CN105709975A - Automatic spraying production line of large-size complicated component - Google Patents
Automatic spraying production line of large-size complicated component Download PDFInfo
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- CN105709975A CN105709975A CN201610290920.0A CN201610290920A CN105709975A CN 105709975 A CN105709975 A CN 105709975A CN 201610290920 A CN201610290920 A CN 201610290920A CN 105709975 A CN105709975 A CN 105709975A
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- scale component
- complex large
- production line
- guide rail
- automatic spraying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
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- Spray Control Apparatus (AREA)
Abstract
The invention provides an automatic spraying production line of a large-size complicated component. The automatic spraying production line comprises a working region for placing the large-size complicated component and at least two sets of eudipleural spraying equipment respectively positioned on two sides of the working region, wherein each set of spraying equipment further comprises a framework and a spraying robot; the frameworks are used for driving the spraying robots to move on a vertical plane; and the spraying robots are used for spraying the large-size complicated component. The automatic spraying production line provided by the invention is high in spraying efficiency and high in spraying speed, and can spray an internal region of the large-size complicated component.
Description
Technical field
The present invention relates to industrial robot, particularly relate to automatic spraying robot, be exactly the automatic spraying production line of a kind of complex large-scale component specifically.
Background technology
Spraying is just made by gas pressure and utilizes spray gun that spraying liquid is dispersed into uniform and fine droplet, is coated with the surface imposing on coated article；Spray-painting production line adopts production line mode to metal and nonmetallic surface protective mulch or decorative layer exactly.At present, owing to existing spray-painting production line is all that separate unit spray gun is operated, and mechanical arm is dexterous not, when using existing spray-painting production line that complex large-scale component is sprayed, the problems such as ubiquity inefficiency, waste resource (coefficient of losses of paint reaches 60%), contaminated environment, existing spraying equipment cannot be competent at the spray coating operations of large-scale component complex surface at all.
For example, Chinese utility model patent (application number: CN201520756361.9) open a kind of robot automatic spraying production line, owing to mechanical arm is fixedly mounted on fixed pedestal, work space is limited, and be the work of separate unit mechanical arm, therefore such automatic spraying production line be only used for shape fix, the small article of simple in construction, when spraying the such complex large-scale component of such as connecting bridge, extruder, be constantly present inefficiency, underaction, component inside cannot be sprayed, the waste problem such as resource, contaminated environment.
Therefore, cannot meeting the situation of complex large-scale component spraying demand based on existing spray-painting production line, those skilled in the art urgently develop a kind of spray-painting production line being adapted to the complex large-scale components such as connecting bridge carry out spray coating operations.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is in that to provide the automatic spraying production line of a kind of complex large-scale component, solving existing spray-painting production line when complex large-scale component is sprayed, work efficiency is low, it is impossible to spraying problem within complex large-scale component.
In order to solve above-mentioned technical problem, the specific embodiment of the present invention provides the automatic spraying production line of a kind of complex large-scale component, and this automatic spraying production line includes: working region and at least two for placing described complex large-scale component lay respectively at the both sides of this working region and symmetrical spraying equipment.Wherein each described spraying equipment farther includes: framework and spray robot, and described framework is for described spray robot mobile on perpendicular；Described spray robot is for carrying out spraying operation to complex large-scale component.
