CN105772295A - Automobile spraying equipment capable of inducing spraying distance - Google Patents
Automobile spraying equipment capable of inducing spraying distance Download PDFInfo
- Publication number
- CN105772295A CN105772295A CN201610346983.3A CN201610346983A CN105772295A CN 105772295 A CN105772295 A CN 105772295A CN 201610346983 A CN201610346983 A CN 201610346983A CN 105772295 A CN105772295 A CN 105772295A
- Authority
- CN
- China
- Prior art keywords
- spiral groove
- spray
- external spiral
- spray gun
- sense
- Prior art date
- 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.)
- Pending
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Classifications
-
- 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
- B05B13/0431—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 spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/40—Filters located upstream of the spraying outlets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides automobile spraying equipment capable of inducing a spraying distance. The automobile spraying equipment comprises a six-axis joint robot and a spray gun (1) installed at the tail end of the six-axis joint robot, wherein a laser distance sensor (1) and a glass cover (2) arranged in front of the laser distance sensor (1) are further installed on the spray gun; a motor is further installed on the spray gun, and an output shaft of the motor is connected with a brush (3) used for cleaning the glass cover (2); and the laser distance sensor (1) is connected with a control system which is connected with the six-axis joint robot and used for controlling the six-axis joint robot to move. The automobile spraying equipment provided by the invention is capable of detecting an actual distance value between the spray gun and a sprayed surface in real time, so that the control system is capable of adjusting the pose of the six-axis joint robot in real time, reducing an error between the actual distance value between the spray gun and the sprayed surface, and an ideal distance value, and improving the spraying quality.
Description
Technical field
The present invention relates to a kind of vehicle spray painting equipment that can sense spray distance, belong to spraying equipment field.
Background technology
When car surface sprays, it is necessary to control the distance between spray gun and sprayed surface to ensure coating quality.
In prior art, rely primarily on control system closed-loop or semiclosed loop to the pose of six axle articulated robots accurately to control indirectly to control the distance between spray gun and sprayed surface, have a disadvantage in that: the position being sprayed-on automobile and the actual size being sprayed-on surface are often and the theoretical value gap to some extent preserved in control system, therefore control system rely on theoretical value command range time spray gun and sprayed surface between actual distance value and ideal distance value between there is not eliminable error, coating quality cannot ensure.
Summary of the invention
It is an object of the invention to provide a kind of vehicle spray painting equipment that can sense spray distance, reduce the error between actual distance value and the ideal distance value between spray gun and sprayed surface, improve coating quality.
Technical solution of the present invention is as follows:
A kind of vehicle spray painting equipment that can sense spray distance, including six axle articulated robots and the spray gun being arranged on six axle articulated robot ends, described spray gun is also equipped with laser distance sensor and is arranged at the bell glass in laser distance sensor front；
Being also equipped with motor on described spray gun, described motor output shaft is connected to the hairbrush for cleaning bell glass；
Described laser distance sensor be connected six axle articulated robots and control six axle articulated robots motion control system be connected；
Described spray gun is connected to mixing arrangement, and described mixing arrangement includes main box and the compression pump being arranged on main box, paint case and water tank；Described main box has the entrance one being connected with paint case and the entrance two being connected with water tank, and described main box also has the delivery outlet being connected by compression pump with spray gun；
Described entrance two is provided with in immersion water tank and the filter tube of outer end closure is so that current are filtered through filter tube when entering entrance two；
Described filter tube has the body of outer end closure, described tube wall has the external spiral groove with body for rounding post, described inboard wall of tube body has the inner spiral groove with body for rounding post, described external spiral groove and inner spiral groove are oppositely oriented, the groove depth of described external spiral groove and the groove depth sum of inner spiral groove more than the wall thickness of body to form the filter opening of rhombus on body.
Further: described external spiral groove is single thread groove, described inner spiral groove is multi-head spiral groove.
Further: described external spiral groove and inner spiral groove are Variable lead groove, body needs the helical pitch helical pitch more than the position that need not bend of crooked position.
Further: the revolver profile of described external spiral groove normal section profile and right wheel profile all tilt to homonymy.
Further: described external spiral groove normal section profile broadens gradually along the width of rebate of body radially direction external spiral groove from inside to outside.
Further: described motor is motor.
