Spraying robot

Abstract

The utility model belongs to the field of spraying, and particularly relates to a spraying robot. Comprising a lifting module and a spraying module, the spraying module is connected with the lifting module, the spraying module comprises a nozzle, the lifting module comprises a lifting air cylinder, and the lifting air cylinder drives the nozzle to ascend and descend. The utility model provides a spraying robot and aims to solve the problem that a conventional spraying robot is poor in stability during spraying.

Description

Technical Field

[0001] The utility model belongs to the field of spraying, and in particular relates to a spraying robot. Background Art

[0002] Spraying refers to a coating method that uses a spray gun or disc atomizer, using pressure or centrifugal force to disperse a uniform, fine mist of droplets, which are then applied to the surface. In practice, the most commonly used spraying method is manual application using a spray bottle. However, this method clearly has some drawbacks, primarily its low efficiency and the health risks associated with spray droplets.

[0003] To address the shortcomings of manual spraying, spraying robots have begun to be developed, such as the spraying robot disclosed in application number 201910344622.9.

[0004] However, the applicant found that the spraying robots in the prior art all have some shortcomings. This is mainly reflected in the fact that the scenes for spraying in the prior art are usually indoors, so in order to ensure the height of spraying, the spraying robot is usually equipped with a lifting structure, such as the chain-type lifting structure disclosed in application number 201910344622.9. However, due to the high requirements for spraying stability during the spraying process, the chain-type lifting structure set in the above-mentioned conventional spraying robot has poor stability, which leads to problems such as uneven spraying and spraying dislocation during spraying. Utility Model Content

[0005] The utility model provides a spraying robot, which aims to solve the problem of poor stability of conventional spraying robots during spraying.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a spraying robot, including a lifting module and a spraying module, the spraying module is connected to the lifting module, the spraying module is used to drive the spraying module to move up and down, the lifting module includes a lifting cylinder, and the lifting cylinder drives the spraying module to move up and down.

[0007] In this solution, the lifting module includes a lifting cylinder, which acts as a driving force to raise and lower the spray module. The lifting cylinder has the advantage of high stability. Compared with other types of lifting structures used in existing technologies, the higher stability of the lifting cylinder allows the spray module to spray more evenly and accurately.

[0008] Preferably, the lifting module of this solution includes a first lifting cylinder and a second lifting cylinder, the first lifting cylinder is connected to the second lifting cylinder, and the first lifting cylinder and the second lifting cylinder realize two-stage lifting.

[0009] This solution uses a first and second lift cylinder to achieve a two-stage drive for the spray module. When the spraying location changes, the first and second lift cylinders can lift the spray module to the desired location. Furthermore, the two-stage lift achieved by the first and second lift cylinders offers greater flexibility compared to lifting with a single lift cylinder. Furthermore, the mounting method of the first and second lift cylinders can be adjusted, further enhancing installation flexibility.

[0010] Preferably, in order to reduce the height of the entire device and ensure that the device can pass through special locations such as entrance doors and elevator doors, the lifting module of this solution further includes a connecting member, the connecting member including a first end and a second end, the first end of the connecting member being connected to the top of the first lifting cylinder, the second end of the connecting member extending downward, and the second lifting member being connected to the second end of the connecting member.

[0011] In this solution, the first and second lift cylinders are connected by a connector, allowing them to coordinate and rise and fall. Furthermore, because the connector extends downward, the second lift cylinder's mounting position is lowered, and the second lift cylinder is no longer mounted on top of the first lift cylinder. Since the second lift cylinder is not mounted on top of the first lift cylinder, its height is reduced, and the height of the entire device is also reduced.

[0012] Preferably, in order to reduce the volume of the entire device, the connecting member of this solution extends vertically downward.

[0013] In this solution, the connecting member extends vertically downward, so the second lifting cylinder installed on the connecting member can be in a front-to-back or left-to-right overlapping state with the first lifting cylinder. Compared with the connecting member being in an inclined state, the installation of the first lifting cylinder and the second lifting cylinder is more compact, the integration of the entire device is higher, and the device size is smaller.

