CN105500377A - Manipulator used for automatic painting make-up - Google Patents
Manipulator used for automatic painting make-up Download PDFInfo
- Publication number
- CN105500377A CN105500377A CN201610017474.6A CN201610017474A CN105500377A CN 105500377 A CN105500377 A CN 105500377A CN 201610017474 A CN201610017474 A CN 201610017474A CN 105500377 A CN105500377 A CN 105500377A
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- China
- Prior art keywords
- section bar
- manipulator
- plc
- paint
- data wire
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention belongs to the field of machines and in particular relates to a manipulator used for automatic painting make-up. The manipulator used for the automatic painting make-up comprises an electrical cabinet as well as a pneumatic control valve, a profile detecting device, a profile driving device, an electrostatic spray gun and a servo motor device which are connected with the electrical cabinet. By adopting the manipulator used for the automatic painting make-up, product quality can be improved, yield after the painting make-up reaches 100%, rate of superior product is 98%, usage amount of paint is reduced, coating cost is saved, and amount of labour used is reduced.
Description
Technical field
The invention belongs to mechanical field, specifically, for one can detect automatically, the manipulator of automatic touch-up paint.
Background technology
In general, section bar always has some underproof places, at this time just needs touch-up paint after spraying paint in spray room.Traditional touch-up paint is that worker stands is carried out in spray room, and touch-up paint effect is subject to the impact of workman's individual difference and workman's mood, and touch-up paint uniformity is poor, causes product percent of pass not high, also needs workman's secondary to repair if desired.Under existing technical conditions, after touch-up paint, qualification rate is generally about 90%, and quality product rate is 42%.
Summary of the invention
The invention provides a kind of full automatic mechanical touch-up paint hand, object be by touch-up paint after section bar qualification rate improve, quality product rate improves.
The present invention is achieved through technology.
A manipulator for automatic touch-up paint, is characterized by, and the manipulator of this automatic touch-up paint, comprises regulator cubicle, and the pneumatic adjustment threshold be connected with regulator cubicle, section bar checkout gear, section bar drive unit, electrostatic gun, servo motor device form.
Described regulator cubicle, its outer wall has the interface of a switch button, a personal-machine Interface, and there are a PLC and the Serve Motor Control driver be connected with PLC and human-computer dialogue device, distribution box in inside; Described switch button, model is Schneider XB2BC31C, be connected with distribution box, on have three buttons, a button is connected with PLC by distribution box, another one button is connected with pneumatic adjustment threshold, Serve Motor Control driver, section bar checkout gear, section bar drive unit, electrostatic gun five parts by distribution box, and the 3rd button is connected with a personal-machine interface device by distribution box.
Described PLC, model, for converging river H3U small PLC, for Shenzhen Huichuan Technology Corp produces, is connected by data wire with Serve Motor Control driver, pneumatic adjustment threshold, section bar checkout gear, section bar drive unit, electrostatic gun respectively.
Described human-computer dialogue device, brand is proface, and model is PFXGP4601TADR, is connected with the PLC in regulator cubicle by data wire.
Described pneumatic adjustment threshold, brand is SMC, is connected with the PLC in regulator cubicle by data wire line; Regulate threshold to have two openings, an opening is connected with coating import by conduit, and another opening is connected with spray gun by conduit.
Described Serve Motor Control driver, model, for converging river IS500, is the production of Shenzhen Hui Chuan Technology Co., Ltd.; One end of Serve Motor Control driver is connected with the PLC in regulator cubicle with by data wire, and the other end is connected with servo motor device by data wire.
Described section bar checkout gear, comprises a column, and hangs on an industrial vision system on column; Described industrial vision system, for nation of the U.S. receives production, model is not limit, and is connected with PLC by data wire.
Described section bar drive unit, comprises a column, and is positioned at the section bar conveyer on column top, and section bar conveyer is common material conveyor belt, and there is sale in local dynamo-electric market.
Described servo motor device, be connected by data wire with the Serve Motor Control driver of electrical control cabinet, anchor at the bottom of electrostatic gun, in order to adjust height and the angle of electrostatic gun, servo motor device includes vertical lift servomotor, horizontal cross shift servo motor, angular adjustment servomotor, base shift servo motor four parts.
