CN108043621A - A kind of full-automation formula spray equipment - Google Patents
A kind of full-automation formula spray equipment Download PDFInfo
- Publication number
- CN108043621A CN108043621A CN201711200549.5A CN201711200549A CN108043621A CN 108043621 A CN108043621 A CN 108043621A CN 201711200549 A CN201711200549 A CN 201711200549A CN 108043621 A CN108043621 A CN 108043621A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- unit
- translating device
- nozzle
- motor
- 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.)
- Withdrawn
Links
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
- B05B13/0221—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
-
- 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
- B05B13/041—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 with spray heads reciprocating along a straight line
Abstract
A kind of full-automation formula spray equipment, workpiece input unit and workpiece output unit are arranged side by side, workpiece transhipment unit is located at the top of workpiece input unit and workpiece output unit, mobile spray gun unit is located at the one side of workpiece input unit, CCD camera is located at workpiece input unit one side and close to the afterbody of workpiece transhipment unit, and control unit is electrically connected with workpiece input unit, workpiece output unit, workpiece transhipment unit, mobile spray gun unit, spray gun, CCD camera；Translating device is arranged on the lifting gear, and the nozzle is arranged on the translating device；Translating device, the lifting gear are electrically connected with the console, and the console is used to that the lifting gear and the translating device to be controlled to move；Lifting gear is for driving the translating device to move up and down, and translating device is for driving the nozzle right to move, and not only floor space is small, moreover it is possible to which efficient, high quality completion spray provides the security of construction site significantly.
Description
Technical field
The present invention relates to spraying equipment technical fields, and in particular to a kind of full-automation formula spray equipment.
Background technology
At present, spray painting is one of important procedure in process of producing product, and surface carries out the processing of spray paint, to increase
The organoleptic properties of strong product, attract consumer.Spraying operation be widely used in leatherware handbag, gift wrap, furniture, footwear industry,
In the industries such as automobile making, in spraying process is processed, product needs to carry out feeding spraying with human hand, moreover, being responsible for feeding
Trolley cannot carry out telescopic adjustment, it is necessary to manually carry out length adjusting to feeding trolley according to the length of product to it, meanwhile, when
, it is necessary to be overturn to workpiece after the completion of product one side sprays, so that the another side to workpiece sprays, the overturning side of use
Formula is mostly being overturn again after Workpiece clamping using clamping device, and this mode of operation is inconvenient, time-consuming, it is impossible to reach
Automation so that production efficiency reduces.
Spraying operation efficiently can quickly realize the spraying of workpiece surface, and not only painting quality is good, the smooth exquisiteness of coating,
Without brush mark, the adhesive force of paint film is also relatively good, and coating life is long.
In addition, but current automatic spraying production line multiple footprint is big, and spray efficiency is low, low construction efficiency
Under, danger coefficient is higher, and artificial intervention is also needed in spraying process, it is difficult to meet industrial production and fast and efficiently require.
For the shortcomings of the prior art, it is necessary to provide a kind of with practicability, novelty and creativeness
Spray equipment.
The content of the invention
It is an object of the invention to according to the shortcomings of the prior art, provide a kind of full-automatic formula spraying dress
It puts, spray equipment of the present invention transports unit except workpiece, further includes mobile spray gun, CCD detections camera, console, nozzle, liter
Falling unit and translating device can carry out secondary spraying to substandard product, and not only floor space is small, moreover it is possible to efficient, high quality
Completion spraying operation, be entirely automatic spraying, in addition, being controlled using console without artificial intervention in spraying process
Lifting gear and translating device to control the trend of nozzle, realize automatic spraying operation, substitute artificial construction, significantly improve
Construction efficiency reduces cost of labor；Utilize lifting gear so that spraying height is easily reached requirement height, without foot hand
Frame provides the security of construction site significantly, with solve it is in the prior art take up a large area, spray efficiency is low, applies
Work inefficiency, the technical problems such as danger coefficient is higher.
The present invention is achieved through the following technical solutions：A kind of full-automation formula spray equipment, including workpiece input unit,
Workpiece output unit, workpiece transhipment unit, nozzle, CCD camera, control unit, lifting gear, translating device and console；Work
Part input unit and workpiece output unit are arranged side by side, and workpiece transhipment unit is located at workpiece input unit and workpiece output unit
Top, mobile spray gun unit are located at the one side of workpiece input unit, and CCD camera is located at workpiece input unit one side and close to workpiece
Transport the afterbody of unit, control unit and workpiece input unit, workpiece output unit, workpiece transhipment unit, mobile spray gun unit,
Spray gun, CCD camera electrical connection；The translating device is arranged on the lifting gear, and the nozzle is arranged on the translation dress
It puts；The translating device, the lifting gear are electrically connected with the console, and the console is used to control the lifting
Device and translating device movement；The lifting gear is for driving the translating device to move up and down, the translating device
For the nozzle right to be driven to move, the nozzle is used to connect with external grouting equipment.
As a kind of perferred technical scheme, workpiece input unit and workpiece output unit are two belts being arranged side by side
Conveyer, for the two traffic direction on the contrary, including adhesive tape, roller and support shaft, roller is two, one of them is actively rolling
Cylinder, another is driven roller, and drive roll and driven roller are rotatably supported on via support shaft in rack, and adhesive tape is set in master
On dynamic roller and driven roller, the support shaft of drive roll is connected with the output shaft of driving device, in the driving of driving device
Lower operation.
