Sling type spraying robot

Abstract

The sling type spraying robot comprises a spraying unit and a spraying operation platform, the spraying unit is installed on the spraying operation platform, the spraying unit comprises a spraying device and a spraying support, the spraying support comprises a horizontal support, a vertical support, a vertical support and a spraying gun support, the spraying gun support is arranged on the vertical support, and the spraying device is installed on the spraying operation platform. The vertical support is connected with the vertical support, the vertical support is connected with the horizontal support, the vertical support moves on the horizontal support in the X-axis direction, the vertical support stretches out and draws back in the Y-axis direction, and the vertical support moves in the Z-axis direction. The spray gun can be accurately controlled to move by achieving movement adjustment of the spray gun on the X axis, the Y axis and the Z axis, and the spraying accuracy and the spraying efficiency are effectively improved.

Description

Technical Field

[0001] This application relates to the technical field of spraying robots, and particularly to a sling-type spraying robot. Background Art

[0002] Traditional spraying robots use fixed paint spray nozzles for regular paint spraying and anti-corrosion operations on the surface of petrochemical storage tanks, but there are certain problems. Since the fixed paint spray nozzles cannot fit well with the outer wall of the storage tank, cannot adjust the horizontal and vertical spraying positions, cannot adjust the spraying angle, cannot adjust the spraying target distance, and cannot adjust the paint film thickness, there is a problem of uneven spraying thickness, which in turn results in poor spraying quality, efficiency, and effect. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a sling-type spraying robot to solve the technical problem of poor spraying effect and efficiency of traditional spraying robots in related technologies.

[0004] The embodiments of this application provide a sling-type spraying robot, including: a spraying unit and a spraying operation platform, the spraying unit is installed on the spraying operation platform, wherein, the spraying unit includes a spraying device and a spraying support, and the spraying support includes a horizontal support, a vertical support, a perpendicular support, and a spray gun support, the spray gun support is arranged on the perpendicular support, the perpendicular support is connected to the vertical support, the vertical support is connected to the horizontal support, the vertical support moves along the X-axis direction on the horizontal support, the vertical support expands and contracts along the Y-axis direction, and the perpendicular support moves along the Z-axis direction.

[0005] In the sling-type spraying robot provided by the embodiments of this application, it includes: a spraying unit and a spraying operation platform, and the spraying unit is installed on the spraying operation platform. At the same time, a spraying device and a spraying support including a horizontal support, a vertical support, a perpendicular support, and a spray gun support are also arranged on the spraying unit, and each part of the spraying support is connected based on a certain connection relationship. Specifically, the spray gun support is arranged on the perpendicular support, the perpendicular support is connected to the vertical support, the vertical support is connected to the horizontal support, and the vertical support can move along the X-axis direction on the horizontal support, the vertical support can expand and contract along the Y-axis direction, and the perpendicular support can move along the Z-axis direction. By realizing the movement adjustment of the spray gun on the X, Y, and Z axes, the movement of the spray gun can be accurately controlled, effectively improving the spraying accuracy and spraying efficiency. Brief Description of the Drawings

[0006] Figure 1 is a schematic diagram of the sling-type spraying robot provided by the embodiments of this application in an extended state;

[0007] Figure 2It is a schematic diagram of the sling-type spraying robot provided by the embodiment of the present application in a retracted state;

[0008] Figure 3 It is a schematic diagram of the overall structure of the spraying unit provided by the embodiment of the present application;

[0009] Figure 4 It is another schematic diagram of the overall structure of the spraying unit provided by the embodiment of the present application;

[0010] Figure 5 It is provided by the embodiment of the present application Figure 4 An enlarged schematic diagram of area A in

[0011] Figure 6 It is provided by the embodiment of the present application Figure 4 An enlarged schematic diagram of area B in

[0012] Figure 7 It is provided by the embodiment of the present application Figure 4 An enlarged schematic diagram of area C in

[0013] Figure 8 It is provided by the embodiment of the present application Figure 4 An enlarged schematic diagram of area D in

[0014] Figure 9 It is provided by the embodiment of the present application Figure 4 An enlarged schematic diagram of area E in

[0015] Figure 10 It is provided by the embodiment of the present application Figure 4 An enlarged schematic diagram of area F in