Described regulator cubicle, pneumatic adjustment threshold are positioned at outside spray room, and described pneumatic adjustment threshold, Serve Motor Control driver, section bar checkout gear, section bar drive unit, the spray gun be connected with regulator cubicle is positioned at and sprays room.
Operation principle: PLC is according to the Programmable detection peripheral signal input state write, output signal controls Serve Motor Control driver, corresponding displacement is done by Serve Motor Control driver drives servomotor, thus the position of adjustment electrostatic gun, make electrostatic gun precisely can aim at the position of wanted touch-up paint; PLC and section bar checkout gear carry out real-time communication, that reads section bar checkout gear detects section bar supplied materials information, controls, controls the Kai Heguan of electrostatic gun, adjusts servomotor motion, control section bar drive unit movement velocity pneumatic control threshold speed; The interface display relevant information of human-computer dialogue device, and error message is reported to the police.
Man-machine interface realizes human-computer dialogue device can carry out the functions such as parameters input, monitoring, warning message display.
On the other hand, section bar checkout gear detects section bar information, include without section bar, section bar hangs height and angle, the position of section bar touch-up paint point, the size of touch-up paint point, thickness etc., be input to the PLC of electrical control cabinet, after PLC analytic operation to signal to executing agency: driven by servomotor control device, pneumatic adjustment threshold, section bar drive unit, electrostatic gun, executing agency performs corresponding flow process action by touch-up paint technique, namely according to height and the angle of the section bar touch-up paint point detected, elevating mechanism rises to section bar low dot location from initial point, then transverse moving mechanism laterally performs displacement, spray angle adjusts angle immediately according to section bar feature simultaneously, open electrostatic gun aligning section bar to spray paint, perform always and get back to horizontal initial point, so execute the section bar number detected, elevating mechanism is raised to the height point position of section bar, after height point position executes laterally spraying, drops to section bar low dot location, so moves in circles.Checkout gear does not detect section bar, and machine returns lifting origin position, in time having section bar supplied materials, performs corresponding action of spraying paint.Machine is shut down after receiving stopping signal, and elevating mechanism and transversing gear all get back to origin position.
Use this device, there is following advantage:
1, improve the quality of products: the manipulator of this automatic touch-up paint automatically performs touch-up paint action according to technique, and homogeneity of product is high, improve product percent of pass, after touch-up paint, qualification rate reaches 100%, and quality product rate, 98%, realizes guaranteeing the quality effect of synergy.
2, minimizing paint is measured, saving color cost: the main daily cost of spray-painting production line is coating cost, the manipulator of this automatic touch-up paint is due to stable painting, direct aligning spraying section bar, between section bar, gap location does not spray, thus reach minimizing paint amount, saving color cost, save 15-20% than artificial touch-up paint.
3, reduce the amount of labour used: the manipulator of this automatic touch-up paint realizes automatic makeup lacquer craftwork, realize whole piece spraying coating line full-automatic, clearly can reduce number of workers, improve productivity effect.
Accompanying drawing explanation
Fig. 1 is the overall schematic of this device, and Fig. 2 is the internal structure schematic diagram of regulator cubicle, the front elevation of Fig. 3 regulator cubicle, and Fig. 4 is servo electrical machinery system structural representation.
Wherein 1 in figure is spray room, 2 is electrostatic gun, 21 is the data wire that electrostatic gun is connected with PLC, 3 is section bar drive unit, 31 is column, 32 is section bar conveyer, 33 is the data wire that type drive unit is connected with PLC, 4 is section bar checkout gear, 41 is column, 42 is industrial vision system, 43 is the data wire that section bar checkout gear is connected with PLC, 5 is regulator cubicle, 51 is button switch, 52 is man-machine Interface, 521 is the interface of man-machine Interface, 522 is the data wire that man-machine Interface is connected with PLC, 53 is PLC, 54 is distribution box, 6 is servo motor device, 61 is the data wire that servo motor device is connected with driven by servomotor control device, 62 is driven by servomotor control device, 63 is the data wire that driven by servomotor control device is connected with PLC, 64 is vertical lift servomotor, 65 is angular adjustment servomotor, 66 is horizontal cross shift servo motor, 67 move forward and backward servomotor for base, 68 is servomotor and electrostatic gun fixation point, 69 is column, 7 is pneumatic adjustment threshold, 71 is the data wire that pneumatic adjustment threshold is connected with PLC, 72 is coating inlet, 73 is coating material outlet.