The present invention has following good effect: be provided with laser distance sensor on (1) spray gun of the present invention, the actual distance value between spray gun and sprayed surface can be detected in real time, so that control system can adjust the pose of six axle articulated robots in real time, reduce the error between actual distance value and the ideal distance value between spray gun and sprayed surface, improve coating quality；(2) laser distance sensor front is provided with bell glass, it is possible to avoid the corrosion that laser distance sensor is painted, the advantage with long service life；(3) present invention additionally comprises the hairbrush for cleaning bell glass, it is possible to avoid the paint on bell glass to affect the detection of laser distance sensor.
And, described entrance two is provided with in immersion water tank and the filter tube of outer end closure is so that current are filtered through filter tube when entering entrance two, spray gun is avoided to block, and described filter tube has the following advantages relative to common filter tube: (1) filter tube has external spiral groove, current outside pipe are under pressure along external spiral groove helical flow, impurity is distributed outside tube wall more uniform, utilization and the loss of filter opening are more uniform, and add water and flow through the number of times of filtering holes, improve filter efficiency；(2) current inside and outside filter tube flow along inner spiral groove and external spiral groove respectively, collide at filter opening place each other such that it is able to impact by the impurity being blocked in outside filter opening, reach the purpose of filter tube self-cleaning, reduce cleaning cost；(3) current in filter tube form the uniform current of flow velocity along inner spiral groove helical flow, water one through filtering enters filter tube and is flowed along inner spiral groove by the guiding of current in inner spiral groove immediately, reach the effect of steady in-pipe flow, and the structure of external spiral groove to be single thread groove, inner spiral groove be multi-head spiral groove contributes to being scattered in different inner spiral grooves by the moisture through filtering, reduce further the water having just enter in body to the impact of water in pipe；(4) filter tube has inner spiral groove and external spiral groove, contribute to the bending of body, and electric-heating-wire-heating can be entered at external spiral groove inner disc when bending, reduce further the camber of bending, on the other hand, body needs the helical pitch helical pitch more than the position that need not bend of crooked position, reduces the probability that bending causes body to break；(5) external spiral groove and inner spiral groove are Variable lead groove, can realize controlling the function of water velocity inside and outside filter tube diverse location by setting the helical pitch of different parts；(6) the revolver profile of external spiral groove normal section profile and right wheel profile all tilt to homonymy, when ensureing can to make cutter vehicle to inner spiral groove and external spiral groove intersection by selection turning direction when turning inner spiral groove, lathe tool direct of travel and external spiral groove two side are all acutangulated by the direction on inside base, outside and avoid collapsing cutter, reduce difficulty of processing；(7) width of rebate of filter tube external spiral groove broadens gradually along body radially direction from inside to outside, contribute to being filled in external spiral groove by fashion of extrusion by fluid sealant in the course of processing, fluid sealant bottom external spiral groove is filled finer and close, further avoid and occur collapsing cutter at inner spiral groove and external spiral groove intersection when turning inner spiral groove.
Accompanying drawing explanation
Fig. 1 is the partial structurtes schematic diagram of spraygun portion.
Fig. 2 is the structural representation of filter tube, does not include occluding member.
Fig. 3 is the sectional structure schematic diagram of filter tube, does not include occluding member.
Fig. 4 be processing inner spiral groove time along Fig. 2 N-N to schematic partial cross-sectional view.
Detailed description of the invention
Technical scheme is described in detail below in conjunction with accompanying drawing:
Such as Fig. 1, a kind of vehicle spray painting equipment that can sense spray distance, including six axle articulated robots and the spray gun being arranged on six axle articulated robot ends, being also equipped with laser distance sensor 1 on described spray gun and be arranged at the bell glass 2 in laser distance sensor 1 front, bell glass 2 is it can be avoided that the corrosion painted of laser distance sensor 1；
Described spray gun is also equipped with motor 4, described motor 4 output shaft is connected to the hairbrush 3 for cleaning bell glass 2, hairbrush 3 left and right under the driving of motor 4 repeatedly swings and bell glass 2 outer surface is carried out, it is to avoid the paint on bell glass 2 affects the detection of laser distance sensor 1；
Described laser distance sensor 1 be connected six axle articulated robots and control six axle articulated robots motion control system be connected；
Laser distance sensor 1 can detect the actual distance value between spray gun and sprayed surface in real time, so that control system can adjust the pose of six axle articulated robots in real time, reduce the error between actual distance value and the ideal distance value between spray gun and sprayed surface, improve coating quality；
Described spray gun is connected to mixing arrangement, and described mixing arrangement includes main box and the compression pump being arranged on main box, paint case and water tank；Described main box has the entrance one being connected with paint case and the entrance two being connected with water tank, and described main box also has the delivery outlet being connected by compression pump with spray gun；
Described entrance two is provided with in immersion water tank and the filter tube of outer end closure is so that current are filtered through filter tube when entering entrance two.
