WO2020224546A1 - 喷涂机器人 - Google Patents

喷涂机器人 Download PDF

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Publication number
WO2020224546A1
WO2020224546A1 PCT/CN2020/088408 CN2020088408W WO2020224546A1 WO 2020224546 A1 WO2020224546 A1 WO 2020224546A1 CN 2020088408 W CN2020088408 W CN 2020088408W WO 2020224546 A1 WO2020224546 A1 WO 2020224546A1
Authority
WO
WIPO (PCT)
Prior art keywords
hanger
suspension
spray gun
spraying robot
motor
Prior art date
Application number
PCT/CN2020/088408
Other languages
English (en)
French (fr)
Inventor
许安鹏
殷奇
贺彬
原志超
Original Assignee
广东博智林机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910384431.5A external-priority patent/CN109972826A/zh
Priority claimed from CN201920673142.2U external-priority patent/CN209924386U/zh
Priority claimed from CN201910384424.5A external-priority patent/CN110107061B/zh
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2020224546A1 publication Critical patent/WO2020224546A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • E04F21/06—Implements for applying plaster, insulating material, or the like
    • E04F21/08—Mechanical implements
    • E04F21/12—Mechanical implements acting by gas pressure, e.g. steam pressure
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings

Definitions

  • This application relates to the technical field of construction machinery, and specifically to a spraying robot.
  • one purpose of the present application is to propose a spraying robot, which can realize the movement of the spray gun on the walls of high-rise buildings and other areas to spray different areas, and the flexibility of the spray gun is high. Thereby, the spraying effect and spraying efficiency of the wall surface can be improved.
  • the spraying robot includes: a suspension, a hanger, a spray gun, a feeding assembly, a control device, and a mobile trolley, and a lifting device is installed on the suspension, which can be lifted by the lifting device Hung mounted on the suspension end of the suspension, movably mounted on the hanger, capable of spraying the working surface, installed on the suspension and/or the hanger, and connected with the spray gun, Used for supplying material to the spray gun, installed on the suspension and/or the hanger, connected with the lifting device, the feeding assembly and the spray gun, and the suspension is installed on the mobile On the trolley, the mobile trolley can control the suspension to move in the transverse direction of the work surface, and can drive the suspension to move in a direction perpendicular to the work surface.
  • the lifting device by hanging the lifting device on the suspension end of the suspension, the lifting device can drive the suspension to move on the working surface, so that the spraying robot can be used on the exterior of high-rise buildings.
  • the wall or interior wall is sprayed, and the spray gun is movably installed on the hanger, and the working surface can be sprayed, so that the hanger can carry the spray gun and so on.
  • the spray gun can be moved to the designated area through the hanger. Spraying.
  • the spray gun is specifically used for spraying working surfaces such as exterior walls and interior walls of high-rise buildings.
  • spraying robot according to the present application may also have the following additional technical features:
  • the mobile trolley is an AGV trolley.
  • the lifting device is installed on the non-suspended end of the suspension, the lifting device includes a lifting power member and a lifting rope, one end of the lifting rope is connected to the lifting power member , The other end of the lifting rope is supported at the non-suspended end and connected with the hanger.
  • control device includes a first control element and a second control element.
  • the first control element is mounted on the suspension and connected to the lifting device and the feeding assembly.
  • the control member is installed on the pylon and connected with the first control member and the spray gun;
  • the feeding assembly includes an air compressor and a storage device, and the air compressor is installed on the suspension, And connected with the first control member, the storage device is installed on the rack, one end of the storage device is connected with the air compressor, and the other end of the storage device is connected with the Spray gun connection.
  • the spraying robot further includes a weighing instrument installed on the hanger and electrically connected to the second control member, and the material storage device is installed on the weighing instrument.
  • the spraying robot further includes: a cable reel and a power cord, mounted on the suspension, the cable reel includes a cable, one end of the cable is connected to an external power source or the first control member , The other end of the cable is connected with the second control element, connected with the first control element and supply power to the first control element.
  • the first control element and the second control element transmit information in a wireless manner.
  • the feed assembly further includes: a first valve, a second valve, and a third valve, which are connected between the air compressor and the storage device, and are used to control the air compressor and the storage device.
  • the on-off between the storage device is connected between the storage device and the spray gun, and is used to control the on-off between the air compressor and the spray gun, and is connected between the storage device and the spray gun.
  • the spray guns are used to control the flow between the air compressor and the spray guns.
  • the spraying robot further includes: a signal generator, which is electrically connected to the first control member, can transmit a ranging signal and receive a feedback signal fed back by the pylon, and can be based on the transmitted signal The distance measurement signal and the received feedback signal measure the height difference between the pylon and the suspension.
  • the signal generator is a laser measuring instrument.
  • the spraying robot further includes: a safety protection device, a counterweight, and a plurality of directional casters, which are installed on the hanger, connected to the lifting device, and capable of detecting the lifting device and the lifting device.
  • the working state of the pylon and can lock the lifting device when the working state of the lifting device and/or the pylon is outside the preset state; and/or, the non-removing device installed on the suspension And/or, arranged on the surface of the hanger close to the working surface, a plurality of the directional casters can contact the working surface, and can be used in the work when the hanger moves Roll on the surface.
  • the multiple directional casters are arranged on the hanger in multiple rows and multiple rows.
  • a plurality of rollers are provided at the bottom of the rack, and the plurality of rollers are arranged in multiple rows and rows at the bottom of the rack; and/or, the structure, shape and size of the rollers are different from those of the rollers.
  • the structure, shape and size of the directional casters are the same.
  • the spraying robot further includes: a sliding assembly, a sliding drive, and a rotating assembly, which are installed on the hanger and can slide on the hanger in the longitudinal direction of the working surface and/ Or sliding along the transverse direction of the working surface, connected with the sliding assembly, capable of driving the sliding assembly to slide, and mounted on the sliding assembly, wherein the spray gun is mounted on the rotating assembly and can be mounted on the rotating assembly.
  • the sliding component slides and can be rotated under the action of the rotating component.
  • the spraying robot further includes a first rail, the first rail is installed on the hanger and arranged along the transverse direction of the working surface, and the sliding assembly includes: a first slider, a second The guide rail and the second sliding block are slidably mounted on the first guide rail, can slide along the first guide rail, are mounted on the first sliding block, and are arranged along the longitudinal direction of the working surface.
  • the sliding driving part includes a driving part one and a driving part two
  • the first driving member is installed on the hanger and connected with the first sliding block for driving the first sliding block to slide
  • the second driving member is installed on the hanger and is connected to the first sliding block.
  • the two sliding blocks are connected to drive the second sliding block to slide.
  • the spraying robot further includes: a third guide rail and a third sliding block, which are mounted on the hanger, arranged along the transverse direction of the working surface, and slidably mounted on the third guide rail And connect with the second guide rail.
  • first rail and the hanger are of a split structure, or the first rail and the hanger are of an integrated structure, and the third rail and the hanger are of a split structure, Or the third guide rail and the hanger are an integral structure.
  • the first driving member includes a first motor, a first transmission belt, a first driving wheel and a first driven wheel
  • the first motor is installed on the hanger
  • the first driving wheel is installed on the On the motor shaft of the first motor
  • the first driven wheel is rotatably installed on the hanger
  • the first transmission belt is sleeved and installed on the first driving wheel and the first driven wheel
  • the second driving member includes a second motor, a second transmission belt, a second driving wheel and a second driven wheel
  • the second motor is installed on the pylon
  • the first Two driving wheels are installed on the motor shaft of the second motor
  • the second driven wheel is rotatably installed on the hanger
  • the second transmission belt is sleeved and installed on the second driving wheel and the On the second driven wheel and connected with the second sliding block.
  • first motor and the second motor are both servo motors; and/or the spraying robot further includes a first protective cover and a second protective cover, and the first protective cover is installed on the first protective cover.
  • the motor shaft end of the motor can cover the motor shaft of the first motor, and the second protective cover is installed on the motor shaft end of the second motor and can cover the motor shaft of the second motor.
  • the rotating assembly includes: a third motor, a reducer, and a second connecting plate, mounted on the sliding assembly, mounted on the sliding assembly, and connected to the third motor , Installed on the output shaft of the reducer, wherein the spray gun is installed on the second connecting plate, and the rotation of the third motor can drive the spray gun to rotate.
  • a recessed area is provided on the bottom of the suspension, and the suspension can be installed on the mobile trolley through the recessed area.
  • Fig. 1 is a schematic structural diagram of a spraying robot according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a part of the structure of a spraying robot according to an embodiment of the present application
  • Figure 3 is an enlarged view of part A in Figure 2;
  • FIG. 4 is a side view of the structure of the hanger part of the spraying robot according to the embodiment of the present application.
  • Fig. 5 is a rear view of the structure of the hanger part of the spraying robot according to the embodiment of the present application.
  • Fig. 6 is a front view of the structure of the hanger part of the spraying robot according to the embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of the assembly of the first guide rail, the sliding component, the sliding driving component and the rotating component of the spraying robot according to an embodiment of the present application;
  • FIG. 8 is a schematic structural view of the assembly of the first guide rail, the sliding component and the rotating component of the spraying robot according to the embodiment of the present application;
  • FIG. 9 is a schematic structural view of the suspension part structure of the spraying robot according to the embodiment of the present application.
  • Fig. 10 is a schematic structural view from another angle of the suspension part structure of the spraying robot according to the embodiment of the present application.
  • Fig. 11 is a schematic diagram of the connection between the air compressor, the storage device and the spray gun of the spraying robot according to the embodiment of the present application.
  • 70 the first rail; 72: the sliding component; 722: the first slider; 724: the second rail; 726: the second slider; 728: the first connecting plate; 73: the third rail; 74: the sliding driver; 742: first motor; 744 second motor; 746: first protective cover; 748: second protective cover; 76: rotating assembly; 762: third motor; 764: reducer; 766: second connecting plate;
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the spraying robot 100 according to an embodiment of the present application will be described below with reference to FIGS. 1 to 11.
  • the spraying robot 100 includes: a suspension 1, a hanger 2, a spray gun 3, a feeding assembly 4, a control device 5, and a mobile trolley.
  • a lifting device 12 is installed on the suspension 1; the hanger 2 can be hung and installed on the suspension end of the suspension 1 by the lifting device 12; the spray gun 3 is movably installed on the hanger 2, which can spray the working surface ;
  • the feeding assembly 4 is installed on the suspension 1 and/or the pylon 2 and connected with the spray gun 3 for feeding the spray gun 3;
  • the control device 5 is installed on the suspension 1 and/or the pylon 2, and the lifting device 12.
  • the feed assembly 4 is connected to the spray gun 3; the suspension 1 is installed on a mobile trolley, which can control the suspension 1 to move in the transverse direction of the work surface and drive the suspension 1 to move in a direction perpendicular to the work surface.
  • the spraying robot 100 provided according to the embodiments of the present application can be specifically used for spraying the exterior or interior walls of high-rise buildings, such as spraying paint on the exterior walls of high-rise buildings or cleaning the exterior walls of high-rise buildings, or Paint the interior walls of the building, such as spraying latex paint.
