CN213927352U - Spraying robot - Google Patents

Abstract

The utility model provides a spraying robot, include: a robot body; the lifting mechanism is arranged on the robot body, and at least part of the lifting mechanism is movably arranged along the vertical direction; the mechanical arm assembly is arranged on the lifting mechanism and drives the mechanical arm assembly to move along the vertical direction through the lifting mechanism; the spraying mechanism is installed on the mechanical arm assembly, and the spraying mechanism is driven to move through the mechanical arm assembly so as to carry out spraying, so that the problem that the intelligent degree of a spraying robot in the prior art is low is solved.

Description

Spraying robot

Technical Field

The utility model relates to a building spraying field particularly, relates to a spraying robot.

Background

In the process of interior decoration, putty coating of wall surfaces and ceilings is an important link, the traditional interior decoration process is that workers operate in a manual mode, mainly comprises two modes of manual coating and manual spraying to meet the requirements of smooth and clean decoration, but a large amount of harmful dust and gas can be generated in the operation process, the health of operators can be influenced when the workers are in the operation environment for a long time, the spraying quality is greatly influenced by factors such as the technical level and emotion of the workers, the construction quality is not easy to control, the rework rate is high, the production capacity is severely limited, and the production cost is increased.

The spraying machine robot among the prior art is used for spraying paint for the majority, and is not ripe to the putty spraying, appears spraying pipeline putty pulsation unstability easily and clout independently detect by insufficient, operation end degree of automation low scheduling problem, makes spraying robot intelligent and degree of automation low.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a painting robot to solve the problem that the painting robot in the prior art is low in intelligent degree.

In order to achieve the above object, the utility model provides a spraying robot, include: a robot body; the lifting mechanism is arranged on the robot body, and at least part of the lifting mechanism is movably arranged along the vertical direction; the mechanical arm assembly is arranged on the lifting mechanism and drives the mechanical arm assembly to move along the vertical direction through the lifting mechanism; and the spraying mechanism is arranged on the mechanical arm component so as to drive the spraying mechanism to move through the mechanical arm component to spray.

Further, the elevating mechanism includes: a support plate installed on the robot body; the sliding table is installed on the supporting plate and moves in the vertical direction relative to the supporting plate, the sliding table extends towards the direction far away from the supporting plate, and the mechanical arm assembly is installed on the sliding table.

Further, the elevating system still includes: the transmission assembly is arranged on the supporting plate, at least part of the transmission assembly is vertically and movably arranged, and the sliding table is connected with the transmission assembly; and the driving part is in driving connection with the transmission assembly so as to drive the transmission assembly to move through the driving part.

Further, the painting robot further includes: the feeding assembly is arranged on the robot body and connected with the spraying mechanism; the feeding assembly comprises a feeding pipe and a storage cylinder, and the feeding pipe is arranged on the side of the storage cylinder and communicated with the storage cylinder.

Further, the feed assembly further comprises: the mounting is installed on the robot body, is provided with fastening passage on the mounting, and at least partial pipeline section of feed pipe is worn to establish in fastening passage to through the fixed feed pipe of mounting.

Further, the fixing member includes: the connecting block is arranged on the robot body and provided with a first groove; the fixing block is provided with a second groove; the spacing block is arranged between the connecting block and the fixing block, a plurality of third grooves are formed in the spacing block, and the third grooves are respectively arranged in one-to-one correspondence with the first grooves and the second grooves so as to form fastening channels between the connecting block and the spacing block and between the fixing block and the spacing block.

Further, the painting robot further includes: the detection assembly is arranged below the storage barrel and comprises a sensor so as to detect the weight of the storage barrel through the sensor.

Further, the detection assembly further comprises: the cushion disc is arranged on the outer side of the material storage cylinder and connected with the material storage cylinder, and the sensor is arranged on the cushion disc; the sensor is a plurality of, and a plurality of sensors are evenly arranged along the circumference interval of the saucer.

Further, the detection assembly further comprises: the connecting piece sets up between storage cylinder and saucer, and the first connection terminal surface of connecting piece laminates with the surface of storage cylinder, and the second connection terminal surface of connecting piece laminates with the connection terminal surface of saucer mutually.