[0014] At the same time, in order to make the height of the entire device as low as possible, the connecting member in this solution extends downward to the bottom of the first lifting cylinder.

[0015] In this embodiment, the connecting member extends downward to the bottom of the first lifting cylinder, so the second lifting cylinder mounted on the connecting member is installed at the bottom of the first lifting cylinder. Therefore, the height of the second lifting cylinder is lower, and the height of the entire device is also lower.

[0016] Preferably, in order to solve the problem of displacement of the second lifting cylinder when it is driven by the first lifting cylinder to perform lifting motion, the present solution preferably further comprises a guide assembly, the guide assembly comprising a track and a slider, the slider being mounted on the track, and the slider being connected to the second lifting cylinder.

[0017] This solution incorporates a guide assembly that adapts to the second lift cylinder. When the second lift cylinder is driven by the first lift cylinder for lifting motion, the guide assembly guides the second lift cylinder, resolving the issue of the second lift cylinder shifting when driven by the first. This provides more stable movement for the second lift cylinder, further ensuring spraying accuracy.

[0018] Preferably, in order to ensure the accuracy of spraying, the spraying module of this solution includes a six-axis robotic arm and a nozzle, and the nozzle is installed on the six-axis robotic arm.

[0019] In this solution, the nozzle is installed on a six-axis robotic arm, which drives the nozzle to move precisely. The nozzle can be moved precisely to the position where spraying is required, making spraying more accurate.

[0020] Preferably, since the spraying positions are different, the present solution further includes a moving module, and the lifting module is installed on the moving module.

[0021] In this solution, the lifting module is mounted on the mobile module. When the mobile module moves, the lifting module and the spray module connected to it can also move. Therefore, when the spraying position changes, the mobile module moves, allowing the spray module to move precisely to the desired spraying position, achieving precise spraying.

[0022] Preferably, in order to realize automatic and precise spraying by the robot, the present solution further comprises a movement control module, and the movement control module is electrically connected to the movement module, the lifting module and / or the spraying module.

[0023] This solution incorporates a mobile control module to control the entire system. The mobile module, lifting module, and / or spraying module precisely move under its control, ensuring automated, precise spraying. This automation makes the spraying robot more intelligent and automated than manual control.

[0024] Preferably, in order to collect external information, the mobile control module in this solution includes a multi-camera.

[0025] This solution uses a multi-camera to determine external information, and then the mobile control module can achieve precise control of the robot based on the external information, ensuring the accuracy of spraying and movement.

[0026] Preferably, in order to solve the problem of impurities generated during spraying adhering to the lifting module and damaging the lifting module, the present solution further includes a shell, which covers the lifting module.

[0027] This solution protects the lifting module by using an outer shell, solving the problem of impurities affecting the lifting of the lifting module.

[0028] The beneficial effect of this utility model is that the lifting module includes a lifting cylinder, which is used as a driving force to drive the spray module to lift and lower. The lifting cylinder has the advantage of high stability. Compared with other types of lifting structures used in the prior art, the lifting cylinder has a higher stability, which enables the spray module to spray more evenly and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of the spraying robot.

[0030] Figure 2 It is a structural diagram of the lifting module.

[0031] Figure 3 This is a schematic diagram when both the first lifting cylinder and the second lifting cylinder are not raised.

[0032] Figure 4 This is a schematic diagram when the first lifting cylinder is raised and the second lifting cylinder is not raised.

[0033] Figure 5 This is a schematic diagram when both the first lifting cylinder and the second lifting cylinder are raised.

[0034] Figure 6 This is a schematic diagram for setting up the shell.

