CN108672166A - A kind of automatic spraying robot and its working method - Google Patents
A kind of automatic spraying robot and its working method Download PDFInfo
- Publication number
- CN108672166A CN108672166A CN201810569575.3A CN201810569575A CN108672166A CN 108672166 A CN108672166 A CN 108672166A CN 201810569575 A CN201810569575 A CN 201810569575A CN 108672166 A CN108672166 A CN 108672166A
- Authority
- CN
- China
- Prior art keywords
- module
- transmission belt
- pedestal
- head
- closure blocks
- 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
- B05B16/00—Spray booths
- B05B16/90—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth
- B05B16/95—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth the objects or other work to be sprayed lying on, or being held above the conveying means, i.e. not hanging from the conveying means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of automatic spraying robot and its working methods, including treatment bench, spray equipment, regulating device, transport device and pedestal；The processor platform, spray equipment and transport device are installed on the top surface of pedestal, and spraying box is also equipped on pedestal；The transport device is made of motor module, transmission belt and photoelectric sensor, transmission belt is rolled by rotary shaft on pedestal, the output end of motor module is fixedly mounted with rotary shaft, transmission belt rotates under the driving of motor module, detection door module sends the signal to treatment bench, and detection door module opens door, the position of the combination adjustment head module of track module, mechanical arm module and turntable module, spray equipment also works simultaneously, and the spray coating liquor extraction in stuffing-box is sent to head module；Cylinder in head module drives cylinder rod to shrink, and closure blocks skid off pipeline, and spray coating liquor is flowed out between two closure blocks, is sprayed on the surface of automatic doubler surface glouer to be painted.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of automatic spraying robot and its working method.
Background technology
Spray robot is called paint-spray robot, is that can carry out auto spray painting or spray the industrial robot of other coating,
Generally there are paint-spray robot multiple degree-of-freedom joint formula structures, arm to have larger space, and can do complicated track
Movement, has the characteristics that quick action, explosion-proof performance are good, is widely used in the technique productions such as automobile, instrument, electric appliance, enamel portion
Door.There is many deficiencies when in use for existing nozzle robot, for example, transmission stability is poor, spraying effect is poor, single fortune
Dynamic area coverage is small, and the film lack of homogeneity that nozzle sprays, paint waste is big, these problems all greatly constrain existing nozzle
Machine man-based development.
For example, Chinese patent literature discloses a kind of automatic spraying robot, application number：201621247413.0 master
Workpiece is wanted to be fixed on the workbench in automatic platform, robot No. two arms of No.1 armband mobile robot on gantry, robot
No. three arms of No. two armband mobile robots, the arm of armband mobile robot four of robot three, No. four armbands of robot are moved nozzle and are carried out
Space moving interpolation carries out workpiece comprehensive, no negative angle processing.
Said program solves the problems, such as that existing automatic spraying robot spraying effect is poor to a certain extent, but should
Scheme still remains：How to be sprayed in closed space, the fluency of nozzle sprinkling.
Invention content
The purpose of the present invention is to provide a kind of automatic spraying robot and its working methods, to solve above-mentioned background skill
The problems such as proposing the increase of complication for patients in art and improving medical staff's work load.
To achieve the above object, the present invention provides the following technical solutions：A kind of automatic spraying robot, including processing
Platform, spray equipment, regulating device, transport device and pedestal；
The processor platform, spray equipment and transport device are installed on the top surface of pedestal, and spray is also equipped on pedestal
Apply case；
The transport device is made of motor module, transmission belt and photoelectric sensor, and transmission belt is by rotary shaft in pedestal
Upper rolling, output end and the rotary shaft of motor module are fixedly mounted with, and photoelectric sensor is installed in the device placement plate placed in transmission belt；
Installation detection door module on the spraying box, regulating device is by track module, mechanical arm module and turntable module group
At track module is fixed in the top inner wall of spraying box, and turntable module is fastened on track module and slides, mechanical arm module peace
It is rotated in turntable module；
The spray equipment is mounted on the tail end of mechanical arm module by pumping pump module and head module, head module, takes out pump
The input terminal of module is connected with stuffing-box, takes out the output end connection discharge nozzle of pump module, fixed rubber on the port of discharge nozzle
Pipe is connect with head module；
The inside of the head module is fixed with supporting rod, pipeline, cylinder and closure blocks, the rubber tube of pipeline and discharge nozzle
It communicates, fixes closure blocks on the cylinder rod of cylinder output end flexible connection, closure blocks are slided on pipe side wall.