  • the spraying robot 100 includes a mobile trolley, a suspension 1, a pylon 2, a spray gun 3, a feeding assembly 4, and a control device 5.
  • the suspension 1 can be specifically used for suspension installation at high places, such as installed on the roof of the building to be painted, and the pylon 2 is hoisted on the suspension 1 through the lifting device 12, so that the pylon 2 can be installed in a high-rise building The exterior walls and other working surfaces.
  • the suspension 1, the pylon 2, and the lifting device 12 can be designed as a hanging basket structure in a building, so that the spray gun 3 can be moved along the wall of a high-rise building through the hanging basket structure-like device.
  • the hanger 2 is mainly used to carry the spray gun 3, etc., so that during spraying, the spray gun 3 can be moved to the designated area through the hanger 2 for spraying.
  • the spray gun 3 is specifically used for spraying working surfaces such as exterior walls and interior walls of high-rise buildings.
  • control device 5 is used to control the work of the spray gun 3, the lifting device 12 and the feeding assembly 4, such as controlling the movement of the spray gun 3 back and forth, or moving left and right or rotating, and the feeding assembly 4 is used to feed the spray gun 3.
  • the mobile trolley is connected to the suspension 1, so that by moving the trolley, the suspension 1 can be driven to move in the transverse direction of the working surface, such as moving left and right, so that the hanging rack 2 can be moved to different longitudinal areas to align the working surface. Different areas are sprayed.
  • the mobile trolley can also drive the suspension 1 to move in the front and rear directions of the work surface, so that the distance between the hanger 2 and the work surface can be adjusted.
  • the spraying robot 100 can adjust the horizontal position and the position of the front and rear direction of the spraying robot 100 by moving the trolley, so that the position of the hanger 2 can be adjusted along the horizontal and front-rear directions of the working surface, and the lifting device can be used at the same time. 12 to adjust the height of the hanger 2 so that during spraying, the spraying robot 100 can move to different positions according to actual needs to spray different areas, so that automatic spraying of the entire working surface can be realized.
  • the spraying robot 100 can be decomposed into a first part including the suspension 1 and a second part including the pylon 2, and when only the pylon 2 needs to be lifted, the suspension 1 does not need to be moved, so that To avoid frequent movement of the spraying robot 100 as a whole, in addition, this structure can realize the installation of the hanger 2 through the suspension 1. Therefore, during installation, it is not necessary to perforate and install other objects.
  • the mobile trolley is an AGV trolley 6.
  • the AGV trolley 6 can be used to perform overall movement of the suspension 1, such as left and right movement or forward and backward movement. Because the AGV trolley 6 can scan the map and move automatically, so that the spraying route of the spraying robot 100 can be automatically planned.
  • AGV is the abbreviation of AutomatedGuidedVehicle, also known as AGV trolley 6, and AGV trolley 6 is an automatic guidance device equipped with electromagnetic or optical, etc., can travel along a prescribed guidance path, has safety protection and various transfer functions
  • the transport vehicle of, which does not require a driver in industrial applications, can be controlled by a computer and can move and act through the information brought by the electromagnetic track.
  • the lifting device 12 is installed on the non-suspended end of the suspension.
  • the lifting device 12 includes a lifting power element and a lifting rope.
  • One end of the lifting rope is connected to the lifting power element, and the other end of the lifting rope is supported at At the non-suspension end, and connect with the pylon 2.
  • the hoisting power element can drive the hoisting rope up and down.
  • the hoisting rope moves, it can drive the pylon 2 to move.
  • the hoisting rope can make the pylon 2 move more stably and ensure safety .
  • the hoisting rope may be a steel wire rope or a rope body made of other materials without limitation.
  • the control device 5 includes a first control member 52 and a second control member 54.
  • the first control member 52 is installed on the suspension 1 and is connected to the lifting device. 12 and the feeding assembly 4 are connected.
  • the second control member 54 is installed on the hanger 2 and connected with the first control member 52 and the spray gun 3.
  • the control device 5 of the whole machine can be divided into two parts, namely the first control part 52 and the second control part 54, and optionally, the first control part 52 can be installed on the suspension 1 to control the installation The operation of the electrical device on the suspension 1, and the second control member 54 is installed on the pylon 2 to control the operation of the electrical device installed on the pylon 2.
  • the second control element 54 is connected to the first control element 52, so that the control parts of the whole machine can communicate with each other, so that the whole machine can be linked and controlled without independent control. This arrangement can control the whole machine through two separate control parts, thereby reducing the load of each control part and ensuring the safety of the control device 5.
  • the feed assembly 4 includes an air compressor 40 as shown in FIG. 1 and a storage device 42 as shown in FIG. 4.
  • the air compressor 40 is installed on the suspension 1 and Connect with the first control member 52.
  • the storage device 42 is installed on the pylon 2, and one end of the storage device 42 is connected with the air compressor 40, and the other end of the storage device 42 is connected with the spray gun 3 .
  • the feed assembly 4 includes an air compressor 40 and a storage device 42, wherein the air compressor 40 is used to input air into the storage device 42 so as to increase the pressure in the storage device 42 and the storage device 42
  • the material in the material device 42 can be discharged from the discharge port of the material storage device 42 into the spray gun 3 under the action of the pressure after the pressure gradually increases, so that the spray material can be sprayed through the air compressor 40 and the material storage device 42 supply.
  • the storage device 42 is a storage tank.
  • the spraying robot 100 further includes: a weighing instrument 13, which can be installed on the hanger 2 and electrically connected to the second control member 54, and the storage device 42 is installed on the weighing instrument 13 on.
  • a weighing device 13 can be installed on the rack 2. After the weighing device 13 is installed on the rack 2, the storage device 42 is installed on the weighing device 13, so that the weighing device 13 can be used to The materials in the storage device 42 are detected at any time, so that the materials in the storage device 42 can be monitored at any time. In addition, the weight data of the storage device 42 can be sent to the second control member 54 by connecting the weighing instrument 13 to the second control member 54.
  • the second control member 54 will The work of the lifting device 12 can be controlled together with the first control member 52, so that the hanger 2 can be moved to a place convenient for the user to carry out the feeding operation, so that materials can be added to the storage device 42 in time to prevent the storage device 42 The phenomenon that the materials inside have been used up has not been found.
  • the spraying robot 100 further includes: a cable reel 16 installed on the suspension 1, the cable reel 16 includes a cable, one end of the cable is connected to an external power supply or a first control The other end of the cable is connected to the second control element 54; the power cord is connected to the first control element 52 and supplies power to the first control element 52; when one end of the cable is connected to an external power source, the first control element 52 and the second control member 54 carry out information transmission in a wireless manner.
  • the spraying robot 100 further includes a cable reel 16 and a power cord, wherein the power cord is specifically used to power the first control member 52.
  • the cable wound on the cable reel 16 can be used to supply power to the second control member 54.
  • one end of the cable on the cable reel 16 is connected to an external power source, and
  • the first control element 52 and the second control element 54 are connected wirelessly.
  • the energization and signal transmission between the first control element 52 and the second control element 54 can be directly realized through the cable reel 16.
  • the cable is connected to the first control element 52 and the second control element. Between control parts 54.
  • the arrangement of the cable reel 16 enables the cables to be retracted as the hanger 2 rises and lowers during the lifting process of the hanger 2, so that the cables can be managed in a standardized way and prevent the cables from being too long. Twisting or jamming of cables and other objects.
  • the wireless connection of the first control element 52 and the second control element 54 can save the signal cables of the first control element 52 and the second control element 54 and simplify the overall structure of the product.
  • the feeding assembly 4 further includes: a first valve 44 connected between the air compressor 40 and the storage device 42 for controlling the air compressor 40 and the storage device 42
  • the second valve 46 connected between the storage device 42 and the spray gun 3, used to control the on-off between the air compressor 40 and the spray gun 3
  • the third valve 48 connected between the storage device 42 and the spray gun 3, used to control the flow between the air compressor 40 and the spray gun 3.
  • the first valve 44 the on-off between the air compressor 40 and the storage device 42 can be controlled, so that the pressure in the air compressor 40 can be controlled, so as to control the start and stop of the air compressor 40.
  • the first valve 44 here may be a solenoid valve because the control of the solenoid valve is more convenient and accurate.
  • the second valve 46 can be a proportional valve, and by setting the second valve 46, the on-off between the storage device 42 and the spray gun 3 can be controlled, so that the start and stop of the spray gun 3 can be controlled.
  • the second valve 46 may be a thimble valve.
  • the third valve 48 can be used to control the flow between the storage device 42 and the spray gun 3, so that the flow of air can be controlled, so as to control the atomization rate of the material sprayed by the spray gun 3. That is, the third valve 48 here is a flow regulating valve.
  • the spraying robot 100 further includes: a safety protection device 15 installed on the pylon 2 and connected with the lifting device 12 to detect the work of the lifting device 12 and the pylon 2 When the working state of the lifting device 12 and/or the pylon 2 is outside the preset state, the lifting device 12 can be locked.
  • the safety protection device 15 can ensure the safety of the lifting device 12 when the pylon 2 is lifted, thereby effectively preventing the occurrence of production safety accidents.
  • the lifting device 12 specifically includes a lifting power element and a lifting rope
  • the safety protection device 15 can be set to a speed when the sliding speed of the pylon 2 reaches the speed of the rope and the inclination angle of the pylon 2 reaches the angle of the rope.
  • the safety lock should not be automatically reset when the rope is locked, so as to effectively prevent the occurrence of production safety accidents.
  • the specific working principle of the installation lock is the same as the principle of the safety protection device 15 in the existing building hanging basket, and will not be described in detail here.
  • the safety protection device 15 can also be configured in other structures.
  • the lifting device 12 can also be an electric hoist, hydraulic hoist, etc.
  • the safety protection device 15 may specifically be a speed judging device, so that the lifting speed of the lifting device 12 can be used to ensure the safety of the pylon 2 during the lifting process.
  • the safety protection device 15 can also be a device that can determine whether the hanger 2 is safe according to the height of the hanger 2. In the actual process, the structure of the lifting device 12 and the safety protection device 15 can be set according to actual needs, which is not specifically limited in this application.
  • the spraying robot 100 further includes: a counterweight 14 installed on the non-suspended end of the suspension 1.
  • the counterweight 14 can balance the weight of the frame itself, thereby preventing the frame from being too heavy and causing the entire suspension structure to overturn.
  • the multiple directional casters 17 are arranged in multiple rows and multiple rows on the hanger 2 .
  • the plurality of directional casters 17 can form a stable supporting surface, thereby enabling Form an effective support for the pylon 2.
  • the number of directional casters 17 is four, and the four directional casters 17 are preferably distributed on the hanger 2 in a rectangular or square shape. It can be understood that the number of directional casters 17 can also be 3, 5 or more, which is not limited here.
  • a plurality of rollers 171 are provided on the bottom of the hanger 2.
  • the roller 171 by setting the roller 171 at the bottom of the rack 2, the bottom of the rack 2 can be in contact with the ground, wall, etc. through a plurality of rollers 171, so that when the rack 2 is moved on the ground, the rollers 171 can be used.
  • the rolling movement of the pylon 2 realizes the movement of the pylon 2, which can reduce the difficulty of moving the pylon 2 on the ground.