Above-mentioned detailed description of the invention according to the present invention, the automatic spraying production line of complex large-scale component at least has the advantages that the lateral symmetry at complex large-scale component arranges two movable spraying machine device people, by two spray robot coordinating operations, the large-scale component surfaces such as connecting bridge, vehicle body (body of a motor car, train vehicle body, subway vehicle body etc.), extruder are sprayed；Additionally, can in a simple spray coating robot configured above of complex large-scale component, it is responsible for the spray coating operations of complex large-scale component end face specially, improve spray efficiency further, after mechanical arm completes spray coating operations in the scope that Y-axis guide rail and Z axis telescoping mechanism move, complex large-scale component is moved a certain distance along Y direction by terrestrial transmitter structure, mechanical arm completes spray coating operations again in the scope that Y-axis guide rail and Z axis telescoping mechanism move, and does intermittent movement with this until completing the spray coating operations to complex large-scale component surface；For the complex large-scale component that simple in construction or the face that is sprayed-on are one piece of flat surfaces, can being made directly continuous spray operation, complex large-scale component moves while spray along production line, has both improve spray efficiency, reduce again entreprise cost, and spraying even results is good.Automatic spraying production line provided by the invention can meet the spraying requirement on complex large-scale component surface, spray efficiency is high, it is possible to the interior zone of complex large-scale component is sprayed, it is also possible to complete the accurate spraying in particular elements, region, save spraying substance, reduce the pollution to environment.
It is to be understood that above-mentioned general description and detailed description below be merely illustrative and illustrative, it can not limit the scope that the present invention is intended to advocate.
Accompanying drawing explanation
Following appended accompanying drawing is a part for the description of the present invention, and it depicts the example embodiment of the present invention, and appended accompanying drawing is used for principles of the invention is described together with the description of description.
Fig. 1 for the specific embodiment of the invention provide a kind of for the overview to the spray-painting production line that complex large-scale component surface sprays automatically；
Fig. 2 for the specific embodiment of the invention provide a kind of for the side view to the spray-painting production line that complex large-scale component surface sprays automatically；
Fig. 3 for the specific embodiment of the invention provide a kind of for the front view to the spray-painting production line that complex large-scale component surface sprays automatically；
Fig. 4 for the specific embodiment of the invention provide a kind of for the top view to the spray-painting production line that complex large-scale component surface sprays automatically；
The schematic diagram of the mechanical arm of a kind of spray-painting production line that Fig. 5 provides for the specific embodiment of the invention；
Fig. 6 for the specific embodiment of the invention provide a kind of for the another overview to the spray-painting production line that complex large-scale component surface sprays automatically；
Fig. 7 for the specific embodiment of the invention provide a kind of for the rearview to the spray-painting production line that complex large-scale component surface sprays automatically.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearly understand, below by with accompanying drawing and the spirit describing the disclosed content of clear explanation in detail, any skilled artisan is after the embodiment understanding present invention, when the technology that can be taught by present invention, being changed and modify, it is without departing from the spirit and scope of present invention.
The schematic description and description of the present invention is used for explaining the present invention, but not as a limitation of the invention.It addition, used the element/component of same or like label to be used to represent same or like part in drawings and the embodiments.
About " first " used herein, " second " ... etc., not censure the meaning of order or cis-position especially, be also not used to limit the present invention, its element described with constructed term only for difference or operation.
About direction used herein term, for instance: upper and lower, left and right, front or rear etc., it is only the direction with reference to accompanying drawing.Therefore, the direction term of use is used to illustrate not for limiting this creation.
About " comprising " used herein, " including ", " having ", " containing " etc., be the term of opening, namely mean including but not limited to.
About used herein " and/or ", including the arbitrary of described things or all combine.
About term used herein " substantially ", " about " etc., in order to modify any can the quantity of microvariations or error, but this slight variations or error can't change its essence.It is said that in general, the scope of the microvariations modified of this type of term or error can be 20% in some embodiments, can be 10% in some embodiments, can be 5% or other numerical value in some embodiments.It will be understood by those skilled in the art that the aforementioned numerical value mentioned can adjust according to actual demand, be not limited thereto.
Some is in order to describe the word of the application by lower or discuss in the other places of this description, to provide those skilled in the art about guiding extra in the description of the present application.