[0016] Among them, 1 spraying unit, 1-1 spraying device, 1-1-1 X-axis drive motor, 1-1-2 Y-axis drive motor, 1-1-3 Z-axis drive motor, 1-1-4 rotary joint motor, 1-1-5 spray gun, 1-1-6 spray gun mounting seat, 1-1-7 laser rangefinder, 1-1-8 laser rangefinder mounting seat, 1-1-9 ultrasonic detector, 1-1-10 ultrasonic detector mounting seat, 1-1-11 first driven synchronous pulley, 1-1-12 first driving synchronous pulley, 1-1-13 first synchronous belt, 1-1-14 base, 1-1-15 spray gun rotating seat, 1-1-16 first right-handed helical gear, 1-1-17 first right-handed helical rack, 1-1-18 first rack adapter seat, 1-1-19 photoelectric inductor, 1-1-20 photoelectric inductor mounting seat, 1-1-21 inductor piece, 1-1-22 first linear guide rail, 1-1-23 angle code, 1-1-24 slider mounting plate, 1-1-25 second linear guide rail, 1-1-26 third linear guide rail, 1-1-27 second driven synchronous pulley, 1-1-28 second driving synchronous pulley, 1-1-29 second synchronous belt, 1-1-30 synchronous spacer block, 1-1-31 second right-handed helical gear, 1-1-32 second right-handed helical rack, 1-1-33 second rack adapter seat, 1-1-34 second right-handed helical gear, 1-1-35 connecting seat, 1-1-36 fourth linear guide rail, 1-1-37 third driving synchronous pulley, 1-1-38 third driven synchronous pulley, 1-1-39 third synchronous belt, 1-1-40 driving shaft, 1-1-41 driven shaft, 1-1-42 support shaft, 1-2 spraying bracket structure, 1-2-1 horizontal bracket, 1-2-2 first vertical bracket, 1-2-3 second vertical bracket, 1-2-4 third vertical bracket, 1-2-5 vertical bracket, 1-2-6 spray gun bracket, 2 spraying operation platform, 2-1 body bracket, 2-2 caster, 2-3 control unit, 2-4 four-legged support leg structure. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0018] It should be understood that the various steps recorded in the method embodiments of the present disclosure can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0019] As used herein, the term "comprising" and its variations are open-ended, i.e., "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0020] In the prior art, traditional spraying robots use fixed paint spray nozzles for regular paint spraying and anti-corrosion operations on the surface of petrochemical storage tanks, but there are certain problems. Since the fixed paint spray nozzles cannot fit well with the outer wall of the storage tank, cannot adjust the horizontal and vertical spraying positions, cannot adjust the spraying angle, cannot adjust the spraying target distance, and cannot adjust the paint film thickness, there is a problem of uneven spraying thickness, which in turn results in poor spraying quality, efficiency, and effect.

[0021] In order to solve the technical problems existing in the related art, the embodiments of the present application provide a sling-type spraying robot. Please refer to Figures 1 to 10 , and in combination with Figures 1 to 10 to explain the sling-type spraying robot provided by the embodiments of the present application. Specifically, the sling-type spraying robot includes: a spraying unit (1) and a spraying operation platform (2). The spraying unit (1) is installed on the spraying operation platform (2). Among them, the spraying unit (1) includes a spraying device (1-1) and a spraying support (1-2), and the spraying support (1-2) includes a horizontal support (1-2-1), a vertical support (1-2-X), a perpendicular support (1-2-5), and a spray gun support (1-2-6). The spray gun support (1-2-6) is provided on the perpendicular support (1-2-5). The perpendicular support (1-2-5) is connected to the vertical support, and the vertical support is connected to the horizontal support (1-2-1). The vertical support moves along the X-axis direction on the horizontal support (1-2-1), the vertical support expands and contracts along the Y-axis direction, and the perpendicular support moves along the Z-axis direction.

[0022] In one embodiment, the sling-type spraying robot includes a spraying unit (1) and a spraying operation platform (2), and the spraying unit (1) is installed on the spraying operation platform (2), such as fixedly installed, and then the spraying operation is realized by adjusting the spraying unit (1). Refer to Figure 3 , for the provided spraying unit (1), it includes a spraying device (1-1) and a spraying support (1-2). Among them, the spraying device (1-1) is used to perform paint spraying and anti-corrosion treatment on the equipment that needs to be sprayed. And by adjusting the spraying support (1-2), the spraying angle, target distance, and paint film thickness can be accurately controlled to ensure uniform spraying and significantly improve the spraying quality and efficiency.