  • the number of rollers 171 is four, and the four rollers 171 are preferably distributed on the hanger 2 in a rectangular or square shape.
  • a plurality of rollers 171 are arranged in multiple rows and multiple rows on the bottom of the hanger 2. This allows the pylon 2 to move vertically, and enables the pylon 2 to be placed vertically on the ground, etc., so that when the spray gun 3 and other parts are installed on the pylon 2, there is no need to put the pylon 2 down. Improve the installation convenience of other parts on the rack 2. When work is needed, the pylon 2 can be directly driven to move, so that the working efficiency of the spraying robot 100 can be improved.
  • the structure, shape and size of the roller 171 are consistent with the structure, shape and size of the directional caster 17. Therefore, the roller 171 and the directional caster 17 are arranged to have the same structure, shape and size, that is, the roller 171 and the directional caster 17 are preferably the same part, so that the types of parts can be reduced, and the generation of special-shaped parts can be reduced. Reduce the cost of products. In addition, during installation of this type of arrangement, there is no need to deliberately distinguish which is the directional caster 17 and which is the roller 171, so that the installation convenience of the hanger 2 can be improved.
  • the spraying robot 100 further includes: a sliding assembly 72, which is installed on the hanger 2 and can slide on the hanger 2 in the longitudinal direction of the working surface and/or along The working surface slides in the transverse direction; the sliding drive 74 is connected to the sliding assembly 72 and can drive the sliding assembly 72 to slide; the rotating assembly 76 is mounted on the sliding assembly 72; wherein the spray gun 3 is mounted on the rotating assembly 76 and can slide The component 72 slides and can rotate under the action of the rotating component 76.
  • a sliding assembly 72 which is installed on the hanger 2 and can slide on the hanger 2 in the longitudinal direction of the working surface and/or along The working surface slides in the transverse direction
  • the sliding drive 74 is connected to the sliding assembly 72 and can drive the sliding assembly 72 to slide
  • the rotating assembly 76 is mounted on the sliding assembly 72
  • the spray gun 3 is mounted on the rotating assembly 76 and can slide
  • the component 72 slides and can rotate under the action of the rotating component 76.
  • the spray gun 3 can be slid in the height direction or the transverse direction of the working surface of the spray gun 3, so that the spray gun 3 can be driven to move in the height direction or the width direction of the working surface and slide
  • the driving member 74 is used to drive the sliding assembly 72 to slide, so that the sliding assembly 72 can be automatically driven by the sliding driving member 74, so that the spray gun 3 can automatically slide along the up, down, left, and right directions of the working surface.
  • the rotating assembly 76 is mounted on the sliding assembly 72 and can rotate relative to the working surface, so that the rotating assembly 76 can drive the spray gun 3 to rotate within the spraying working surface.
  • the spray gun 3 of this structure can slide in the height direction and/or the transverse direction of the working surface under the action of the sliding assembly 72, and can be rotated under the action of the rotating assembly 76, that is, the spray gun 3 of this structure has a relatively high degree of freedom. Specifically, the spray gun 3 can move freely along the up, down, left, and right directions of the working surface, and can rotate freely, so that when the spray gun 3 is used to paint and clean the exterior or interior walls of high-rise buildings, the spray gun 3 can be used.
  • the present application can reduce the control difficulty of the spraying robot 100 and simplify the structure of the product by increasing the degree of freedom of the spray gun 3 and reducing the number of movements of the spraying robot 100.
  • the angle at which the spray gun 3 can rotate is greater than or equal to 0° and less than or equal to 180°, that is, in this application, the spray gun 3 is only rotated by 180°, which can make the structure of the spray gun 3 more reasonable and compact.
  • the spray gun 3 can also be provided with a structure capable of rotating 360° without limitation.
  • the spraying robot 100 further includes a first guide rail 70.
  • the first guide rail 70 is installed on the hanger 2 and arranged along the transverse direction of the working surface.
  • the sliding assembly 72 includes: The block 722 is slidably mounted on the first guide rail 70 and can slide along the first guide rail 70; the second guide rail 724 is mounted on the first sliding block 722 and is arranged along the longitudinal direction of the working surface; the second sliding block 726 , Can be slidably mounted on the second guide rail 724, and can slide along the second guide rail 724; wherein the rotating assembly 76 is mounted on the second sliding block 726, and the sliding driving member 74 includes a driving member one and a second driving member. Installed on the hanger 2 and connected with the first sliding block 722 for driving the first sliding block 722 to slide, and the second driving member is installed on the hanger 2 and connected with the second sliding block 726 for driving the second sliding block 726 slide.
  • the spraying robot 100 further includes a first guide rail 70, which is arranged along the transverse direction of the working surface, that is, the left and right direction of the working surface, and the sliding assembly 72 includes a first sliding block 722 and a first sliding block 722.
  • the sliding assembly 72 can be slidably mounted on the first guide rail 70 through the first sliding block 722, and can slide along the first guide rail 70, so that the sliding assembly 72 can drive the spray gun 3 in the transverse direction
  • the second sliding block 726 can be slidably mounted on the second guide rail 724, so that the spray gun 3 can be driven to slide in the height direction through the sliding of the second sliding block 726 on the second guide rail 724.
  • the sliding on the first rail 70 and the sliding of the second slider 726 on the second rail 724 can adjust the up, down, left, and right positions of the spray gun 3.
  • the first guide rail 70 and the second guide rail 724 can restrict the sliding direction, so that the sliding assembly 72 and the second sliding block 726 can be prevented from deviating from the predetermined route when sliding, so that the spray gun 3 can be slid to the predetermined location according to the predetermined route.
  • This structure can adjust the position of the spray gun 3 by sliding in the height direction and the left and right directions, so that the height position adjustment of the spray gun 3 and the left and right position adjustment are relatively independent, which can improve the convenience of the height adjustment and the left and right adjustment of the spray gun 3.
  • corresponding to the first guide rail 70 can be installed in a driving member one that drives the first sliding block 722, and corresponding to the second guide rail 724 is installed in a driving member two that drives the second sliding block 726, so that two Independent driving parts realize the independent driving of the first sliding block 722 and the second sliding block 726, so that the first sliding block 722 and the second sliding block 726 can be independent of each other when sliding, so as to achieve
  • the horizontal and height independent adjustment of the spray gun 3 improves the freedom of movement of the spray gun 3.
  • the spraying robot 100 further includes: a third guide rail 73, which is installed on the hanger 2 and arranged along the transverse direction of the working surface; and a third slider, which is slidably installed on the third guide rail.
  • the guide rail 73 is connected to the second guide rail 724.
  • the third guide rail 73 is provided on the hanger 2, and the third slider is slidably mounted on the third guide rail 73 and connected with the sliding assembly 72.
  • the third slider can be connected to the second guide rail 724 Connection, so that when the sliding assembly 72 slides relative to the first guide rail 70, the sliding assembly 72 can drive the third slider to slide on the third guide rail 73, so that the first guide rail 70 and the third guide rail 73 simultaneously slide the sliding assembly 72 Movement is oriented. That is, the sliding assembly 72 of this structure can be slidably mounted on the third rail 73 and the first rail 70.
  • the connection reliability between the sliding assembly 72 and the hanger 2 can be enhanced, and the installation of the sliding assembly 72 can be prevented from being unstable.
  • first guide rail 70 and the hanger 2 have a split structure, or the first guide rail 70 and the hanger 2 are an integrated structure; the third guide rail 73 and the hanger 2 have a split structure, or the third guide rail 73 and the hanger 2 have a separate structure.
  • the hanger 2 is an integrated structure.
  • the first guide rail 70 and the hanger 2 can have a split structure, that is, two independent structures, and the hanger 2 and the first guide rail 70 can be detachably connected, so that the first guide rail 70 can follow
  • the spray gun 3 is disassembled together, so that in the actual process, the first guide rail 70 and the spray gun 3 can be disassembled or repaired as a separate part.
  • the first guide rail 70 and the hanger 2 may also be an integrated structure.
  • the third guide rail 73 and the hanger 2 also have a split structure. Of course, it can also be an integrated structure.
  • the arrangement of the hanger 2 and the first guide rail 70 and the third guide rail 73 is not limited here.
  • a first connecting plate 728 is provided between the first sliding block 722 and the second guide rail 724, and the first connecting plate 728 and the first sliding block 722 are connected by screws.
  • the plate 728 and the second guide rail 724 are connected by screws.
  • the first connecting plate 728 can be provided between the first slider 722 and the second rail 724, so that the first slider 722 and the second rail 724 can be connected more firmly.
  • the first The connecting plate 728 and the first sliding block 722 and the first connecting plate 728 and the second guide rail 724 can be connected by screws, because the screw connection method is relatively simple and reliable.
  • the first connecting plate 728 and the first The sliding blocks 722 and the first connecting plate 728 and the second guide rail 724 can also be connected by other structures and methods, which are not limited here.
  • the first driving member includes a first motor 742, a first transmission belt (not shown in the figure), a first driving wheel and a first driven wheel, and the first motor 742 is installed On the pylon 2, the first driving wheel is installed on the motor shaft of the first motor 742, the first driven wheel is rotatably installed on the pylon 2, and the first transmission belt is sleeved and installed on the first driving wheel and the first slave.
  • the driving wheel is connected to the first sliding block 722;
  • the second driving member includes a second motor 744, a second transmission belt (not shown in the figure), a second driving wheel and a second driven wheel.
  • the second motor 744 is installed on the pylon 2, the second driving wheel is installed on the motor shaft of the second motor 744, the second driven wheel is rotatably installed on the pylon 2, and the second transmission belt is sleeved and installed on the second driving wheel and the second driven wheel, Connected with the second slider 726.
  • the first slider 722 is driven to slide by the first motor 742, and the first motor 742 and the first slider 722 are connected through the first transmission belt, the first driving wheel and the first driven wheel, and at the same time through the
  • the second motor 744 can drive the second sliding block 726 to slide, and the second motor 744 and the second sliding block 726 are connected by a second transmission belt, a second driving wheel and a second driven wheel.
  • This structure can realize the driving of the first sliding block 722 and the second sliding block 726 by means of belt transmission, so that the structure of the driving part 1 and the driving part 2 can be made relatively simple, thereby simplifying the structure of the product.
  • first motor 742 and the second motor 744 can be connected to the first slider 722 and the second slider 726 through belts and pulleys.
  • first motor 742 is connected to the first slider 722 and the second motor 744.
  • Gears and other transmission structures can also be arranged between the second slider 726 and the second slider 726, so that the speeds of the first slider 722 and the second slider 726 can be reasonably controlled.
  • the first motor 742 and the second motor 744 may both be servo motors, because the servo motors have high control accuracy, so the spraying accuracy of the spray gun 3 can be ensured.
  • the first motor 742 and the second motor 744 may also be other motors, and there is no limitation, as long as the actual needs are met.
  • the second motor 744 is installed at the lower end of the second guide rail 724, so that the second motor 744 can realize the sliding drive of the second slider 726 from the lower end of the second guide rail 724.
  • the spraying robot 100 further includes a first protective cover 746 and a second protective cover 748.
  • the first protective cover 746 is installed on the motor shaft end of the first motor 742 and can cover the first motor 742.
