodiment provided still has following additional technical characteristics:

in any one of the above technical solutions, preferably, the abnormal state of the connecting member includes that the lifting speed of the connecting member is greater than a preset speed, the tensioning degree of the connecting member does not meet a requirement of the preset tensioning degree, the connecting member is broken, and the inclination angle of the connecting member is greater than one or more of preset angles.

In these technical schemes, the abnormal state of the connecting piece can be specifically that the speed of the connecting piece is greater than the preset speed, the tensioning degree of the connecting piece does not meet the requirement of the preset tensioning degree, the connecting piece is broken, the inclination angle of the connecting piece does not meet one or more of the preset angles, and different safety protection devices can be arranged aiming at different abnormal states. Specifically, for example, for an abnormality that the speed of the connecting member is greater than a preset speed, a safety protection device capable of detecting the speed and locking the connecting member when the speed is abnormal may be provided, and for an abnormality that the inclination angle of the connecting member does not satisfy a preset angle requirement, a safety protection device capable of detecting the inclination angle and locking the connecting member when the inclination angle is too large may be provided.

In any of the above technical solutions, preferably, the connecting member includes one or more of a connecting rope, a driving belt, and a chain.

In these technical schemes, the different types can be selected according to actual need for the connecting piece, and preferably, the wire rope that can select intensity height, low price, of course, also can select the rope of other materials as the connecting piece. The connecting member may be a belt or a chain.

In any one of the above technical solutions, preferably, the connecting member includes: the first connecting rope is connected between the lifting device and the spraying robot; the second connecting rope is connected between the lifting device and the spraying robot; wherein, safety arrangement is the safety lock, the safety lock is including installing from the locking part on the second connection rope with correspond the sensing piece that first connection rope set up, from the locking part with the cooperation of sensing piece can sensing piece sensing sense when first connection rope takes place abnormal state, pins the second connection rope.

In these technical scheme, accessible first connection rope and second are connected the rope and are carried out being connected between hoisting device and the spraying robot, and simultaneously, the sensing piece of accessible safety lock detects the state of first connection rope, for example the speed or the inclination of first connection rope etc. and the installation of second connection rope can be corresponded to from the latch fitting to can connect the rope or loosen the second from the second and connect the rope. Simultaneously, from the latch fitting and the cooperation of sensing piece, can move according to the state of sensing piece sensing to realize the auto-lock of second connection rope, alright in time make spraying robot stop the gliding when first connecting piece takes place the abnormal conditions such as speed is too fast or the slope is excessive like this through safety arrangement, in order to avoid spraying robot directly to drop and the condition such as damage or injure the people appears.

The structure of the safety lock can be set according to actual needs, for example, the structure of the safety lock of the construction hanging basket can be set according to the structure of the safety lock of the construction hanging basket.

In any one of the above technical solutions, preferably, first connecting rope with the second is connected the rope and is wire rope, and/or sensing piece includes one or two in angle sensing piece and the speed sensing piece, angle sensing piece is used for detecting the inclination of rope is connected to the second, and can the inclination that the rope was connected to the second makes when being greater than preset angle, self-locking piece pins the rope is connected to the second, speed sensing piece is used for detecting the lift angle of rope is connected to the second, and can when the lift angle that the rope was connected to the second was greater than preset speed, make self-locking piece pin the rope is connected to the second.

In these technical scheme, first connecting rope and second connecting rope are preferred wire rope, because wire rope intensity is good, difficult fracture, and wire rope's price is also cheaper, therefore can reduce the cost of product. And the sensing piece comprises an angle sensing piece capable of detecting the inclination angle of the first connecting rope, so that the spraying robot can automatically stop lifting when the first connecting rope is excessively inclined. Of course, the sensing member may further include a speed sensing member capable of detecting a lifting speed of the first connection cord, so that the spraying robot may automatically stop lifting when the lifting speed of the first connection cord is too high. And specifically, can set up a maximum limit speed according to actual need, predetermine the speed promptly to the maximum speed of injecing first connecting rope, simultaneously, also can set up a maximum limit inclination, predetermine the angle promptly, with the maximum inclination of injecing first connecting rope, in order to ensure that first connecting rope can not take place excessive slope or go up and down too fast.