Preferably, the quantity of the closure blocks is two, and contact with each other sealed connection, is provided with and draws on one end angle of closure blocks
Head piece.
Preferably, the detection door module receives the signal sent out from photoelectric sensor, opens for device placement plate
The door position passed through.
Preferably, the output end of the treatment bench respectively with take out pump module, track module, mechanical arm module, turntable module
And motor module connection, the input terminal for the treatment of bench are connect with head module and photoelectric sensor, the output for taking out pump module
End is connect with head module, output end and the transmission band connection of motor module, output end and the detection door module of photoelectric sensor
Connect.
The present invention provides another technical solution：A kind of working method of automatic spraying robot, includes the following steps：
S1：Spraying equipment will be needed to be placed in device placement plate, photoelectric sensor starts work；
S2：Treatment bench controls transport device work, and transmission belt rotates under the driving of motor module, drives device placement plate
Displacement is carried out, is moved in the receivable range of detection door module, detection door module sends the signal to treatment bench, detects door
Module opens door, and device placement plate enters the inside of spraying box；
S3：Transmission belt is stopped, adjustment device work, the combination tune of track module, mechanical arm module and turntable module
The position of whole head module, while spray equipment also works, and the spray coating liquor extraction in stuffing-box is sent to head module；
S4：Cylinder in head module drives cylinder rod to shrink, and closure blocks skid off pipeline, spray coating liquor from two closure blocks it
Between flow out, be sprayed on the surface of automatic doubler surface glouer to be painted；
Preferably, described to be directed to step 2, pattern during motor module rotates and reverse two, then transmission belt reversing will for reversion
Device placement plate is transported to spraying box.
Compared with prior art, the beneficial effects of the invention are as follows：
This automatic spraying robot and its working method, transmission belt rotate under the driving of motor module, detect door mould
In the receivable range of block, detection door module sends the signal to treatment bench, and detection door module opens door, device placement plate
Into the inside of spraying box, the position of the combination adjustment head module of track module, mechanical arm module and turntable module is sprayed simultaneously
Coating device also works, and the spray coating liquor extraction in stuffing-box is sent to head module；Cylinder in head module drives cylinder rod to receive
Contracting, closure blocks skid off pipeline, and spray coating liquor is flowed out between two closure blocks, is sprayed on the surface of automatic doubler surface glouer to be painted.
Description of the drawings
Fig. 1 is the module control principle figure of the present invention；
Fig. 2 is the overall top view of the present invention；
Fig. 3 is the overall structure figure of the present invention；
Fig. 4 is the structure chart of the present invention.
In figure：1, treatment bench；2, spray equipment；21, pump module is taken out；211, discharge nozzle；22, head module；221, it supports
Bar；222, pipeline；223, cylinder；224, closure blocks；3, door module is detected；4, regulating device；41, track module；42, mechanical arm
Module；43, turntable module；5, transport device；51, motor module；52, transmission belt；521, device placement plate；53, photoelectric sensing
Device；6, pedestal；61, spraying box；7, stuffing-box.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one：
Referring to Fig. 1, a kind of automatic spraying robot, the output end for the treatment of bench 1 respectively with take out pump module 21, sliding rail mould
Block 41, mechanical arm module 42, turntable module 43 and motor module 51 connect, the input terminal for the treatment of bench 1 and head module 22 and
Photoelectric sensor 53 connects, and the output end for taking out pump module 21 is connect with head module 22, the output end of motor module 51 and transmission
Band 52 connects, and the output end of photoelectric sensor 53 connects with detection door module 3, and pump module 21, track module are taken out in the control for the treatment of bench 1
41, mechanical arm module 42, the motion state of turntable module 43, are sprayed.