[0023] Exemplarily, the spraying bracket (1-2) includes a horizontal bracket (1-2-1), a vertical bracket (1-2-X), a perpendicular bracket (1-2-5), and a spray gun bracket (1-2-6). Among them, the spray gun bracket (1-2-6) is used to fix the spray gun (1-1-5) for spraying treatment, and the spray gun bracket (1-2-6) is connected to the perpendicular bracket (1-2-5). The vertical bracket arranged on the horizontal bracket (1-2-1) moves back and forth along the X-axis, and the vertical bracket can be telescopically processed in the Y-axis direction to achieve reciprocating movement in the Y-axis direction. The perpendicular bracket (1-2-5) can move back and forth in the Z-axis direction. By moving or telescoping different brackets in the X, Y, and Z axes, precise adjustment of the position of the spray gun (1-1-5) can be achieved, and the uniformity and position accuracy of spraying can be improved.

[0024] Referring to Figure 1 and Figure 2 it can be seen that the telescopic processing of the vertical bracket can achieve the adjustment of the position of the spray gun in the Y-axis direction. Among them, for the setting of X, Y, and Z, it can be as Figure 1 and 2 shown.

[0025] Furthermore, referring to Figures 4 to 6 , the spraying device (1-1) includes a driving motor (1-1-X), a laser rangefinder (1-1-7), a laser rangefinder mounting seat (1-1-8), a spray gun (1-1-5), a spray gun mounting seat (1-1-6), an ultrasonic detector (1-1-9), and an ultrasonic detector mounting seat (1-1-10). The laser rangefinder (1-1-7) is mounted on the laser rangefinder mounting seat (1-1-8), the spray gun (1-1-5) is mounted on the spray gun mounting seat (1-1-6), the ultrasonic detector (1-1-9) is mounted on the ultrasonic detector mounting seat (1-1-10), and the laser rangefinder mounting seat (1-1-8), the spray gun mounting seat (1-1-6), and the ultrasonic detector mounting seat (1-1-10) are mounted on the spray gun bracket (1-2-6).

[0026] Specifically referring to Figure 4 and Figure 5 , in order to achieve precise spraying treatment, it is necessary to accurately monitor the distance and orientation between the spray gun and the plane to be sprayed. Therefore, the spraying device (1-1) also includes a laser rangefinder (1-1-7) and an ultrasonic detector (1-1-9). Among them, the laser rangefinder (1-1-7) is used to monitor the distance from the spray gun (1-1-5) to the equipment to be sprayed, such as the spraying target distance from the spray gun (1-1-5) to the petrochemical storage tank, and the ultrasonic detector (1-1-9) is used to identify and calibrate obstacles.

[0027] In order to install the laser rangefinder (1-1-7) and the ultrasonic detector (1-1-9), the spraying device (1-1) further includes a laser rangefinder mounting seat (1-1-8) and an ultrasonic detector mounting seat (1-1-10). At the same time, it also includes a spray gun mounting seat (1-1-6) for fixing the spray gun (1-1-5). The laser rangefinder mounting seat (1-1-8), the spray gun mounting seat (1-1-6) and the ultrasonic detector mounting seat (1-1-10) are installed on the spray gun bracket (1-2-6), and there is no restriction on the positional relationship among the three.

[0028] In addition, for the included drive motor, it is used to drive the horizontal bracket (1-2-1), the vertical bracket, the perpendicular bracket (1-2-5) and the spray gun bracket (1-2-6) to perform spraying treatment at different positions.

[0029] Furthermore, referring to Figure 4 , the drive motor includes an X-axis drive motor (1-1-1), a Y-axis drive motor (1-1-2), a Z-axis drive motor (1-1-3) and a rotary joint motor (1-1-4). The vertical bracket includes a first vertical bracket (1-2-2), a second vertical bracket (1-2-3) and a third vertical bracket (1-2-4). The third vertical bracket (1-2-4) is arranged on one side of the second vertical bracket (1-2-3), and the first vertical bracket (1-2-2) is arranged on the other side of the second vertical bracket (1-2-3). Among them, the X drive motor (1-1-1) is fixedly installed at the lower end of the first vertical bracket (1-2-2), and the lower end of the first vertical bracket (1-2-2) is connected to the horizontal bracket (1-2-1). The Y-axis drive motor (1-1-2) is installed at the upper end of the second vertical bracket (1-2-3), the Z-axis drive motor (1-1-3) is installed on one side of the third vertical bracket (1-2-4), and the rotary joint motor (1-1-4) is installed at the upper end of the third vertical bracket (1-2-4).