[0035] The reference numerals include: mobile module 1, steering wheel 11, universal wheel 12, frame 13, lifting module 2, first lifting cylinder 21, second lifting cylinder 22, connecting piece 23, first mounting seat 24, second mounting seat 25, guide assembly 26, spraying module 3, six-axis robotic arm 31, nozzle 32, and outer shell 4. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the embodiments more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. When the following description refers to the drawings, unless otherwise indicated, identical numbers in different drawings represent identical or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0037] It should be noted that all actions of obtaining signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0038] In this disclosure, unless otherwise specified, directional terms such as "inner" and "outer" are defined based on the contours of the corresponding components. Terms such as "first" and "second" are used in this disclosure to distinguish one element from another and do not convey order or importance.

[0039] Example 1

[0040] Basically as attached Figure 1 As shown, the spraying robot is used to automatically spray and solve the shortcomings of manual spraying.

[0041] like Figure 1 As shown, the spraying robot in the embodiment of the present disclosure includes a mobile module 1, a lifting module 2, and a spraying module 3. The mobile module 1 is arranged at the bottom and is used to provide the entire device with moving power and drive the entire device to move. The lifting module 2 is installed on the top of the mobile module 1 and is used to raise or lower the lifting module 2. The spraying module 3 is installed on the lifting module 2. When the lifting module 2 is raised to a predetermined position, the spraying module 3 is activated to achieve precise spraying.

[0042] like Figure 1 As shown, the mobile module 1 used as a driving force for movement in the disclosed embodiment specifically comprises a frame 13, universal wheels 12, and a steering wheel 11. The frame 13 is generally rectangular and can be formed by welding several columns. The top of the frame 13 is used to mount the lifting module 2, while the bottom of the frame 13 provides movement for the universal wheels 12 and steering wheel 11. In the disclosed embodiment, two universal wheels 12 and two steering wheels 11 are provided. The two universal wheels 12 and two steering wheels 11 are mounted in an array at the four corners of the bottom of the frame 13 in a cross-shaped arrangement. The steering wheel 11 provides power for the movement of the entire mobile module 1, enabling the entire module to move. Furthermore, when the steering wheel 11 rotates, it drives the mobile module 1 in different directions. Universal wheels 12 are also mounted at the bottom of the frame 13, providing support for the mobile module 1. When the steering wheel 11 drives the module in different directions, the universal wheels 12 can move accordingly by turning. The steering wheel 11 and the universal wheel 12 cooperate with each other to realize the movement and steering of the entire mobile module 1.

[0043] For example, when spraying the front, the steering wheel 11 is driven forward, simultaneously driving the universal wheel 12 forward. The steering wheel 11 and the universal wheel 12 work together to move the mobile module 1 forward. When spraying the right side, the steering wheel 11 turns right, simultaneously driving the universal wheel 12 to turn. The steering wheel 11 and the universal wheel 12 work together to move the mobile module 1 rightward.

[0044] like Figure 2 As shown, the lifting module 2 in the disclosed embodiment specifically includes a first lifting cylinder 21, a second lifting cylinder 22, a guide assembly 26, and a connector 23. In the disclosed embodiment, the bottom of the first lifting cylinder 21 is mounted on the top of the vehicle frame 13. During implementation, the mounting can be secured by welding or by using fasteners. The top of the first lifting cylinder 21 is connected to the first end of the connector 23, while the second lifting cylinder 22 is connected to the second end of the connector 23.

[0045] In the embodiment of the present disclosure, a first mounting seat 24 is provided at the end of the first end of the connecting member 23. During implementation, a fixed welding method can be used for connection. At the same time, the first mounting seat 24 is also fixedly connected to the top of the first lifting cylinder 21. During implementation, welding can also be used. The connecting member 23 is a connecting plate, and the connecting member 23 is vertically arranged. The second end of the connecting member 23 is connected to the second mounting seat 25 through a guide assembly 26. The first mounting seat 24 and the second mounting seat 25 are L-shaped, and they can be made of metal. In the embodiment of the present disclosure, the bottom of the second lifting cylinder 22 is welded and installed on the top of the second mounting seat 25.

