Spraying robot

Abstract

The utility model provides a kind of spraying robot, it includes chassis device, mechanical arm, spraying device and protective device, chassis device includes chassis rack, travelling mechanism and vertical moving mechanism, travelling mechanism is set at the bottom of chassis rack, vertical moving mechanism is set on chassis rack;The power output end of vertical moving mechanism is connected with mechanical arm;Spraying device is set on mechanical arm;Protective device includes first protective mechanism and second protective mechanism, first protective mechanism is set at the outer side edge of chassis rack, and second protective mechanism is set at at least one end of chassis device.Through the above structure, the spraying robot is well protected, and the damage rate of the spraying robot is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment technology, and in particular relates to a spraying robot. Background Technology

[0002] During the maintenance of railway freight cars, in order to facilitate the identification and management of freight cars, the car type, model number, ownership and manufacturing marks, usage marks, maintenance marks, and other freight car markings are painted on designated parts of the cars.

[0003] While current painting robots can achieve automated painting, they are prone to colliding with the equipment being painted during movement, causing damage, especially when painting large equipment with high hardness. Because the markings to be painted are large, a faster movement speed is often required to improve painting efficiency. However, at a faster movement speed, the probability of collision increases significantly, resulting in a higher damage rate. Summary of the Invention

[0004] To address the aforementioned technical problems, this utility model proposes a painting robot.

[0005] This utility model provides a painting robot, comprising:

[0006] A chassis assembly, comprising a chassis frame, a traveling mechanism, and a vertical moving mechanism, wherein the traveling mechanism is disposed at the bottom of the chassis frame, and the vertical moving mechanism is disposed on the chassis frame;

[0007] The robotic arm, wherein the power output end of the vertical movement mechanism is connected to the robotic arm;

[0008] A spraying device, which is mounted on the robotic arm;

[0009] The protective device includes a first protective mechanism and a second protective mechanism. The first protective mechanism is disposed on the outer edge of the chassis frame, and the second protective mechanism is disposed at at least one end of the chassis device.

[0010] In one embodiment, the first protective mechanism includes at least one pressure-sensitive component and a control switch. Each pressure-sensitive component is disposed on the outer edge of the chassis frame, and each pressure-sensitive component is electrically connected to the control switch, which is electrically connected to the walking mechanism.

[0011] In one embodiment, the pressure-sensitive component is provided with a safety contact edge on its outer side.

[0012] In one embodiment, the first protective mechanism includes a safety edge disposed on the outer edge of the chassis frame.

[0013] In one embodiment, the safety edge is made of rubber or plastic.

[0014] In one embodiment, the second protective mechanism includes a protective cover body and two protective sides. The protective cover body is mounted on the chassis frame, and the two protective sides are respectively connected to the protective cover body. The protective cover body and the two protective sides are both located at at least one end of the chassis device, and the two protective sides are respectively located on opposite sides of the spraying device.

[0015] In one embodiment, a front axle swing bridge is provided on the chassis frame, and the front axle swing bridge is configured to balance the chassis frame.

[0016] In one embodiment, the vertical movement mechanism includes a lifting assembly and a drive assembly. The drive assembly is mounted on the chassis frame and connected to the lifting assembly. The drive assembly is configured to drive the lifting assembly to move in a direction perpendicular to the chassis frame. The lifting assembly is connected to the robotic arm.

[0017] In one embodiment, the chassis frame has a mounting hole, the sidewall of the mounting hole is provided with a protective sleeve, and the lifting assembly passes through the mounting hole and is slidably connected to the protective sleeve.

[0018] In one embodiment, the walking mechanism includes a drive motor, a drive wheel, and at least one support wheel. The drive motor is mounted on the chassis frame, and the drive wheel and the support wheel are rotatably mounted on the bottom of the chassis frame. The drive motor is drivenly connected to the drive wheel.