In any of the above technical solutions, preferably, the suspension assembly further includes: a first sheave assembly mounted on the suspension; one end of the connecting piece is connected with the lifting device, and the other end of the connecting piece bypasses the first pulley assembly to be connected with the spraying robot.

In these technical solutions, a first pulley assembly may be provided on the suspension to guide and limit the distribution of the connecting member on the suspension, and by providing the first pulley assembly, the wear between the connecting member and the suspension may be reduced. Meanwhile, the installation direction of the connecting piece can be accurately guided through the first pulley assembly, so that the suspension position of the connecting piece can be correctly defined, and the suspension and hoisting of the spraying robot at a fixed position can be realized.

In any of the above technical solutions, preferably, the suspension assembly further includes: and the winch is arranged on the suspension, and the connecting piece is wound and arranged on the winch and is used for being matched with the lifting device so as to realize the retraction of the connecting piece.

In these technical schemes, can install the hoist engine on the suspension, like this the accessible hoist engine when hoisting device realizes the lift of spraying robot, realizes receiving and releasing of connecting pieces such as rope, just so can ensure the tensioning state of connecting piece all the time, prevents that the connecting piece is too loose and takes place the phenomenon such as winding, knot or take place to disturb such as hoisting device.

In any one of the above technical solutions, preferably, the spraying robot includes: a hanger; a spraying device which is slidably mounted on the hanger and can spray the operation body; and the limit switch is arranged on the hanging rack and can enable the spraying device to stop sliding after the spraying device slides to a preset position.

In these technical schemes, the spraying robot comprises a hanger and a spraying device, and the hanger is used for realizing the lifting between the hanger and the suspension assembly and realizing the placement of the spraying device. And the spraying device is arranged on the hanging frame in a sliding way, so that the spraying position can be adjusted by the sliding of the spraying device. And through installing limit switch on the hanger, the spacing of spraying device in the slip process can be realized to the accessible limit switch, just so can inject spraying device's slip in reasonable scope, prevents that the phenomenon of spraying device excessive slip to other positions from taking place.

In any one of the above technical solutions, preferably, the number of the limit switches is two, the two limit switches are symmetrically installed on the hanger, and the spraying device can slide between the two limit switches.

In the technical schemes, the two ends of the sliding route of the spraying device can be preferably provided with a limit switch respectively, so that the positions of the two ends of the spraying device can be limited simultaneously, and the movement route of the spraying device can be limited between the two limit switches.

In any one of the above technical solutions, preferably, the hanging rack is provided with a hanging ring, and the connecting member can realize the hanging installation of the hanging rack on the hanging assembly through the hanging ring.

In any one of the above technical solutions, preferably, the spraying robot includes a second pulley assembly, the second pulley assembly is rotatably mounted on the hanger, the connecting member passes through the rear of the second pulley assembly and is connected to the hanger, a band-type brake is further disposed on the hanger, and the band-type brake can lock or release the second pulley assembly.

In these technical scheme, can reduce the friction of connecting the connecting pieces such as rope through setting up second loose pulley assembly when connecting the connecting pieces such as rope go up and down or receive and release. And the connecting piece can be connected with the hanging frame through the hanging ring after passing through the second pulley assembly. Further preferably, be provided with the band-type brake on the stores pylon, the band-type brake can lock or release second loose pulley assembly, specifically can be after spraying robot stops to go up and down, launch the band-type brake and lock second loose pulley assembly to can increase the frictional force of connecting pieces such as rope, restrain rocking of spraying robot, improve the spraying quality. When the spraying robot needs to lift, the band-type brake can be controlled to release the second pulley assembly, so that the second pulley assembly can normally rotate.