Further, the painting robot further includes: the robot body is arranged on the chassis, and walking wheels are arranged on the chassis to drive the robot body to move through the chassis; and the controller is arranged on the robot body and positioned on one side of the lifting mechanism, and is connected with the lifting mechanism, the mechanical arm assembly and the spraying mechanism so as to control the mechanisms to act through the controller.

By applying the technical scheme of the utility model, the spraying robot comprises a robot body, a lifting mechanism, a mechanical arm component and a spraying mechanism, wherein the lifting mechanism is arranged on the robot body, and at least part of the lifting mechanism is movably arranged along the vertical direction; the mechanical arm assembly is arranged on the lifting mechanism so as to drive the mechanical arm assembly to move along the vertical direction through the lifting mechanism; the spraying mechanism is installed on the mechanical arm component, so that the spraying mechanism is driven to move through the mechanical arm component to carry out spraying. The setting can realize the reachability of different working faces through elevating system cooperation robotic arm subassembly adjustment gesture like this, and elevating system can drive robotic arm subassembly and realize the bulk movement to carry out the spraying to higher spraying surface, application scope is wide, has improved the automated control to spraying robot.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a painting robot according to the invention;

fig. 2 shows a first state diagram of an embodiment of a painting robot according to the invention;

fig. 3 shows a schematic structural view of the lifting mechanism of the painting robot according to the present invention;

fig. 4 shows a side view of the lifting mechanism according to fig. 3;

fig. 5 shows a first schematic structural view of a feed assembly of a painting robot according to the present invention;

fig. 6 shows a second schematic structural view of the feed assembly of the painting robot according to the present invention;

fig. 7 shows a third schematic structural view of a feed assembly of the painting robot according to the present invention;

fig. 8 shows a schematic structural view of a feed pipe of a painting robot according to the present invention;

fig. 9 shows a schematic structural view of a fixing member of a painting robot according to the present invention;

figure 10 shows a schematic view of the spacer of the fixture according to figure 9;

fig. 11 shows a schematic structural view of a detection assembly of the painting robot according to the present invention;

FIG. 12 shows a bottom view of the detection assembly according to FIG. 11;

FIG. 13 shows a schematic structural view of a pad of the detection assembly according to FIG. 11;

FIG. 14 shows a schematic view of the structure of the connection of the detection assembly according to FIG. 11;

fig. 15 shows a first schematic structural diagram of a robot body of the painting robot according to the present invention;

fig. 16 shows a second schematic structural view of the robot body of the painting robot according to the present invention;

fig. 17 shows a schematic structural view of a spraying mechanism of the spraying robot according to the present invention;

figure 18 shows a top view of a spray mechanism of a spray robot according to the present invention;

fig. 19 shows an enlarged view of portion a according to fig. 18;

FIG. 20 shows a schematic structural view of a transition assembly of the spray mechanism according to FIG. 17;

FIG. 21 illustrates a schematic view of a transition piece of the transition assembly according to FIG. 20;

FIG. 22 is a schematic view of a limiter of the transition assembly of FIG. 20;

FIG. 23 shows a cross-sectional view of a spray body of the spray mechanism of FIG. 17;

FIG. 24 is a schematic structural view of a first perspective of the spray body of the spray mechanism of FIG. 17;

FIG. 25 shows a first schematic structural view of a ranging assembly of the spray mechanism according to FIG. 17;

FIG. 26 shows a second structural schematic of a ranging assembly of the spray mechanism according to FIG. 17.