  • the second protective cover 748 is installed on the motor shaft end of the second motor 744 and can cover the motor shaft of the second motor 744.
  • first protective cover 746 and the second protective cover 748 rain and dust can be effectively prevented from affecting the operation of the first motor 742 and the second motor 744.
  • first protective cover 746 and the second protective cover 748 are square, because the area of the square is larger, so that the protective performance of the protective cover can be enhanced.
  • the rotating assembly 76 includes: a third motor 762, a reducer 764, and a second connecting plate 766.
  • the third motor 762 is mounted on the sliding assembly 72, and the reducer 764 is mounted on the sliding assembly.
  • the assembly 72 is connected to the third motor 762, and the second connecting plate 766 is installed on the output shaft of the reducer 764; wherein, the spray gun 3 is installed on the second connecting plate 766, and the rotation of the third motor 762 can drive the spray gun 3 to rotate.
  • the third motor 762 provides power, and the reducer 764 is used to adjust the speed of the spray gun 3 while increasing the output torque, so that the speed of the output shaft can be controlled within a reasonable range.
  • the second connecting plate 766 is used to realize the installation of the spray gun 3. At the same time, the second connecting plate 766 can increase the rotation radius of the spray gun 3, so that the spray gun 3 can spray a larger area at one time by rotating. In addition, the second connecting plate 766 can also increase the installation space of the spray gun 3 and increase the contact area between the spray gun 3 and the speed reducer 764, thereby improving the installation stability between the speed reducer 764 and the spray gun 3.
  • the third motor 762 may be a servo motor, because the servo motor has higher control accuracy, which can improve the control accuracy of the speed of the rotating shaft.
  • the spraying robot 100 further includes a distance measuring device, the distance measuring device includes a signal generator 92 installed on the suspension 1, and the distance measuring device also It includes a signal reflector 94 installed on the pylon 2.
  • the signal generator 92 is electrically connected to the first control member 52, and can transmit a ranging signal and receive the feedback signal fed back by the signal reflector 94, and can be based on the transmitted ranging signal
  • the signal and the received feedback signal measure the distance between the pylon 2 and the suspension 1.
  • the height position of the pylon 2 can be obtained by analyzing the distance between the suspension 1 and the pylon 2.
  • the position of the pylon 2 can be determined by the height position of the pylon 2 and the lateral position of the mobile trolley, so that the pylon 2 can automatically avoid positions such as window sills, balconies, corners, etc. during the movement process to achieve Effective obstacle avoidance effect.
  • the signal generator 92 is a laser measuring instrument
  • the signal reflector 94 is a laser reflector
  • the distance between the suspension 1 and the pylon 2 can be measured by means of laser distance measurement. Since the laser ranging method is relatively mature and easy to implement, it can simplify the product cost and reduce the difficulty of ranging.
  • the signal generator 92 can be set as a laser measuring instrument, and the signal reflector 94 can be set as a laser reflecting plate, and in this structure, the laser measuring instrument is used to send out laser signals and receive signals reflected by the laser reflecting plate.
  • the laser reflector is used to reflect the signal from the laser measuring instrument back to the laser measuring instrument, so that the laser measuring instrument can be Answer the time to receive and the propagation speed of the laser in the air to calculate the distance traveled by the laser, so that the distance between the suspension 1 and the pylon 2 can be determined according to the distance traveled by the laser.
  • the number of laser reflection plates is two, and the two laser reflection plates are symmetrically installed on the hanger 2 along the transverse direction of the working surface.
  • two laser reflectors can be used to reflect the laser light emitted by the laser measuring instrument, which can increase the amount of laser light reflected back, thereby enhancing the feedback signal that the laser measuring instrument can receive.
  • the reliability of the feedback laser signal can be enhanced, and the accuracy of laser ranging can be improved, so that precise control of the position movement of the pylon 2 can be realized.
  • the spraying robot 100 further includes: an image acquisition device 82 installed on the hanger 2 for acquiring images of the working surface after spraying; wherein, the second control member 54 is also connected to the image acquisition device.
  • the device 82 is connected and can judge whether the spraying of the working surface is qualified according to the comparison between the image collected by the image acquisition device 82 and the standard image, and can control the spray gun 3 to repaint the working surface when the spraying of the working surface is judged to be unqualified .
  • the image capture device 82 is used to capture images of the painted work surface
  • the second control member 54 is also connected to the image capture device 82, which can determine the job based on the image captured by the image capture device 82 and the standard image. Whether the spraying of the surface is qualified, and the second control member 54 can also re-spray the working surface when it is judged that the spraying of the working surface is unqualified.