Detailed description of the invention
The present invention is further detailed explanation in conjunction with the accompanying drawings and embodiments now, and these accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
The acrylic anodic electrophoretic paint that this paint used is produced for Zhaoqing Guangdong multimedia message paint company, the section bar of use is aluminium, and thickness is 2cm; After spraying paint, thickness reaches 5, and every square meter uses paint amount to be 100ml; Assuming that have a size to be the touch-up paint point of 0.1 square meter at aluminium A point, paint amount used is 10cm, spray time 1 second.
One, erecting device: install this device according to figure.
Two, input: by above-mentioned information: after spraying paint, thickness reaches 5, every square meter uses paint amount to be 100ml; Aluminium A point has a size to be the touch-up paint point of 0.1 square meter, and paint amount used is 10cm, and spray time 1 second, is input in PLC.
Three, touch-up paint:
1, startup self-detection: press switch button 51, start spray gun 2, section bar drive unit 3, section bar conveyer 32, section bar checkout gear 4, industrial vision system 42, human-computer dialogue device 52, the interface 521 of human-computer dialogue device, PLC53, servo motor device 6, driven by servomotor control device 62, vertical lift servomotor 64, angular adjustment servomotor 65, horizontal cross shift servo motor 66, base moves forward and backward servomotor 67, pneumatic adjustment threshold 7, and whether normally show by the interface 521 of the human-computer dialogue device of human-computer dialogue device 52.
2, touch-up paint: in various piece display under normal circumstances, automatically start touch-up paint program.
(1) section bar of required touch-up paint transmits by the section bar conveyer 32, on section bar drive unit 3, and the industry vision system 42 on section bar checkout gear 4 detects touch-up paint point.
(2), industrial vision system 42 detects touch-up paint point C, section bar conveyer 32 stop motion on section bar drive unit 3, the data wire 43 that information is connected with PLC by section bar checkout gear by industrial vision system 42, is sent to PLC.
(3), PLC is by after computing, become a fill order, then order is delivered to driven by servomotor control device 62 by the data wire 63 be connected with PLC for driven by servomotor control device, by the data wire 71 be connected with PLC for pneumatic adjustment threshold, pass to pneumatic adjustment threshold 7, the data wire 21 be connected with PLC by electrostatic gun, passes to electrostatic gun 2.
Now, Serve Motor Control is by the motion controlling vertical lift servomotor 64, angular adjustment servomotor 65, horizontal cross shift servo motor 66, base move forward and backward servomotor 67, electrostatic gun is made to reach best spraying position, then pneumatic adjustment threshold 7 is started, by coating material outlet 73, coating 10ml is input in electrostatic gun 2, electrostatic gun 2 starts spraying, stops after 1 paper money clock, and by information feed back to PLC53.
(4), sprayed after, electrostatic gun 2 sets back, section bar drive unit 3 section bar is sent spray room 1, touch-up paint is completed information simultaneously and passes to PLC, PLC again by information feed back to each system, each system stalls, returns to original state.
Claims (8)
1. a manipulator for automatic touch-up paint, is characterized by, and the manipulator of this automatic touch-up paint, comprises regulator cubicle, and the pneumatic adjustment threshold be connected with regulator cubicle, section bar checkout gear, section bar drive unit, electrostatic gun, servo motor device form.
2. the manipulator of a kind of automatic touch-up paint according to claim 1, it is characterized by, described regulator cubicle, its outer wall has the interface of a switch button, a personal-machine Interface, there are a PLC and the Serve Motor Control driver be connected with PLC and human-computer dialogue device, distribution box in inside; Described switch button, be connected with distribution box, on have three buttons, a button is connected with PLC by distribution box, another one button is connected with pneumatic adjustment threshold, Serve Motor Control driver, section bar checkout gear, section bar drive unit, electrostatic gun five parts by distribution box, and the 3rd button is connected with a personal-machine interface device by distribution box.
3. the manipulator of a kind of automatic touch-up paint according to claim 2, is characterized by, described PLC, is connected respectively with Serve Motor Control driver, pneumatic adjustment threshold, section bar checkout gear, section bar drive unit, electrostatic gun by data wire.