[0019] Compared with existing technologies, the spraying robot technology provided by this utility model has the following advantages or beneficial effects:

[0020] Because a first protective mechanism is provided on the outer side of the chassis frame, it provides excellent protection when the chassis frame moves under the drive of the traveling mechanism. Furthermore, when the chassis frame moves towards the equipment being painted under the drive of the traveling mechanism, a second protective mechanism is provided at least at one end of the chassis, thus providing excellent protection for the painting equipment. This structure effectively protects the painting robot. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a painting robot according to one embodiment of the present invention;

[0022] Figure 2This is a partial schematic diagram of a painting robot according to another embodiment of the present invention;

[0023] Figure 3 This is a partial schematic diagram of a painting robot according to another embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description of this utility model is provided in conjunction with the embodiments and accompanying drawings. This will enable a full understanding of how this utility model applies technical means to solve technical problems and achieve technical effects, and allow for its implementation.

[0025] It should be understood that, in this application, the spraying robot can be used for spraying markings on equipment. The equipment to be sprayed includes, but is not limited to, vehicles, containers, and buildings. Vehicles include, but are not limited to, trucks, passenger cars, and automobiles. Trucks include, but are not limited to, railway freight cars.

[0026] like Figure 1 As shown, a painting robot according to one embodiment includes a chassis device 4, a robotic arm 8, a painting device 3, and a protective device. The chassis device 4 includes a chassis frame 402, a walking mechanism, and a vertical moving mechanism 7. The walking mechanism is located at the bottom of the chassis frame 402, and the vertical moving mechanism 7 is located on the chassis frame 402. The power output end of the vertical moving mechanism 7 is connected to the robotic arm 8. The painting device 3 is located on the robotic arm 8. The protective device includes a first protective mechanism 13 and a second protective mechanism 11. The first protective mechanism 13 is located on the outer edge of the chassis frame 402, and the second protective mechanism 11 is located at at least one end of the chassis device 4.

[0027] Because a first protective mechanism 13 is provided on the outer edge of the chassis frame 402, the first protective mechanism 13 can provide good protection for the chassis frame 402 when it moves under the drive of the walking mechanism. When the chassis frame 402 moves towards the equipment to be painted under the drive of the walking mechanism, the second protective mechanism 11 is provided at at least one end of the chassis device 4, thus providing good protection for the painting device 3. Through the above structure, the painting robot is well protected.

[0028] The traveling mechanism drives the spraying device 3 mounted on the robotic arm 8 of the vertical moving mechanism 7 to move via the chassis frame 402. The vertical moving mechanism 7 drives the spraying device 3 to move in the vertical direction of the chassis frame 402 via the robotic arm 8, thereby adapting to different heights and enabling spraying at different positions.

[0029] In one embodiment, the second protective mechanism 11 is disposed at at least one end of the chassis device 4. The second protective mechanism 11 can be disposed at one end of the chassis device 4, or at both ends of the chassis device. For example, the second protective mechanism 11 is disposed at the end of the chassis frame 402 facing towards the equipment to be sprayed. It can be understood that the traveling mechanism drives the spraying device 3 to rotate via the chassis frame 402, causing the second protective mechanism 11 to be disposed at at least one end of the chassis device 4. Then, the traveling mechanism drives the spraying device 3 to move towards the equipment to be sprayed via the chassis frame 402. Thus, when moving towards the equipment to be sprayed, the second protective mechanism 11 provides good protection for the spraying device 3.

[0030] In one embodiment, the first protective mechanism 13 includes at least one pressure-sensitive component and a control switch 12. Each pressure-sensitive component is disposed on the outer edge of the chassis frame 402, and each pressure-sensitive component is electrically connected to the control switch 12, which is electrically connected to the walking mechanism. In one embodiment, the pressure-sensitive component includes a pressure-sensitive resistor. It is understood that when the pressure-sensitive component collides with an object, it generates a power-off signal due to the pressure from the object. This power-off signal is transmitted to the control switch 12, which then controls the walking mechanism to stop working, thereby stopping the painting robot from moving forward and preventing it from colliding with obstacles. This structure effectively protects the painting robot.