Please refer to Fig. 2-3, including treatment bench 1, spray equipment 2, regulating device 4, transport device 5 and pedestal 6；Processor platform
1, spray equipment 2 and transport device 5 are installed on the top surface of pedestal 6, and spraying box 61 is also equipped on pedestal 6；Transport device 5
It is made of motor module 51, transmission belt 52 and photoelectric sensor 53, transmission belt 52 is rolled by rotary shaft on pedestal 6, motor
The output end of module 51 is fixedly mounted with rotary shaft, and photoelectric sensor 53 is installed in the device placement plate 521 placed in transmission belt 52；Spray
Installation detection door module 3 on case 61 is applied, regulating device 4 is made of track module 41, mechanical arm module 42 and turntable module 43, sliding
Rail module 41 is fixed in the top inner wall of spraying box 61, and turntable module 43 is fastened on track module 41 and slides, mechanical arm mould
Block 42, which is mounted in turntable module 43, to be rotated；Spray equipment 2 is mounted on by pumping pump module 21 and head module 22, head module 22
The tail end of mechanical arm module 42, the input terminal for taking out pump module 21 are connected with stuffing-box 7, take out the output end connection discharging of pump module 21
Pipe 211, fixed rubber tube is connect with head module 22 on the port of discharge nozzle 211, and detection door module 3, which receives, comes from photoelectric transfer
The signal that sensor 53 is sent out opens the door position passed through for device placement plate 521.
Referring to Fig. 4, the inside of head module 22 is fixed with supporting rod 221, pipeline 222, cylinder 223 and closure blocks 224,
Pipeline 222 is communicated with the rubber tube of discharge nozzle 211, and closure blocks 224 are fixed on the cylinder rod of 223 output end of cylinder flexible connection,
Closure blocks 224 are in 222 slide over side walls of pipeline.The quantity of closure blocks 224 is two, and contact with each other sealed connection, closure blocks 224
One end angle on be provided with draining hole, after closure blocks 224 are closed, then the inside of head module 22 is not unobstructed, and spray coating liquor can not
After outflow, only closure blocks 224 are opened, liquid can just flow out.
Embodiment two：
Based on foregoing description, a kind of working method of automatic spraying robot is also provided,
Step 1：Spraying equipment will be needed to be placed in device placement plate 521, photoelectric sensor 53 starts work；
Step 2：Treatment bench 1 controls transport device 5 and works, and transmission belt 52 rotates under the driving of motor module 51, drives
Device placement plate 521 carries out displacement, is moved in the receivable range of detection door module 3, and detection door module 3 sends signal
To treatment bench 1, detection door module 3 opens door, and device placement plate 521 enters the inside of spraying box 61, and motor module 51 has just
Pattern in turning and inverting two, then the reversing of transmission belt 52 will be outside the transport to spraying box 61 of device placement plate 521 for reversion；
Step 3：Transmission belt 52 is stopped, and regulating device 4 works, track module 41, mechanical arm module 42 and turntable mould
The position of the combination adjustment head module 22 of block 43, while spray equipment 2 also works, and the spray coating liquor extraction in stuffing-box 7 is sent
To head module 22；
Step 4：Cylinder 223 in head module 22 drives cylinder rod to shrink, and closure blocks 224 skid off pipeline 222, sprays
Liquid is flowed out between two closure blocks 224, is sprayed on the surface of automatic doubler surface glouer to be painted.