As a kind of perferred technical scheme, driving device includes speed reducer and servomotor, the output shaft of servomotor
It is connected by shaft coupling with speed reducer input shaft, the output shaft of speed reducer is connected with the support shaft of drive roll, servo electricity
The driving power of machine is 3-5KW.
As a kind of perferred technical scheme, workpiece transhipment unit includes belt wheel one, belt wheel two, clamp assemblies and synchronization
Band, synchronous belt winding belt wheel one, belt wheel two are set, and clamp assemblies are fixed on synchronous belt.
As a kind of perferred technical scheme, clamp assemblies include fixed plate, and fixed plate lower end is fixed with telescopic rod, stretch
Bar end is connected with grip block, and hinged there are four gripper on grip block, gripper being capable of opening and closing under the action of grasping drive unit.
As a kind of perferred technical scheme, the lifting gear includes main hoist and assistance for lifting mechanism；It is described
Main hoist slides the slip joint set successively including multiple；The assistance for lifting mechanism is arranged on the main hoist
On innermost slip joint；The main hoist and the assistance for lifting mechanism are electrically connected with the console；It is described
Translating device is arranged in the assistance for lifting mechanism, and the assistance for lifting mechanism is used to drive the translating device in the master
It is moved back and forth up and down on the innermost slip joint of elevating mechanism；The main hoist includes double mast hoistable platforms；Institute
Assistance for lifting mechanism is stated to be arranged on the innermost mast of double mast hoistable platforms；The assistance for lifting mechanism includes the
One motor, speed reducer and screw；The output shaft of first motor is sequentially connected with the input terminal of the speed reducer, the deceleration
The output terminal of machine is connected with the leading screw；It is provided on the translating device and the matched fixing nut of the leading screw；It is described
First motor and the speed reducer are electrically connected with the console.
As a kind of perferred technical scheme, the translating device includes crossbeam, the second motor, driving rack and pedestal；
The nozzle is arranged on the pedestal, and the pedestal is used to that the nozzle to be driven to move；On the crossbeam, along the crossbeam
Extending direction is provided with the driving rack；The pedestal is slidably installed on the crossbeam, and second motor is arranged on the base
On seat, and the transmission gear being meshed with the driving rack is provided on the output shaft of second motor；Second electricity
Machine is electrically connected with the console；Manipulator is provided on the translating device；The nozzle is arranged on the manipulator, institute
Manipulator is stated for the nozzle to be driven to move；The manipulator is electrically connected with the console.
As a kind of perferred technical scheme, the manipulator includes large arm, forearm, the 3rd motor and the 4th motor；Institute
The one end for stating large arm is rotatably connected on the translating device；3rd motor is arranged on the translating device, and with institute
Large arm drive connection is stated, to drive the large arm autobiography；One end of the forearm and the other end of the large arm are rotatablely connected, institute
It states the 4th motor to be arranged in the large arm, and is sequentially connected with the forearm, to drive the forearm compared with the large arm
It rotates；3rd motor and the 4th motor are electrically connected with the console.
As a kind of perferred technical scheme, moving cart is further included, the lifting gear is arranged on the moving cart
On；The one side of the moving cart is provided with reference plane；The equal level in rear and front end of the moving cart is slidably equipped with Position Scale；
On the side wall of each Position Scale, along the length direction of the Position Scale, rack is provided with；The moving cart it is front and rear
Both ends are both provided with the 5th motor；The gear being meshed with the rack is provided on the output shaft of each 5th motor；
Each 5th motor is electrically connected with the console；There are two the settings that the rear and front end of the moving cart is spaced
Support arm；Supporting leg leading screw is both provided on each support arm；The upper end of each supporting leg leading screw is provided with rotation handle,
Lower end is provided with the support plate being used to support in ground surface；Handspike is additionally provided in the moving cart, the handspike
Upper end is provided with handle；Further include pipeline folding and unfolding management organization；The pipeline folding and unfolding management organization includes support of pipelines, the pipe
Parallel interval is provided with topping roll and bottom roll in road stent；Material conveying pipe be threaded through the topping roll and it is described under roll
Between roller；One end of the material conveying pipe is connected with the nozzle, and the other end is used to connect with external grouting equipment；It is described
Pipeline folding and unfolding management organization is arranged on one side of the moving cart away from the nozzle, and the moving cart is close to the nozzle
The lower edge of one side is rotatably connected to roller bearing；The material conveying pipe is through the pipeline folding and unfolding management organization and around described
It is connected after roller bearing with the nozzle.
As a kind of perferred technical scheme, crossbeam storage box is further included；The translating device is removably attachable to institute
It states in assistance for lifting mechanism, the crossbeam storage box is removably arranged in the moving cart, and the crossbeam storage box is used
In the placement translating device.
Compared with prior art, the beneficial effects of the present invention are：
（1）Automatic spraying production line transports unit except workpiece, further includes mobile spray gun and CCD detection cameras, can be right
Substandard product carries out secondary spraying, and not only floor space is small, moreover it is possible to efficient, the completion spraying operation of high quality, spraying process
In without artificial intervention, be entirely automatic spraying.