Wherein the figures include the following reference numerals:

1. a robot body; 2. a lifting mechanism; 3. a mechanical arm assembly; 4. a spraying mechanism; 20. a support plate; 21. a sliding table; 22. a transmission assembly; 23. a drive member; 5. a supply assembly; 50. a feed pipe; 51. a storage cylinder; 52. a fixing member; 520. connecting blocks; 5201. a first groove; 521. a fixed block; 5210. a second groove; 522. a spacer block; 5220. a third groove; 6. a detection component; 60. a sensor; 61. a pad disc; 610. a connecting portion; 62. a connecting member; 7. a chassis; 70. a traveling wheel; 8. a controller; 80. a power supply component; 81. an electric cabinet;

41. spraying the body; 410. a vent; 411. a connecting member; 412. connecting grooves; 4120. a stop block; 413. a nozzle; 42. a power assembly; 420. a power shaft; 43. a transition component; 430. a limiting member; 4301. a limiting body; 4302. connecting holes; 4303. shielding the body; 431. a transition piece; 4310. a clamping groove; 4311. mounting an end face; 4304. a connecting lug; 45. a ranging assembly; 450. a ranging sensor; 451. a protective shell; 4510. a positioning part; 452. a cover is turned; 453. a drive member; 46. a fixing assembly; 44. an inductive component; 440. an induction poking sheet; 441. an inductor.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The utility model provides a spraying robot please refer to fig. 1 to 16, include: a robot body 1; the lifting mechanism 2 is arranged on the robot body 1, and at least part of the lifting mechanism 2 is movably arranged along the vertical direction; the mechanical arm assembly 3 is arranged on the lifting mechanism 2, so that the mechanical arm assembly 3 is driven to move along the vertical direction through the lifting mechanism 2; and the spraying mechanism 4 is installed on the mechanical arm assembly 3, so that the spraying mechanism 4 is driven by the mechanical arm assembly 3 to move for spraying.

According to the utility model, the spraying robot comprises a robot body 1, a lifting mechanism 2, a mechanical arm component 3 and a spraying mechanism 4, wherein the lifting mechanism 2 is arranged on the robot body 1, and at least part of the lifting mechanism 2 is movably arranged along the vertical direction; the mechanical arm assembly 3 is arranged on the lifting mechanism 2 so as to drive the mechanical arm assembly 3 to move along the vertical direction through the lifting mechanism 2; the spraying mechanism 4 is mounted on the mechanical arm assembly 3, so that the spraying mechanism 4 is driven by the mechanical arm assembly 3 to move for spraying. Set up like this and can realize the reachability of different working faces through 2 cooperation robotic arm assemblies 3 adjustment gestures of elevating system, elevating system 2 can drive robotic arm assemblies 3 and realize the bulk movement to carry out the spraying or lower spraying surface spraying to higher spraying surface, application scope is wide, has improved the automated control to spraying robot.

Here, the robot arm assembly 3 is a multi-axis robot arm having rotational degrees of freedom in a plurality of directions to increase the range of motion of the robot arm assembly 3 and adjust the posture of the work tip. Preferably, the robotic arm is a six joint mechanism.

Specifically, the lifting mechanism 2 includes: a support plate 20 mounted on the robot body 1; and a slide table 21 mounted on the support plate 20 and movable in a vertical direction with respect to the support plate 20, the slide table 21 extending toward a direction away from the support plate 20, the robot arm assembly 3 being mounted on the slide table 21. Preferably, the support plate 20 is embedded in the robot body 1, so that the overall size of the robot can be reduced, and the robot can adapt to a smaller working space.

In specific implementation, the lifting mechanism 2 further includes: the transmission assembly 22 is arranged on the support plate 20, at least part of the transmission assembly 22 is vertically and movably arranged, and the sliding table 21 is connected with the transmission assembly 22; and the driving part 23 is in driving connection with the transmission assembly 22 so as to drive the transmission assembly 22 to move through the driving part 23. Preferably, the transmission assembly 22 can be a chain, the driving part 23 drives the chain to move, so that the chain drives the sliding table 21 to move, the number of the chains can be two, and the two chains are respectively arranged on two sides of the supporting plate 20 to ensure that the sliding table 21 is kept stable in the moving process, the supporting plate 20 is further provided with a sliding rail, and the sliding table 21 is connected with the sliding rail through a sliding block.