In any one of the above technical solutions, preferably, the spraying device includes a spray gun, and the spraying robot further includes: the material storage tank is arranged on the hanging rack and is connected with the spray gun; the airless sprayer is installed on the hanger and connected with the storage tank, and can convey the coating in the storage tank to the spray gun.

In the technical schemes, the paint can be conveyed to the spray gun through the airless sprayer, and the surface quality of the spraying effect can be better by adopting the airless sprayer, so that the spraying effect can be enhanced. The airless sprayer is a common structure, and the principle thereof can refer to the prior art, and is not described herein again.

In any one of the above technical solutions, preferably, the spraying device further includes: the first guide rail is arranged at the top of the hanging rack; a second rail slidably mounted on the first rail; a spray gun assembly slidably mounted on the second guide rail; wherein the first guide rail is provided at a top of the hanger along a longitudinal direction of the working body, the second guide rail is slidably mounted on the first guide rail along the longitudinal direction of the working body and is provided on the second guide rail along a front-rear direction of the working body, the spray gun assembly is slidably mounted on the second guide rail along the front-rear direction of the working body, or the first guide rail is provided at a top of the hanger along the front-rear direction of the working body, the second guide rail is slidably mounted on the first guide rail along the front-rear direction of the working body and is provided on the second guide rail along the longitudinal direction of the working body, and the spray gun assembly is slidably mounted on the second guide rail along the longitudinal direction of the working body.

In the technical schemes, the spraying device comprises a first guide rail, a second guide rail and a spray gun assembly, the first guide rail is a fixed guide rail, and the second guide rail is a guide rail which is arranged on the first guide rail in a sliding way, one of the first guide rail and the second guide rail is arranged along the longitudinal direction, the other one is arranged along the front-back direction, and the spray gun assembly can slide along the extending direction of the second guide rail, so that the slide of the spray gun assembly in the longitudinal direction and the front-back direction can be realized through the slide of the second guide rail and the slide of the spray gun assembly, therefore, the height and the front-back distance of the spray gun component can be adjusted according to the actual requirement, so that the spray gun component can flexibly adjust the spraying position according to the condition of the actual working surface, thereby make spraying robot can carry out the spraying to the abnormal region on the working face, for example carry out effective spraying to dysmorphism face such as outer wall balcony and air conditioner recess.

In any of the above solutions, preferably, the spray gun assembly includes: a first rotating mechanism which is slidably mounted on the second guide rail, and a rotation axis of the first rotating mechanism is arranged along a longitudinal direction of the working body; a second rotating mechanism which is installed on the first rotating mechanism, and the rotating axis of the second rotating mechanism is arranged along the transverse direction of the working body; and the spray gun is arranged on the second rotating mechanism.

In these technical scheme, the spray gun subassembly includes first rotary mechanism, second rotary mechanism and spray gun, and first rotary mechanism sets up along longitudinal direction for the spray gun can control the rotation in the horizontal plane, and the second rotary mechanism sets up along the transverse direction of operation body, can drive the spray gun and rotate from top to bottom in the longitudinal plane. Therefore, the angle adjustment of the spray gun can be further realized through the rotation of the first rotating mechanism and the second rotating mechanism, so that the spraying position of the spray gun can be more flexibly adjusted during spraying.

Preferably, the suspension is further provided with a balancing weight, and the balancing weight can be used for balancing the weight of the suspension assembly, so that the phenomenon that the spraying robot is too heavy to cause the overturning of the whole spraying system can be prevented.

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

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

Drawings

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

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

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

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

fig. 4 is a schematic structural diagram of a spraying robot of a spraying system provided according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 4 is:

1 suspension component, 10 suspension, 12 lifting device, 14 connecting piece, 16 first pulley component, 18 balancing weight, 19 windlass, 2 spraying robot, 20 stores pylon, 22 spraying device, 222 spray gun, 24 limit switch, 26 airless sprayer, 28 second pulley component, 29 internal contracting brake, 3 safety lock.

Detailed Description

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

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

The following describes a spray coating system provided by an embodiment of the present invention with reference to fig. 1 to 4.