To sum up：Automatic spraying robot and its working method provided by the invention, transmission belt 52 is in motor module 51
Driving is lower to rotate, and in the receivable range of detection door module 3, detection door module 3 sends the signal to treatment bench 1, detects door
Module 3 opens door, and device placement plate 521 enters the inside of spraying box 61, track module 41, mechanical arm module 42 and turntable mould
The position of the combination adjustment head module 22 of block 43, while spray equipment 2 also works, and the spray coating liquor extraction in stuffing-box 7 is sent
To head module 22；Cylinder 223 in head module 22 drives cylinder rod to shrink, and closure blocks 224 skid off pipeline 222, spray coating liquor
It flows out, is sprayed on the surface of automatic doubler surface glouer to be painted between two closure blocks 224.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of automatic spraying robot, which is characterized in that including treatment bench (1), spray equipment (2), regulating device (4),
Transport device (5) and pedestal (6)；
The processor platform (1), spray equipment (2) and transport device (5) are installed on the top surface of pedestal (6), on pedestal (6)
It is also equipped with spraying box (61)；
The transport device (5) is made of motor module (51), transmission belt (52) and photoelectric sensor (53), and transmission belt (52) is logical
It crosses rotary shaft to roll on pedestal (6), the output end of motor module (51) is fixedly mounted with rotary shaft, the device placed in transmission belt (52)
Photoelectric sensor (53) is installed in part placement plate (521)；
Installation detection door module (3) on the spraying box (61), regulating device (4) is by track module (41), mechanical arm module
(42) it is fixed in the top inner wall of spraying box (61) with turntable module (43) composition, track module (41), turntable module (43)
It is fastened on track module (41) and slides, mechanical arm module (42), which is mounted in turntable module (43), to be rotated；
The spray equipment (2) is mounted on mechanical arm module by pumping pump module (21) and head module (22), head module (22)
(42) tail end, the input terminal for taking out pump module (21) are connected with stuffing-box (7), and the output end for taking out pump module (21) connects discharge nozzle
(211), fixed rubber tube is connect with head module (22) on the port of discharge nozzle (211)；
The inside of the head module (22) is fixed with supporting rod (221), pipeline (222), cylinder (223) and closure blocks (224),
Pipeline (222) is communicated with the rubber tube of discharge nozzle (211), fixed on the cylinder rod of cylinder (223) output end flexible connection to be closed
Block (224), closure blocks (224) are in pipeline (222) slide over side walls.
2. a kind of automatic spraying robot as described in claim 1, it is characterised in that：The quantity of the closure blocks (224)
It it is two, contact with each other sealed connection, and draining hole is provided on one end angle of closure blocks (224).
3. a kind of automatic spraying robot as described in claim 1, it is characterised in that：The detection door module (3) receives
The signal sent out from photoelectric sensor (53) opens the door position passed through for device placement plate (521).
4. a kind of automatic spraying robot as described in claim 1, it is characterised in that：The output end of the treatment bench (1)
Respectively even with pumping pump module (21), track module (41), mechanical arm module (42), turntable module (43) and motor module (51)
It connects, the input terminal for the treatment of bench (1) is connect with head module (22) and photoelectric sensor (53), the output for taking out pump module (21)
End connect with head module (22), the output end of motor module (51) is connect with transmission belt (52), photoelectric sensor (53) it is defeated
Outlet connects with detection door module (3).
5. a kind of working method of automatic spraying robot as described in claim 1, which is characterized in that including following step
Suddenly：
S1：Spraying equipment will be needed to be placed in device placement plate (521), photoelectric sensor (53) starts work；
S2：Treatment bench (1) controls transport device (5) and works, and transmission belt (52) rotates under the driving of motor module (51), drives
Device placement plate (521) carries out displacement, is moved in the receivable range of detection door module (3), and detection door module (3) will be believed
It number is sent to treatment bench (1), detection door module (3) opens door, and device placement plate (521) enters the inside of spraying box (61)；
S3：Transmission belt (52) is stopped, regulating device (4) work, track module (41), mechanical arm module (42) and turntable mould
The position of the combination adjustment head module (22) of block (43), while spray equipment (2) also works, by the spraying in stuffing-box (7)
Liquid extraction is sent to head module (22)；
S4：Cylinder (223) in head module (22) drives cylinder rod to shrink, and closure blocks (224) skid off pipeline (222), sprays
Liquid is flowed out between two closure blocks (224), is sprayed on the surface of automatic doubler surface glouer to be painted.