4. the manipulator of a kind of automatic touch-up paint according to claim 1 or 2 or 3, is characterized by, and described pneumatic adjustment threshold, is connected with the PLC in regulator cubicle by data wire line; Regulate threshold to have two openings, an opening is connected with coating import by conduit, and another opening is connected with spray gun by conduit.
5. the manipulator of a kind of automatic touch-up paint according to Claims 2 or 3, is characterized by, described Serve Motor Control driver, and model, for converging river IS500, is the production of Shenzhen Hui Chuan Technology Co., Ltd.; One end of Serve Motor Control driver is connected with the PLC in regulator cubicle with by data wire, and the other end is connected with servo motor device by data wire.
6. a kind of manipulator of automatic touch-up paint according to claim 1 or 2 or 3, is characterized by, described section bar checkout gear, comprises a column, and hang on an industrial vision system on column; Described industrial vision system, is connected with PLC by data wire.
7. a kind of manipulator of automatic touch-up paint according to claim 1 or 2 or 3, is characterized by, described section bar drive unit, comprises a column, and be positioned at the section bar conveyer on column top.
8. the manipulator of a kind of automatic touch-up paint according to claim 1, it is characterized by, described servo motor device, be connected by data wire with the Serve Motor Control driver of electrical control cabinet, anchor at the bottom of electrostatic gun, in order to adjust height and the angle of electrostatic gun, servo motor device includes vertical lift servomotor, horizontal cross shift servo motor, angular adjustment servomotor, base shift servo motor four parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610017474.6A CN105500377A (en) | 2016-01-12 | 2016-01-12 | Manipulator used for automatic painting make-up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610017474.6A CN105500377A (en) | 2016-01-12 | 2016-01-12 | Manipulator used for automatic painting make-up |
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| Publication Number | Publication Date |
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| CN105500377A true CN105500377A (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610017474.6A Pending CN105500377A (en) | 2016-01-12 | 2016-01-12 | Manipulator used for automatic painting make-up |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107096673A (en) * | 2017-07-01 | 2017-08-29 | 深圳市松堡王国家居有限公司 | Automatic painting system and method |
| CN114082570A (en) * | 2021-12-28 | 2022-02-25 | 盐城工学院 | Cartesian coordinate robot control system and control method |
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| CN103537389A (en) * | 2013-09-26 | 2014-01-29 | 淮南纪兴源机电设备有限公司 | Novel full-automatic plate-type spraying machine |
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| CN104941850A (en) * | 2014-03-25 | 2015-09-30 | 上海外高桥造船有限公司 | Automatic painting robot for shipbuilding coating |
| CN204724349U (en) * | 2015-04-30 | 2015-10-28 | 昆山昱国机械设备有限公司 | The automatic electric static painting system of a kind of bicycle |
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Patent Citations (9)
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|---|---|---|---|---|
| CN201157809Y (en) * | 2008-01-28 | 2008-12-03 | 上海发那科机器人有限公司 | Robot paint spraying system |
| CN203018258U (en) * | 2012-10-17 | 2013-06-26 | 秦皇岛戴卡美铝车轮有限公司 | Wheel paint automatic paint-spraying system |
| CN203508273U (en) * | 2013-09-08 | 2014-04-02 | 天津睛龙智能科技有限公司 | Multifunctional spraying mechanical hand |
| CN103537389A (en) * | 2013-09-26 | 2014-01-29 | 淮南纪兴源机电设备有限公司 | Novel full-automatic plate-type spraying machine |
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| CN104841592A (en) * | 2015-04-09 | 2015-08-19 | 徐州德坤电气科技有限公司 | Intelligent automatic spraying unit based on digital bus and usage method thereof |
| CN204724349U (en) * | 2015-04-30 | 2015-10-28 | 昆山昱国机械设备有限公司 | The automatic electric static painting system of a kind of bicycle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107096673A (en) * | 2017-07-01 | 2017-08-29 | 深圳市松堡王国家居有限公司 | Automatic painting system and method |
| CN114082570A (en) * | 2021-12-28 | 2022-02-25 | 盐城工学院 | Cartesian coordinate robot control system and control method |
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Application publication date: 20160420 |