As shown in Fig. 1～Fig. 6, Fig. 1 for the specific embodiment of the invention provide a kind of for the overview to the spray-painting production line that complex large-scale component surface sprays automatically；Fig. 2 for the specific embodiment of the invention provide a kind of for the side view to the spray-painting production line that complex large-scale component surface sprays automatically；Fig. 3 for the specific embodiment of the invention provide a kind of for the front view to the spray-painting production line that complex large-scale component surface sprays automatically；Fig. 4 for the specific embodiment of the invention provide a kind of for the top view to the spray-painting production line that complex large-scale component surface sprays automatically；The schematic diagram of the mechanical arm of a kind of spray-painting production line that Fig. 5 provides for the specific embodiment of the invention；Fig. 6 for the specific embodiment of the invention provide a kind of for the another overview to the spray-painting production line that complex large-scale component surface sprays automatically.Lateral symmetry at the complex large-scale component such as connecting bridge, coachbuilt body arranges two movable spraying machine device people, two spray robot coordinating operations, and large-scale component surface and inside are carried out spraying operation.
In the detailed description of the invention shown in accompanying drawing 1, this automatic spraying production line includes: working region and at least two for placing described complex large-scale component lay respectively at the both sides of this working region and symmetrical spraying equipment.Wherein each described spraying equipment farther includes: framework 1,3 and spray robot 2,4, and described framework 1,3 is for described spray robot 2,4 mobile on perpendicular；Described spray robot 2,4 is for carrying out spraying operation to complex large-scale component M.Complex large-scale component M can be the complex large-scale components such as connecting bridge, vehicle body (body of a motor car, train vehicle body, subway vehicle body etc.), extruder.
One aspect of the present invention, described framework 1,3 farther includes support 11,31, Y-axis guide rail 12,32, Z axis telescoping mechanism 13,33, and wherein, Y-axis guide rail 12,32 is fixed on described support 11,31 and arranges along complex large-scale component M length direction；Z axis telescoping mechanism 13,33 is slideably positioned on described Y-axis guide rail 12,32 and stretches along complex large-scale component M short transverse.In one specific embodiment of the present invention, described Y-axis guide rail 12,32 is the double guide rail being distributed up and down, it is ensured that Z axis telescoping mechanism 13,33 stably slide anteroposterior, meets the needs of precisely spraying；Described Z axis telescoping mechanism 13,33 is lead-screw drive mechanism or is rack and pinion drive mechanism, it is possible to ensure the accurate spraying to complex large-scale component M specific region.
Another aspect of the present invention, described spray robot 2,4 farther includes mechanical arm pedestal 21,41, mechanical arm 22,42, spray gun 23,43, and wherein, mechanical arm pedestal 21,41 is fixed on described Z axis telescoping mechanism 13,33；Mechanical arm 22,42 is fixed on described mechanical arm pedestal 21,41；Spray gun 23,43 is arranged on the free movable end of described mechanical arm 22,42.When Z axis telescoping mechanism 13,33 is in the fully extended state, stretched to complex large-scale component M end face by mechanical arm 22,42, it is possible to complex large-scale component M end face is carried out spraying operation.In one specific embodiment of the present invention, mechanical arm 22,42 is six articulated mechanical arm, owing to mechanical arm is six articulated mechanical arm, flexible operation, the interior zone of complex large-scale component can be sprayed, the accurate spraying in particular elements, region can also be completed, save spraying substance, reduce the pollution to environment.
In the detailed description of the invention shown in accompanying drawing 6, this automatic spraying production line also includes: being positioned at the end face spraying equipment above complex large-scale component M, wherein said end face spraying equipment farther includes: X-axis guide rail 5 and spray robot 6.Described X-axis guide rail 5 is slideably positioned on described Y-axis guide rail 12,32, and X-axis guide rail 5 is for moving described spray robot 6 on the horizontal level；Described spray robot 6 is for carrying out spraying operation to the end face of complex large-scale component M.In specific embodiments of the invention, X-axis guide rail 5 and Z axis telescoping mechanism 13,33 can share the track on Y-axis guide rail 12,32, can also in the side of Y-axis guide rail 12,32 and arrange track separately above, X-axis guide rail 5 uses different tracks to slide along Y-axis guide rail 12,32 with Z axis telescoping mechanism 13,33.