[0030] Specifically, it can be referred to Figure 4, in practical applications, the drive motor is used to adjust each bracket, and then adjust the position of the spray gun (1-1-5) in the three-dimensional space of the world space to meet the requirements of spraying different positions. Among them, the brackets include a horizontal bracket (1-2-1), a first vertical bracket (1-2-2), a second vertical bracket (1-2-3), a third vertical bracket (1-2-4), a vertical bracket (1-2-5), and a spray gun bracket (1-2-6). Then, when driving and adjusting different brackets, different drive motors can be used for driving. Specifically, the drive motors include an X-axis drive motor (1-1-1), a Y-axis drive motor (1-1-2), a Z-axis drive motor (1-1-3), and a rotary joint motor (1-1-4), and different drive motors are installed in different positions to move the spray gun (1-1-5) to different positions through the coordinated work of each drive motor.

[0031] As Figure 4 shown, the X-axis drive motor (1-1-1) is installed at the lower end of the first vertical bracket (1-2-2). Through the action of the X-axis drive motor (1-1-1), the first vertical bracket (1-2-2) is moved along the X-axis direction on the horizontal bracket (1-2-1). The Y-axis drive motor (1-1-2) is installed at the connection between the second vertical bracket (1-2-3) and the first vertical bracket (1-2-2). Through the action of the Y-axis drive motor (1-1-1), the up and down movement of the second vertical bracket (1-2-3) and the third vertical bracket (1-2-4) is realized, and then the telescopic movement of the vertical bracket is realized. The Z-axis drive motor (1-1-3) is installed at the upper end of the third vertical bracket (1-2-4). Through the action of the third vertical bracket (1-2-4), the rotation of the spray gun bracket (1-2-6) is realized. Among them, the rotation direction can refer to Figure 1 or Figure 3 the direction shown in

[0032] Furthermore, referring to Figure 6, the spraying device (1-1) further includes a first driven synchronous pulley (1-1-11), a first driving synchronous pulley (1-1-12), a first synchronous belt (1-1-13), a base (1-1-14) and a spray gun rotating seat (1-1-15). Among them, the first driven synchronous pulley (1-1-11) is fixedly installed on one side of the base (1-1-14), the first driving synchronous pulley (1-1-12) is fixedly installed on the main shaft of the rotary joint motor (1-1-4), the spray gun rotating seat (1-1-15) is fixed at the middle position of the base (1-1-14), and the spray gun bracket (1-2-6) sequentially passes through the first driven synchronous pulley (1-1-11), the base (1-1-14), the spray gun rotating seat (1-1-15) and the base (1-1-14) and is fixedly installed on one side of the first driven synchronous pulley (1-1-11).

[0033] Exemplarily, when adjusting the spray gun (1-1-5), the spray gun (1-1-5) can be rotated, and the installed rotary joint motor (1-1-4) is used to drive the relevant components. Specifically, as Figure 6 shown, the spraying device (1-1) further includes a first driven synchronous pulley (1-1-11), a first driving synchronous pulley (1-1-12), a first synchronous belt (1-1-13), a base (1-1-14) and a spray gun rotating seat (1-1-15). When the rotary joint motor (1-1-4) drives, it drives the first driving synchronous pulley (1-1-12) to rotate together, and drives the first driven synchronous pulley (1-1-11) to rotate through the first synchronous belt (1-1-13), thereby driving the spray gun (1-1-5) on the spray gun bracket (1-2-6) to rotate, and the adjustable rotation angle is -90° to 90°.