As shown in fig. 1 to 4, an embodiment of the first aspect of the present invention provides a spray coating system for spraying a working object, the spray coating system comprising a suspension assembly 1, a spray coating robot 2 and a safety protection device, the suspension assembly 1 being configured to be mounted to the working object, the suspension assembly 1 comprising a suspension 10, a lifting device 12 mounted on the suspension 10 and a connecting member 14 connected to the lifting device 12; the spraying robot 2 can be connected with one end, far away from the lifting device 12, of the connecting piece 14 and can lift under the action of the lifting device 12 and the connecting piece 14, and the spraying robot 2 is used for spraying a working body; the safety protection device is installed on the suspension 10, is arranged corresponding to the connecting piece 14, can detect the state of the connecting piece 14 and can stop the lifting of the spraying robot 2 when the abnormal state of the connecting piece 14 occurs. The safety protection device may be embodied as a safety lock 3 as shown in fig. 1 to 3.

According to the utility model discloses a paint finishing, 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.. The spraying system specifically comprises a suspension assembly 1, a spraying robot 2 and a safety protection device, wherein the suspension assembly 1 is used for being suspended and installed at a high place, such as a roof of a working body such as a building, so as to realize the hoisting of the spraying robot 2 on the side face of the building, the suspension assembly 1 specifically comprises a suspension frame 10, a lifting device 12 and a connecting piece 14, the suspension frame 10 is used for realizing the supporting installation of the lifting device 12, the connecting piece 14 and the like, the lifting device 12 is used for providing driving force so as to realize the lifting of the spraying robot 2, the connecting piece 14 is used for realizing the hanging installation of the spraying robot 2 on the suspension assembly 1, and the structure of the connecting piece 14 can be set into a rope, a chain and the like according to actual requirements. The painting robot 2 is specifically used for painting an operating body such as an outer wall of a building, and can be lifted up and down under the action of the lifting device 12 and the connecting piece 14 so as to paint the operating body up and down. The safety protection device is arranged on the suspension frame 10, corresponds to the connecting piece 14, can detect the state of the connecting piece 14, and can stop lifting of the spraying robot 2 when the connecting piece 14 is in an abnormal state, so that when the connecting piece 14 is in an abnormal state such as fracture, the spraying robot 2 can stop lifting through the safety protection device, and the use safety of the spraying robot 2 can be ensured. Specifically, for example, the lifting speed of the connecting member 14 may be detected by the safety device, and when the lifting speed of the connecting member 14 is too high, the working state of the connecting member 14 is determined to be abnormal, and the connecting member 14 is locked, or the inclination angle of the connecting member 14 may be detected by the safety device, and when the inclination angle of the connecting member 14 is too large, the working state of the connecting member 14 is determined to be abnormal, and the connecting member 14 is locked, so that the spraying robot 2 stops lifting. Of course, the safety protection device can also determine that the working state of the lifting device is abnormal when the tension degree of the connecting piece 14 is insufficient or the connecting piece is broken, so as to lock the connecting piece 14, and ensure that the spraying robot 2 can stop lifting in time.

In addition, since the painting system in the present application does not require a person to be carried on the painting robot 2, it is different from a basket in the construction industry, and by installing safety protection devices such as the lifting device 12 and the safety lock 3 on a hanger, it is possible to more conveniently perform maintenance, replacement, and manual control of the safety protection devices such as the lifting device 12 and the safety lock 3 when the lifting device 12 malfunctions. Of course, it is also possible to more conveniently perform safety checks on safety protection devices such as the lifting device 12 and the safety lock 3 during daily use.

In any of the above embodiments, preferably, the abnormal state of the connecting member 14 includes one or more of a lifting speed of the connecting member 14 being higher than a preset speed, a tension degree of the connecting member 14 not meeting a requirement of the preset tension degree, a breakage of the connecting member 14, and an inclination angle of the connecting member 14 being higher than a preset angle.