One aspect of the present invention, described spray robot 6 farther includes pedestal 61 and spray gun 62, and wherein, pedestal 61 is slideably positioned on described X-axis guide rail 5；Spray gun 62 is fixed on described pedestal 61, and spray gun 62 is for carrying out spraying operation to the end face of complex large-scale component M.
Another aspect of the present invention, this automatic spraying production line also includes driving equipment 7, and wherein, driving equipment 7 is used for driving described spray robot 2,4 to move in perpendicular, and drives described spray robot 6 to move in horizontal plane.In specific embodiments of the invention, described driving equipment 7 can be servomotor or for motor or for hydraulic motor；When described driving equipment 7 is servomotor, ensure that the accurate spraying to complex large-scale component M specific region, when driving equipment 7 is motor or hydraulic motor, motor or hydraulic motor are compared with servomotor, with low cost, therefore can reduce the manufacturing cost of automatic spraying production line.Described driving equipment 7 farther includes the first driving equipment, the second driving equipment and the 3rd driving equipment, and wherein, the first driving equipment is for driving described mechanical arm 22,42 to adjust the pose of described spray gun 23,43；Second driving equipment stretches along the short transverse of complex large-scale component M for driving described Z axis telescoping mechanism 13,33；3rd driving equipment is used for driving described Z axis telescoping mechanism 13,33 and described X-axis guide rail 5 to slide along described Y-axis guide rail 12,32.In actual applications, multiple driving equipment 7 can be utilized to drive the stretching motion of Z axis telescoping mechanism 13,33 respectively and slide along Y-axis guide rail 12,32, the stretching of mechanical arm 22,42, pedestal 61 slides along X-axis guide rail 5, and X-axis guide rail 5 slides along Y-axis guide rail 12,32；One or more driving equipment 7 can also be utilized to drive the stretching motion of Z axis telescoping mechanism 13,33 and to slide along Y-axis guide rail 12,32, the stretching of mechanical arm 22,42, pedestal 61 slides along Y-axis guide rail 12,32, and X-axis guide rail 5 slides along Y-axis guide rail 12,32, thus saving the quantity of driving equipment 7.
When automatic spraying production line is configured without end face spraying equipment, the telescopic direction of Z axis telescoping mechanism 13,33 is consistent with the short transverse of complex large-scale component M；When Z axis telescoping mechanism 13,33 is in fully collapsed condition, spray gun 23,43 is under the driving of mechanical arm 22,42, and spray gun 23,43 can spray to the bottom of complex large-scale component M side；When Z axis telescoping mechanism 13,33 is in the fully extended state, spray gun 23,43 is under the driving of mechanical arm 22,42, and spray gun 23,43 can spray to the end face of complex large-scale component M, for instance, two spray guns 23,43 spray half end face respectively；The direction of Y-axis guide rail 12,32 is consistent with the length direction of complex large-scale component M.
When automatic spraying production line is configured with end face spraying equipment, the spray coating operations of complex large-scale component M side is responsible for specially by spray robot 2,4, the spray coating operations of complex large-scale component M end face is responsible for specially by spray robot 6, further increase spray efficiency, and owing to complex large-scale component M end face is prone to spraying, therefore end face spraying equipment is without configuration machine mechanical arm, thus saving the cost of automatic spraying production line.
Referring to Fig. 1～Fig. 6, the lateral symmetry at complex large-scale component arranges two movable spraying machine device people, by two spray robot coordinating operations, the large-scale component such as connecting bridge, coachbuilt body surface is sprayed；Further, it is also possible to configure simple spray coating robot in the upside of complex large-scale component, specially the end face of complex large-scale component M is sprayed, further increase spray efficiency；Automatic spraying production line provided by the invention can meet the spraying requirement on complex large-scale component surface, and spray efficiency is high；Owing to mechanical arm is six articulated mechanical arm, flexible operation, it is possible to the interior zone of complex large-scale component is sprayed, it is also possible to complete the accurate spraying in particular elements, region, save spraying substance, reduce the pollution to environment.