[0034] Based on the process of driving adjustment, the spray gun bracket (1-2-6) sequentially passes through the first driven synchronous pulley (1-1-11), the base (1-1-14), the spray gun rotating seat (1-1-15) and the base (1-1-14) and is fixedly installed on one side of the first driven synchronous pulley (1-1-11). Specifically, as Figure 6 shown, that is, the base (1-1-14) can fix the spray gun bracket (1-2-6), and then drive the first driving synchronous pulley (1-1-12) through the action of the rotary joint motor (1-1-4), so as to drive the first driven synchronous pulley (1-1-11) by using the first synchronous belt (1-1-13), and further make the spray gun bracket (1-2-6) rotate.

[0035] Further, referring to Figure 6, the spraying device (1-1) further includes a first right-handed helical gear (1-1-16), a first right-handed helical rack (1-1-17), a first rack adapter seat (1-1-18), a photoelectric inductor (1-1-19), a mounting seat for the photoelectric inductor (1-1-20), and an inductor piece (1-1-21). Among them, the first right-handed helical gear (1-1-16) is fixedly installed on the main shaft of the Z-axis drive motor (1-1-3), the first right-handed helical rack (1-1-17) is fixed to one side of the vertical bracket, the first right-handed helical gear (1-1-16) is movably installed on the first right-handed helical rack (1-1-17), the first rack adapter seat (1-1-18) is installed at the upper end of the first right-handed helical rack (1-1-17), the photoelectric inductor (1-1-19) is fixedly installed on the mounting seat for the photoelectric inductor (1-1-20), and the inductor piece (1-1-21) is installed on one side of the vertical bracket (1-2-5).

[0036] Exemplarily, when adjusting the spray gun (1-1-5), the spray gun (1-1-5) can be controlled to move along the Z-axis, and the relevant components can be driven by the installed Z-axis drive motor (1-1-3). Specifically, as Figure 6 shown, the spraying device (1-1) further includes a first right-handed helical gear (1-1-16), a first right-handed helical rack (1-1-17), a first rack adapter seat (1-1-18), a photoelectric inductor (1-1-19), a mounting seat for the photoelectric inductor (1-1-20), and an inductor piece (1-1-21). When the Z-axis drive motor (1-1-3) is driving, since the first right-handed helical rack (1-1-16) is fixedly installed on the main shaft of the Z-axis drive motor (1-1-3), when controlling the Z-axis drive motor (1-1-3) to work, it will drive the first right-handed helical rack (1-1-16) to rotate, and then drive the first right-handed helical rack (1-1-17) to move, so as to realize the movement of the spray gun (1-1-5) in the Z-axis direction.

[0037] In addition, the provided photoelectric inductor (1-1-19) is fixedly installed on the mounting seat for the photoelectric inductor (1-1-20), and the provided inductor piece (1-1-21) is installed on one side of the vertical bracket (1-2-5), which is used in cooperation with the photoelectric inductor (1-1-19) to play a limiting role.

[0038] Furthermore, referring to Figure 7 , the spraying device (1-1) further includes an angle code (1-1-23) and a slider mounting plate (1-1-24), and the third vertical bracket (1-2-4) is connected to the second vertical bracket (1-2-3) through the angle code (1-1-23) and the slider mounting plate (1-1-24).

[0039] Furthermore, referring toFigure 7 and Figure 8 Further, the spraying device (1-1) further includes a first linear guide rail (1-1-22), a second linear guide rail (1-1-25), a third linear guide rail (1-1-26), a second driven synchronous pulley (1-1-27), a second driving synchronous pulley (1-1-28), a second synchronous belt (1-1-29), a synchronous cushion block (1-1-30), two second right-handed helical gears (1-1-31) / (1-1-34), a second right-handed helical rack (1-1-32), and a second rack adapter seat (1-1-33). The first linear guide rail (1-1-22) is fixedly installed at the lower end of the vertical bracket. The second linear guide rail (1-1-25) is fixedly installed on one side of the second vertical bracket. The third linear guide rail (1-1-26) is fixedly installed on the other side of the second vertical bracket. The second driven synchronous pulley (1-1-27) is fixedly installed at the upper end of the second vertical bracket. The second driving synchronous pulley (1-1-28) is fixedly installed at the lower end of the second vertical bracket. The Y-axis driving motor is installed on the third linear guide rail (1-1-26). The second driven synchronous pulley (1-1-27) is connected to the second driving synchronous pulley (1-1-28) through an open-loop second synchronous belt (1-1-29). The second right-handed helical gears (1-1-34) and (1-1-31) are installed on the main shaft of the Y-axis driving motor. The second right-handed helical rack (1-1-32) is fixedly installed on the second vertical bracket (1-2-3).

