CN1052801A - Paint-spray robot - Google Patents
Paint-spray robot Download PDFInfo
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- CN1052801A CN1052801A CN 89104152 CN89104152A CN1052801A CN 1052801 A CN1052801 A CN 1052801A CN 89104152 CN89104152 CN 89104152 CN 89104152 A CN89104152 A CN 89104152A CN 1052801 A CN1052801 A CN 1052801A
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- paint
- spray
- robot
- spray robot
- spray gun
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Abstract
The present invention relates to a kind of paint-spray robot.Design this paint-spray robot and adopted the thin bar structure of single armed, adopted stepping motor and harmonic speed reducer technology.Thereby paint-spray robot compact conformation, small and exquisite, in light weight; Can walk in orbit along the Workpiece length direction, so covering space is big, and spray in implementing complex part.
Description
The present invention relates to a kind of paint-spray robot, particularly a kind of light-duty combined type, can carry out the paint-spray robot of spraying inside and outside complex part.
Paint-spray robot is existing in the world with hydraulic-driven and the structural shape that drives with DC servo motor.
There is following shortcoming in these two kinds of paint-spray robots: 1. paint-spray robot is relatively heavier, weighs 300～500 kilograms certainly, 2. be not easy to walking, thereby covering space is little; 3. to the ability of complex part internal spray a little less than.
The objective of the invention is to overcome above-mentioned shortcoming, design a kind of simple in structure, compact, in light weight; Can carry out full-automatic spraying; Can walk, thereby covering space is big; The paint-spray robot of spray in carrying out complex part simultaneously.
In order to achieve the above object, paint-spray robot of the present invention is made up of executing agency and control system.Wherein executing agency comprises base, support, driving mechanism and spray gun.Control system comprises CPU (CPU), memory, input/output interface (I/O), power supply and optical electric axial angle encoder, said executing agency walk in addition track, roller and the thin bar of extension single-arm, driving mechanism is made up of harmonic speed reducer and stepping motor, can realize infinitely variable speeds.A plurality of many main central processing units (many host CPUs) are arranged in the control system; one of them many main central processing unit (many host CPUs) are Main Processor Unit (host CPU); it is used to control the operation of remaining many main central processing unit (many host CPUs); and control lacquer road; the safeguard protection of color replacing system and robot and teaching system; a kind of motion in remaining each many main central processing unit (many host CPUs) control robot actuating mechanism; as freely stretching of thin bar of single armed and spray gun; the walking of rotation and base; thereby can carry out large tracts of land to big workpiece covers; concerning complex part; as long as spray gun can put in, can both spray automatically its inner chamber.
The present invention has adopted the direct driving force equilibrium principle to design in order to reach the purpose that alleviates the paint-spray robot overall weight.Specifically, adopted the thin bar structure of single armed, adopted stepping motor and harmonic speed reducer in addition, thereby made the structure of paint-spray robot compact, small and exquisite, in light weight more.The weight of whole paint-spray robot is less than 100 kilograms, have only other structure paint-spray robot weight 1/4th to 1/3rd.Just because of whole paint-spray robot is in light weight, so can adopt wheel and rack to make it to walk in orbit, can walk more than the 7m along the Workpiece length direction, the covering space to workpiece is just big like this.The motion space of paint-spray robot of the present invention is bigger more than three times than the paint-spray robot of other structure.Since adopted the thin bar structure of single armed, concerning complex part, as long as thin bar of single armed and spray gun can put in, spray in just implementing to it.
The present invention has adopted stepping motor and harmonic speed reducer technology, has realized infinitely variable speeds.
Control system in this paint-spray robot also has been equipped with teaching system flexibly, can teaching painting trajectory, the speed of spraying paint and colour changing requirement easily and flexibly on production line.
The thin bar of the single armed of paint-spray robot of the present invention can be solid, also can be hollow, so that be used as the path that defeated lacquer, gas pipeline and lead are installed.