Further, the painting robot further includes: the feeding assembly 5 is arranged on the robot body 1, and the feeding assembly 5 is connected with the spraying mechanism 4; the feeding assembly 5 comprises a feeding pipe 50 and a storage cylinder 51, the feeding pipe 50 is arranged at the side of the storage cylinder 51 and is communicated with the storage cylinder 51. The feed tube 50 communicates with the spray mechanism so that the feed to the spray mechanism is accomplished through the feed tube 50. In the embodiment provided by the present invention, preferably, the feeding pipe 50 is arranged in a spiral shape, and at least a part of the pipe section of the feeding pipe 50 extends in a vertical direction. About arranging of feed pipe 50, the mode of adopting feed pipe 50 and the lateral wall of storage cylinder 51 to laminate mutually to there are four circles of pipe sections as the example wholly, coil two outer circles earlier, coil two circles in the dish again, half circle is gone out from interior to exterior at last, accomplish the output of coiling on half layer, the outer lane pipeline is for first pressure accumulation, the inner circle pipeline is pressure accumulation once, the material passes through four vertical annular circulations backs of circle, the material pressure of output tends to steadily, can be connected to spraying mechanism and carry out the coating construction operation. As shown in fig. 7, the input end of the feeding pipe is provided with a half-circle pipe section, which is used for connecting a convenient pipeline and a pump, and a horizontal input ring is arranged for guiding materials to the vertical pipe section, so that the pressure of a pumping opening is reduced.

In order to avoid the pipeline to produce the vibration reaction because of becoming flexible and to intraductal material, feed assembly 5 still includes: and the fixing part 52 is installed on the robot body 1, a fastening channel is arranged on the fixing part 52, and at least part of the pipe section of the feeding pipe 50 is arranged in the fastening channel in a penetrating manner so as to fix the feeding pipe 50 through the fixing part 52. To bring together and secure the individual tube sections.

As shown in fig. 9 and 10, the fixing member 52 includes: the connecting block 520 is installed on the robot body 1, and a first groove 5201 is formed in the connecting block 520; the fixing block 521, a second groove 5210 is arranged on the fixing block 521; and a spacer 522 disposed between the connection block 520 and the fixed block 521, the spacer 522 having a plurality of third grooves 5220 thereon, the plurality of third grooves 5220 being disposed in one-to-one correspondence with the first grooves 5201 and the second grooves 5210, respectively, to form fastening channels between the connection block 520 and the spacer 522 and between the fixed block 521 and the spacer 522. Preferably, the number of the first grooves 5201 is at least two, at least two first grooves 5201 are arranged at intervals along the extending direction of the connecting block 520, the number of the second grooves 5210 is at least two, at least two second grooves 5210 and at least two first grooves 5201 are arranged in a one-to-one correspondence, a plurality of third grooves 5220 are arranged on the spacing block 522, and the plurality of third grooves 5220 are respectively arranged in a one-to-one correspondence with the at least two first grooves 5201 and the at least two second grooves 5210 to enclose a fastening channel among the first grooves, the second grooves and the third grooves, so that the plurality of pipe sections can be fastened simultaneously, and the installation of the fixing member is reduced. Wherein, the connecting block 520 is provided with a mounting folded plate, and the fixing member is mounted on the robot body through the mounting folded plate.

The spraying robot further includes: and the detection assembly 6 is arranged below the storage barrel 51, and the detection assembly 6 comprises a sensor 60 so as to detect the weight of the storage barrel 51 through the sensor 60. Preferably, the sensor 60 may be a load cell or pressure sensor to be able to detect the weight or pressure of the cartridge 51 to detect the excess material condition.

The detection assembly 6 further comprises: a pad 61 arranged outside the storage cylinder 51 and connected with the storage cylinder 51, and a sensor 60 mounted on the pad 61; the sensor 60 is plural, and the plural sensors 60 are arranged at regular intervals along the circumferential direction of the saucer 61. Through setting up the saucer 61, make the weight of storage section of thick bamboo 51 transmit to the saucer 61 on, make the whole coplane contact of a plurality of sensors 60 through the saucer 61, receive the force simultaneously to improve the detection precision to storage section of thick bamboo 51 weight. The saucer 61 is provided with a plurality of connection portions 610, and the plurality of connection portions 610 are provided in one-to-one correspondence with the plurality of sensors 60 to mount the sensors 60 on the connection portions 610. The pad 61 is further provided with an installation opening so that the pad 61 can be sleeved outside the storage cylinder 51.