[0040] Exemplarily, when realizing the movement of the spray gun (1-1-5) in the Y-axis direction, the position of the spray gun (1-1-5) in the Y-axis direction is adjusted by the telescoping of the vertical brackets. Specifically, by the driving action of the Y-axis driving motor (1-1-2), the relative movement of the first vertical bracket (1-2-2), the second vertical bracket (1-2-3), and the third vertical bracket (1-2-4) is controlled.

[0041] In order to achieve the telescoping of the vertical support, corresponding linear guides can be provided on the vertical support to realize the relative movement of each vertical support based on the corresponding guides. Among them, the spraying device (1-1) further includes a first linear guide (1-1-22), a second linear guide (1-1-25), and a third linear guide (1-1-26). The first linear guide (1-1-22) is fixedly installed at the lower end of the vertical support (1-2-5), the second linear guide (1-1-25) is fixedly installed on one side of the second vertical support (1-2-3), and the third linear guide (1-1-26) is fixedly installed on the other side of the second vertical support (1-2-3). When realizing the telescoping of the third vertical support (1-2-4), under the action of the Y-axis driving motor (1-1-2), the third vertical support (1-2-4) and the second vertical support (1-2-3) move up and down relative to the first vertical support (1-2-2).

[0042] And when controlling the third vertical support (1-2-4) to move up and down relative to the second vertical support (1-2-3), it can be achieved by using the relevant components provided. Specifically, referring to Figure 7 , the spraying device (1-1) further includes a second driven synchronous pulley (1-1-27), a second driving synchronous pulley (1-1-28), a second synchronous belt (1-1-29), a synchronous spacer block (1-1-30), a second right-handed helical gear (1-1-31), a second right-handed helical rack (1-1-32), and a second rack adapter seat (1-1-33). Among them, there are two second right-handed helical gears, such as (1-1-31) in Figure 7 and (1-1-34) in Figure 8 .

[0043] Then, when realizing the relative movement between the third vertical support (1-2-4) and the second vertical support (1-2-3), the Y-axis driving motor (1-1-2) drives the second right-handed helical gear (1-1-34) arranged on the main shaft to rotate, so as to drive the second right-handed helical rack (1-1-32) to move. The movement of the second right-handed helical rack (1-1-32) will drive the rotation of the second driving synchronous pulley (1-1-28), so as to drive the second driven synchronous pulley (1-1-27) to rotate through the second synchronous belt (1-1-29). The rotation of the second driven synchronous pulley (1-1-27) drives the second right-handed helical rack (1-1-32) to move, and the movement of the second right-handed helical rack (1-1-32) drives the second right-handed helical gear (1-1-31) to rotate. Through the interaction between the components, the third vertical support (1-2-4) and the second vertical support (1-2-3) move up and down, thereby realizing the position adjustment of the spray gun (1-1-5) on the Y-axis.

[0044] Furthermore, referring to Figure 9, the spraying device (1-1) further includes a connecting seat (1-1-35), and the connecting seat (1-1-35) connects the first vertical bracket (1-2-2) and the horizontal bracket (1-2-1).

[0045] Further, referring to Figure 4 , Figure 9 and Figure 10 , the spraying device (1-1) further includes a fourth linear guide rail (1-1-36), a third driving synchronous pulley (1-1-37), a third driven synchronous pulley (1-1-38), a third synchronous belt (1-1-39), a driving shaft (1-1-40), a driven shaft (1-1-41), and a support shaft (1-1-42). Among them, the fourth linear guide rail (1-1-36) is fixedly installed on one side of the horizontal bracket (1-2-1). The lower end of the driving shaft (1-1-40) passes through the third driving synchronous pulley (1-1-37) and is fixed at one end of the horizontal bracket (1-2-1). The driven shaft (1-1-41) passes through the third driven synchronous pulley (1-1-38) and is fixed at the other end of the horizontal bracket (1-2-1). The support shaft (1-1-42) is fixed at the middle position of the horizontal bracket (1-2-1).