[0031] In one embodiment, a safety contact edge 2 is provided on the outer side of the pressure-sensitive component. In one embodiment, the safety contact edge 2 is made of rubber or plastic. In this embodiment, the rubber or plastic safety contact edge 2 has good elasticity and toughness, which can effectively protect the pressure-sensitive component and prevent it from being damaged by impact or crushing. In addition, the safety contact edge 2 can also effectively protect the chassis support. In one embodiment, the safety contact edge 2 is provided around the outer edge of the chassis support, which can effectively protect the outer edge of the chassis support and prevent the chassis support from being damaged by collision in any direction.

[0032] In one embodiment, the first protective mechanism 13 includes a safety contact edge 2, which is disposed on the outer edge of the chassis frame 402. The safety contact edge 2 is disposed around the outer edge of the chassis support, which can effectively protect the outer edge of the chassis support and prevent the chassis support from being damaged by collision in any direction.

[0033] In one embodiment, the control switch 12 is electrically connected to the braking mechanism, which is connected to the walking mechanism. In another embodiment, the braking mechanism is connected to the drive wheel 401 and is used to brake the drive wheel 401. It is understood that when the pressure-sensitive component collides with an object, a braking electrical signal is generated due to the pressure exerted by the object on the pressure-sensitive component. This braking electrical signal is transmitted to the control switch 12, which activates the braking mechanism to stop the painting robot from moving forward. This structure effectively protects the painting robot.

[0034] In one embodiment, the second protective mechanism 11 includes a protective cover body and two protective sides. The protective cover body is mounted on the chassis frame 402, and the two protective sides are respectively connected to the protective cover body. Both the protective cover body and the two protective sides are located at at least one end of the chassis device 4, and the two protective sides are respectively located on opposite sides of the spraying device 3. In this embodiment, when the chassis frame 402 moves the spraying device 3 towards the equipment being sprayed under the drive of the walking mechanism, since both the protective cover body and the two protective sides are located at at least one end of the chassis device 4, and the two protective sides are respectively located on opposite sides of the spraying device 3, both the protective cover body and the two protective sides can provide excellent protection for the spraying device 3. This structure effectively protects the spraying robot.

[0035] During movement, the chassis frame 402 is prone to swaying due to poor road conditions or vibrations. To reduce the swaying of the chassis frame 402, improve the balance of the painting robot during movement, and thus reduce the number of maintenance operations for the painting robot, in one embodiment, a front axle swing bridge 404 is provided on the chassis frame 402, and the front axle swing bridge 404 is configured to balance the chassis frame 402.

[0036] In one embodiment, the vertical movement mechanism 7 includes a lifting assembly and a drive assembly. The drive assembly is mounted on the chassis frame 402 and connected to the lifting assembly. The drive assembly is configured to drive the lifting assembly to move in a direction perpendicular to the chassis frame 402. The lifting assembly is connected to the robotic arm 8. It can be understood that the drive assembly, through the lifting assembly, drives the robotic arm 8 to move in a direction perpendicular to the chassis frame 402, while the robotic arm 8 simultaneously moves the painting device 3, ensuring the painting accuracy of the painting robot.

[0037] In one embodiment, the drive assembly includes a driver, a reducer, and a transmission unit. The two ends of the transmission unit are respectively meshed and driven by the reducer and the lifting assembly. The power output end of the driver is connected to the reducer. Both the reducer and the transmission unit are rotatably mounted on the chassis frame 402. It can be understood that the reducer, through the transmission unit, meshes and drives the lifting assembly, causing the lifting assembly to move the spraying device 3 vertically via the robotic arm 8. Furthermore, the cooperation between the reducer and the transmission unit increases the torque, which acts on the lifting assembly, thus increasing the driving force of the lifting assembly in the vertical direction.