（2）Lifting gear and translating device are controlled using console, to control the trend of nozzle, realizes that automatic spraying is made
Industry substitutes artificial construction, significantly improves construction efficiency, reduces cost of labor；Utilize lifting gear so that spraying height easily reaches
To height is required, without scaffold, the security of construction site is provided significantly.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is that the workpiece of the present invention transports the structure diagram of unit；
Fig. 3 is the structure diagram of the walking moving assembly of the present invention；
Fig. 4 is the structure diagram of the clamp assemblies of the present invention；
Fig. 5 is the three-dimensional signal of an angle of spray robot provided in an embodiment of the present invention；
Fig. 6 is the three-dimensional signal of another angle of spray robot provided in an embodiment of the present invention；
Fig. 7 is the working state schematic representation that spray robot provided in an embodiment of the present invention rises completely.
Number explanation in figure：Workpiece input unit 22, workpiece output unit 21, mobile spray gun unit 3, CCD camera 4,
Adhesive tape 213, roller 211, support shaft 212, belt wheel 1, belt wheel 2 12, clamp assemblies 13, synchronous belt 14, spray gun 33, support plate
312nd, rotating seat 313, walking track 30, bearing 310, traveling wheel 311, lift beam 314, lift slide 315, first crossbeam 316,
First sliding block 317, the first sliding block 37, second cross beam 318, the second sliding block 319, swing arm 320, fixed plate 131, telescopic rod 132,
Grip block 133, gripper 134.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
With reference to shown in Fig. 1-Fig. 7：A kind of full-automation formula spray equipment, it is single including workpiece input unit 22, workpiece output
Member 21, workpiece transhipment unit, nozzle 3, CCD camera 4, control unit, lifting gear 32, translating device 3333 and console
34；Workpiece input unit and workpiece output unit are arranged side by side, and workpiece transhipment unit is located at workpiece input unit and workpiece output
The top of unit, mobile spray gun unit are located at the one side of workpiece input unit, and CCD camera is located at workpiece input unit one side and leans on
The afterbody of nearly workpiece transhipment unit, control unit are sprayed with workpiece input unit, workpiece output unit, workpiece transhipment unit, movement
Rifle unit, spray gun 3, CCD camera electrical connection；The translating device 3333 is arranged on the lifting gear 32, and the nozzle 3 is set
It puts on the translating device 3333；The translating device 3333, the lifting gear 32 are electrically connected with the console 34,
The console 34 is used to that the lifting gear 32 and the translating device 3333 to be controlled to move；The lifting gear 32 is used for band
It moves the translating device 3333 to move up and down, the translating device 3333 is for driving the nozzle 3 to move left and right, the nozzle
3 are used to connect with external grouting equipment.
As shown in figures 1 and 3, workpiece input unit 22 and workpiece output unit 21 are two belt conveyings being arranged side by side
Machine, for the two traffic direction on the contrary, including adhesive tape 213, roller 211 and support shaft 212, roller 211 is two, one of them
For drive roll, another is that driven roller, drive roll and driven roller are rotatably supported on via support shaft 212 in rack,
Adhesive tape 213 is set on drive roll and driven roller, and the support shaft 212 of drive roll is connected with the output shaft of driving device
It connects, is run under the driving of driving device.
Driving device includes speed reducer and servomotor, and the output shaft of servomotor passes through shaft coupling and speed reducer input shaft
It is connected, the output shaft of speed reducer is connected with the support shaft of drive roll, and the driving power of servomotor is 3-5KW.
As shown in Fig. 2, workpiece transhipment unit includes belt wheel 1, belt wheel 2 12, clamp assemblies 13 and synchronous belt 14, together
It walks band 14 and winds belt wheel 1, the setting of belt wheel 2 12, clamp assemblies 13 are fixed on synchronous belt 14, with the operation of synchronous belt
It is constantly mobile.
As shown in figure 4, clamp assemblies 13 include fixed plate 131,131 lower end of fixed plate is fixed with telescopic rod 132, telescopic rod
132 ends are connected with grip block 133, and hinged there are four gripper 134 on grip block 133, gripper 134 is in the work of grasping drive unit
It being capable of opening and closing under.
Wherein, there are many structure types of lifting gear 32, such as lifting gear 32 can be fork type elevator, set cylinder
Formula elevator or upright type lifting machine etc..
The structure type of translating device 3333 can be it is a variety of, such as translating device 3333 include slide and pedestal, nozzle 1
It is arranged on pedestal, pedestal is slidably installed on slide, and then nozzle 3 is driven to move left and right；For another example can also include rack, gear and
Pedestal is provided with micro-machine on pedestal, and gear is arranged on the output shaft of motor, and motor-driven gear rotates, and drives pedestal
It is moved on rack, nozzle 1 is arranged on pedestal, that is, nozzle 1 is driven to move left and right.
The principle of the present embodiment is that the height and position of nozzle 3 is controlled using lifting gear 32, the control spray of translating device 3333
First 1 horizontal level is controlled the work of lifting gear 32 and translating device 3333 by console 4, nozzle 3 is made to have up and down
The movement of rule realizes automation spray wall operation, substitutes manual work, and construction efficiency greatly improves, and construction is effectively ensured
Safety.