In these embodiments, the abnormal state of the connecting member 14 may specifically be that the speed of the connecting member 14 is greater than a preset speed, the tensioning degree of the connecting member 14 does not meet the requirement of the preset tensioning degree, the connecting member 14 is broken, the inclination angle of the connecting member 14 does not meet one or more of preset angles, and different safety protection devices may be set for different abnormal states. Specifically, for example, for an abnormality that the speed of the connecting member 14 is higher than a preset speed, a safety protection device capable of detecting the speed and locking the connecting member 14 when the speed is abnormal may be provided, and for an abnormality that the inclination angle of the connecting member 14 does not satisfy a preset angle requirement, a safety protection device capable of detecting the inclination angle and locking the connecting member 14 when the inclination angle is too large may be provided.

In any of the above embodiments, preferably, the connecting member 14 comprises one or more of a connecting rope, a driving belt, and a chain.

In these embodiments, the connecting member 14 can be selected from different types according to actual needs, and preferably, a steel wire rope with high strength and low price can be selected, and of course, ropes made of other materials can be selected as the connecting member 14. The connecting member 14 may be a belt or a chain.

In any of the above embodiments, preferably, the connecting member 14 includes: a first connecting rope connected between the lifting device 12 and the spraying robot 2; the second connecting rope is connected between the lifting device 12 and the spraying robot 2; wherein, safety arrangement is safety lock 3, and safety lock 3 is including installing the sensing piece that self-locking piece and corresponding first connecting rope set up on the second connecting rope, and self-locking piece and sensing piece cooperation can pin the second connecting rope when sensing piece sensing takes place abnormal conditions to first connecting rope.

In these embodiments, the connection between the lifting device 12 and the painting robot 2 may be performed by the first connection rope and the second connection rope, and at the same time, the state of the first connection rope, such as the speed or the inclination angle of the first connection rope, may be detected by the sensing member of the safety lock 3, and the self-locking member may be installed corresponding to the second connection rope so as to be able to self-lock or release the second connection rope. Simultaneously, from the latch fitting and the cooperation of sensing piece, can move according to the state of sensing piece sensing to realize the auto-lock of second connection rope, alright in time make spraying robot 2 stop the gliding when first connecting piece 14 takes place the abnormal conditions such as the speed is too fast or the slope is excessive through safety arrangement like this, in order to avoid spraying robot 2 directly to drop and the condition such as damage or injure the people appears.

The structure of the safety lock 3 can be set according to actual needs, for example, the structure of the safety lock of the construction basket can be set according to the structure of the safety lock of the construction basket.

In any of the above embodiments, preferably, the first connecting rope and the second connecting rope are both steel wire ropes, and/or the sensing member includes one or both of an angle sensing member and a speed sensing member, the angle sensing member is used for detecting an inclination angle of the second connecting rope, and enables the self-locking member to lock the second connecting rope when the inclination angle of the second connecting rope is greater than a preset angle, the speed sensing member is used for detecting a lifting angle of the second connecting rope, and enables the self-locking member to lock the second connecting rope when the lifting angle of the second connecting rope is greater than the preset speed.

In the embodiments, the first connecting rope and the second connecting rope are preferably steel wire ropes, because the steel wire ropes have good strength and are not easy to break, and the price of the steel wire ropes is cheaper, the cost of the product can be reduced. And the sensing member includes an angle sensing member capable of detecting the inclination angle of the first connection cord, so that the spraying robot 2 can automatically stop lifting when the first connection cord is excessively inclined. Of course, the sensing member may further include a speed sensing member capable of detecting the lifting speed of the first connection cord, so that the lifting of the painting robot 2 is automatically stopped when the lifting speed of the first connection cord is excessively fast. And specifically, can set up a maximum limit speed according to actual need, predetermine the speed promptly to the maximum speed of injecing first connecting rope, simultaneously, also can set up a maximum limit inclination, predetermine the angle promptly, with the maximum inclination of injecing first connecting rope, in order to ensure that first connecting rope can not take place excessive slope or go up and down too fast.