Fig. 7 for the specific embodiment of the invention provide a kind of for the rearview to the spray-painting production line that complex large-scale component surface sprays automatically, after mechanical arm completes spray coating operations in the scope that Y-axis guide rail and Z axis telescoping mechanism move, complex large-scale component is moved a certain distance along Y direction by terrestrial transmitter structure, mechanical arm completes spray coating operations again in the scope that Y-axis guide rail and Z axis telescoping mechanism move, and does intermittent movement with this until completing the spray coating operations to complex large-scale component surface.
In this detailed description of the invention shown in the drawings, this automatic spraying production line also includes connecting gear 8, connecting gear 8 is positioned at the bottom of complex large-scale component M, and connecting gear 8 is for being sent to described working region along described Y-axis guide rail 12,32 direction by complex large-scale component M.In specific embodiments of the invention, described connecting gear 8 is side longitudinally single rack pinion or Chain conveyer or V belt translation, drives the mechanism that opposite side roller is driven.
Referring to Fig. 7, for the longitudinal size complex large-scale component more than Y-axis guide rail, after mechanical arm completes spray coating operations in the scope that Y-axis guide rail and Z axis telescoping mechanism move, complex large-scale component is transmitted by connecting gear 8, move a certain distance along Y direction, mechanical arm completes spray coating operations again in the scope that Y-axis guide rail and Z axis telescoping mechanism move, intermittent movement is done until completing the spray coating operations to complex large-scale component surface with this, can meeting the spraying requirement on complex large-scale component surface, spray efficiency is high.
Referring again to Fig. 7, this automatic spraying production line also includes paint feeding system 9 and paint conveying pipe 10, and wherein, paint feeding system 9 is connected with described spray gun 23,43,62, and paint feeding system 9 is for providing spraying substance to described spray gun 23,43,62；Paint conveying pipe 10 is used for connecting described paint feeding system 9 and described spray gun 23,43,62.Paint feeding system 9 provides spraying substance by painting conveying pipe 10 to spray gun, it is achieved to complex large-scale component M surface automatic spraying operating, spray efficiency is high.
As shown in Fig. 1-Fig. 7, for the ease of explanation, with connecting bridge, (end face bottom surface is for plane below, two sides are truss structure) for example, illustrate the workflow of lower automatic Spray-Painting, connecting bridge needs the face sprayed paint to be three faces left, upper, right, and painting line carries out spraying operation according to the track planned in advance after starting.
When automatic Spray-Painting is configured without end face spraying equipment:
After automatic Spray-Painting initializes, Z axis telescoping mechanism 13,33 is in contraction state, mechanical arm pedestal 21,41 is positioned at the lower end of complex large-scale component M side, under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to carry out spraying operation, after completing spraying operation within the moveable scope of mechanical arm 22,42；Under the driving driving equipment 7, Z axis telescoping mechanism 13,33 starts to stretch by lead screw transmission, mechanical arm pedestal 21,41 begins to move up, under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to carry out spraying operation, after completing spraying operation within the moveable scope of mechanical arm 22,42, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 continues to stretch, and mechanical arm pedestal 21,41 continues to move up ...；When the end face of mechanical arm pedestal 21,41 and complex large-scale component M maintains an equal level, under the driving of described driving equipment 7, mechanical arm 22,42 drives the side of 23,43 couples of complex large-scale component M of spray gun to carry out spraying operation；After spray gun 23,43 completes the side of complex large-scale component M is carried out spraying operation, under the driving of described driving equipment 7, mechanical arm 22,42 drives the end face of 23,43 couples of complex large-scale component M of spray gun to carry out spraying operation (spraying half end face is responsible for by each spray gun).