In the embodiment provided by the utility model, detection component 6 still includes: the connecting piece 62 is arranged between the storage barrel 51 and the pad 61, the first connecting end face of the connecting piece 62 is attached to the surface of the storage barrel 51, and the second connecting end face of the connecting piece 62 is attached to the connecting end face of the pad 61. Preferably, the connecting member 62 is plural, and the plural connecting members 62 are arranged at intervals along the circumferential direction of the saucer 61; because the bottom of the storage barrel 51 is mostly funnel-shaped, the inclined surface of the outer surface of the storage barrel 51 is converted into a plane through the connecting piece 62, so that the weight transmission of the storage barrel 51 is stable, and the storage barrel is not easy to twist and incline.

The spraying robot further includes: the robot comprises a chassis 7, wherein the robot body 1 is installed on the chassis 7, and walking wheels 70 are arranged on the chassis 7 so as to drive the robot body 1 to move through the chassis 7; and the controller 8 is installed on the robot body 1 and is positioned on one side of the lifting mechanism 2, and the controller 8 is connected with the lifting mechanism 2, the mechanical arm assembly 3 and the spraying mechanism 4 so as to control the actions of all the mechanisms through the controller 8. Preferably, the controller 8 includes a power supply unit 80 and an electric cabinet 81, the power supply unit 80 is installed below the sliding table, the electric cabinet 81 is installed on the side of the support plate 20, so that the robot is in an "L" shape overall, the electric cabinet is installed with a power supply battery and an inverter, the robot is designed to be in an upper and lower partition layout, the lower end is the power supply battery, the upper end is an inverter unit, and the pumping system needs ac high voltage, so the robot is provided with the inverter unit; the power supply battery and the inverter are both power supply devices, so that the power supply battery and the inverter are designed into a box body, two devices are installed at the same time, cables are convenient to wire, the power supply devices are used as independent power supply devices, the power supply devices output the power supply devices uniformly and externally, good heat dissipation and ventilation are considered, and the left end face and the right end face of the shell of the box body are provided with oriented louver windows.

When concrete implementation, spraying robot has still set up the double screen button on the robot body, and two screens set up relatively, and when needs are timely or emergency stop or pressure release, personnel can be operated emergency stop button and pressure release button nearby, have avoided personnel by left side to right side, or by right side to left removal action, reduce the redundant time of operation.

As shown in fig. 17 to 26, in the spraying robot provided by the present invention, the spraying mechanism 4 can be automatically started and stopped, wherein the spraying mechanism includes a spraying body 41, a power assembly 42 and a transition assembly 43, the spraying body 41 is used for spraying a material on the surface of a component to be sprayed; the spraying body 41 is communicated with a power assembly 42, and the power assembly 42 is used for generating compressed air so as to provide power for spraying materials for the spraying body 41; the transition assembly 43 is arranged between the spraying body 41 and the power assembly 42, and the transition assembly 43 is positioned at one end of the spraying body 41 close to the feeding hole; the transition assembly 43 includes a limiting member 430, the limiting member 430 is rotatably disposed around a first predetermined axis, the limiting member 430 is disposed corresponding to the air vent 410 of the spraying body 41, and the limiting member 430 at least has a shielding position and an avoiding position relative to the air vent 410, so as to shield the air vent 410 or avoid the air vent 410 during the rotation of the limiting member 430. Through installing transition assembly 43 in the one end that spraying body 41 is close to the feed inlet, can make locating part 430 shelter from or dodge to blow vent 410, the nozzle 413 of spraying body 41 can be timely corresponding to opening or closing of feedback spraying body 41, improved spraying quality and spraying efficiency.

Specifically, the spraying body 41 has a connecting end surface, the air vent 410 is arranged on the connecting end surface, the connecting end surface is provided with a connecting piece 411, and the air vent 410 is located at the side of the connecting piece 411; the limiting member 430 includes: the limiting device comprises a limiting body 4301, wherein a connecting hole 4302 is formed in the limiting body 4301, at least part of the connecting piece 411 penetrates through the connecting hole 4302 to be connected with the limiting body 4301, and the limiting body 4301 is rotatably arranged around a first preset axis; shelter from body 4303, be connected with spacing body 4301, shelter from body 4303 and vent 410 and correspond the setting, spacing body 4301 can drive and shelter from body 4303 and rotate to shelter from or dodge vent 410 and set up like this and can realize opening the control that stops spraying body 41 through rotating locating part 430 through sheltering from body 4303, simple structure is convenient for implement.