Such as Fig. 2 and 3, described filter tube has the body of outer end closure, described tube wall has the external spiral groove with body for rounding post, described inboard wall of tube body has the inner spiral groove with body for rounding post, described external spiral groove and inner spiral groove are oppositely oriented, the groove depth of described external spiral groove and the groove depth sum of inner spiral groove more than the wall thickness of body to form the filter opening of rhombus on body.
Described external spiral groove is single thread groove, and described inner spiral groove is three helicla flutes；
Described external spiral groove and inner spiral groove are Variable lead groove, and body needs the helical pitch helical pitch more than the position that need not bend of crooked position.
Such as Fig. 4, the revolver profile of described external spiral groove normal section profile and right wheel profile all tilt to homonymy and broaden gradually along the width of rebate of body radially direction external spiral groove from inside to outside.
The processing method of described filter tube comprises the steps:
(A) rough turn, finish turning tube wall；
(B) rough turn, finish turning external spiral groove；
(C) rough turn, finish turning inboard wall of tube body；
(D) in external spiral groove, fluid sealant is irrigated, such as Fig. 4, owing to the width of rebate of external spiral groove broadens gradually along body radially direction from inside to outside, can fluid sealant be filled in external spiral groove by fashion of extrusion and that fluid sealant bottom external spiral groove is filled is finer and close, it is to avoid subsequent handling occurs collapsing cutter at inner spiral groove and external spiral groove intersection when turning inner spiral groove；It is cooled to fluid sealant solidification；
(E) rough turn, finish turning inner spiral groove: owing to the revolver profile of external spiral groove normal section profile all tilts to homonymy with right wheel profile, therefore may select by Fig. 2 turning direction from left to right when turning inner spiral groove, when can make cutter vehicle to inner spiral groove and external spiral groove intersection, lathe tool direct of travel and external spiral groove two side are all acutangulated by the direction on inside base, outside, thus avoiding collapsing cutter, reduce difficulty of processing；Further, in external spiral groove, it is filled with fluid sealant, largely avoid the vibration that lathe tool causes because of chip breaking at inner spiral groove and external spiral groove intersection, further avoid the generation collapsing cutter phenomenon, and ensure that the roughness of inner spiral groove cell wall；
(F) in external spiral groove, it is wound around heating wire filter tube is heated, under the high temperature conditions cooling tube is bent to required form.
Claims (6)
1. the vehicle spray painting equipment that can sense spray distance, it is characterized in that: the described vehicle spray painting equipment that can sense spray distance includes six axle articulated robots and is arranged on the spray gun of six axle articulated robot ends, described spray gun is also equipped with laser distance sensor (1) and is arranged at the bell glass (2) in laser distance sensor (1) front；
Being also equipped with motor on described spray gun, described motor output shaft is connected to the hairbrush (3) for cleaning bell glass (2)；
Described laser distance sensor (1) be connected six axle articulated robots and control six axle articulated robots motion control system be connected；
Described spray gun is connected to mixing arrangement, and described mixing arrangement includes main box and the compression pump being arranged on main box, paint case and water tank；Described main box has the entrance one being connected with paint case and the entrance two being connected with water tank, and described main box also has the delivery outlet being connected by compression pump with spray gun；
Described entrance two is provided with in immersion water tank and the filter tube of outer end closure is so that current are filtered through filter tube when entering entrance two；
Described filter tube has the body of outer end closure, described tube wall has the external spiral groove with body for rounding post, described inboard wall of tube body has the inner spiral groove with body for rounding post, described external spiral groove and inner spiral groove are oppositely oriented, the groove depth of described external spiral groove and the groove depth sum of inner spiral groove more than the wall thickness of body to form the filter opening of rhombus on body.
2. can sense the vehicle spray painting equipment of spray distance as claimed in claim 1, it is characterised in that: described external spiral groove is single thread groove, and described inner spiral groove is multi-head spiral groove.
3. can sense the vehicle spray painting equipment of spray distance as claimed in claim 1, it is characterised in that: described external spiral groove and inner spiral groove are Variable lead groove, and body needs the helical pitch helical pitch more than the position that need not bend of crooked position.