Within the moveable scope of mechanical arm 22,42, after spray gun 23,43 completes the end face of complex large-scale component M is carried out spraying operation, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 is moved rearwards by a segment distance along Y-axis guide rail 12,32, under the driving of described driving equipment 7, mechanical arm 22,42 drives the end face of 23,43 couples of complex large-scale component M of spray gun to carry out spraying operation；Within the moveable scope of mechanical arm 22,42, after spray gun 23,43 completes the end face of complex large-scale component M is carried out spraying operation, under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to start the side of complex large-scale component M is carried out spraying operation；After completing spraying operation within the moveable scope of mechanical arm 22,42, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 is started to shrink at by lead screw transmission, mechanical arm pedestal 21,41 starts to move down, under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to continue the side of complex large-scale component M is carried out spraying operation；After completing spraying operation within the moveable scope of mechanical arm 22,42, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 continues to shrink, and mechanical arm pedestal 21,41 continues to move down ...；When mechanical arm pedestal 21,41 is positioned at the lower end of complex large-scale component M side, under the driving of described driving equipment 7, spray gun 23,43 completes the spraying operation to complex large-scale component M side, through above-mentioned steps, automatic spraying production line completes a spraying operation back and forth, repeat the above steps, until being fully completed the spraying operation in three faces of connecting bridge.
When automatic Spray-Painting is configured with end face spraying equipment:
After automatic Spray-Painting initializes, Z axis telescoping mechanism 13,33 is in contraction state, and mechanical arm pedestal 21,41 is positioned at the lower end of complex large-scale component M side, and pedestal 61 is positioned at one end of X-axis guide rail 5.Under the driving of described driving equipment 7, mechanical arm 22,42 drives 23,43 pairs of complex large-scale component M sides of spray gun to carry out spraying operation, after completing spraying operation within the moveable scope of mechanical arm 22,42；Under the driving driving equipment 7, pedestal 61 drives spray gun 62 to move from one end of X-axis guide rail 5 to the other end, and complex large-scale component M end face is carried out spraying operation by spray gun 62；Under the driving driving equipment 7, Z axis telescoping mechanism 13,33 starts to stretch by lead screw transmission, mechanical arm pedestal 21,41 begins to move up, under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to carry out spraying operation, after completing spraying operation within the moveable scope of mechanical arm 22,42, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 continues to stretch, mechanical arm pedestal 21,41 continues to move up, pedestal 61 drives spray gun 62 to continue to move to the other end from one end of X-axis guide rail 5 ...；When the end face of mechanical arm pedestal 21,41 and complex large-scale component M maintains an equal level, under the driving of described driving equipment 7, mechanical arm 22,42 drives the side of 23,43 couples of complex large-scale component M of spray gun to carry out spraying operation；Spray gun 23,43 completes the side of complex large-scale component M is carried out spraying operation, and after spray gun 62 completes the end face of complex large-scale component M is carried out spraying operation, under the driving of described driving equipment 7, Z axis telescoping mechanism 13,33 is moved rearwards by a segment distance along Y-axis guide rail 12,32, and X-axis guide rail 5 is moved rearwards by a segment distance along Y-axis guide rail 12,32.
Under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to start the side of complex large-scale component M is carried out spraying operation, pedestal 61 drives spray gun 62 to move from one end of X-axis guide rail 5 to the other end, and spray gun 62 starts the end face of complex large-scale component M is carried out spraying operation；After completing spraying operation within the moveable scope of mechanical arm 22,42, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 is started to shrink at by lead screw transmission, mechanical arm pedestal 21,41 starts to move down, under the driving of described driving equipment 7, mechanical arm 22,42 drives spray gun 23,43 to continue the side of complex large-scale component M is carried out spraying operation；After completing spraying operation within the moveable scope of mechanical arm 22,42, under the driving driving equipment 7, Z axis telescoping mechanism 13,33 continues to shrink, and mechanical arm pedestal 21,41 continues to move down, pedestal 61 drives spray gun 62 to continue to move to the other end from one end of X-axis guide rail 5 ...；When mechanical arm pedestal 21,41 is positioned at the lower end of complex large-scale component M side, under the driving of described driving equipment 7, spray gun 23,43 completes the spraying operation to complex large-scale component M side, spray gun 62 completes the spraying operation to complex large-scale component M end face, through above-mentioned steps, automatic spraying production line completes a spraying operation back and forth, repeat the above steps, until being fully completed the spraying operation in three faces of connecting bridge.