6. a kind of working method of automatic spraying robot as claimed in claim 5, which is characterized in that described to be directed to step
2, pattern during motor module (51) rotates and reverse two, then transmission belt (52) is reversed device placement plate (521) transport for reversion
It is external to spraying box (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569575.3A CN108672166A (en) | 2018-06-05 | 2018-06-05 | A kind of automatic spraying robot and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569575.3A CN108672166A (en) | 2018-06-05 | 2018-06-05 | A kind of automatic spraying robot and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108672166A true CN108672166A (en) | 2018-10-19 |
Family
ID=63809807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810569575.3A Pending CN108672166A (en) | 2018-06-05 | 2018-06-05 | A kind of automatic spraying robot and its working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108672166A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315015A (en) * | 2019-06-21 | 2019-10-11 | 天津海莱姆科技有限公司 | Mold paint finishing |
| CN110465422A (en) * | 2019-08-29 | 2019-11-19 | 内蒙古大学 | A kind of flush coater kinetic control system and its motion control method based on FPGA |
| CN111604194A (en) * | 2020-06-01 | 2020-09-01 | 秦岩 | Spraying equipment for manufacturing building materials |
| CN113652876A (en) * | 2021-08-16 | 2021-11-16 | 杭州桥南实业有限公司 | Manufacturing method of windproof and waterproof coating fabric |
| CN116175515A (en) * | 2023-03-20 | 2023-05-30 | 江苏省送变电有限公司 | Spraying type marking robot for paying off |
| CN117139014A (en) * | 2023-10-18 | 2023-12-01 | 河北仁良实业有限公司 | OMSA intelligent remolding robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4108105A (en) * | 1976-04-02 | 1978-08-22 | The Gyromat Corporation | Part gaging control for liquid spray system |
| DE3831785A1 (en) * | 1988-09-19 | 1990-03-29 | Lenhardt Maschinenbau | Process and device for refilling a high-viscosity pasty substance into an accumulator of an apparatus for applying this substance to workpieces |
| CN102580882A (en) * | 2011-01-11 | 2012-07-18 | 苏州辉隆自动化设备有限公司 | PCB (printed circuit board) spraying equipment |
| CN106694294A (en) * | 2016-12-28 | 2017-05-24 | 烟台史密得机电设备制造有限公司 | Electrostatic painting equipment |
| CN207103000U (en) * | 2017-07-21 | 2018-03-16 | 江苏省中跃涂装设备有限公司 | One kind spray painting house system |
-
2018
- 2018-06-05 CN CN201810569575.3A patent/CN108672166A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4108105A (en) * | 1976-04-02 | 1978-08-22 | The Gyromat Corporation | Part gaging control for liquid spray system |
| DE3831785A1 (en) * | 1988-09-19 | 1990-03-29 | Lenhardt Maschinenbau | Process and device for refilling a high-viscosity pasty substance into an accumulator of an apparatus for applying this substance to workpieces |
| CN102580882A (en) * | 2011-01-11 | 2012-07-18 | 苏州辉隆自动化设备有限公司 | PCB (printed circuit board) spraying equipment |
| CN106694294A (en) * | 2016-12-28 | 2017-05-24 | 烟台史密得机电设备制造有限公司 | Electrostatic painting equipment |
| CN207103000U (en) * | 2017-07-21 | 2018-03-16 | 江苏省中跃涂装设备有限公司 | One kind spray painting house system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315015A (en) * | 2019-06-21 | 2019-10-11 | 天津海莱姆科技有限公司 | Mold paint finishing |
| CN110465422A (en) * | 2019-08-29 | 2019-11-19 | 内蒙古大学 | A kind of flush coater kinetic control system and its motion control method based on FPGA |
| CN110465422B (en) * | 2019-08-29 | 2020-06-19 | 内蒙古大学 | FPGA-based spraying machine motion control system and motion control method thereof |
| CN111604194A (en) * | 2020-06-01 | 2020-09-01 | 秦岩 | Spraying equipment for manufacturing building materials |
| CN113652876A (en) * | 2021-08-16 | 2021-11-16 | 杭州桥南实业有限公司 | Manufacturing method of windproof and waterproof coating fabric |
| CN116175515A (en) * | 2023-03-20 | 2023-05-30 | 江苏省送变电有限公司 | Spraying type marking robot for paying off |
| CN117139014A (en) * | 2023-10-18 | 2023-12-01 | 河北仁良实业有限公司 | OMSA intelligent remolding robot |
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Application publication date: 20181019 |
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| RJ01 | Rejection of invention patent application after publication |