[0046] The guide assembly 26 in the embodiment of the present disclosure includes a stand, a guide rail, and a slider. The stand is vertically mounted and includes a rectangular frame and two columns. The two columns are welded and mounted on the top of the rectangular frame, and the rectangular frame and the columns are distributed in an L shape. The rectangular frame is welded and mounted on the top of the vehicle frame 13. Two guide rails are mounted on the surfaces of the two columns by welding or configuring fasteners, and the guide rails are also in a vertical state. The slider is mounted on the guide rail and can slide along the guide rail. The slider is also welded to the second mounting seat 25 in the connecting member 23.

[0047] Take an application scenario as an example: when the first lifting cylinder 21 drives the second lifting cylinder 22 to perform lifting motion, the slider moves along the guide rail. The guidance of the guide rail and the slider solves the problem of the second lifting cylinder 22 offsetting when the second lifting cylinder 22 telescopes. At the same time, when the first lifting cylinder 21 rises, the second lifting cylinder 22 is driven by the connecting member 23 to rise to the top position of the first lifting cylinder 21. After that, the second lifting cylinder 22 rises, thereby driving the height of the spray module 3 to rise again. Two-stage lifting is achieved by the first lifting cylinder 21 and the second lifting cylinder 22, ensuring that the spray module 3 accurately reaches the position where it needs to be sprayed.

[0048] The lifting process of lifting module 2 can refer to Figures 3 to 5 .

[0049] It should be noted that the disclosed embodiment uses a lifting cylinder as the power source for lifting. Compared to other lifting structures in the prior art, the lifting cylinder is more stable, ensuring the accuracy and stability of the spray module 3 during spraying. At the same time, since spray robots are typically used indoors, entrance doors and elevator doors have height restrictions. Therefore, the first lifting cylinder 21 and the second lifting cylinder 22 are connected via a connector 23. While the first lifting cylinder 21 can drive the spray module 3 to rise, the first lifting cylinder 21 does not occupy the bottom space of the spray module 3, which can greatly reduce the height of the entire device, allowing the device to meet the height requirements of the entrance door and elevator door. In addition, when the first lifting cylinder 21 and the second lifting cylinder 22 are connected via the connector 23, the second lifting cylinder 22 is located to the side of the first lifting cylinder 21. Therefore, after the first lifting cylinder 21 and the second lifting cylinder 22 are raised, the center of gravity of the first lifting cylinder 21 and the second lifting cylinder 22 is more dispersed, and the entire device is more stable.

[0050] The spray module 3 in the embodiment of the present disclosure includes a six-axis robotic arm 31 and a spray unit, and the six-axis robotic arm 31 is installed on the top of the second lifting cylinder 22. The spray unit includes an air compressor, a delivery pump and a nozzle 32, and the air compressor and the delivery pump are both installed on the frame 13. The air compressor is connected to the delivery pump, and the delivery pump is further connected to the nozzle 32. Through the cooperation of the air compressor and the delivery pump, high-pressure airless spraying is achieved, so that the coating after spraying is more uniform and the generation of bubbles is reduced. In the embodiment of the present disclosure, the nozzle 32 is installed at the end of the six-axis robotic arm 31. During implementation, it can be fixedly connected by welding, or it can be detachably connected by configuring fasteners. The detachable nozzle 32 can be replaced with a nozzle adapted thereto when using different spray media. In order to meet the spraying use of the nozzle, a storage barrel (not shown in the figure) can also be provided on the frame in the embodiment of the present disclosure. The interior of the storage barrel is used to hold the spraying material, and the spraying material is used for the nozzle 32 to spray.

[0051] The nozzle 32 in the embodiment of the present disclosure is the nozzle 32 used for spraying in the prior art, and will not be described in detail in the embodiment of the present disclosure.