In any of the above embodiments, preferably, as shown in fig. 1 to 3, the suspension assembly 1 further includes: a first pulley assembly 16 mounted on the suspension 10; wherein one end of the connecting member 14 is connected to the lifting device 12, and the other end of the connecting member 14 is connected to the painting robot by bypassing the first pulley assembly 16.

In such embodiments, a first pulley assembly 16 may be provided on the suspension 10 to guide and limit the distribution of the link 14 on the suspension 10, and by providing the first pulley assembly 16, wear between the link 14 and the suspension 10 may be reduced. At the same time, the installation direction of the connecting element 14 can be precisely guided by the first pulley assembly 16, so that the suspension position of the connecting element 14 can be correctly defined, and the suspension hoisting of the spraying robot 2 in a fixed position can be realized.

In any of the above embodiments, preferably, as shown in fig. 1 to 3, the suspension assembly 1 further includes: and the winch 19 is arranged on the suspension frame 10, and the connecting piece 14 is wound on the winch 19 and is matched with the lifting device 12 to realize the retraction of the connecting piece 14.

In these embodiments, the hoisting machine 19 may be installed on the suspension 10, so that the hoisting machine 19 can be used to lift the painting robot 2 while the hoisting device 12 is used to retract and release the connecting member 14 such as a rope, thereby always ensuring the tension state of the connecting member 14 and preventing the connecting member 14 from being too loose to cause winding and knotting or interfere with the hoisting device 12.

In any of the above embodiments, preferably, as shown in fig. 4, the painting robot 2 includes: a hanger 20; a spray device 22 slidably attached to the hanger 20 and capable of spraying the work; and a limit switch 24 mounted on the hanger 20, for stopping the sliding of the spraying device 22 after the spraying device 22 slides to a preset position.

In these embodiments, the painting robot 2 includes a hanger 20 and a painting device 22, and the hanger 20 is used for realizing the hanging between the hanging component 1 and realizing the placement of the painting device 22. And the painting device 22 is slidably mounted on the hanger 20 so that adjustment of the painting position can be achieved by sliding the painting device 22. The limit switch 24 is mounted on the hanger 20, so that the limit of the spraying device 22 in the sliding process can be realized through the limit switch 24, the sliding of the spraying device 22 can be limited within a reasonable range, and the phenomenon that the spraying device 22 slides to other positions due to excessive sliding is prevented.

In any of the above embodiments, preferably, as shown in fig. 4, the number of the limit switches 24 is two, two limit switches 24 are symmetrically installed on the hanger 20, and the spraying device 22 can slide between the two limit switches 24.

In such embodiments, it may be preferable to provide a limit switch 24 at each end of the path of the spray device 22, so that the positions of the two ends of the spray device 22 can be simultaneously limited, thereby limiting the path of the spray device 22 between the two limit switches 24.

In any of the above embodiments, the hanging rack 20 is preferably provided with a hanging ring, and the connecting member 14 can realize the hanging installation of the hanging rack 20 on the hanging assembly 1 through the hanging ring.

In any of the above embodiments, preferably, as shown in fig. 4, the spraying robot 2 includes a second pulley assembly 28, the second pulley assembly 28 is rotatably mounted on the hanger 20, the connecting member 14 is connected to the hanger 20 through the second pulley assembly 28, and a band-type brake 29 is further disposed on the hanger 20, and the band-type brake 29 can lock or unlock the second pulley assembly 28.

In such embodiments, the second pulley assembly 28 may be provided to reduce friction on the attachment member 14, such as an attachment cord, as the attachment member 14 is raised and lowered or stored. And the connecting member 14 passes through the second pulley assembly 28 and then is connected to the hanger 20 through the hanging ring. Further preferably, a band-type brake 29 is arranged on the hanger 20, and the band-type brake 29 can lock or unlock the second pulley assembly 28, specifically, after the spraying robot 2 stops lifting, the band-type brake 29 can be started to lock the second pulley assembly 28, so that the friction force of the connecting pieces 14 such as the connecting rope can be increased, the shaking of the spraying robot 2 is restrained, and the spraying quality is improved. When the spraying robot 2 needs to be lifted, the band-type brake 29 can be controlled to release the second pulley assembly 28, so that the second pulley assembly 28 can rotate normally.