[0038] In one embodiment, the chassis frame 402 has a mounting hole, and a protective sleeve is provided on the side wall of the mounting hole. The lifting assembly passes through the mounting hole and is slidably connected to the protective sleeve. It can be understood that the protective sleeve is provided on the side wall of the mounting hole, that is, the lifting assembly is separated from the side wall of the mounting hole by the protective sleeve, thereby providing good protection for both the lifting assembly and the chassis frame 402.

[0039] like Figure 2 As shown, in one embodiment, the walking mechanism includes a drive motor, a drive wheel 401, and at least one support wheel 403. The drive motor is mounted on the chassis frame 402, and the drive wheel 401 and the support wheel 403 are rotatably mounted on the bottom of the chassis frame 402. The drive motor is driven by the drive wheel 401. It can be understood that the drive motor moves the chassis frame 402 via the drive wheel 401, thereby causing the vertical moving mechanism 7 on the chassis frame 402 to move the spraying device 3 via the robotic arm 8. The support wheel 403 provides support and balance for the chassis frame 402, ensuring the spraying accuracy of the spraying robot. In one embodiment, the support wheel 403 includes a swivel wheel, which can rotate 360° around its own axis of rotation. In other embodiments, the support wheel 403 includes a steering wheel, which can rotate within a preset angle range around its own axis of rotation.

[0040] In one embodiment, the spraying device 3 includes a liquid storage tank and a nozzle. The liquid storage tank is mounted on a chassis frame 402, and the nozzle is mounted on a robotic arm 8. The liquid storage tank and the nozzle are connected via a delivery pipe. It is understood that the liquid storage tank contains spraying liquid, which is used for spraying markings. In this embodiment, the liquid storage tank is equipped with a pump body, which is connected to the nozzle via a delivery pipe. The pump body draws the spraying liquid from the liquid storage tank and delivers it to the nozzle for spraying, thereby achieving spraying.

[0041] like Figure 3As shown, in one embodiment, the spraying device 3 further includes a clamp 901 and a spraying fixture 904. The clamp 901 is mounted on the robotic arm 8, the spraying fixture 904 is movably mounted on the clamp 901, and the spray head is movably mounted on the spraying fixture 904. It is understood that different spray heads are needed during the spraying process; therefore, the spray head needs to be movably connected to the spraying fixture 904 for easy nozzle replacement.

[0042] In one embodiment, the second protective mechanism 11 is provided with a spraying fixture replacement part 10 on the side near the lifting assembly, and the spraying fixture replacement part 10 is movably mounted on the protective cover. It is understood that when the spraying fixture 904 needs to be replaced, the spraying fixture 904 is removed, and the spraying fixture replacement part 10, movably mounted on the protective cover, is fixed to the clamp 901 for easy replacement.

[0043] In one embodiment, the spraying device 3 further includes a curing lamp 902, which is disposed on the fixture 901.

[0044] In this embodiment, after the spraying robot completes the spraying operation, the curing lamp 902 quickly cures the spraying liquid on the sprayed equipment.