[0052] Take an application scenario as an example: when spraying is required, the six-axis robotic arm 31 drives the nozzle 32 to accurately reach the position where spraying is required, and the spraying accuracy is higher.

[0053] In order to prevent a large amount of impurities generated by spraying from adhering to parts such as the cylinder and the sliding assembly, the embodiment of the present disclosure further includes a housing 4, such as Figure 6 As shown, the housing 4 completely encloses the lifting module 2. To facilitate the lifting of the first and second lifting cylinders 21, 22, the top of the housing 4 is provided with two external connection ports, each allowing the first and second lifting cylinders 21, 22 to be exposed during lifting. This eliminates the problem of the housing blocking the first and second lifting cylinders 21, 22. The housing 4 encloses the lifting module 2, reducing the chance of impurities generated during spraying adhering to the cylinders and other components, thereby protecting them.

[0054] In order to realize the automatic spraying of the whole robot, the embodiment of the present disclosure also includes a mobile control module (not shown in the figure), which includes a multi-eye camera and a control unit. The multi-eye camera can be installed on the housing 4 or on a stand or other position. The multi-eye camera is not shown in the figure. The multi-eye camera is electrically connected to the control unit, and the multi-eye camera is used to collect external images so that the control unit can control and judge. In the embodiment of the present disclosure, the control unit is electrically connected to the first lifting cylinder 21, the second lifting cylinder 22, the steering wheel 11 and / or the six-axis manipulator 31. The control unit controls the first lifting cylinder 21, the second lifting cylinder 22, the steering wheel 11 and / or the six-axis manipulator 31 to perform precise operations based on the external images collected by the multi-eye camera, thereby realizing precise spraying of the spray module 3 and solving problems such as spraying misalignment and spraying errors. The control unit in the embodiment of the present disclosure can be an industrial computer unit, a single-chip microcomputer unit or a PLC control unit, etc., and the embodiment of the present disclosure is not limited thereto.

[0055] The following is a further detailed description of the specific implementation method: when spraying is required, the mobile module 1 moves to the lower part of the area to be sprayed. Then the lifting module 2 works to drive the spraying module 3 to rise to the corresponding height, and the spraying module 3 realizes spraying of the target area.

[0056] The above is only an embodiment of the present invention, and the commonly known specific structures and characteristics of the scheme are not described in detail here. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the structure of the present invention, and these should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection claimed by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A spraying robot comprising a lifting module and a spraying module, wherein the spraying module is connected to the lifting module and the spraying module is used to drive the lifting movement of the spraying module, characterized in that: The lifting module includes a lifting cylinder, and the lifting cylinder drives the spraying module to move up and down; The lifting module includes a first lifting cylinder, a second lifting cylinder and a connecting piece. The second lifting cylinder and the first lifting cylinder are in a front-to-back arrangement. The connecting piece includes a first end and a second end. The first end of the connecting piece is connected to the top of the first lifting cylinder, and the second end of the connecting piece extends vertically downward to the bottom of the first lifting cylinder. The second lifting cylinder is connected to the second end of the connecting piece. The first lifting cylinder and the second lifting cylinder realize two-stage lifting.

2. The spraying robot according to claim 1, characterized in that: The lifting module further includes a guide assembly, which includes a track and a slider. The slider is installed on the track, and the slider is connected to the second lifting cylinder.

3. The spraying robot according to claim 1 or 2, characterized in that: The spraying module includes a six-axis robotic arm and a nozzle, and the nozzle is installed on the six-axis robotic arm.

4. The spraying robot according to claim 1 or 2, characterized in that: It also includes a moving module, and the lifting module is installed on the moving module.

5. The spraying robot according to claim 4, characterized in that: It also includes a movement control module, which is electrically connected to the movement module, the lifting module and / or the spraying module.

6. The spraying robot according to claim 5, characterized in that: The movement control module includes a multi-camera.

7. The spraying robot according to claim 1, characterized in that: The utility model further comprises a shell, wherein the shell encloses the lifting module.

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