In any of the above embodiments, preferably, as shown in fig. 4, the spraying device 22 includes the spray gun 222, and the spraying robot 2 further includes: the storage tank is arranged on the hanging rack 20 and is connected with the spray gun 222; the airless sprayer 26 is mounted on the hanger 20, connected to the storage tank, and is capable of delivering the paint in the storage tank to the spray gun 222.

In such embodiments, the delivery of coating to spray gun 222 may be accomplished by airless sprayer 26, and the use of airless sprayer 26 may result in better surface quality of the spray, and thus may enhance the spray. Airless sprayer 26 is of a relatively conventional construction, and the principles thereof are described in the prior art and will not be described in detail herein.

In any of the above embodiments, preferably, as shown in fig. 4, the spray coating device 22 further includes: a first guide rail installed at the top of the hanger 20; a second guide rail slidably mounted on the first guide rail; a lance 222 assembly slidably mounted on the second rail; wherein the first rail is arranged at the top of the hanger 20 along the longitudinal direction of the working body, the second rail is slidably mounted on the first rail along the longitudinal direction of the working body and arranged on the second rail along the front-rear direction of the working body, the spray gun 222 assembly is slidably mounted on the second rail along the front-rear direction of the working body, or the first rail is arranged at the top of the hanger 20 along the front-rear direction of the working body, the second rail is slidably mounted on the first rail along the front-rear direction of the working body and arranged on the second rail along the longitudinal direction of the working body, and the spray gun 222 assembly is slidably mounted on the second rail along the longitudinal direction of the working body.

In these embodiments, the spray coating device 22 includes first and second rails and a spray gun 222 assembly, the first guide rail is a fixed guide rail, and the second guide rail is a guide rail which is arranged on the first guide rail in a sliding way, one of the first guide rail and the second guide rail is arranged along the longitudinal direction, the other one is arranged along the front-back direction, and the assembly of the lance 222 is capable of sliding along the extension of the second rail, such that sliding of the assembly of the lance 222 in the longitudinal direction and the forward and rearward direction is achieved by sliding the second rail and sliding the assembly of the lance 222, therefore, the height and the front-back distance of the spray gun 222 component can be adjusted according to actual requirements, so that the spray gun 222 component can flexibly adjust the spraying position according to the condition of an actual working surface, thereby make spraying robot 2 can carry out the spraying to the abnormal region on the working face, for example carry out effective spraying to dysmorphism face such as outer wall balcony and air conditioner recess.

In any of the above embodiments, preferably, the lance 222 assembly comprises: a first rotating mechanism which is slidably mounted on the second guide rail, and the rotation axis of the first rotating mechanism is arranged along the longitudinal direction of the working body; a second rotating mechanism which is installed on the first rotating mechanism, and the rotating axis of the second rotating mechanism is arranged along the transverse direction of the operation body; and the spray gun 222 is arranged on the second rotating mechanism.

In these embodiments, the assembly of the spray gun 222 includes a first rotating mechanism, a second rotating mechanism and the spray gun 222, wherein the first rotating mechanism is disposed along the longitudinal direction so that the spray gun 222 can rotate left and right in the horizontal plane, and the second rotating mechanism is disposed along the transverse direction of the working body so as to drive the spray gun 222 to rotate up and down in the longitudinal plane. Thus, the angle of the spray gun 222 can be further adjusted by rotating the first rotating mechanism and the second rotating mechanism, so that the spray gun 222 can more flexibly adjust the spraying position during spraying.

Wherein, preferably, the suspension 10 is further provided with a weight block 18, and the weight block 18 can be used for balancing the weight of the suspension assembly 1, so as to prevent the spraying robot 2 from being too heavy and causing the overturning phenomenon of the whole spraying system.