  • This structure can collect the spraying condition of the working surface after spraying through the image collecting device 82, and at the same time, it can compare the collected image with the standard graphics to determine whether the spraying of the working surface is qualified, so that the spraying robot 100 can spray After unqualified, re-spray the sprayed working surface, so as to ensure the spraying quality, avoid spraying defects, and prevent the phenomenon of poor quality of automatic spraying.
  • the image acquisition device 82 can be an industrial camera or a video camera, and when the image acquisition device 82 is an industrial camera, the sprayed working surface can be directly saved in the form of a picture through the industrial camera, and in this case, the The qualified standard pictures are stored in the storage device, so that by analyzing and comparing the difference between the pictures taken by the industrial camera and the pre-stored graphic samples, it can be judged whether the spraying quality is qualified.
  • the image acquisition device 82 is a camera
  • the sprayed work surface can be saved directly through the camera in the form of video.
  • the qualified standard video can be stored in the storage device in advance, so that the camera can be compared by analysis. The difference between the captured video and the pre-stored standard video can determine whether the spray quality is qualified.
  • the image capture device 82 is installed on the second slider 726. This enables the image acquisition device 82 and the spray gun 3 to be installed correspondingly, so that the image acquisition device 82 and the spray gun 3 can be roughly installed at the same position, so that after the spray gun 3 is sprayed, it can be easily captured by the image acquisition device 82 Image after spraying.
  • this structure can realize the position adjustment of the image capture device 82 and the spray gun 3 through the same sliding assembly 72, thereby simplifying the structure of the product and reducing the cost of the product.
  • the spraying robot 100 further includes a fixing plate 84, which is mounted on the second sliding block 726 by screws, and the image acquisition device 82 is mounted on the fixing plate 84.
  • a fixing plate 84 may be provided on the second sliding block 726, and the fixing plate 84 may be fixed to the second sliding block 726 by screws, and the image capturing device 82 may be directly fixed to the fixing plate 84, In this way, the installation of the image acquisition device 82 on the sliding assembly 72 can be realized.
  • the structure of the fixing plate 84 can be reasonably set, so that the fixing plate 84 can reasonably limit and fix the image acquisition device 82.
  • a recessed area is provided on the bottom of the suspension 1, and the suspension 1 can be installed on the AGV trolley 6 through the recessed area, and multiple pulleys are provided on the bottom of the suspension 1, and the suspension 1 When installed on the AGV trolley 6, the suspension 1 can contact the placement platform through multiple pulleys.
  • a recessed area can be provided at the bottom of the suspension 1, and then the AGV trolley 6 is installed in the recessed area, so that the AGV trolley 6 can drive the suspension 1 to move as a whole while lowering the suspension 1.
  • the overall volume formed by the AGV trolley 6 can reduce the floor space of the product.
  • connection can be a fixed connection, a detachable connection, or an integral connection; Directly connected, or indirectly connected through an intermediary.
  • connection can be a fixed connection, a detachable connection, or an integral connection; Directly connected, or indirectly connected through an intermediary.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Spray Control Apparatus (AREA)

Abstract

本申请公开了一种喷涂机器人，包括：悬架(1)、挂架(2)、喷枪(3)、供料组件(4)、控制装置(5)和移动小车，悬架(1)上安装有提升装置(12)，提升装置(12)吊挂安装在悬架(1)的悬挂端上，喷枪(3)活动地安装在挂架(2)上，并能够对作业面进行喷涂，供料组件(4)安装在悬架(1)和/或挂架(2)上，与喷枪(3)连接，控制装置(5)安装在悬架(1)和/或挂架(2)上，与提升装置(12)、供料组件(4)和喷枪(3)连接，悬架(1)安装在移动小车上，移动小车能够控制悬架(1)沿作业面的横向方向运动。

Description

喷涂机器人
相关申请的交叉引用
本申请基于申请号为：201910384431.5、201910384424.5和201920673142.2，其申请日均为2019年5月9日的中国专利申请提出，并要求上述中国专利申请的优先权，上述中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及建筑机械技术领域，具体而言，涉及一种喷涂机器人。
背景技术
在城市化进程飞速发展的今天，为满足人们越来越高的生活需求，各种高层建筑物应运而生。而在建筑施工的过程中，墙面喷涂是不可或缺的一项施工步骤。但目前建筑物的墙面喷涂工艺仍由人工完成，而这种施工方式会受到自然环境的制约，同时也无法确保喷涂质量，另外该种方式也无法确保作业人员的安全。因此，无法设计出一种能够进行自动喷涂的喷涂机器人成为目前亟待解决的问题。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请的一个目的在于提出一种喷涂机器人，所述喷涂机器人，可以实现喷枪在高层建筑的墙面等区域的运动，以对不同的区域进行喷涂，且喷枪的灵活性较高，从而可以提高对墙面等的喷涂效果和喷涂效率。
根据本申请实施例的喷涂机器人，所述喷涂机器人包括：悬架、挂架、喷枪、供料组件、控制装置和移动小车，所述悬架上安装有提升装置，能够由所述提升装置吊挂安装在所述悬架的悬挂端上，活动地安装在所述挂架上，能够对作业面进行喷涂，安装在所述悬架和/或所述挂架上，与所述喷枪连接，用于向所述喷枪供料，安装在所述悬架和/或所述挂架上，与所述提升装置、所述供料组件和所述喷枪连接，所述悬架安装在所述移动小车上，所述移动小车能够控制所述悬架沿所述作业面的横向方向运动，以及能够带动所述悬架沿垂直于所述作业面的方向运动。
由此，根据本申请实施例的喷涂机器人，通过将提升装置吊挂安装在悬架的悬挂端上，使得提升装置可以驱动悬架在工作面上活动，从而使得喷涂机器人可以对高层建筑的外墙或内墙进行喷涂，通过喷枪活动地安装在挂架上，并能够对作业面进行喷涂，使 得挂架可以对喷枪等的承载在喷涂时，便可通过挂架将喷枪运动到指定区域进行喷涂。而喷枪具体用于对高层建筑的外墙、内墙等作业面进行喷涂。
另外，根据本申请的喷涂机器人，还可以具有如下附加的技术特征：
在本申请的一些实施例中，所述移动小车为AGV小车。
在本申请的一些实施例中，所述提升装置安装在所述悬架的非悬挂端上，所述提升装置包括提升动力件和提升绳，所述提升绳的一端与所述提升动力件连接，所述提升绳的另一端支撑在所述非悬挂端处，并与所述挂架连接。
可选地，所述控制装置包括第一控制件和第二控制件，所述第一控制件安装在所述悬架上，与所述提升装置和所述供料组件连接，所述第二控制件安装在所述挂架上，与所述第一控制件和所述喷枪连接；所述供料组件包括空气压缩机和储料装置，所述空气压缩机安装在所述悬架上，并与所述第一控制件连接，所述储料装置安装在所述挂架上，且所述储料装置的一端与所述空气压缩机连接，所述储料装置的另一端与所述喷枪连接。
在本申请的一些实施例中，喷涂机器人还包括：称重仪，安装在所述挂架上，与所述第二控制件电连接，所述储料装置安装在所述称重仪上。
可选地，喷涂机器人还包括：电缆线盘和电源线，安装在所述悬架上，所述电缆线盘包括电缆线，所述电缆线的一端与外接电源或所述第一控制件连接，所述电缆线的另一端与所述第二控制件连接，与所述第一控制件连接并为所述第一控制件供电。其中，所述电缆线的一端与外接电源连接时，所述第一控制件与所述第二控制件通过无线的方式进行信息传输。