In order to precisely control the shielding area of the vent 410 by the position limiting member 430 in the process of rotating the position limiting member 430, the spraying body 41 is provided with a connecting groove 412, the connecting end surface is located on the bottom surface of the connecting groove 412, and a stopping block 4120 for limiting the rotation stroke of the position limiting body 4301 is arranged on the groove wall of the connecting groove 412.

Preferably, the number of the stop blocks 4120 is at least two, at least two stop blocks 4120 are arranged at intervals along the circumferential direction of the connecting groove 412, and the shielding body 4303 is movably arranged between two adjacent stop blocks 4120. Wherein, shelter from body 4303 and be two, two shelter from body 4303 along spacing body 4301's central line symmetry setting, and backstop 4120 is preferred two to constitute the removal space of sheltering from body 4303 between two backstop 4120, two shelter from the body and two move the space one-to-one and set up, in order to limit spacing body 4301's removal stroke.

In specific implementation, the limiting body 4301 is provided with a connecting lug 4304, the connecting lug 4304 extends towards a direction away from the limiting body 4301, the connecting lug 4304 is provided with a connecting hole, and a connecting screw passes through the connecting hole and then is connected with the connecting member 411.

As shown in fig. 5 to 7, the transition assembly 43 further includes: the transition piece 431 is rotatably arranged around a second preset axis, the first preset axis and the second preset axis are located on the same axis, a first end of the transition piece 431 is connected with the power assembly 42, and a second end of the transition piece 431 is connected with the limiting piece 430 so as to drive the limiting piece 430 to move through the transition piece 431; the transition piece 431 is provided with a clamping groove 4310, and at least part of the connecting piece 411 passes through the connecting hole 4302 and then is clamped into the clamping groove 4310. Preferably, the transition piece 431 is cylindrical, a mounting hole is formed in the transition piece 431, the power shaft 420 of the power assembly 42 is arranged in the mounting hole in a penetrating manner, an airflow circulation channel is formed in the power shaft 420, and the mounting hole is communicated with the clamping groove 4310.

The utility model provides an in the embodiment, along transition 431's radial direction, joint groove 4310's cross-section is the U type, and joint groove 4310 encloses to be provided with the chamfer on the open-ended lateral wall, and connecting piece 411 is preferably square piece. The setting can realize the connection between spraying body 41 and the power component 42 through the transition piece 431 like this, through connecting piece 411 and the mutual joint of joint groove 4310, makes the transition piece 431 drive connecting piece 411 and drives, and then drives locating part 430 and rotate.

In order to monitor the position information of the transition piece 431 in real time, the spraying mechanism further includes: the sensing assembly 44, the sensing assembly 44 includes response plectrum 440 and inductor 441, and the response plectrum 440 is installed on the transition piece 431 to drive the response plectrum 440 through the transition piece 431 and move, inductor 441 is located the side of transition piece 431 and corresponds the setting with response plectrum 440, with the positional information of response plectrum 440 of response through inductor 441. The position of the transition piece 431 is fed back by sensing the position information of the poking piece 440; the controller, the sensor 441 and the spraying body 41 are respectively connected with the controller, and the controller controls the spraying body 41 to be opened or closed according to a signal detected by the sensor 441. The outer surface of the transition piece 431 is provided with a mounting end face 4311, the sensing shifting piece 440 is mounted on the mounting end face 4311, the number of the sensing shifting pieces 440 is preferably two, the number of the sensors 441 is preferably two, the two sensors 441 are arranged on two sides of the transition piece 431, in the rotating process of the transition piece 431, the two sensing shifting pieces 440 are driven to move, the two sensing shifting pieces 440 penetrate through sensing spaces of the corresponding sensors 441, the initial position of the shielding body 4303 corresponds to the initial position of the sensing shifting piece 440, when the sensing shifting piece 440 rotates into the sensing spaces, the shielding body 4303 completely shields the vent 410, at the moment, the sensors 441 transmit sensed information to the controllers, and the controllers control the feeding assembly 5 to stop feeding so as to close the spraying body 41.