4. can sense the vehicle spray painting equipment of spray distance as claimed in claim 1, it is characterised in that: the revolver profile of described external spiral groove normal section profile and right wheel profile all tilt to homonymy.
5. can sense the vehicle spray painting equipment of spray distance as claimed in claim 1, it is characterised in that: described external spiral groove normal section profile broadens gradually along the width of rebate of body radially direction external spiral groove from inside to outside.
6. according to the arbitrary described vehicle spray painting equipment that can sense spray distance of claim 1 to 5, it is characterised in that: described motor is motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610346983.3A CN105772295A (en) | 2016-05-24 | 2016-05-24 | Automobile spraying equipment capable of inducing spraying distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610346983.3A CN105772295A (en) | 2016-05-24 | 2016-05-24 | Automobile spraying equipment capable of inducing spraying distance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105772295A true CN105772295A (en) | 2016-07-20 |
Family
ID=56380367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610346983.3A Pending CN105772295A (en) | 2016-05-24 | 2016-05-24 | Automobile spraying equipment capable of inducing spraying distance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105772295A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673499A (en) * | 2018-05-10 | 2018-10-19 | 广东伊雪松机器人设备有限公司 | A kind of measurement system |
| CN108940646A (en) * | 2018-08-02 | 2018-12-07 | 李彦利 | A kind of vehicle spray painting device that can incude spray distance |
| CN111482329A (en) * | 2019-01-25 | 2020-08-04 | 本田技研工业株式会社 | Nozzle distance checking device and nozzle distance checking method |
Citations (7)
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| CN1976755A (en) * | 2004-02-02 | 2007-06-06 | 约翰·斯蒂芬·莫顿 | Cost effective automated preparation and coating method for large surfaces |
| CN201157810Y (en) * | 2008-01-28 | 2008-12-03 | 上海发那科机器人有限公司 | Robot automatic spraying system for automobile bottom PVC glue |
| CN101433887A (en) * | 2008-12-16 | 2009-05-20 | 奇瑞汽车股份有限公司 | Glue coating apparatus for glass of entire vehicle and method for producing glue |
| CN101450553A (en) * | 2007-11-28 | 2009-06-10 | 豪迈木材加工系统公司 | Device for refining workpiece |
| CN102224012A (en) * | 2008-10-24 | 2011-10-19 | 杜尔系统有限责任公司 | Coating device and associated coating method |
| CN202037851U (en) * | 2011-04-18 | 2011-11-16 | 洪昌喜 | Filter for plastic extruding machine |
| CN103201021A (en) * | 2010-10-29 | 2013-07-10 | 通用电气公司 | Spiral wound membrane element product water tube with external flow grooves |
-
2016
- 2016-05-24 CN CN201610346983.3A patent/CN105772295A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1976755A (en) * | 2004-02-02 | 2007-06-06 | 约翰·斯蒂芬·莫顿 | Cost effective automated preparation and coating method for large surfaces |
| CN101450553A (en) * | 2007-11-28 | 2009-06-10 | 豪迈木材加工系统公司 | Device for refining workpiece |
| CN201157810Y (en) * | 2008-01-28 | 2008-12-03 | 上海发那科机器人有限公司 | Robot automatic spraying system for automobile bottom PVC glue |
| CN102224012A (en) * | 2008-10-24 | 2011-10-19 | 杜尔系统有限责任公司 | Coating device and associated coating method |
| CN101433887A (en) * | 2008-12-16 | 2009-05-20 | 奇瑞汽车股份有限公司 | Glue coating apparatus for glass of entire vehicle and method for producing glue |
| CN103201021A (en) * | 2010-10-29 | 2013-07-10 | 通用电气公司 | Spiral wound membrane element product water tube with external flow grooves |
| CN202037851U (en) * | 2011-04-18 | 2011-11-16 | 洪昌喜 | Filter for plastic extruding machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673499A (en) * | 2018-05-10 | 2018-10-19 | 广东伊雪松机器人设备有限公司 | A kind of measurement system |
| CN108940646A (en) * | 2018-08-02 | 2018-12-07 | 李彦利 | A kind of vehicle spray painting device that can incude spray distance |
| CN111482329A (en) * | 2019-01-25 | 2020-08-04 | 本田技研工业株式会社 | Nozzle distance checking device and nozzle distance checking method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160720 |
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| RJ01 | Rejection of invention patent application after publication |