可选地，所述供料组件还包括：第一阀、第二阀和第三阀，连接在所述空气压缩机与所述储料装置之间，用于控制所述空气压缩机与所述储料装置之间的通断，连接在所述储料装置与所述喷枪之间，用于控制所述空气压缩机与所述喷枪之间的通断，连接在所述储料装置与所述喷枪之间，用于控制所述空气压缩机与所述喷枪之间的流量。
在本申请的一些实施例中，喷涂机器人还包括：信号发生器，与所述第一控制件电连接，能够发射测距信号和接收所述挂架反馈回的反馈信号，并能够根据发射的所述测距信号和接收的所述反馈信号测量出所述挂架与所述悬架之间的高度差。
可选地，所述信号发生器为激光测量仪。
在本申请的一些实施例中，喷涂机器人还包括：安全保护装置、配重块和多个定向脚轮，安装在所述挂架上，与所述提升装置连接，能够检测所述提升装置和所述挂架的工作状态，并能够在所述提升装置和/或所述挂架的工作状态处于预设状态之外时锁住所述提升装置；和/或，安装在所述悬架的非悬挂端上；和/或，设置在所述挂架靠近所 述作业面的面上，多个所述定向脚轮能够与所述作业面接触，并能够在所述挂架运动时在所述作业面上滚动。
可选地，当所述挂架在靠近所述作业面的面上设置所述多个定向脚轮，多个所述定向脚轮在所述挂架上呈多列多排设置。
可选地，所述挂架的底部设置有多个滚轮，多个所述滚轮在所述挂架的底部呈多列多排设置；和/或，所述滚轮的结构、形状和大小与所述定向脚轮的结构、形状和大小一致。
在本申请的一些实施例中，喷涂机器人还包括：滑动组件、滑动驱动件和旋转组件，安装在所述挂架上，能够在所述挂架上沿所述作业面的纵向方向滑动和/或沿所述作业面的横向方向滑动，与所述滑动组件连接，能够驱动所述滑动组件滑动，安装在所述滑动组件上，其中，所述喷枪安装在所述旋转组件上，能够在所述滑动组件的作用下滑动，以及能够在所述旋转组件的作用下旋转。
可选地，所述喷涂机器人还包括第一导轨，所述第一导轨安装在所述挂架上，沿所述作业面的横向方向设置，所述滑动组件包括：第一滑块、第二导轨和第二滑块，能够滑动地安装在所述第一导轨上，能够沿所述第一导轨滑动，安装在所述第一滑块上，并沿所述作业面的纵向方向设置，能够滑动地安装在所述第二导轨上，能够沿所述第二导轨滑动，其中，所述旋转组件安装在所述第二滑块上，所述滑动驱动件包括驱动件一和驱动件二，所述驱动件一安装在所述挂架上，与所述第一滑块连接，用于驱动所述第一滑块滑动，所述驱动件二安装在所述挂架上，与所述第二滑块连接，用于驱动所述第二滑块滑动。
在本申请的一些实施例中，喷涂机器人还包括：第三导轨和第三滑块，安装在所述挂架上，沿所述作业面的横向方向设置，滑动地安装在所述第三导轨上，并与所述第二导轨连接。
可选地，所述第一导轨与所述挂架为分体式结构，或所述第一导轨与所述挂架为一体式结构，所述第三导轨与所述挂架为分体式结构，或所述第三导轨与所述挂架为一体式结构。
可选地，所述驱动件一包括第一电机、第一传动带、第一主动轮和第一从动轮，所述第一电机安装在所述挂架上，所述第一主动轮安装在所述第一电机的电机轴上，所述第一从动轮能够转动地安装在所述挂架上，所述第一传动带套设安装在所述第一主动轮和所述第一从动轮上，并与所述第一滑块连接，所述驱动件二包括第二电机、第二传动带、第二主动轮和第二从动轮，所述第二电机安装在所述挂架上，所述第二主动轮安装在所述第二电机的电机轴上，所述第二从动轮能够转动地安装在所述挂架上，所述第二 传动带套设安装在所述第二主动轮和所述第二从动轮上，并与所述第二滑块连接。
进一步地，所述第一电机和所述第二电机均为伺服电机；和/或所述喷涂机器人还包括第一防护罩和第二防护罩，所述第一防护罩安装在所述第一电机的电机轴端，能够罩住所述第一电机的电机轴，所述第二防护罩安装在所述第二电机的电机轴端，能够罩住所述第二电机的电机轴。
在本申请的一些实施例中，所述旋转组件包括：第三电机、减速器和第二连接板，安装在所述滑动组件上，安装在所述滑动组件上，与所述第三电机连接，安装在所述减速器的输出轴上，其中，所述喷枪安装在所述第二连接板上，所述第三电机转动能够带动所述喷枪转动。
在本申请的一些实施例中，所述悬架的底部上设置有凹陷区域，所述悬架能够通过所述凹陷区域安装在所述移动小车上。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请的实施例的喷涂机器人的结构示意图；
图2是根据本申请的实施例的喷涂机器人的挂架部分结构的结构示意图；
图3是图2中的A局部的放大图；
图4是根据本申请的实施例的喷涂机器人的挂架部分结构的侧视图；
图5是根据本申请的实施例的喷涂机器人的挂架部分结构的后视图；
图6是根据本申请的实施例的喷涂机器人的挂架部分结构的前视图；
图7是根据本申请的实施例的喷涂机器人的第一导轨、滑动组件、滑动驱动件和旋转组件装配的结构示意图；
图8是根据本申请的实施例的喷涂机器人的第一导轨、滑动组件和旋转组件装配的结构示意图；
图9是根据本申请的实施例的喷涂机器人的悬架部分结构的一种角度的结构示意图；
图10是根据本申请的实施例的喷涂机器人的悬架部分结构的另一种角度的结构示意图；
图11是根据本申请的实施例的喷涂机器人的空气压缩机、储料装置和喷枪之间的连 接示意图。
其中，图1至图11中的附图标记与部件名称之间的对应关系为：
100：喷涂机器人；
1：悬架；12：提升装置；2：挂架；3：喷枪；4：供料组件；40：空气压缩机；42：储料装置；44：第一阀；46：第二阀；48：第三阀；5：控制装置；52：第一控制件；54：第二控制件；6：AGV小车；13：称重仪；14：配重块；15：安全保护装置；16：电缆线盘；17：定向脚轮；171：滚轮；
70：第一导轨；72：滑动组件；722：第一滑块；724：第二导轨；726：第二滑块；728：第一连接板；73：第三导轨；74：滑动驱动件；742：第一电机；744第二电机；746：第一防护罩；748：第二防护罩；76：旋转组件；762：第三电机；764：减速器；766：第二连接板；
82：图像采集装置；84：固定板；
92：信号发生器；94：信号反射器。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“纵向”、“横向”、“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面参考图1-图11描述根据本申请实施例的喷涂机器人100。
如图1-图11所示，根据本申请实施例的喷涂机器人100包括：包括悬架1、挂架2、 喷枪3、供料组件4、控制装置5和移动小车。具体地，悬架1上安装有提升装置12；挂架2能够由提升装置12吊挂安装在悬架1的悬挂端上；喷枪3活动地安装在挂架2上，能够对作业面进行喷涂；供料组件4安装在悬架1和/或挂架2上，与喷枪3连接，用于向喷枪3供料；控制装置5安装在悬架1和/或挂架2上，与提升装置12、供料组件4和喷枪3连接；悬架1安装在移动小车上，移动小车能够控制悬架1沿作业面的横向方向运动，以及能够带动悬架1沿垂直于作业面的方向运动。
根据本申请的实施例提供的喷涂机器人100，可具体用于对高层建筑的外墙或内墙进行喷涂，比如对高层建筑的外墙进行喷漆或者对高层建筑的外墙进行喷水清洗，或者对建筑内墙进行粉刷，比如喷乳胶漆等。具体地，喷涂机器人100包括移动小车、悬架1、挂架2、喷枪3、供料组件4和控制装置5。而悬架1可具体用于悬挂安装在高处，比如安装在待喷涂建筑的屋顶上，而挂架2通过提升装置12吊装在悬架1上，这样就能够将挂架2安装在高层建筑的外墙等作业面上。即这里悬架1、挂架2、提升装置12可设计成一个类似建筑中的吊篮结构，这样通过该类似吊篮结构的装置便可实现喷枪3沿高层建筑的墙面等的运动。而挂架2主要用于实现喷枪3等的承载，这样在喷涂时，便可通过挂架2将喷枪3运动到指定区域进行喷涂。而喷枪3具体用于对高层建筑的外墙、内墙等作业面进行喷涂。
进一步地，控制装置5用于控制喷枪3、提升装置12以及供料组件4的工作，比如控制喷枪3前后移动，或左右移动或旋转等工作，而供料组件4用于向喷枪3供料。而移动小车与悬架1连接，这样通过移动小车便可带动悬架1沿作业面的横向方向移动，比如左右移动，这样便能够将挂架2移动不到不同的纵向区域，以对作业面不同的区域进行喷涂，此外，移动小车还可带动悬架1沿作业面的前后方向运动，这样便能够调节挂架2与作业面之间的距离。该种喷涂机器人100在喷涂时，可通过移动小车来调节喷涂机器人100横向位置以及前后方向的位置，这样便能够沿作业面的横向方向和前后方向调节挂架2的位置，同时可通过提升装置12来调节挂架2的高度，这样在喷涂时，喷涂机器人100便能够根据实际需要而运动不同的位置，以对不同的区域进行喷涂，这样便能够实现对整个作业面的自动喷涂。
另外，可以将喷涂机器人100分解成包括悬架1的第一部分和包括挂架2的第二部分，而在只需要对挂架2进行提升时，不需要对悬架1进行移动，这样便可避免喷涂机器人100整体频繁移动，另外，该种结构，能够通过悬架1实现挂架2的安装，因此，在安装时，并不需要在其它物体上来进行打孔安装。
可选地，如图1和图10所示，移动小车为AGV小车6。由此，可通过AGV小车6来进行悬架1的整体移动，比如左右移动或前后移动。因为，AGV小车6能够进行地图扫描并自动移动，从而可自动规划喷涂机器人100的喷涂路线。
其中，AGV为AutomatedGuidedVehicle的缩写，也称为AGV小车6，而AGV小车6 为一种装配有电磁或光学等自动引导装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车，其在工业应用中不需要驾驶员，可通过电脑控制其行进路线，可通过电磁轨道带来的讯息进行移动和动作。
在本申请的一个实施例中，提升装置12安装在悬架的非悬挂端上，提升装置12包括提升动力件和提升绳，提升绳的一端与提升动力件连接，提升绳的另一端支撑在非悬挂端处，并与挂架2连接。由此，提升绳与提升动力件连接后，提升动力件可以驱动提升绳的升降，提升绳活动后，其可以带动挂架2活动，其中提升绳可以使得挂架2较稳定地活动，确保安全。
可以理解的是，提升绳可以为钢丝绳，也可以为其他材质的绳体，不作限制。
另外，还可以理解的是，提升动力件和提升绳可以为多个，这里的多个为两个或两个以上，不作具体限制。
可选地，如图1和图2所示，控制装置5包括第一控制件52和第二控制件54，如图1所示，第一控制件52安装在悬架1上，与提升装置12和供料组件4连接。如图2所示，第二控制件54安装在挂架2上，与第一控制件52和喷枪3连接。
在本申请的一些实施例中，鉴于喷涂机器人100的控制工作量大，一个单独的控制件很难满足喷涂机器人100的负载需求。因此，可将整机的控制装置5分成两个部分，即第一控制件52和第二控制件54，且可选地，可将第一控制件52安装在悬架1上，以控制安装在悬架1上的电器装置的工作，而将第二控制件54安装在挂架2上，以控制安装在挂架2上的电器装置的工作。而第二控制件54与第一控制件52连接，这样使得整机的控制部分能够互通，从而能够对整机进行联动控制，而不会存在各自独立控制的现象。而这种设置能够通过两个分开的控制件来进行整机的控制，从而能够减小每个控制件的负载，确保控制装置5的安全。
可选地，供料组件4包括如图1的空气压缩机40和如图4所示的储料装置42，如图1和图10所示，空气压缩机40安装在悬架1上，并与第一控制件52连接，如图4所示，储料装置42安装在挂架2上，且储料装置42的一端与空气压缩机40连接，储料装置42的另一端与喷枪3连接。
可选地，供料组件4包括空气压缩机40和储料装置42，其中，空气压缩机40用于向储料装置42内输入空气，以便能够增大储料装置42内的压力，而储料装置42内的物料在压力逐渐增大后能够在压力作用下从储料装置42的出料口排入到喷枪3内，这样通过空气压缩机40和储料装置42便可实现喷涂物料的供应。其中，储料装置42为储料罐。而通过将空气压缩机40设置在悬架1上，可降低挂架2的重量，使挂架2在升降时能够更便利。而储料装置42设置在挂架2上，能够使储料装置42与喷枪3的距离较近，从而可防止输料管 道过长。
进一步地，如图4所示，喷涂机器人100还包括：称重仪13，称重仪13可以安装在挂架2上，与第二控制件54电连接，储料装置42安装在称重仪13上。
也就是说，在挂架2上可以设置称重仪13，称重仪13安装在挂架2上后，将储料装置42安装在称重仪13上，这样便能够通过称重仪13来随时检测储料装置42内的物料，以便能够对储料装置42内的物料进行随时监管。另外，通过称重仪13与第二控制件54连接，能够将储料装置42的重量数据发送给第二控制件54，这样在储料装置42内的物料过少时，第二控制件54便可与第一控制件52一起控制提升装置12的工作，以便能够将挂架2移动到便于用户进行加料操作的地方，这样便能够及时地向储料装置42内添加物料，防止储料装置42内的物料被用完还没有被发现的现象发生。
可选地，如图9和图10所示，喷涂机器人100还包括：电缆线盘16，安装在悬架1上，电缆线盘16包括电缆线，电缆线的一端与外接电源或第一控制件52连接，电缆线的另一端与第二控制件54连接；电源线，与第一控制件52连接并为第一控制件52供电；电缆线的一端与外接电源连接时，第一控制件52与第二控制件54通过无线的方式进行信息传输。
在本申请的一些实施例中，喷涂机器人100还包括电缆线盘16和电源线，其中，电源线具体用于为第一控制件52供电。而电缆线盘16在一个具体实施例中，绕于电缆线盘16上的电缆线可用于为第二控制件54供电，此时，电缆线盘16上的电缆的一端与外接电源连接，而此时第一控制件52与第二控制件54之间通过无线的方式进行连接。而在另一个实施例中，可直接通过电缆线盘16实现第一控制件52与第二控制件54之间的通电和信号传输，此时，电缆线连接在第一控制件52与第二控制件54之间。而电缆线盘16的设置使得挂架2在升降过程中，电缆线能够随着挂架2的升降而被收放，这样便能够对电缆线进行规范管理，防止电缆线过长而出现电缆线缠绕或者电缆线与其它物体相互卡死的问题。而第一控制件52与第二控制件54通过无线的方式进行连接能够省掉第一控制件52与第二控制件54的信号线缆，简化产品的整体结构。