[0045] like Figure 1 and Figure 2As shown, in one embodiment, the painting robot includes a chassis 4, a robotic arm 8, a painting device 3, and a protective device; wherein, the chassis 4 includes a chassis frame 402, a braking mechanism, a walking mechanism, and a vertical movement mechanism 7; the chassis frame 402 has mounting holes, the sidewalls of which are fitted with protective sleeves, and a front axle swing bridge 404 is mounted on the chassis frame 402, the front axle swing bridge 404 being configured to balance the chassis frame 402; the walking mechanism includes a drive motor, drive wheels 401, and at least one support wheel 403, the drive motor being mounted on the chassis frame 402. The chassis frame 402 is described above. The drive wheel 401 and the support wheel 403 are respectively rotatably mounted on the bottom of the chassis frame 402. The drive motor is driven by the drive wheel 401. The vertical movement mechanism 7 includes a lifting assembly and a drive assembly. The lifting assembly passes through the mounting hole and is slidably connected to the protective sleeve. The lifting assembly is connected to the robotic arm 8, and the robotic arm 8 is connected to the spraying device 3. The drive assembly includes a driver, a reducer, and a transmission unit. The reducer and the transmission unit are mounted on the chassis frame 402. The two ends of the transmission unit are respectively connected to the reducer... The machine and the lifting assembly are meshed and driven together. The power output end of the driver is connected to the reducer. The driver drives the lifting assembly to move in a direction perpendicular to the chassis frame 402 through the reducer and the transmission unit. The lifting assembly drives the spraying device 3 on the robotic arm 8 to move in a direction perpendicular to the chassis frame 402. The protective device includes a first protective mechanism 13 and a second protective mechanism 11. The first protective mechanism 13 includes at least one pressure-sensitive component and a control switch 12. Each pressure-sensitive component is disposed on the outer edge of the chassis frame 402. The component is electrically connected to the control switch 12. The outer side of the pressure-sensitive component is covered with a safety contact edge 2, which is made of rubber or plastic. The control switch 12 is electrically connected to the steering wheel drive component and also electrically connected to the braking mechanism. The braking mechanism is connected to the drive wheel 401 and at least one support wheel 403. The second protective mechanism 11 is located at at least one end of the chassis device 4. The second protective mechanism 11 is located at at least one end of the chassis device 4 on the side of the chassis frame 402 facing towards the spraying equipment.

[0046] It should also be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

Claims

1. A painting robot, characterized in that, include: A chassis assembly, comprising a chassis frame, a traveling mechanism, and a vertical moving mechanism, wherein the traveling mechanism is disposed at the bottom of the chassis frame, and the vertical moving mechanism is disposed on the chassis frame; The robotic arm, wherein the power output end of the vertical movement mechanism is connected to the robotic arm; A spraying device, which is mounted on the robotic arm; The protective device includes a first protective mechanism and a second protective mechanism. The first protective mechanism is disposed on the outer edge of the chassis frame, and the second protective mechanism is disposed at at least one end of the chassis device.

2. The painting robot according to claim 1, characterized in that, The first protective mechanism includes at least one pressure-sensitive component and a control switch. Each pressure-sensitive component is disposed on the outer edge of the chassis frame, and each pressure-sensitive component is electrically connected to the control switch. The control switch is electrically connected to the walking mechanism.

3. The painting robot according to claim 2, characterized in that, The pressure-sensitive component is covered with a safety contact edge.

4. The painting robot according to claim 1, characterized in that, The first protective mechanism includes a safety contact edge, which is disposed on the outer edge of the chassis frame.

5. The painting robot according to claim 4, characterized in that, The safety contact edge is made of rubber or plastic.

6. The painting robot according to claim 1, characterized in that, The second protective mechanism includes a protective cover body and two protective sides. The protective cover body is mounted on the chassis frame, and the two protective sides are respectively connected to the protective cover body. The protective cover body and the two protective sides are both located at at least one end of the chassis device, and the two protective sides are respectively located on opposite sides of the spraying device.

7. The painting robot according to claim 1, characterized in that, A front axle swing bridge is provided on the chassis frame, and the front axle swing bridge is configured to balance the chassis frame.

8. The painting robot according to claim 1, characterized in that, The vertical moving mechanism includes a lifting component and a drive component. The drive component is mounted on the chassis frame and connected to the lifting component. The drive component is configured to drive the lifting component to move in a direction perpendicular to the chassis frame. The lifting component is connected to the robotic arm.

9. The painting robot according to claim 8, characterized in that, The chassis frame has mounting holes, and the sidewalls of the mounting holes are provided with protective sleeves. The lifting assembly passes through the mounting holes and is slidably connected to the protective sleeves.

10. The painting robot according to claim 1, characterized in that, The walking mechanism includes a drive motor, a drive wheel, and at least one support wheel. The drive motor is mounted on the chassis frame, and the drive wheel and the support wheel are rotatably mounted on the bottom of the chassis frame. The drive motor is driven by the drive wheel.

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