Spray robot provided in this embodiment controls lifting gear 32 and translating device 3333, with control using console 4
The trend of nozzle 3 processed realizes automatic spraying operation, substitutes artificial construction, significantly improves construction efficiency, reduces cost of labor；
Utilize lifting gear 32 so that spraying height is easily reached requirement height, without scaffold, provides construction site significantly
Security.
Referring to Fig. 1 and Fig. 5, on the basis of above-described embodiment, further, lifting gear 32 includes main hoist
321 and assistance for lifting mechanism 322；Main hoist 321 includes multiple slip joints set sliding successively；Assistance for lifting mechanism 322
It is arranged on the innermost slip joint of main hoist 321；Main hoist 321 and assistance for lifting mechanism 322 with control
Platform 34 processed is electrically connected；Translating device 3333 is arranged in assistance for lifting mechanism 322, and assistance for lifting mechanism 322 translates for driving
Device 3333 moves back and forth up and down on the innermost slip joint of main hoist 321.
The structure type of main hoist 321 can be a variety of, it is preferred that using double mast up-down modes, double mast liters
Drop mode, which is effectively ensured, to operate steadily, and double masts are high-strength aluminum alloy section, effectively reduces deflection and swing during lifting,
Also reduce overall weight simultaneously.The top installation position sensor of mast, when mast top is increased to ceiling position, mast
Bar can top out.
Assistance for lifting mechanism 322 is fixed on innermost main elevation mast, and lifting is realized using screw positioning.Auxiliary
The structure type of elevating mechanism 322 can be a variety of, it is preferred that assistance for lifting mechanism 322 includes the first motor, speed reducer and silk
Bar；The output shaft of first motor and the input terminal of speed reducer are sequentially connected, and the output terminal of speed reducer is connected with leading screw；Translation dress
It puts and is provided on 3333 and the matched fixing nut of leading screw；First motor and speed reducer is electrically connected with console 34.It utilizes
Console 4 controls the first motor and speed reducer, and then the hoisting depth of translating device 3333 is accurately positioned using leading screw.
Fig. 6 is the working state schematic representation that spray robot provided in an embodiment of the present invention rises completely；It is single referring to Fig. 6
Side mast shares 5, and single 1 .5 meters of height, total rise is up to 6 meters, that is to say, that single mast is 1 .5 meters high, in spray wall
For body in the range of 1 .5 meters, which can carry out positioning height by assistance for lifting mechanism 22, i.e. leading screw lifting；With
The promotion of wall spray height, wall it is about 2 meters high, 3 meters, 6 meters when, enable main hoist 321, i.e. carrying with height
It rises, a section one, which saves land, rises mast, conversely, can also fall mast successively.
Referring to Fig. 1 and Fig. 5, on the basis of above-described embodiment, further, translating device 3333 includes crossbeam 331, the
Two motors, driving rack 332 and pedestal 333；Nozzle 3 is arranged on pedestal 333, and pedestal 333 is used to that nozzle 3 to be driven to move；It is horizontal
On beam 331, along the extending direction of crossbeam 331, driving rack 332 is provided with；Pedestal 333 is slidably installed on crossbeam 331, the second motor
It is arranged on pedestal 333, and the transmission gear being meshed with driving rack 332 is provided on the output shaft of the second motor；Second
Motor is electrically connected with console 4.
Translating device 3333 includes crossbeam 331, the second motor, driving rack 332 and pedestal 333, and crossbeam 331 is mounted on auxiliary
Help on the pedestal of elevating mechanism 322, can utilize bolt install, crossbeam 331 is facilitated dismantle from pedestal so as to equipment transfer with
Transport.Pedestal 333 is slidably installed on crossbeam 331, and driving rack 332 is provided on crossbeam 331, passes through the second motor and driving rack
Transmission belt moving base 33 before 332 moves, and nozzle 3 is arranged on pedestal 333, therefore can realize to 331 upper nozzle 3 of crossbeam
Movement and speed control.
Referring to Fig. 1 and Fig. 5, on the basis of above-described embodiment, further, manipulator is provided on translating device 3333
334；Nozzle 3 is arranged on manipulator 334, and manipulator 334 is used to that nozzle 3 to be driven to move；Manipulator 334 is electrically connected with console 34
It connects.
Manipulator 334 is arranged on pedestal 333, and nozzle 3 is mounted on manipulator 334, and pedestal 333 is moved up in crossbeam 331
It is dynamic, and then manipulator 34 and nozzle 3 is driven to move, and then realize automatic spray.
Wherein, the mechanism form of manipulator 334 can there are many, it is preferred that manipulator 334 include large arm, forearm, the 3rd
Motor and the 4th motor；One end of large arm is rotatably connected on pedestal 33, and the 3rd motor drives large arm autobiography, and large arm can rotate
360°；One end of forearm and the other end of large arm are rotatablely connected, and the 4th motor drives forearm to be rotated compared with large arm, and forearm can
180 ° of rotations；3rd motor and the 4th motor are electrically connected with console 34.Therefore, the action of manipulator 34 can be by console 4
Flexibly definition, makes spray coating operations more flexible.
On the basis of above-described embodiment, further, spray robot further includes moving cart 35, and lifting gear 32 is set
It puts in moving cart 35.
Moving cart 35 will be convenient for the movement in the movement of robot and transport and the course of work.