The spraying mechanism still includes: the distance measuring assembly 45, at least part of the distance measuring assembly 45 is installed on the spraying body 41, the distance measuring assembly 45 comprises a distance measuring sensor 450, and the distance measuring sensor 450 is opposite to the part to be sprayed; the distance measuring assembly 45 further comprises a protective shell 451, the protective shell 451 is mounted on the spraying body 41, the protective shell 451 is located at one end of the spraying body 41 far away from the nozzle 413, a positioning portion 4510 is arranged in the protective shell 451, and at least part of the distance measuring sensor 450 is mounted in the positioning portion 4510. The distance information between the spraying body 41 and the part to be sprayed is monitored in real time through the distance measuring assembly 45, so that the spraying body 41 is located at a proper spraying position, and the spraying quality is ensured.

The protective shell 451 is provided with an opening, the opening is provided with a flip 452 for protecting the distance measuring sensor 450 in the protective shell 451, the driving member 453 is in driving connection with the flip 452 to drive the flip 452 to turn, the flip 452 is provided with an avoiding hole, and the distance measuring sensor 450 detects the distance between the spraying body 41 and the part to be sprayed through the avoiding hole.

In order to facilitate fixing the spraying body 41, the spraying mechanism 4 further includes a fixing assembly 46, and the fixing assembly 46 has a receiving space to fix the spraying body 41 through the fixing assembly 46.

The utility model provides a spraying mechanism 4, nozzle 413 can not produce because the time delay leads to the operation face to omit and produce blank space, also need not the robot slow half clap wait for the pump sending of material in the pipe after the switch is opened, have very big efficiency advantage to the parallel construction of continuous operation face, the utility model provides a spraying mechanism, the short off-position of chronogenesis can be adjusted the appearance and be constructed, can not influence the conveying pressure of intraductal material, can not lead to the phenomenon that the intraductal part is left empty yet for the spray gun pipeline keeps stable high pressure; meanwhile, by utilizing the distance measuring component 45, the distance measuring horizontal plane of the distance measuring component 45 and the horizontal plane sprayed by the nozzle 413 are parallel and staggered, real-time information interaction can be carried out, distance and angle information can be calculated, the track control required by the spraying body 41 and the operation surface can be realized, the spraying quality can be further ensured, and the effect of large-area consistency is facilitated; in addition, the spray gun needs to be periodically maintained due to the functional use requirement, and the fixing assembly 46 can be conveniently disassembled and assembled by utilizing the fixing assembly 46, so that the disassembling tool is simplified, and the operation time of maintenance of an operator is reduced; meanwhile, the position information of the limiting part 430 is matched with the position information sensed by the sensing assembly 44 to ensure the reliable start and stop of the spraying body 41, and the mechanical action state of the transition piece 431 is identified by the sensor and fed back to the control system to perform program start and stop operation, so that expected actions are effectively executed, and misoperation is avoided.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

according to the utility model, the spraying robot comprises a robot body 1, a lifting mechanism 2, a mechanical arm component 3 and a spraying mechanism 4, wherein the lifting mechanism 2 is arranged on the robot body 1, and at least part of the lifting mechanism 2 is movably arranged along the vertical direction; the mechanical arm assembly 3 is arranged on the lifting mechanism 2 so as to drive the mechanical arm assembly 3 to move along the vertical direction through the lifting mechanism 2; the spraying mechanism 4 is mounted on the mechanical arm assembly 3, so that the spraying mechanism 4 is driven by the mechanical arm assembly 3 to move for spraying. Set up like this and can realize the reachability of different working faces through 2 cooperation mechanical arm component 3 adjustment gestures of elevating system, elevating system 2 can drive mechanical arm component 3 and realize the bulk movement to carry out the spraying to higher spraying surface, application scope is wide, has improved the automated control to spraying robot.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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 (9)