[0046] Exemplarily, when realizing the movement of the spray gun (1-1-5) on the X-axis, it is achieved by controlling the vertical bracket to move along the X-axis direction on the horizontal bracket (1-2-1). Specifically, when the vertical bracket moves along the X-axis on the horizontal bracket (1-2-1), the X-axis driving motor (1-1-1) is used to drive the third driving synchronous pulley (1-1-37) arranged on the motor main shaft to rotate, thereby driving the rotation of the driving shaft (1-1-40). Driving the rotation of the driving shaft (1-1-40) will drive the rotation of the driven shaft (1-1-41) and the third driven synchronous pulley (1-1-38) through the third synchronous belt (1-1-39), so as to realize the movement of the first vertical bracket (1-2-2) connected to the horizontal bracket (1-2-1) in the vertical bracket along the X-axis direction on the horizontal bracket (1-2-1).

[0047] In addition, the provided support shaft (1-1-42) is arranged at the middle position of the horizontal bracket (1-2-1) to support the spraying bracket (1-2).

[0048] Further, referring to Figure 2 , the spraying operation platform includes a body bracket (2-1), casters (2-2), a control unit (2-3), and a four-legged leg structure (2-4). Among them, the casters (2-2) are fixedly installed at the lower end of the body bracket (2-1). The control unit (2-3) is installed on the body bracket (2-1). The four-legged leg structure (2-4) is installed on both sides of the body bracket (2-1).

[0049] Exemplarily, the quantities of the casters (2-2), the control unit (2-3), and the quadruped leg structure (2-4) are set based on actual requirements. Based on Figure 2 As shown, eight casters (2-2) are fixedly installed at the lowermost end of the body bracket (2-1), and are symmetrically distributed in pairs, playing a role in support and movement. Two control units (2-3) are installed at the lower end of the body bracket (2-1), and are symmetrically distributed, playing a role in controlling the movement trajectory of the spraying robot. Four quadruped leg structures (2-4) are installed on both sides of the body bracket (2-1), and are symmetrically distributed in pairs, playing a role in support and obstacle crossing.

[0050] In summary, the present application discloses a sling-type spraying robot, including: a spraying unit and a spraying operation platform, the spraying unit is installed on the spraying operation platform, wherein the spraying unit includes a spraying device and a spraying bracket, and the spraying bracket includes a horizontal bracket, a vertical bracket, a perpendicular bracket, and a spray gun bracket. The spray gun bracket is arranged on the perpendicular bracket, the perpendicular bracket is connected to the vertical bracket, the vertical bracket is connected to the horizontal bracket, the vertical bracket moves along the X-axis direction on the horizontal bracket, the vertical bracket expands and contracts along the Y-axis direction, and the perpendicular bracket moves along the Z-axis direction. By realizing the movement adjustment of the spray gun on the X, Y, and Z axes, the movement of the spray gun can be accurately controlled, effectively improving the spraying accuracy and spraying efficiency.

[0051] The above has introduced in detail a sling-type spraying robot provided by an embodiment of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application. Moreover, for those of ordinary skill in the technical field, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A sling-type spraying robot, characterized in that, Comprising: A spraying unit and a spraying operation platform, the spraying unit being installed on the spraying operation platform. Among them, the spraying unit includes a spraying device and a spraying bracket, and the spraying bracket includes a horizontal bracket, a vertical bracket, a perpendicular bracket, and a spray gun bracket. The spray gun bracket is arranged on the perpendicular bracket, the perpendicular bracket is connected to the vertical bracket, the vertical bracket is connected to the horizontal bracket, the vertical bracket moves along the X-axis direction on the horizontal bracket, the vertical bracket expands and contracts along the Y-axis direction, and the perpendicular bracket moves along the Z-axis direction.

2. The sling-type spraying robot according to claim 1, wherein, The spraying device includes a driving motor, a laser rangefinder, a laser rangefinder mounting seat, a spray gun, a spray gun mounting seat, an ultrasonic detector, and an ultrasonic detector mounting seat. The laser rangefinder is mounted on the laser rangefinder mounting seat, the spray gun is mounted on the spray gun mounting seat, the ultrasonic detector is mounted on the ultrasonic detector mounting seat, and the laser rangefinder mounting seat, the spray gun mounting seat, and the ultrasonic detector mounting seat are all mounted on the spray gun bracket.