Control system among the present invention adopts industrial standard microcomputer bus (STD-BUS), with the STD-BUS of many host CPUs paint-spray robot is implemented complete Direct Digital control, and the teaching capacity is big, control accuracy is high, good reliability.Software system functions such as basic control software, track fitting, teaching system are perfect.To the workpiece of any full-automatic assembly line and any labyrinth, as long as just can implement spraying with the optimum speed of spraying paint through teaching.
Below in conjunction with accompanying drawing, one embodiment of the present of invention are elaborated.
In the accompanying drawing, Fig. 1 is the front view of robot, and Fig. 2 is the vertical view of robot, and Fig. 3 is the profile along A-A line among Fig. 1, and Fig. 4 is the profile along B-B line among Fig. 1, and Fig. 5 is the ROBOT CONTROL block diagram.
Wherein: the 1-track 2-first support 3-anti-tip wheel
4-anti-dumping wheel carrier 5-roller 6-wheel carrier
7-base 8-tooth bar 9-gear
The 10-tooth rest 11-second support 12-outer cover
13-block 14-fairlead 15-guider
The thin bar 17-of 16-single armed stop collar 18-changeover portion
19-the 5th support 20-spray gun fixed head 21-the 6th support
22-the 4th support 23-shaft joint 24-gear shaft
25-small rack 26-the 3rd support 27-bearing
Among the figure: a is the lacquer pipe for tracheae b for cable c
1G is first optical electric axial angle encoder ... 6G is the 6th optical electric axial angle encoder,
1M is first stepping motor ... 6M is the 6th stepping motor,
1B is the first harmonic decelerator, and 3B, 5B, 6B are respectively the 3rd, the 5th, the 6th harmonic speed reducer,
Whole paint-spray robot is installed on the base 7, is walked along track 1 by tooth bar 8 and gear 9 driven machine people by stepping motor 2M.Stepping motor 2M and optical electric axial angle encoder 2G are contained on second support 11.Optical electric axial angle encoder 1G-6G is used for detecting the operation of stepping motor 1M-6M.Stepping motor 1M and harmonic speed reducer 1B realize that the waist transhipment of paint-spray robot is moving.Stepping motor 1M, harmonic speed reducer 1B and optical electric axial angle encoder 1G are installed on first support 2.Stepping motor 3M drives fairlead 14 pitching by harmonic speed reducer 3B, thereby realizes the elevating movement of paint-spray robot.Stepping motor 3M, harmonic speed reducer 3B and optical electric axial angle encoder 3G are contained on the 3rd support 26.Stepping motor 4M makes stretching motion by the thin bar 16 of rack drives single armed on the thin bar 16 of shaft joint 23, gear shaft 24 and single armed along fairlead 14.Stepping motor 4M and optical electric axial angle encoder 4G are contained on the 4th support 22, and the 4th support 22 and gear shaft 24 and small rack 25 all are contained in again on the fairlead 14, together with fairlead 14 pitching.Stepping motor 5M, 6M and harmonic speed reducer 5B, 6B realize the rotation of wrist and finger.Stepping motor 5M, harmonic speed reducer 5B and optical electric axial angle encoder 5G are contained on the 5th support 19.Stepping motor 6M, harmonic speed reducer 6B and optical electric axial angle encoder 6G are contained on the 6th support 21.
For preventing that robot from reaching the longest and the inclination that meets accident when doing rapid movement and increase stability at the thin bar of single armed (arm), on the base 7 of running gear, be provided with four anti-tip wheels 3, anti-tip wheel 3 contacts with track 1 lower edge, and its degree of tightness is adjustable.
Spray gun (not indicating among the figure) is contained on the spray gun fixed head 20 of wrist top.Spray gun can be the electrostatic spraying spray gun, can be air atomization spray gun, also can be the spray gun that dusts.
As shown in Figure 3, the plane is processed in the both sides of the thin bar 16 of single armed, so that lead.The thin bar 16 of single armed in the present embodiment is made hollowly in addition, has so both helped weight reduction, can utilize hollow lumen to settle defeated lacquer, gas pipeline and lead etc. again, reaches the purpose of simplified construction.