1. A painting robot, comprising:

a robot body (1);

the lifting mechanism (2) is installed on the robot body (1), and at least part of the lifting mechanism (2) is movably arranged in the vertical direction;

the mechanical arm assembly (3) is mounted on the lifting mechanism (2) and drives the mechanical arm assembly (3) to move along the vertical direction through the lifting mechanism (2);

the spraying mechanism (4) is arranged on the mechanical arm assembly (3) and is used for driving the spraying mechanism (4) to move through the mechanical arm assembly (3) so as to spray;

the lifting mechanism (2) comprises: the supporting plate (20) is installed on the robot body (1), and a sliding rail is further arranged on the supporting plate (20);

the sliding table (21) is mounted on the supporting plate (20) and moves in the vertical direction relative to the supporting plate (20), the sliding table (21) extends towards the direction far away from the supporting plate (20), the mechanical arm assembly (3) is mounted on the sliding table (21), and the sliding table (21) is connected with the sliding rail through a sliding block.

2. A painting robot according to claim 1, characterized in that the lifting mechanism (2) further comprises:

the transmission assembly (22) is installed on the supporting plate (20), at least part of the transmission assembly (22) is vertically and movably arranged, and the sliding table (21) is connected with the transmission assembly (22);

the driving part (23) is in driving connection with the transmission assembly (22) so as to drive the transmission assembly (22) to move through the driving part (23).

3. The spray coating robot of claim 1 further comprising:

the feeding assembly (5) is installed on the robot body (1), and the feeding assembly (5) is connected with the spraying mechanism (4);

the feeding assembly (5) comprises a feeding pipe (50) and a storage cylinder (51), wherein the feeding pipe (50) is arranged on the side of the storage cylinder (51) and communicated with the storage cylinder (51).

4. A painting robot according to claim 3, characterized in that said feed assembly (5) further comprises:

the fixing piece (52) is installed on the robot body (1), a fastening channel is arranged on the fixing piece (52), at least part of pipe sections of the feeding pipe (50) penetrate through the fastening channel, and the feeding pipe (50) is fixed through the fixing piece (52).

5. A painting robot according to claim 4, characterized in that the fixing member (52) comprises:

the connecting block (520) is installed on the robot body (1), and a first groove (5201) is formed in the connecting block (520);

the fixing block (521), wherein a second groove (5210) is formed in the fixing block (521);

the spacing block (522) is arranged between the connecting block (520) and the fixing block (521), a plurality of third grooves (5220) are formed in the spacing block (522), and the plurality of third grooves (5220) are respectively arranged in one-to-one correspondence with the first grooves (5201) and the second grooves (5210) so as to form the fastening channels between the connecting block (520) and the spacing block (522) and between the fixing block (521) and the spacing block (522).

6. The spray coating robot of claim 3 further comprising:

a detection assembly (6) disposed below the cartridge (51), the detection assembly (6) including a sensor (60) to detect a weight of the cartridge (51) by the sensor (60).

7. A painting robot according to claim 6, characterized in that said detection assembly (6) further comprises:

the cushion disc (61) is arranged on the outer side of the material storage cylinder (51) and connected with the material storage cylinder (51), and the sensor (60) is installed on the cushion disc (61); the sensors (60) are arranged in a plurality, and the sensors (60) are uniformly arranged along the circumferential direction of the pad (61) at intervals.

8. A painting robot according to claim 6, characterized in that said detection assembly (6) further comprises:

the connecting piece (62) is arranged between the storage barrel (51) and the pad (61), the first connecting end face of the connecting piece (62) is attached to the surface of the storage barrel (51), and the second connecting end face of the connecting piece (62) is attached to the connecting end face of the pad (61).

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

the robot comprises a chassis (7), wherein the robot body (1) is installed on the chassis (7), and walking wheels (70) are arranged on the chassis (7) so as to drive the robot body (1) to move through the chassis (7);

and the controller (8) is installed on the robot body (1) and located on one side of the lifting mechanism (2), and the controller (8) is connected with the lifting mechanism (2), the mechanical arm assembly (3) and the spraying mechanism (4) so as to control the mechanisms to act through the controller (8).

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