If the length dimension of complex large-scale component M is excessive, such as, complex large-scale component M is subway or railway carriage, in the moving range of Y-axis guide rail 12,32, after automatic spraying production line completes the spray coating operations to complex large-scale component M, connecting gear 8 drives complex large-scale component M to move in Y direction, thus being finally completed the spraying operation of overlength complex large-scale component M, meets the specific demand of user.
The present invention provides the automatic spraying production line of a kind of complex large-scale component, lateral symmetry at complex large-scale component arranges two movable spraying machine device people, by two spray robot coordinating operations, the large-scale component surfaces such as connecting bridge, vehicle body (body of a motor car, train vehicle body, subway vehicle body etc.), extruder are sprayed additionally, can in a simple spray coating robot configured above of complex large-scale component, it is responsible for the spray coating operations of complex large-scale component end face specially, improves spray efficiency further；After mechanical arm completes spray coating operations in the scope that Y-axis guide rail and Z axis telescoping mechanism move, complex large-scale component is moved a certain distance along Y direction by terrestrial transmitter structure, mechanical arm completes spray coating operations again in the scope that Y-axis guide rail and Z axis telescoping mechanism move, and does intermittent movement with this until completing the spray coating operations to complex large-scale component surface；For the complex large-scale component that simple in construction or the face that is sprayed-on are one piece of flat surfaces, can being made directly continuous spray operation, complex large-scale component moves while spray along production line, has both improve spray efficiency, reduce again entreprise cost, and spraying even results is good.Automatic spraying production line provided by the invention can meet the spraying requirement on complex large-scale component surface, spray efficiency is high, owing to mechanical arm is six articulated mechanical arm, the interior zone of complex large-scale component can be sprayed, the accurate spraying in particular elements, region can also be completed, save spraying substance, reduce the pollution to environment.
The above-mentioned embodiment of the present invention can be carried out in various hardware, Software Coding or both combinations.Such as, embodiments of the invention are alternatively the program code performing said method in data signal processor (DigitalSignalProcessor, DSP).The present invention can also refer to the several functions that computer processor, digital signal processor, microprocessor or field programmable gate array (FieldProgrammableGateArray, FPGA) perform.Can configuring above-mentioned processor according to the present invention and perform particular task, its machine-readable software code of ad hoc approach disclosed by performing to define the present invention or firmware code complete.Software code or firmware code can be developed into different program languages and different forms or form.It is alternatively different target platform composing software codes.But, perform the software code of task and the different code pattern of other types configuration code, type and the language spirit and scope without departing from the present invention according to the present invention.
The foregoing is only the schematic detailed description of the invention of the present invention, without departing under the design of the present invention and the premise of principle, equivalent variations that any those skilled in the art is made and amendment, the scope of protection of the invention all should be belonged to.
Claims (12)
1. the automatic spraying production line of a complex large-scale component, it is characterized in that, this automatic spraying production line includes: working region and at least two for placing described complex large-scale component lay respectively at the both sides of this working region and symmetrical spraying equipment, wherein each described spraying equipment farther includes: framework (1,3) and spray robot (2,4)
Described framework (1,3) is at least mobile described spray robot (2,4) on perpendicular；
Described spray robot (2,4) is for carrying out spraying operation to complex large-scale component (M).
2. the automatic spraying production line of complex large-scale component as claimed in claim 1, it is characterised in that described framework (1,3) farther includes:
Support (11,31)；
Y-axis guide rail (12,32), is fixed on described support (11,31) and above and arranges along complex large-scale component (M) length direction；And
Z axis telescoping mechanism (13,33), is slideably positioned in described Y-axis guide rail (12,32) and above and can stretch along complex large-scale component (M) short transverse.
3. the automatic spraying production line of complex large-scale component as claimed in claim 2, it is characterised in that described spray robot (2,4) farther includes:
Mechanical arm pedestal (21,41), is fixed on described Z axis telescoping mechanism (13,33)；
Mechanical arm (22,42), is fixed on described mechanical arm pedestal (21,41)；And
Spray gun (23,43), is arranged on the free movable end of described mechanical arm (22,42).