可选地，如图11所示，供料组件4还包括：第一阀44，连接在空气压缩机40与储料装置42之间，用于控制空气压缩机40与储料装置42之间的通断；第二阀46，连接在储料装置42与喷枪3之间，用于控制空气压缩机40与喷枪3之间的通断；第三阀48，连接在储料装置42与喷枪3之间，用于控制空气压缩机40与喷枪3之间的流量。
由此，通过设置第一阀44，能够控制空气压缩机40与储料装置42之间的通断，这样便能够控制空气压缩机40中的压力，从而达到控制空气压缩机40的起停的目的。当然，空气压缩机40的起停控制也可通过一个起停开关来进行控制。而这里的第一阀44可以为电磁阀，因为电磁阀的控制更加方便精准。而第二阀46可为比例阀，而通过设置第二阀46可控制储 料装置42与喷枪3之间的通断，这样便能够控制喷枪3的起停。而第二阀46可为顶针阀。而第三阀48可用于控制储料装置42与喷枪3之间的流量，这样便能够控制空气的流量，从而控制喷枪3喷出的物料的雾化率。即这里的第三阀48为流量调节阀。
在本申请的一些实施例中，如图4所示，喷涂机器人100还包括：安全保护装置15，安装在挂架2上，与提升装置12连接，能够检测提升装置12和挂架2的工作状态，并能够在提升装置12和/或挂架2的工作状态处于预设状态之外时锁住提升装置12。
由此，通过安全保护装置15可以确保提升装置12在提升挂架2时的安全，从而有效防范生产安全事故的发生。具体地，比如在提升装置12具体为包括提升动力件和提升绳时，可将安全保护装置15设置成一个当挂架2的下滑速度达到锁绳速度以及挂架2的倾斜角度达到锁绳角度时能够自动锁住安全绳，使挂架2停止下降或停止倾斜的安全锁，而在设置安全锁时，应注意安全锁在锁绳状态下应不能自动复位，以有效防范生产安全事故的发生。而安装锁的具体工作原理与现有建筑吊篮中的安全保护装置15的原理一样，在此不具体赘述。
当然，在其它实施例中，在提升装置12的结构不一样时，也可将安全保护装置15设置成其它的结构，比如，提升装置12还可以为电动葫芦、液压葫芦等结构，而此时安全保护装置15可具体为一个速度判断装置，这样可通过提升装置12的提升速度来确保挂架2在提升过程中的安全。当然，安全保护装置15也可以为一个能够根据挂架2的高度来判断挂架2是否安全的装置。而在实际过程中，可根据实际需要设置提升装置12和安全保护装置15的结构，本申请不作具体限定。
在本申请的一些实施例中，如图1和图9所示，喷涂机器人100还包括：配重块14，安装在悬架1的非悬挂端上。由此，配重块14可以平衡架体自身的重量，从而可防止架体过重，而导致整个悬挂结构倾覆。
结合如图2、图4和图5所示的实施例，当挂架2在靠近作业面的面上设置多个定向脚轮17，多个定向脚轮17在挂架2上呈多列多排设置。
在该些实施例中，通过在挂架2上设置多个定向脚轮17，并使多个定向脚轮17呈多列多排设置，使得多个定向脚轮17能够形成一个平稳的支撑面，从而能够对挂架2形成有效支撑。可选地，定向脚轮17的数量为4个，且4个定向脚轮17优选在挂架2上分布呈矩形或方形。可以理解的是，定向脚轮17的数量还可以为3个、5个或等多个，这里不作限制。
可选地，如图4所示，挂架2的底部上设置有多个滚轮171。由此，通过在挂架2的底部设置滚轮171，使得挂架2的底部能够通过多个滚轮171与地面、墙面等接触，这样在地面等上移动挂架2上，便能够通过滚轮171的滚动实现挂架2的移动，这样便能够降低在地面等上移动挂架2的难度。而优选地，滚轮171的数量为4个，且4个滚轮171优选在挂架2上分布呈矩形或方形。
例如图4和图5所示，多个滚轮171在挂架2的底部上呈多列多排设置。这样使得挂架2能够竖向移动，且使得挂架2能够竖直放置在地面等上，这样在将喷枪3等零件安装在挂架2上时，便不用将挂架2放倒，因而可提高其它零件在挂架2上的安装便利性。而当需要工作时，可以直接驱动挂架2活动，从而可以提高喷涂机器人100的工作效率。
进一步地，如图5所示，滚轮171的结构、形状和大小与定向脚轮17的结构、形状和大小一致。由此，将滚轮171和定向脚轮17设置成结构、形状和大小一样的结构，即滚轮171和定向脚轮17优选为同一个零件，这样便能够减少零件的类型，减少异形件的产生，从而可降低产品的成本。此外，该种设置在安装时，也不用刻意区分哪个是定向脚轮17，哪个是滚轮171，这样便能够提高挂架2的安装便利性。
可选地，如图2、图7和图8所示，喷涂机器人100还包括：滑动组件72，安装在挂架2上，能够在挂架2上沿作业面的纵向方向滑动和/或沿作业面的横向方向滑动；滑动驱动件74，与滑动组件72连接，能够驱动滑动组件72滑动；旋转组件76，安装在滑动组件72上；其中，喷枪3安装在旋转组件76上，能够在滑动组件72的作用下滑动，以及能够在旋转组件76的作用下旋转。
由此，通过将滑动组件72滑动地安装在架体上，能够沿喷枪3的作业面的高度方向或横向方向滑动，这样便可带动喷枪3沿作业面的高度方向或横向方向移动，而滑动驱动件74用于驱动滑动组件72滑动，这样通过滑动驱动件74便可实现滑动组件72的自动驱动，从而便能够实现喷枪3沿作业面的上下左右方向的自动滑动。而旋转组件76安装在滑动组件72上，能够相对作业面转动，这样便可通过旋转组件76带动喷枪3在喷涂的作业面内转动。该种结构喷枪3能够在滑动组件72的作用下沿作业面的高度方向和/或横向方向滑动，以及能够在旋转组件76的作用下转动，既该种结构喷枪3的自由度比较高。具体而言，喷枪3既能够沿作业面的上下左右方向自由移动，又能够自由转动，这样在通过喷枪3对高层建筑的外墙或内墙等进行喷漆、清洗时，便能够通过喷枪3的自由移动和转动来对喷枪3周围的区域进行喷漆、清洗，这样能够增大喷枪3每次能够喷涂的面积，从而不用频繁地移动喷涂机器人100的架体，既不用频繁对喷涂机器人100进行整体移动。而对于喷涂机器人100而言在喷涂机器人100移动是比较困难的，因此本申请通过增加喷枪3的自由度、减少喷涂机器人100的移动次数能够降低喷涂机器人100的控制难度，简化产品的结构。
其中，，喷枪3能够旋转的角度大于等于0°小于等于180°，即本申请中，喷枪3只转动180°，这样能够使喷枪3的结构更加合理紧凑。当然，喷枪3也可设置能够旋转360°的结构，不作限制。
可选地，如图2和图8所示，喷涂机器人100还包括第一导轨70，第一导轨70安装在挂架2上，沿作业面的横向方向设置，滑动组件72包括：第一滑块722，能够滑动地安装 在第一导轨70上，能够沿第一导轨70滑动；第二导轨724，安装在第一滑块722上，并沿作业面的纵向方向设置；第二滑块726，能够滑动地安装在第二导轨724上，能够沿第二导轨724滑动；其中，旋转组件76安装在第二滑块726上，滑动驱动件74包括驱动件一和驱动件二，驱动件一安装在挂架2上，与第一滑块722连接，用于驱动第一滑块722滑动，驱动件二安装在挂架2上，与第二滑块726连接，用于驱动第二滑块726滑动。
在本申请的一些实施例中，喷涂机器人100还包括第一导轨70，第一导轨70沿作业面的横向方向，即作业面的左右方向设置，而滑动组件72包括第一滑块722、第二导轨724和第二滑块726，滑动组件72能够通过第一滑块722滑动地安装第一导轨70上，并能够沿第一导轨70滑动，这样滑动组件72便能够带动喷枪3沿横向方向滑动，而第二滑块726能够滑动地安装在第二导轨724上，这样便能够通过第二滑块726在第二导轨724上的滑动带动喷枪3沿高度方向滑动，这样通过滑动组件72在第一导轨70上的滑动，以及第二滑块726在第二导轨724上的滑动便可调节喷枪3的上下左右的位置。而第一导轨70和第二导轨724能够限制滑动方向，这样便能够防止滑动组件72和第二滑块726在滑动时偏移预定路线，从而使得喷枪3能够按照预定路线滑动到预定地点，以对预定区域的作业面进行喷涂。而该种结构能够通过高度方向和左右方向的滑动来调节喷枪3的位置，使得喷枪3的高度位置调节和左右位置调节比较独立，这样便能够提高喷枪3的高度调节和左右调节的便利性。同时，可对应第一导轨70安装在一个驱动第一滑块722滑动地驱动件一，而对应第二导轨724安装在一个驱动第二滑块726滑动地驱动件二，这样便能够通过两个独立的驱动件来实现第一滑块722和第二滑块726的独立驱动，从而使得第一滑块722和第二滑块726能够在滑动时相互独立、互不干绕，这样便能够实现喷枪3的横向独立调节和高度独立调节，提高喷枪3运动的自由度。
可选地，如图2和图5所示，喷涂机器人100还包括：第三导轨73，安装在挂架2上，沿作业面的横向方向设置；第三滑块，滑动地安装在第三导轨73上，并与第二导轨724连接。
由此，通过挂架2上设置有第三导轨73，而第三滑块滑动地安装在第三导轨73上，并与滑动组件72连接，具体地，第三滑块可与第二导轨724连接，这样在滑动组件72相对第一导轨70滑动时，滑动组件72可以带动第三滑块在第三导轨73上滑动，如此通过第一导轨70和第三导轨73同时对滑动组件72的滑动运动进行导向。即该种结构滑动组件72能够滑动地安装在第三导轨73和第一导轨70上。另外，通过设置第三导轨73能够增强滑动组件72与挂架2之间的连接可靠性，防止滑动组件72安装不稳定。
可选地，第一导轨70与挂架2为分体式结构，或第一导轨70与挂架2为一体式结构；第三导轨73与挂架2为分体式结构，或第三导轨73与挂架2为一体式结构。
也就是说，第一导轨70与挂架2之间可以为分体式结构，即两个独立的结构，且挂架2与第一导轨70能够拆卸地连接，这样就使得第一导轨70能够随喷枪3一起拆卸下来，这样在实际过程中，就可将第一导轨70和喷枪3作为一个独立的零件进行拆装或者维修更换。当然，可以理解的是，第一导轨70与挂架2也可为一体式结构。同理，第三导轨73与挂架2之间也为分体式结构，当然，也可为一体式结构，这里对挂架2与第一导轨70、第三导轨73的设置方式不作限制。
可选地，如图8所示，第一滑块722与第二导轨724之间设置有第一连接板728，第一连接板728与第一滑块722之间通过螺钉连接，第一连接板728与第二导轨724之间通过螺钉连接。
由此，可在第一滑块722与第二导轨724之间第一连接板728，这样能够使第一滑块722与第二导轨724之间能够更牢靠地连接，可选地，第一连接板728与第一滑块722之间以及第一连接板728与第二导轨724之间可以通过螺钉连接，因为螺钉连接的方式比较简单且连接可靠，当然，第一连接板728与第一滑块722之间以及第一连接板728与第二导轨724之间也可以通过其他结构、方式进行连接，这里不作限制。
在本申请的一些实施例中，如图7所示，驱动件一包括第一电机742、第一传动带(图中未示出)、第一主动轮和第一从动轮，第一电机742安装在挂架2上，第一主动轮安装在第一电机742的电机轴上，第一从动轮能够转动地安装在挂架2上，第一传动带套设安装在第一主动轮和第一从动轮上，并与第一滑块722连接；驱动件二包括第二电机744、第二传动带(图中未示出)、第二主动轮和第二从动轮，第二电机744安装在挂架2上，第二主动轮安装在第二电机744的电机轴上，第二从动轮能够转动地安装在挂架2上，第二传动带套设安装在第二主动轮和第二从动轮上，与第二滑块726连接。
由此，通过第一电机742来带动第一滑块722滑动，而第一电机742与第一滑块722之间通过第一传动带、第一主动轮和第一从动轮进行连接，同时通过第二电机744可以带动第二滑块726滑动，而第二电机744与第二滑块726之间通过第二传动带、第二主动轮和第二从动轮进行连接。该种结构能够通过带传动的方式实现对第一滑块722和第二滑块726的驱动，从而能够使驱动件一和驱动件二的结构比较简单，由此能够简化产品的结构。
可选地，第一电机742、第二电机744可以通过皮带和皮带轮与第一滑块722和第二滑块726连接，当然，在第一电机742与第一滑块722和第二电机744与第二滑块726之间还可设置齿轮等传动结构，以便能够合理控制第一滑块722和第二滑块726的速度。
其中，第一电机742和第二电机744可以均为伺服电机，因为伺服电机的控制精度高，因而能够确保喷枪3的喷涂精度。当然，第一电机742和第二电机744也可以为其他电机，不作限制，满足实际需要即可。
可选地，第二电机744安装在第二导轨724的下端，这样使得第二电机744能够从第二导轨724的下端来实现对第二滑块726的滑动驱动。
可选地，如图7所示，喷涂机器人100还包括第一防护罩746和第二防护罩748，第一防护罩746安装在第一电机742的电机轴端，能够罩住第一电机742的电机轴，第二防护罩748安装在第二电机744的电机轴端，能够罩住第二电机744的电机轴。
由此，通过设置第一防护罩746和第二防护罩748，可有效防止雨水、灰尘影响第一电机742和第二电机744的工作。其中，可选地，第一防护罩746和第二防护罩748呈方形，因为方形的面积较大，这样便能够增强防护罩的防护性能。
可选地，如图3和图7所示，旋转组件76包括：第三电机762、减速器764和第二连接板766，第三电机762安装在滑动组件72上，减速器764安装在滑动组件72上，与第三电机762连接，第二连接板766安装在减速器764的输出轴上；其中，喷枪3安装在第二连接板766上，第三电机762转动能够带动喷枪3转动。