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 spray system for spraying a work object, the spray system comprising:

a suspension assembly (1) for mounting to the work body, the suspension assembly (1) comprising a suspension (10), a lifting device (12) mounted on the suspension (10), and a connection (14) connected to the lifting device (12);

the spraying robot (2) can be connected with one end, far away from the lifting device (12), of the connecting piece (14) and can lift under the action of the lifting device (12) and the connecting piece (14), and the spraying robot (2) is used for spraying the operation body;

and a safety protection device which is installed on the suspension (10), is arranged corresponding to the connecting piece (14), can detect the state of the connecting piece (14), and can stop the lifting of the spraying robot (2) when the connecting piece (14) is in an abnormal state.

2. The spray system of claim 1,

the abnormal state of connecting piece (14) includes that the elevating speed of connecting piece (14) is greater than predetermineeing the speed, the tensioning degree of connecting piece (14) does not satisfy predetermineeing the requirement of tensioning degree, connecting piece (14) fracture, the inclination of connecting piece (14) is greater than one or more in the preset angle.

3. The spray system of claim 1,

the connecting piece (14) comprises one or more of a connecting rope, a driving belt and a chain.

4. A spray system according to claim 1, wherein the connection member (14) comprises:

a first connecting rope connected between the lifting device (12) and the spraying robot (2);

a second connecting rope connected between the lifting device (12) and the spraying robot (2);

wherein, safety arrangement is safety lock (3), safety lock (3) are including installing from the locking part on the second connection rope with correspond the sensing piece that first connection rope set up, from the locking part with the cooperation of sensing piece can sensing piece sensing sense when first connection rope takes place abnormal state, pins the second connection rope.

5. The spray system of claim 4,

first connecting rope with the rope is wire rope is connected to the second, and/or sensing piece includes one or two in angle sensing piece and the speed sensing piece, angle sensing piece is used for detecting the inclination of rope is connected to the second, and can the inclination that the rope was connected to the second makes when being greater than preset the angle the self-locking piece pins the rope is connected to the second, speed sensing piece is used for detecting the lift angle of rope is connected to the second, and can the lift angle that the rope was connected to the second is greater than when presetting speed, makes the self-locking piece pins the rope is connected to the second.

6. A spray system according to any one of claims 1 to 5, wherein the suspension assembly (1) further comprises:

a first pulley assembly (16) mounted on the suspension (10);

wherein one end of the connecting piece (14) is connected with the lifting device (12), and the other end of the connecting piece (14) is connected with the spraying robot by bypassing the first pulley assembly (16).

7. A spray system according to claim 6, wherein the suspension assembly (1) further comprises:

the hoisting machine (19) is mounted on the suspension frame (10), and the connecting piece (14) is wound on the hoisting machine (19) and is used for being matched with the lifting device (12) to realize the retraction of the connecting piece (14).

8. A painting system according to any one of claims 1 to 5, characterized in that the painting robot (2) comprises:

a hanger (20);

a spray device (22) which is slidably attached to the hanger (20) and can spray the work;

and the limit switch (24) is arranged on the hanging rack (20) and can stop the sliding of the spraying device (22) after the spraying device (22) slides to a preset position.

9. The spray system of claim 8,

the number of the limit switches (24) is two, the two limit switches (24) are symmetrically arranged on the hanging rack (20), and the spraying device (22) can slide between the two limit switches (24); and/or

Spraying robot (2) include second loose pulley assembly (28), second loose pulley assembly (28) can be installed with rotating on stores pylon (20), connecting piece (14) pass through behind second loose pulley assembly (28) with stores pylon (20) are connected, still be provided with band-type brake (29) on the stores pylon, band-type brake (29) can lock or release second loose pulley assembly (28).

10. The spray system according to claim 8, wherein the spray device (22) comprises a spray gun (222), the spray robot (2) further comprising:

the storage tank is arranged on the hanging rack (20) and is connected with the spray gun (222);

the airless sprayer (26) is arranged on the hanging rack (20), is connected with the storage tank, and can convey the coating in the storage tank to the spray gun (222).