3. The sling-type spraying robot according to claim 2, characterized in that, The driving motor includes an X-axis driving motor, a Y-axis driving motor, a Z-axis driving motor, and a rotary joint motor. The vertical bracket includes a first vertical bracket, a second vertical bracket, and a third vertical bracket. The third vertical bracket is arranged on one side of the second vertical bracket, and the first vertical bracket is arranged on the other side of the second vertical bracket. Among them, the X driving motor is fixedly installed at the lower end of the first vertical bracket, and the lower end of the first vertical bracket is connected to the horizontal bracket. The Y-axis driving motor is installed at the upper end of the second vertical bracket, the Z-axis driving motor is installed on one side of the third vertical bracket, and the rotary joint motor is installed at the upper end of the third vertical bracket.

4. The sling-type spraying robot according to claim 3, wherein, The spraying device further includes a first driven synchronous pulley, a first driving synchronous pulley, a first synchronous belt, a base, and a spray gun rotary seat. Among them, the first driven synchronous pulley is fixedly installed on one side of the base, the first driving synchronous pulley is fixedly installed on the main shaft of the rotary joint motor, the spray gun rotary seat is fixed at the middle position of the base, and the spray gun bracket sequentially passes through the first driven synchronous pulley, the base, the spray gun rotary seat, and the base and is fixedly installed on one side of the first driven synchronous pulley.

5. The sling-type spraying robot according to claim 3, characterized in that, The spraying device further includes a first right-handed helical gear, a first right-handed rack, a first rack adapter seat, a photoelectric inductor, a photoelectric inductor mounting seat, and an inductor piece. Among them, the first right-handed helical gear is fixedly installed on the main shaft of the Z-axis driving motor, the first right-handed rack is fixed on one side of the perpendicular bracket, the first right-handed helical gear is movably installed on the first right-handed rack, the first rack adapter seat is installed at the upper end of the first right-handed rack, the photoelectric inductor is fixedly installed on the photoelectric inductor mounting seat, and the inductor piece is installed on one side of the perpendicular bracket.

6. The sling-type spraying robot according to claim 3, wherein, The spraying device further includes an angle code and a slider mounting plate, and the third vertical bracket is connected to the second vertical bracket through the angle code and the slider mounting plate.

7. The sling-type spraying robot according to claim 3, wherein, The spraying device further includes a first linear guide rail, a second linear guide rail, a third linear guide rail, a second driven synchronous pulley, a second driving synchronous pulley, a second synchronous belt, a synchronous cushion block, two second right-handed helical gears, a second right-handed helical rack and a second rack adapter seat. The first linear guide rail is fixedly installed at the lower end of the vertical bracket. The second linear guide rail is fixedly installed on one side of the second vertical bracket. The third linear guide rail is fixedly installed on the other side of the second vertical bracket. The second driven synchronous pulley is fixedly installed at the upper end of the second vertical bracket. The second driving synchronous pulley is fixedly installed at the lower end of the second vertical bracket. The Y-axis driving motor is installed on the third linear guide rail. The second driven synchronous pulley is connected to the second driving synchronous pulley through the open-loop second synchronous belt. The second right-handed helical gear is installed on the main shaft of the Y-axis driving motor. The second right-handed helical rack is fixedly installed on the second vertical bracket.

8. The sling-type spraying robot according to claim 3, wherein, The spraying device further includes a connecting seat, and the connecting seat connects the first vertical bracket and the horizontal bracket.

9. The sling-type spraying robot according to claim 1, wherein The spraying device further includes a fourth linear guide rail, a third driving synchronous pulley, a third driven synchronous pulley, a third synchronous belt, a driving shaft, a driven shaft and a support shaft. Among them, the fourth linear guide rail is fixedly installed on one side of the horizontal bracket. The lower end of the driving shaft passes through the third driving synchronous pulley and is fixed at one end of the horizontal bracket. The driven shaft passes through the third driven synchronous pulley and is fixed at the other end of the horizontal bracket. The support shaft is fixed at the middle position of the horizontal bracket.

10. The sling-type spraying robot according to claim 1, characterized in that The spraying operation platform includes a body bracket, casters, a control unit and a four-legged support structure. Among them, the casters are fixedly installed at the lower end of the body bracket. The control unit is installed on the body bracket. The four-legged support structure is installed on both sides of the body bracket.

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