由此，通过第三电机762提供动力，而减速器764用于调节喷枪3的速度同时提高输出扭矩，以便能够将输出轴的速度控制在合理的范围内。而第二连接板766用于实现喷枪3的安装，同时，第二连接板766能够增大喷枪3的旋转半径，以使喷枪3能够通过旋转而一次性喷涂更大面积的区域。此外，第二连接板766还能够增大喷枪3的安放空间，提高喷枪3与减速器764之间的接触面积，从而提高减速器764与喷枪3之间的安装稳定性。
其中，第三电机762可以为伺服电机，因为伺服电机的控制精度更高，从而能够提高对转动轴的速度等的控制精度。
在本申请的一些实施例中，如图5、图6和图10所示，喷涂机器人100还包括测距装置，测距装置包括安装在悬架1上的信号发生器92，测距装置还包括安装在挂架2上的信号反射器94，信号发生器92与第一控制件52电连接，能够发射测距信号和接收信号反射器94反馈回的反馈信号，并能够根据发射的测距信号和接收的反馈信号测量出挂架2与悬架1之间的距离。
由此，通过设置一个测距组件来测量悬架1与挂架2之间的距离，这样便能够根据悬架1与挂架2之间的距离分析得出挂架2的高度位置，这样便可通过挂架2的高度位置以及移动小车定位出的横向位置来确定出挂架2的位置，从而使得挂架2能够在移动过程中自动避让开窗台、阳台、拐角等的位置，以达到有效避障的效果。
可选地，信号发生器92为激光测量仪，信号反射器94为激光反射板。
由此，可以通过激光测距的方式来进行悬架1与挂架2之间的距离测算。由于激光测距的方式比较成熟且易实现，因而可简化产品的成本，降低测距难度。具体地，可将信号发生器92设置为激光测量仪，而将信号反射器94设置为激光反射板，而在该结构中，激光测量 仪用于发出激光信号、接收激光反射板反射回的信号，并根据这两种信号确定出挂架2与悬架1之间的距离，而激光反射板用于将激光测量仪发出的信号反射回激光测量仪，这样便使得激光测量仪能够根据激光从答出到接收的时间以及激光在空气中的传播速度计算出激光走过的路程，从而便能够根据激光走过的路程确定出悬架1与挂架2之间的距离。
可选地，如图5和图6所示，激光反射板的数量为两个，两个激光反射板沿作业面的横向方向对称地安装在挂架2上。
在该些实施例中，能够通过两个激光反射板来对激光测量仪发出的激光进行反射，这样能够增强反射回的激光的量，从而能够增强激光测量仪能够接收到的反馈信号，这样便能够在通过发出的激光信号与反馈的激光信号进行对比分析时，增强反馈的激光信号的可靠性，提高激光测距的准确性，从而能够实现对挂架2的位置移动的精确控制。
可选地，如图3所示，喷涂机器人100还包括：图像采集装置82，安装在挂架2上，用于采集喷涂过后的作业面的图像；其中，第二控制件54还与图像采集装置82连接，能够根据图像采集装置82采集到的图像与标准图像的对比判断出作业面的喷涂是否合格，并能够在判断出作业面的喷涂不合格时，控制喷枪3对作业面进行重新喷涂。
在该些实施例中，图像采集装置82用于采集喷涂过的作业面的图像，第二控制件54还与图像采集装置82连接，能够根据图像采集装置82采集的图像和标准图像来判断作业面的喷涂是否合格，且第二控制件54还能够在判断出作业面的喷涂不合格时，对作业面进行重新喷涂。该种结构能够通过图像采集装置82来采集喷涂后的作业面的喷涂情况，同时能够将采集的图像与标准图形进行对比，从而确定出作业面的喷涂是否合格，这样便能够在喷涂机器人100喷涂不合格后，对喷涂过的作业面进行重新喷涂，这样便能够确保喷涂质量，避免喷涂缺陷，防止自动喷涂的质量不好的现象发生。
可选地，图像采集装置82可为工业相机或摄像机，而图像采集装置82为工业相机时，可直接通过工业相机将喷涂后的作业面以图片的形式进行保存，而此时，可提前将合格的标准图片存入到储存装置内，这样通过分析对比工业相机拍摄的图片与预存的图形样本之间的差别便可判断出喷涂的质量是否合格。而在图像采集装置82为摄像机时，可直接通过摄像机将喷涂后的作业面以视频的形式进行保存，而此时，可提前将合格的标准视频存入到储存装置内，这样通过分析对比摄像机拍摄的视频与预存的标准视频之间的差别便可判断出喷涂的质量是否合格。
进一步地，图像采集装置82安装在第二滑块726上。这样能够使图像采集装置82和喷枪3能够对应安装，这样就使得图像采集装置82和喷枪3能够大致安装在同一位置，这样在喷枪3喷涂过后，便能够通过图像采集装置82很便利地采集到喷涂后的图像。另外，该种结构能够通过同一滑动组件72实现图像采集装置82和喷枪3的位置调节，因而能够简化 产品的结构，降低产品的成本。
可选地，如图2和图3所示，喷涂机器人100还包括：固定板84，通过螺钉安装在第二滑块726上，图像采集装置82安装在固定板84上。
在该些实施例中，可在第二滑块726上设置一个固定板84，而固定板84通过螺钉固定到第二滑块726上，而图像采集装置82可直接固定到固定板84上，这样便可实现图像采集装置82在滑动组件72上的安装。具体地，可以通过合理设置固定板84的结构，以便固定板84能够对图像采集装置82进行合理的限位固定。
可选地，如图10所示，悬架1的底部上设置有凹陷区域，悬架1能够通过凹陷区域安装在AGV小车6上，悬架1的底部上设置有多个滑轮，悬架1安装在AGV小车6上时，悬架1能够通过多个滑轮与放置平台接触。
在该些实施例中，可在悬架1的底部设置凹陷区域，然后将AGV小车6安装在凹陷区域内，这样便能够在通过AGV小车6带动悬架1整体移动的同时，降低悬架1与AGV小车6构成的整体的体积，以减少产品的占地面积。而通过在悬架1的底部上设置滑轮，使得悬架1能够与地接触，并能够在随AGV小车6移动时通过滑轮滑动，这样便能够使悬架1的移动更加方便。
根据本申请实施例的喷涂机器人100的其他构成以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。
在本说明书的描述中，术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上仅为本申请的实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种喷涂机器人，其特征在于，包括：
    悬架，所述悬架上安装有提升装置；
    挂架，能够由所述提升装置吊挂安装在所述悬架的悬挂端上；
    喷枪，活动地安装在所述挂架上，能够对作业面进行喷涂；
    供料组件，安装在所述悬架和/或所述挂架上，与所述喷枪连接，用于向所述喷枪供料；
    控制装置，安装在所述悬架和/或所述挂架上，与所述提升装置、所述供料组件和所述喷枪连接；
    移动小车，所述悬架安装在所述移动小车上，所述移动小车能够控制所述悬架沿所述作业面的横向方向运动，以及能够带动所述悬架沿垂直于所述作业面的方向运动。
  2. 根据权利要求1所述的喷涂机器人，其特征在于，
    所述移动小车为AGV小车。
  3. 根据权利要求1或2所述的喷涂机器人，其特征在于，所述提升装置安装在所述悬架的非悬挂端上，所述提升装置包括提升动力件和提升绳，所述提升绳的一端与所述提升动力件连接，所述提升绳的另一端支撑在所述非悬挂端处，并与所述挂架连接。
  4. 根据权利要求1至3中任一项所述的喷涂机器人，其特征在于，
    所述控制装置包括第一控制件和第二控制件，所述第一控制件安装在所述悬架上，与所述提升装置和所述供料组件连接，所述第二控制件安装在所述挂架上，与所述第一控制件和所述喷枪连接；
    所述供料组件包括空气压缩机和储料装置，所述空气压缩机安装在所述悬架上，并与所述第一控制件连接，所述储料装置安装在所述挂架上，且所述储料装置的一端与所述空气压缩机连接，所述储料装置的另一端与所述喷枪连接。
  5. 根据权利要求4所述的喷涂机器人，其特征在于，还包括：
    称重仪，安装在所述挂架上，与所述第二控制件电连接，所述储料装置安装在所述称重仪上。
  6. 根据权利要求4或5所述的喷涂机器人，其特征在于，还包括：
    电缆线盘，安装在所述悬架上，所述电缆线盘包括电缆线，所述电缆线的一端与外接电源或所述第一控制件连接，所述电缆线的另一端与所述第二控制件连接；
    电源线，与所述第一控制件连接并为所述第一控制件供电；
    其中，所述电缆线的一端与外接电源连接时，所述第一控制件与所述第二控制件通过无线的方式进行信息传输。
  7. 根据权利要求4至6中任一项所述的喷涂机器人，其特征在于，所述供料组件还包括：
    第一阀，连接在所述空气压缩机与所述储料装置之间，用于控制所述空气压缩机与所述储料装置之间的通断；
    第二阀，连接在所述储料装置与所述喷枪之间，用于控制所述空气压缩机与所述喷枪之间的通断；
    第三阀，连接在所述储料装置与所述喷枪之间，用于控制所述空气压缩机与所述喷枪之间的流量。
  8. 根据权利要求4至7中任一项所述的喷涂机器人，其特征在于，还包括：信号发生器，与所述第一控制件电连接，能够发射测距信号和接收所述挂架反馈回的反馈信号，并能够根据发射的所述测距信号和接收的所述反馈信号测量出所述挂架与所述悬架之间的高度差。
  9. 根据权利要求8所述的喷涂机器人，其特征在于，所述信号发生器为激光测量仪。
  10. 根据权利要求1至9中任一项所述的喷涂机器人，其特征在于，还包括：
    安全保护装置，安装在所述挂架上，与所述提升装置连接，能够检测所述提升装置和所述挂架的工作状态，并能够在所述提升装置和/或所述挂架的工作状态处于预设状态之外时锁住所述提升装置；和/或
    配重块，安装在所述悬架的非悬挂端上；和/或
    多个定向脚轮，设置在所述挂架靠近所述作业面的面上，多个所述定向脚轮能够与所述作业面接触，并能够在所述挂架运动时在所述作业面上滚动。
  11. 根据权利要求10所述的喷涂机器人，其特征在于，当所述挂架在靠近所述作业面的面上设置所述多个定向脚轮，多个所述定向脚轮在所述挂架上呈多列多排设置。
  12. 根据权利要求11所述的喷涂机器人，其特征在于，所述挂架的底部设置有多个滚轮，多个所述滚轮在所述挂架的底部呈多列多排设置；和/或，所述滚轮的结构、形状和大小与所述定向脚轮的结构、形状和大小一致。
  13. 根据权利要求1至12中任一项所述的喷涂机器人，其特征在于，还包括：
    滑动组件，安装在所述挂架上，能够在所述挂架上沿所述作业面的纵向方向滑动和/或沿所述作业面的横向方向滑动；
    滑动驱动件，与所述滑动组件连接，能够驱动所述滑动组件滑动；
    旋转组件，安装在所述滑动组件上；
    其中，所述喷枪安装在所述旋转组件上，能够在所述滑动组件的作用下滑动，以及能够在所述旋转组件的作用下旋转。
  14. 根据权利要求13所述的喷涂机器人，其特征在于，所述喷涂机器人还包括第一导轨，所述第一导轨安装在所述挂架上，沿所述作业面的横向方向设置，所述滑动组件包括：
    第一滑块，能够滑动地安装在所述第一导轨上，能够沿所述第一导轨滑动；
    第二导轨，安装在所述第一滑块上，并沿所述作业面的纵向方向设置；
    第二滑块，能够滑动地安装在所述第二导轨上，能够沿所述第二导轨滑动；
    其中，所述旋转组件安装在所述第二滑块上，所述滑动驱动件包括驱动件一和驱动件二，所述驱动件一安装在所述挂架上，与所述第一滑块连接，用于驱动所述第一滑块滑动，所述驱动件二安装在所述挂架上，与所述第二滑块连接，用于驱动所述第二滑块滑动。
  15. 根据权利要求14所述的喷涂机器人，其特征在于，还包括：
    第三导轨，安装在所述挂架上，沿所述作业面的横向方向设置；
    第三滑块，滑动地安装在所述第三导轨上，并与所述第二导轨连接。
  16. 根据权利要求15所述的喷涂机器人，其特征在于，
    所述第一导轨与所述挂架为分体式结构，或所述第一导轨与所述挂架为一体式结构；
    所述第三导轨与所述挂架为分体式结构，或所述第三导轨与所述挂架为一体式结构。
  17. 根据权利要求14所述的喷涂机器人，其特征在于，
    所述驱动件一包括第一电机、第一传动带、第一主动轮和第一从动轮，所述第一电机安装在所述挂架上，所述第一主动轮安装在所述第一电机的电机轴上，所述第一从动轮能够转动地安装在所述挂架上，所述第一传动带套设安装在所述第一主动轮和所述第一从动轮上，并与所述第一滑块连接；
    所述驱动件二包括第二电机、第二传动带、第二主动轮和第二从动轮，所述第二电机安装在所述挂架上，所述第二主动轮安装在所述第二电机的电机轴上，所述第二从动轮能够转动地安装在所述挂架上，所述第二传动带套设安装在所述第二主动轮和所述第二从动轮上，并与所述第二滑块连接。
  18. 根据权利要求17所述的喷涂机器人，其特征在于，
    所述第一电机和所述第二电机均为伺服电机；和/或
    所述喷涂机器人还包括第一防护罩和第二防护罩，所述第一防护罩安装在所述第一电机的电机轴端，能够罩住所述第一电机的电机轴，所述第二防护罩安装在所述第二电机的电机轴端，能够罩住所述第二电机的电机轴。
  19. 根据权利要求13所述的喷涂机器人，其特征在于，所述旋转组件包括：
    第三电机，安装在所述滑动组件上；
    减速器，安装在所述滑动组件上，与所述第三电机连接；
    第二连接板，安装在所述减速器的输出轴上；
    其中，所述喷枪安装在所述第二连接板上，所述第三电机转动能够带动所述喷枪转动。
  20. 根据权利要求1至19中任一项所述的喷涂机器人，其特征在于，所述悬架的底部上 设置有凹陷区域，所述悬架能够通过所述凹陷区域安装在所述移动小车上。
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