Control system as shown in Figure 5,50-power supply wherein, the many host CPUs of 51-, 52-host computer, 531～536 memories, the many host CPUs of 541～546-, the 551～556-input/output interface plate that walks abreast, 561～566-driving power, 1M～6M-stepping motor, 1G～6G optical electric axial angle encoder
57-memory (ROM)
58-memory (RAM)
59-memory (ROM of band backup battery)
60-interrupt priority level controller
The 61-mechanical limit switch
The general input/output interface plate of 62-
63-industry I/O line bank
64-lacquer road color replacing system
65-TTL input/output interface plate
The 66-teach box
Many host CPUs 51 are used to control the operation of all the other many host CPUs 541～546, control lacquer road, color replacing system 64, teach box 66, the operation tutorial program, control mechanical limit switch 61 and with the communicating by letter of host computer 52;
Host computer 52 is used to develop STD-BUS or is used for and the communicating by letter of STD-BUS;
The operation of control step motor 1M～6M respectively of many host CPUs 541～546;
Parallel input/output interface plate 551～556 is installed in respectively on many host CPU 541～546 plates, the output line of parallel input/output interface plate 551～556 is formed ring distributor, the operation of control driving power 561～566, whether the input line of parallel input/output interface plate 551～556 detects driving power and breaks down;
Driving power 561～566 drives stepping motor 1M～6M operation respectively;
Whether optical electric axial angle encoder 1G～6G detects stepping motor 1M～6M operation respectively accurate;
Interrupt priority level controller 60 and mechanical limit switch 61 are used for the safeguard protection of robot;
General input/output interface plate 62, industrial I/O line bank 63 and lacquer road color replacing system 64 are used for spraying, colour changing and lacquer road washing and cleaning operation;
TTL input/output interface plate 65 and teach box 66 are used for the on-the-spot teaching operation of Workpiece painting.
According to the paint-spray robot of the present invention of the embodiment manufacturing of above accompanying drawing, through on probation, effect is fine, has reached designing requirement.The paint-spray robot that drives with DC servo motor of robot of the present invention and MIT development and with the performance comparison of hydraulically powered articulated type paint-spray robot shown in subordinate list.As can be seen, the performance of paint-spray robot of the present invention has many advantages than the paint-spray robot of hydraulic-driven and DC servo motor driving from subordinate list.Especially three of the paint-spray robot of these two kinds of structural shapes major defects have all obtained overcoming.At first the weight of paint-spray robot drops to below 100 kilograms from 500 kilograms; Next is to walk from inconvenience to walk more than the 7m; Can not only spray paint outward besides, and can carry out interior spray complex part.
Owing to adopt the direct driving force equilibrium principle to design, and adopt stepping motor and harmonic speed reducer technology, directly executing agency is arranged in each joint part, gather thereby the paint-spray robot body construction more is becoming tight, small and exquisite, entire machine people's weight is less than 100 kilograms.Because paint-spray robot weight of the present invention is less than 100 kilograms, thus according to big, than the characteristics of farm labourer's part, robot can be along the Workpiece length direction along track travel, stroke reaches more than the 7m.Like this, on streamline, not only can travelling workpiece, but also can mobile paint-spray robot.Use more flexibly, conveniently, adopt light-duty, the thin bar structure of shell single armed, if the complex part that spray gun and the thin bar of single armed can put in, spray operation in can both implementing it.Adopt the STD-BUS of a plurality of host CPUs that paint-spray robot is implemented complete Direct Digital control, the teaching capacity is big.Paint-spray robot has several freedoms of motion just should be controlled by several many host CPUs; in addition; the management of whole paint-spray robot had both been controlled the operation of other many host CPUs with the control of host CPU more than, again the safeguard protection and the teaching system of control lacquer road, color replacing system, robot.Software functions such as basic software, track fitting, teaching system are perfect.To the workpiece of any full-automatic assembly line and any labyrinth, as long as just can implement spraying with the optimum speed of spraying paint through teaching.