4. the automatic spraying production line of complex large-scale component as claimed in claim 2, it is characterized in that, this automatic spraying production line also includes: be positioned at the end face spraying equipment of complex large-scale component (M) top, wherein said end face spraying equipment farther includes: X-axis guide rail (5) and spray robot (6)
Described X-axis guide rail (5), is slideably positioned on described Y-axis guide rail (12,32), for moving described spray robot (6) on the horizontal level；
Described spray robot (6) is for carrying out spraying operation to the end face of complex large-scale component (M).
5. the automatic spraying production line of complex large-scale component as claimed in claim 4, it is characterised in that described spray robot (6) farther includes:
Pedestal (61), is slideably positioned on described X-axis guide rail (5)；And
Spray gun (62), is fixed on described pedestal (61), for the end face of complex large-scale component (M) is carried out spraying operation.
6. the automatic spraying production line of complex large-scale component as claimed in claim 4, it is characterised in that this automatic spraying production line also includes:
Driving equipment (7), is used for driving described spray robot (2,4) to move in the straight plane of heavily fortified point, and drives described spray robot (6) to move in horizontal plane.
7. the automatic spraying production line of complex large-scale component as claimed in claim 6, it is characterised in that described driving equipment (7) is for servomotor or be motor or is hydraulic motor.
8. the automatic spraying production line of complex large-scale component as claimed in claim 6, it is characterised in that described driving equipment (7) farther includes:
First drives equipment, is used for driving described mechanical arm (22,42) to adjust the pose of described spray gun (23,43)；
Second drives equipment, is used for driving described Z axis telescoping mechanism (13,33) to stretch along the short transverse of complex large-scale component (M)；And
3rd drives equipment, is used for driving described Z axis telescoping mechanism (13,33) and described X-axis guide rail (5) to slide along described Y-axis guide rail (12,32).
9. the automatic spraying production line of complex large-scale component as claimed in claim 2, it is characterised in that described Y-axis guide rail (12,32) is the double guide rail being distributed up and down.
10. the automatic spraying production line of complex large-scale component as claimed in claim 2, it is characterised in that described Z axis telescoping mechanism (13,33) is for lead-screw drive mechanism or be rack and pinion drive mechanism.
11. the automatic spraying production line of complex large-scale component as claimed in claim 1, it is characterised in that this automatic spraying production line also includes:
Connecting gear (8), is positioned at the bottom of described working region, for complex large-scale component (M) being sent to described working region along described Y-axis guide rail (12,32) direction.
12. the automatic spraying production line of complex large-scale component as claimed in claim 11, it is characterised in that described connecting gear (8) is side longitudinally single rack pinion or Chain conveyer or V belt translation, drives the mechanism that opposite side roller is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610290920.0A CN105709975A (en) | 2016-05-04 | 2016-05-04 | Automatic spraying production line of large-size complicated component |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610290920.0A CN105709975A (en) | 2016-05-04 | 2016-05-04 | Automatic spraying production line of large-size complicated component |
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| CN105709975A true CN105709975A (en) | 2016-06-29 |
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| CN111760695A (en) * | 2020-08-04 | 2020-10-13 | 山东华海新材料有限公司 | Intelligent packing box spraying device |
| CN111774213A (en) * | 2020-05-26 | 2020-10-16 | 中车大连机车车辆有限公司 | Automatic spraying system for large-sized workpiece |
| CN114749298A (en) * | 2022-03-22 | 2022-07-15 | 中车青岛四方机车车辆股份有限公司 | Spraying equipment and spraying method |
| CN115400921A (en) * | 2022-07-12 | 2022-11-29 | 清华大学 | Gluing robot and gluing method |
| CN116116623A (en) * | 2023-04-13 | 2023-05-16 | 晋江市兰欣新材料科技有限公司 | Spraying equipment and spraying process for anti-corrosion paint |
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Application publication date: 20160629 |