On the basis of above-described embodiment, further, the one side of moving cart 35 is provided with reference plane；Moving cart 35
The equal level in rear and front end be slidably equipped with Position Scale 351；On the side wall of each Position Scale 351, along the length of the Position Scale 351
Direction is spent, is provided with rack；The rear and front end of moving cart 35 is both provided with the 5th motor；On the output shaft of each 5th motor
It is provided with the gear being meshed with rack；Each 5th motor is electrically connected with console 4.
Spray robot during the work time, after a breadth spraying, will be moved to next breadth, moving cart
35 body reference planes and the distance of metope are positioned by the Position Scale 351 for being mounted on trolley rear and front end；It can be set by console 4
Fixed length parameter, the 5th motor of control operate and then control the length that Position Scale 351 stretches out, so as to ensure to spray metope
Planarization.
Referring to Fig. 1 and Fig. 5, on the basis of above-described embodiment, further, the rear and front end of moving cart 35 is spaced
Setting there are two support arm 352；Supporting leg leading screw is both provided on each support arm 352；The upper end of each supporting leg leading screw is set
There is rotation handle, lower end is provided with the support plate being used to support in ground surface.
The setting that the rear and front end of moving cart 35 is spaced is set altogether there are two support arm 352 that is, in moving cart 35
4 support arms 352 are equipped with, as shown in Figure 1 and Figure 5,4 support arms 352 are respectively on 4 angles of moving cart 35.Support
Arm 352 is rotation connection with 35 frame of moving cart, and when not in use, support arm 352 can be close on 35 frame of moving cart,
Space can be saved；In use, 4 support arms 352 can be outwards expanded to designated position.
Supporting leg leading screw is both provided on each support arm 352, the upper end of supporting leg leading screw is provided with rotation handle, and lower end is set
It is useful for being supported on the support plate of ground surface, by swing leg leading screw, adjusts the height of each support arm 352, enable trolley
It is enough to keep horizontal.
Referring to Fig. 1 and Fig. 5, on the basis of above-described embodiment, further, handspike is additionally provided in moving cart 35
353, the upper end of handspike 353 is provided with handle.
Handspike 353 is additionally provided in moving cart 35, convenient for worker's movement and control moving cart 35.
On the basis of above-described embodiment, further, spray robot further includes pipeline folding and unfolding management organization 6；Pipeline
Folding and unfolding management organization 6 includes support of pipelines 61, and parallel interval is provided with topping roll and bottom roll in support of pipelines 61；Material is defeated
Pipeline 7 is sent to be threaded through between topping roll and bottom roll；One end of material conveying pipe 7 is connected with nozzle 1, the other end be used for it is outer
Portion's grouting equipment connection.
During spray coating operations, manipulator 334 drives nozzle 3 to move, and nozzle 3 pulls very long material conveying pipe
37, resistance is larger, and the topping roll and bottom roll set using parallel interval in support of pipelines 361 coordinates the movement of nozzle 1 to control
The folding and unfolding of material conveying pipe 7 processed reduces the resistance in spraying process.
With reference to Fig. 1 and Fig. 5, on the basis of above-described embodiment, further, pipeline folding and unfolding management organization 36 is arranged on shifting
Dynamic one side of the trolley 35 away from nozzle 3, moving cart 35 are rotatably connected to roller bearing close to the lower edge of 3 one side of nozzle；Material is defeated
Pipeline 37 is sent to be connected through pipeline folding and unfolding management organization 36 and after bypassing roller bearing with nozzle 3.
With the promotion of spraying height, material conveying pipe 37 is also easy to produce bending with the rise of nozzle 3, sharp around the corner
Turning radius is managed with roller bearing, i.e. material conveying pipe 37 passes through topping roll and bottom roll, then passes around roller bearing and connects with nozzle 3
It is logical, in such manner, it is possible to effectively avoid the bending of material conveying pipe 37 and the accumulation of material.
On the basis of above-described embodiment, further, spray robot further includes crossbeam storage box (not shown)；
Translating device 3333 is removably attachable in assistance for lifting mechanism 3322, and crossbeam storage box is removably arranged on moving cart
On 35, crossbeam storage box is used to place translating device 333.
The operation principle of the present invention：In spraying process, workpiece is delivered to workpiece transhipment unit via workpiece input unit, and
Mentioned mentioning on hook in hanging support component, workpiece transhipment unit drive under workpiece enter spraying area, under spray gun into
Row spraying, CCD camera are located at workpiece input unit one side and close to the afterbodys of workpiece transhipment unit, and control unit is inputted with workpiece
Unit, workpiece output unit, workpiece transhipment unit, nozzle, CCD camera electrical connection, CCD camera clap the workpiece after spraying
It takes and picture is passed into control unit, control unit judges whether spraying workpiece is qualified according to photo, if qualified, workpiece turns
Transportation unit discharges workpiece to workpiece output unit, if unqualified, workpiece transhipment unit continues grabbing workpiece and sprayed next time
It applies.
Present invention additionally comprises crossbeam storage box, main function is that equipment is carried and shifted for convenience, construction knot
Crossbeam 331 is removed and is placed in storage box, is moved easily by Shu Hou, and storage box can be removed from trolley, facilitates carrying.
Spray robot provided in this embodiment, console use the man-machine interface combination emergency button of touch-screen, can be right
The movement of main hoist, assistance for lifting mechanism, translating device and manipulator is controlled, and machinery can be inputted by touch-screen
The action parameter of hand spraying so as to realize that pulp spraying applies fill process automatically, is automatically performed spraying operation, and substitution completely is manually made
Industry greatly improves construction efficiency, ensures construction safety.
Automatic spraying production line of the present invention transports unit except workpiece, further includes mobile spray gun and CCD detection cameras,
Secondary spraying can be carried out to substandard product, not only floor space is small, moreover it is possible to efficient, the completion spraying operation of high quality, spray
It is entirely automatic spraying without artificial intervention during painting.
The present invention, to control the trend of nozzle, realizes automation spray using console control lifting gear and translating device
Operation is applied, substitutes artificial construction, significantly improves construction efficiency, reduces cost of labor；Utilize lifting gear so that spraying height is light
Pine reaches requirement height, without scaffold, provides the security of construction site significantly.
In the description of the present invention, it is to be understood that term " one end ", " front upper place ", " end ", " length ", " width
Degree ", " interior ", " on ", " other end ", " both ends ", " level ", " coaxial ", " bottom ", the orientation of the instructions such as " lower section " or position pass
It is based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplifying description rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For limitation of the present invention.
In addition, term " first ", " second " etc. are only used for description purpose, and it is not intended that indicating or implying relatively heavy
The property wanted or the implicit quantity for indicating indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can be with
Express or implicitly include one or more this feature.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the present invention, unless otherwise clearly defined and limited, term " setting ", " engagement ", " connection ", " embedded ",
Terms such as " the covers " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；It can be with
It is mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, can be two
The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly.For the common of this field
For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every utilization
The equivalent structure transformation that present specification is made, directly or indirectly with the technology neck for being attached to other Related products
Domain is included within the scope of the present invention.
Claims (10)
1. a kind of full-automation formula spray equipment, it is characterised in that：It is defeated including workpiece input unit (22), workpiece
Go out unit (21), workpiece transhipment unit, nozzle（3）, CCD camera (4), control unit, lifting gear（32）, translation
Device（3333）And console（34）；Workpiece input unit and workpiece output unit are arranged side by side, and workpiece transhipment unit is located at work
The top of part input unit and workpiece output unit, mobile spray gun unit are located at the one side of workpiece input unit, and CCD camera is located at
Workpiece input unit one side and close to the afterbody of workpiece transhipment unit, control unit and workpiece input unit, workpiece output unit,
Workpiece transhipment unit, mobile spray gun unit, spray gun（3）, CCD camera electrical connection；The translating device（3333）It is arranged on described
Lifting gear（32）On, the nozzle（3）It is arranged on the translating device（3333）On；The translating device（3333）, it is described
Lifting gear（32）With the console（34）Electrical connection, the console（34）For controlling the lifting gear（32）With
The translating device（3333）It is mobile；The lifting gear（32）For driving the translating device（3333）It moves up and down, institute
State translating device（3333）For driving the nozzle（3）It moves left and right, the nozzle（3）For connecting with external grouting equipment
It is logical.
2. a kind of full-automatic formula spray equipment according to claim 1, it is characterised in that：Workpiece input unit (22)
With workpiece output unit (21) be two ribbon conveyers being arranged side by side, the two traffic direction on the contrary, include adhesive tape (
213), roller (211) and support shaft (212), roller (211) are two, one of them is drive roll, another
It is a to be rotatably supported on for driven roller, drive roll and driven roller via support shaft (212) in rack, adhesive tape (213)
It being set on drive roll and driven roller, the support shaft (212) of drive roll is connected with the output shaft of driving device,
It is run under the driving of driving device.
3. a kind of full-automatic formula spray equipment according to claim 2, it is characterised in that：Driving device includes speed reducer
And servomotor, the output shaft of servomotor are connected by shaft coupling with speed reducer input shaft, the output shaft of speed reducer and master
The support shaft of dynamic roller is connected, and the driving power of servomotor is 3-5KW.
4. a kind of full-automatic formula spray equipment according to claim 1, it is characterised in that：Workpiece transhipment unit includes band
Take turns one (11), belt wheel two (12), clamp assemblies (13) and synchronous belt (14), synchronous belt winding belt wheel one, belt wheel
Two are set, and clamp assemblies are fixed on synchronous belt.
5. a kind of full-automatic formula spray equipment according to claim 4, it is characterised in that：Clamp assemblies (13) include
Fixed plate (131), fixed plate (131) lower end are fixed with telescopic rod (132), telescopic rod end and grip block (133)
It connects, hinged there are four gripper (134) on grip block, gripper being capable of opening and closing under the action of grasping drive unit.
6. a kind of full-automatic formula spray equipment according to claim 1, it is characterised in that：The lifting gear（32）Bag
Include main hoist（321）With assistance for lifting mechanism（322）；The main hoist（321）It is stretched including what multiple cunnings successively were set
Casing coupling point；The assistance for lifting mechanism（322）It is arranged on the main hoist（321）Innermost slip joint on；Institute
State main hoist（321）With the assistance for lifting mechanism（322）With the console（34）Electrical connection；The translating device
（3333）It is arranged on the assistance for lifting mechanism（322）On, the assistance for lifting mechanism（322）For driving the translating device
（3333）In the main hoist（321）Innermost slip joint on move back and forth up and down；The main hoist
（321）Including double mast hoistable platforms；The assistance for lifting mechanism（322）It is arranged on the most inside of double mast hoistable platforms
Mast on；The assistance for lifting mechanism（322）Including the first motor, speed reducer and screw；The output shaft of first motor
It is sequentially connected with the input terminal of the speed reducer, the output terminal of the speed reducer is connected with the leading screw；The translating device
（3333）On be provided with and the matched fixing nut of the leading screw；First motor and the speed reducer with the control
Platform（34）Electrical connection.
7. a kind of full-automatic formula spray equipment according to claim 1, it is characterised in that：The translating device（3333）
Including crossbeam（331）, the second motor, driving rack（332）And pedestal（333）；The nozzle（3）It is arranged on the pedestal
（333）On, the pedestal（333）For driving the nozzle（3）It is mobile；The crossbeam（331）On, along the crossbeam（331）
Extending direction, be provided with the driving rack（332）；The pedestal（333）It is slidably installed in the crossbeam（331）On, described
Two motors are arranged on the pedestal（333）On, and be provided with and the driving rack on the output shaft of second motor（332）
The transmission gear being meshed；Second motor and the console（34）Electrical connection；The translating device（3333）Upper setting
There is manipulator（334）；The nozzle（3）It is arranged on the manipulator（334）On, the manipulator（334）It is described for driving
Nozzle（3）It is mobile；The manipulator（334）With the console（34）Electrical connection.
8. a kind of full-automatic formula spray equipment according to claim 7, it is characterised in that：The manipulator（334）Bag
Include large arm, forearm, the 3rd motor and the 4th motor；One end of the large arm is rotatably connected in the translating device（3333）On；
3rd motor is arranged on the translating device（3333）On, and be sequentially connected with the large arm, to drive the large arm certainly
It passes；One end of the forearm and the other end of the large arm are rotatablely connected, and the 4th motor is arranged in the large arm, and with
The forearm is sequentially connected, the forearm to be driven to be rotated compared with the large arm；3rd motor and the 4th motor
With the console（34）Electrical connection.
9. according to a kind of full-automatic formula spray equipment of claim 1-8 any one of them, it is characterised in that：Further include movement
Trolley（35）, the lifting gear（32）It is arranged on the moving cart（35）On；The moving cart（35）One side set
There is reference plane；The moving cart（35）The equal level in rear and front end be slidably equipped with Position Scale（351）；Each Position Scale
（351）Side wall on, along the Position Scale（351）Length direction, be provided with rack；The moving cart（35）Front and rear two
End is both provided with the 5th motor；The gear being meshed with the rack is provided on the output shaft of each 5th motor；Often
A 5th motor with the console（34）Electrical connection；The moving cart（35）The setting that is spaced of rear and front end
There are two support arms（352）；Each support arm（352）On be both provided with supporting leg leading screw；Each the supporting leg leading screw is upper
End is provided with rotation handle, and lower end is provided with the support plate being used to support in ground surface；The moving cart（35）On also set up
There is handspike（353）, the handspike（353）Upper end be provided with handle；Further include pipeline folding and unfolding management organization（36）；It is described
Pipeline folding and unfolding management organization（36）Including support of pipelines（361）, the support of pipelines（361）Being provided with for interior parallel interval is rolled
Roller and bottom roll；Material conveying pipe（37）It is threaded through between the topping roll and the bottom roll；The material conveying pipe
（37）One end and the nozzle（3）Connection, the other end are used to connect with external grouting equipment；The pipeline folding and unfolding management organization
（36）It is arranged on the moving cart（35）Away from the nozzle（3）One side, the moving cart（35）Close to the nozzle
（3）The lower edge of one side is rotatably connected to roller bearing；The material conveying pipe（37）Through the pipeline folding and unfolding management organization
（36）And around after the roller bearing with the nozzle（3）Connection.
10. a kind of full-automatic formula spray equipment according to claim 1, it is characterised in that：Further include crossbeam（331）It receives
Case；The translating device（3333）It is removably attachable to the assistance for lifting mechanism（322）On, the crossbeam（331）It receives
Case is removably arranged on the moving cart（35）On, the crossbeam（331）Storage box is used to place the translating device
（3333）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711200549.5A CN108043621A (en) | 2017-11-27 | 2017-11-27 | A kind of full-automation formula spray equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711200549.5A CN108043621A (en) | 2017-11-27 | 2017-11-27 | A kind of full-automation formula spray equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108043621A true CN108043621A (en) | 2018-05-18 |
Family
ID=62120516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711200549.5A Withdrawn CN108043621A (en) | 2017-11-27 | 2017-11-27 | A kind of full-automation formula spray equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108043621A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109433483A (en) * | 2018-11-14 | 2019-03-08 | 南通理工学院 | A kind of hemi-closure space painting device |
| CN109560495A (en) * | 2018-11-20 | 2019-04-02 | 浙江新跃电气有限公司 | A kind of preparation method of long-life distribution box |
| CN110329719A (en) * | 2019-08-02 | 2019-10-15 | 天津丹阳车圈有限公司 | A kind of direct conduction type rim carrier chain device |
| CN111790540A (en) * | 2020-05-27 | 2020-10-20 | 丹阳市逸帆电子有限公司 | Special automatic spraying equipment of panel production moulds plastics |
| CN112156918A (en) * | 2019-06-16 | 2021-01-01 | 苏州曼柯精密部件有限公司 | Auto-parts spraying line |
| CN112221774A (en) * | 2020-09-28 | 2021-01-15 | 芜湖辉林奥远自动化科技有限公司 | Automatic paint spraying equipment and paint spraying method for processing badminton rackets |
| CN112718315A (en) * | 2020-12-24 | 2021-04-30 | 王伦 | High-efficient environment-friendly spraying device for aluminum profile machining |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10245283A (en) * | 1997-03-07 | 1998-09-14 | Inax Corp | Glazing equipment |
| CN1824393A (en) * | 2005-02-24 | 2006-08-30 | 东京应化工业株式会社 | Applying apparatus |
| CN105521900A (en) * | 2016-03-08 | 2016-04-27 | 佳马机械涂覆科技（苏州）有限公司 | Automatic spray production line |
| CN106150049A (en) * | 2016-06-24 | 2016-11-23 | 翁荣森 | Spray robot |
-
2017
- 2017-11-27 CN CN201711200549.5A patent/CN108043621A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10245283A (en) * | 1997-03-07 | 1998-09-14 | Inax Corp | Glazing equipment |
| CN1824393A (en) * | 2005-02-24 | 2006-08-30 | 东京应化工业株式会社 | Applying apparatus |
| CN105521900A (en) * | 2016-03-08 | 2016-04-27 | 佳马机械涂覆科技（苏州）有限公司 | Automatic spray production line |
| CN106150049A (en) * | 2016-06-24 | 2016-11-23 | 翁荣森 | Spray robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109433483A (en) * | 2018-11-14 | 2019-03-08 | 南通理工学院 | A kind of hemi-closure space painting device |
| CN109433483B (en) * | 2018-11-14 | 2020-07-07 | 南通理工学院 | Semi-closed space coating device |
| CN109560495A (en) * | 2018-11-20 | 2019-04-02 | 浙江新跃电气有限公司 | A kind of preparation method of long-life distribution box |
| CN112156918A (en) * | 2019-06-16 | 2021-01-01 | 苏州曼柯精密部件有限公司 | Auto-parts spraying line |
| CN110329719A (en) * | 2019-08-02 | 2019-10-15 | 天津丹阳车圈有限公司 | A kind of direct conduction type rim carrier chain device |
| CN111790540A (en) * | 2020-05-27 | 2020-10-20 | 丹阳市逸帆电子有限公司 | Special automatic spraying equipment of panel production moulds plastics |
| CN112221774A (en) * | 2020-09-28 | 2021-01-15 | 芜湖辉林奥远自动化科技有限公司 | Automatic paint spraying equipment and paint spraying method for processing badminton rackets |
| CN112221774B (en) * | 2020-09-28 | 2021-12-10 | 合肥正特机械有限公司 | Automatic paint spraying equipment and paint spraying method for processing badminton rackets |
| CN112718315A (en) * | 2020-12-24 | 2021-04-30 | 王伦 | High-efficient environment-friendly spraying device for aluminum profile machining |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108043621A (en) | A kind of full-automation formula spray equipment | |
| RU2492133C2 (en) | Lifting trolley | |
| CN106150049B (en) | Spray robot | |
| US3262593A (en) | Wall-mounted support structure | |
| CN111287417A (en) | Intelligent spraying robot for outer wall of high-rise building and control method thereof | |
| CN105645314B (en) | One kind decoration ceramic tile Palletised carry trolley | |
| US3841436A (en) | Aerial platform with side to side rotatable basket | |
| CN112282306A (en) | Automatic spraying equipment with six degrees of freedom for outer wall | |
| CN111730576A (en) | Movable mechanical arm and using method thereof | |
| CN112850487A (en) | Gravity center adjustable building wallboard hoisting equipment | |
| CN209276037U (en) | A kind of Multifunctional hoisting device | |
| CN205966296U (en) | Spray painting robot | |
| CN113601485B (en) | Intelligent spraying robot for outer wall of high-rise building | |
| CN206237058U (en) | A kind of erecting cable device | |
| CN206707220U (en) | A kind of suspension type external wall of high-rise building multiple degrees of freedom plastering machine | |
| CN215141297U (en) | High-altitude spraying device with robot carried by crane | |
| CN108466993A (en) | One kind is novel to follow lifting machine and its system certainly | |
| CN210393489U (en) | Gantry crane for hoisting steel pipe | |
| CN208413724U (en) | A kind of removable miniature crane | |
| CN207861724U (en) | A kind of monkey and crane | |
| CN211169605U (en) | Hydraulic forklift loading and carrying line type intelligent small crane | |
| CN214828444U (en) | A transfer device for car production line | |
| CN220684486U (en) | Intelligent folding arm crane for carrying omnibearing light articles | |
| CN203021263U (en) | Aerial work platform and telescopic arm type crane with same | |
| CN215592549U (en) | Lifting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180518 |
|
| WW01 | Invention patent application withdrawn after publication |