Paint-spray robot purposes of the present invention is very extensive, can be used for specifically following operation:
1. be applicable to auto manufacturing, the surfaces externally and internally spray painting operation of all kinds of automobiles such as car, single, double cab, compartment, bus;
2. be applicable to train, railway car surfaces externally and internally spray painting operation;
3. be applicable to the spray painting operation of the products such as refrigerator, washing machine;
4. be applicable to the spray painting operation of all kinds of electrical instrumentation cabinets;
5. be applicable to the spray painting operation of the relevant engineering goods such as lathe, container;
6. can realize many paint-spray robot colony spray painting operations at any streamline;
7. mix automatically defeated lacquer color replacing system, automatically can realize automatically defeated lacquer and automatically colour changing on the streamline;
But 8. adapted air atomizing formula spray gun, but also adapted electrostatic gun;
9. can satisfy the spray painting operation of large-scale workpiece with lower cost.
Claims (8)
1, a kind of paint-spray robot, it is made up of executing agency and control system, wherein executing agency comprises base, bearing, support, driving mechanism, motor and spray gun, said control system comprises CPU (CPU), memory, input/output interface, power supply and optical electric axial angle encoder, it is characterized in that executing agency also comprises walking track, roller and a thin bar of extension single-arm (arm), driving mechanism is made up of harmonic speed reducer and stepping motor, can realize infinitely variable speeds; A plurality of many main central processing units (many host CPUs) are arranged in the said control system, one of them many main central processing unit (many host CPUs), be Main Processor Unit (host CPU), it is used to control the operation of remaining many main central processing unit (many host CPUs), a kind of motion in remaining each many main central processing unit (many host CPUs) control robot actuating mechanism.
2, paint-spray robot as claimed in claim 1 is characterized in that said spray gun is the electrostatic spraying spray gun.
3, paint-spray robot as claimed in claim 1 is characterized in that said spray gun is an air atomization spray gun.
4, paint-spray robot as claimed in claim 1 is characterized in that said spray gun is the spray gun that dusts.
5, paint-spray robot as claimed in claim 1 is characterized in that the thin bar of said single armed is the hollow shell structure, and its hollow lumen is used for defeated lacquer, gas pipeline and lead are installed.
6, as claim 1 or 5 described paint-spray robots, it is characterized in that the thin bar of said single armed both sides be processed into do the guiding usefulness the plane.
7, paint-spray robot as claimed in claim 1 is characterized in that said control system adopts industrial standard microcomputer bus (STD-BUS).
8,, it is characterized in that said control system can be equipped with teaching system as claim 1 or 7 described paint-spray robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 89104152 CN1052801A (en) | 1989-12-29 | 1989-12-29 | Paint-spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 89104152 CN1052801A (en) | 1989-12-29 | 1989-12-29 | Paint-spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1052801A true CN1052801A (en) | 1991-07-10 |
Family
ID=4855472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 89104152 Pending CN1052801A (en) | 1989-12-29 | 1989-12-29 | Paint-spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1052801A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100553791C (en) * | 2005-09-19 | 2009-10-28 | 萨姆斯技术公司 | The multicomponent coating product spraying equipment |
| CN100582425C (en) * | 2007-12-16 | 2010-01-20 | 范文利 | Plane spray coating mechanical hand base on PLC |
| CN104722435A (en) * | 2015-02-11 | 2015-06-24 | 谭建忠 | Overhead three-dimensional telescopic spray gun mechanism |
| CN106047442A (en) * | 2016-07-20 | 2016-10-26 | 长沙开元仪器股份有限公司 | Combustion improver spreading and spraying device |
-
1989
- 1989-12-29 CN CN 89104152 patent/CN1052801A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100553791C (en) * | 2005-09-19 | 2009-10-28 | 萨姆斯技术公司 | The multicomponent coating product spraying equipment |
| CN100582425C (en) * | 2007-12-16 | 2010-01-20 | 范文利 | Plane spray coating mechanical hand base on PLC |
| CN104722435A (en) * | 2015-02-11 | 2015-06-24 | 谭建忠 | Overhead three-dimensional telescopic spray gun mechanism |
| CN106047442A (en) * | 2016-07-20 | 2016-10-26 | 长沙开元仪器股份有限公司 | Combustion improver spreading and spraying device |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |