CN110270456B - Robot capable of automatically detecting whether part types on conveyor belt are sprayed or not - Google Patents

Robot capable of automatically detecting whether part types on conveyor belt are sprayed or not Download PDF

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Publication number
CN110270456B
CN110270456B CN201910571729.7A CN201910571729A CN110270456B CN 110270456 B CN110270456 B CN 110270456B CN 201910571729 A CN201910571729 A CN 201910571729A CN 110270456 B CN110270456 B CN 110270456B
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CN
China
Prior art keywords
mechanical arm
arm
motor
base
linear motor
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CN201910571729.7A
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Chinese (zh)
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CN110270456A (en
Inventor
屠可嘉
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陈小钦
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Priority to CN201910571729.7A priority Critical patent/CN110270456B/en
Publication of CN110270456A publication Critical patent/CN110270456A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • B05B13/0431Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating

Abstract

The invention discloses a robot capable of automatically detecting whether parts on a conveyor belt are painted or not, which comprises a base and is characterized in that the base is positioned above the ground, a mechanical arm mechanism is arranged above the base, a scanning mechanism is arranged below the mechanical arm mechanism, a paint spraying mechanism is arranged at one end of the mechanical arm mechanism, a conveying mechanism is arranged above the base, a controller and a battery box are respectively arranged above the base, a power input end of the controller is electrically connected with a power output end of the battery box, a power output end of the controller is electrically connected with a mechanical arm base rotating motor, a mechanical arm first linear motor, a mechanical arm second rotating stepping motor, a mechanical arm scanning motor, a distance sensor, an inclination angle sensor, a paint spraying mechanism and a conveying mechanism respectively, and a signal output end of the controller is electrically connected with the mechanical arm base rotating motor, the, The mechanical arm I linear motor, the mechanical arm II rotary stepping motor, the mechanical arm scanning motor, the paint spraying mechanism and the conveying mechanism are electrically connected, and the signal input end of the controller is respectively electrically connected with the distance sensor and the inclination angle sensor. The invention has the advantages of simple structure and strong practicability.

Description

Robot capable of automatically detecting whether part types on conveyor belt are sprayed or not
Technical Field
The invention relates to the field of robots, in particular to a robot capable of automatically detecting whether parts on a conveyor belt are painted or not.
Background
Traditional paint spraying robot can only spray paint to fixed part, can not independently select the part that sprays paint, need cooperate the just detachable spraying of letter sorting mechanism to spraying paint different parts, very big extension the production line, increased area.
Disclosure of Invention
The invention aims to solve the problems and designs a robot capable of automatically detecting whether the part type on a conveyor belt is painted or not.
The technical scheme of the invention is that the robot capable of automatically detecting whether the part types on the conveyor belt are sprayed with paint or not comprises a base, wherein the base is positioned above the ground, a mechanical arm mechanism is arranged above the base and consists of a mechanical arm base fixedly connected above the base, a mechanical arm base rotating motor fixing frame arranged on the mechanical arm base, a mechanical arm base rotating motor arranged on the mechanical arm base rotating motor fixing frame, a mechanical arm rotating base arranged on a rotating end of the mechanical arm base rotating motor, a mechanical arm base rotating bearing respectively fixedly connected with the mechanical arm base and the mechanical arm rotating base, a mechanical arm rotating base bearing arranged above the mechanical arm rotating base, a mechanical arm shaft inserted on the mechanical arm rotating base bearing, a mechanical arm I fixedly connected with the mechanical arm shaft, a mechanical arm I, a mechanical arm II and a mechanical arm II, The robot comprises a robot arm-linear motor fixed end mounting frame fixedly connected with the side of a robot arm rotating base, a robot arm-linear motor fixed end bearing arranged on the robot arm-linear motor fixed end mounting frame, a robot arm-linear motor fixed end shaft inserted on the robot arm-linear motor fixed end bearing, a robot arm-linear motor fixedly connected with the robot arm-linear motor fixed end shaft, a robot arm-linear motor telescopic end shaft fixedly connected with the robot arm-linear motor telescopic end shaft, a robot arm-linear motor telescopic end bearing sleeved on the robot arm-linear motor telescopic end shaft, a robot arm-linear motor telescopic end mounting frame fixedly connected with the robot arm-linear motor telescopic end shaft and the robot arm, a robot arm two-rotation stepping motor mounting frame arranged at one end of the robot arm, a robot arm two-rotation stepping motor arranged on the robot arm two-rotation stepping motor mounting frame, a robot, The mechanical arm II is fixedly connected with the rotating end of a mechanical arm II rotating stepping motor, a scanning mechanism is arranged below the mechanical arm mechanism, the scanning mechanism consists of a mechanical arm scanning motor lifting frame fixedly connected with the lower part of the mechanical arm, a mechanical arm scanning motor mounting frame arranged on the mechanical arm scanning motor lifting frame, a mechanical arm scanning motor arranged on the mechanical arm scanning motor mounting frame, a scanning frame fixedly connected with the rotating end of the mechanical arm scanning motor, a plurality of distance sensors uniformly distributed below the scanning frame and a tilt sensor arranged on the scanning frame, a paint spraying mechanism is arranged at one end of the mechanical arm mechanism, a transportation mechanism is arranged above the base, a controller and a battery box are respectively arranged above the base, the power input end of the controller is electrically connected with the power output end of the battery box, the power output end of the controller is respectively electrically connected with the mechanical arm base rotating motor, the mechanical arm first linear motor, the mechanical arm second rotating stepping motor, the mechanical arm scanning motor, the distance sensor, the inclination angle sensor, the paint spraying mechanism and the conveying mechanism, the signal output end of the controller is respectively electrically connected with the mechanical arm base rotating motor, the mechanical arm first linear motor, the mechanical arm second rotating stepping motor, the mechanical arm scanning motor, the paint spraying mechanism and the conveying mechanism, and the signal input end of the controller is respectively electrically connected with the distance sensor and the inclination angle sensor.
The mechanism of spraying paint is by the flexible arm linear electric motor mounting bracket that is located two one end fixed connection of arm, install flexible arm linear electric motor on flexible arm linear electric motor mounting bracket, with flexible arm of the flexible arm linear electric motor fixed connection, install the first mount that sprays paint that is connected at flexible arm side fixed surface constitutes jointly, the power output end and the signal output part electric connection of flexible arm linear electric motor and controller.
Transport mechanism by the transportation support that is located base top fixed connection, a plurality of transportation motor mounting bracket that is located transportation support both sides evenly distributed, install the transportation motor on transportation motor mounting bracket, with transportation motor rotation end fixed connection's transport wheel, suit the conveyer belt that constitutes jointly on a plurality of transport wheel, the power output and the signal output part electric connection of transportation motor and controller.
The mechanical arm scanning motor is a large-torque stepping motor.
The conveying belt is a rubber conveying belt.
The battery box has a charging function.
The controller has a wireless signal receiving and transmitting function.
The controller is provided with a capacitive touch screen.
The controller has a paint spraying apparatus output.
The MCU model of the controller is an ARM series single chip microcomputer.
The robot which can automatically detect the type of the parts on the conveyor belt and select whether to spray paint can spray paint according to the parts, automatically stop spraying paint on the parts which are not sprayed with paint, and can reduce the paint spraying process and greatly reduce the occupied area of a production line.
Drawings
FIG. 1 is a schematic diagram of a robot for automatically detecting whether a part type on a conveyor belt is selected for painting or not according to the present invention;
FIG. 2 is a schematic view of the robotic arm mechanism of the present invention;
FIG. 3 is a schematic view of the scanning mechanism of the present invention;
FIG. 4 is a schematic view of the painting mechanism of the present invention;
FIG. 5 is a schematic view of the transport mechanism of the present invention;
in the figure, 1, a base; 2. a mechanical arm base; 3. the mechanical arm base rotates the motor fixing frame; 4. a mechanical arm base rotating motor; 5. the mechanical arm rotates the base; 6. a mechanical arm base rotating bearing; 7. the mechanical arm rotates the base bearing; 8. a first shaft of the mechanical arm; 9. a first mechanical arm; 10. a mounting rack is arranged at the fixed end of a linear motor of the mechanical arm; 11. a linear motor fixed end bearing of the mechanical arm; 12. a linear motor fixed end shaft of the mechanical arm; 13. the mechanical arm is a linear motor; 14. the mechanical arm is a linear motor telescopic end shaft; 15. a linear motor telescopic end bearing of the mechanical arm; 16. a linear motor telescopic end mounting frame of the mechanical arm; 17. the mechanical arm II rotates the mounting rack of the stepping motor; 18. the mechanical arm II rotates a stepping motor; 19. a second mechanical arm; 20. the mechanical arm scans a motor lifting frame; 21. the mechanical arm scans the motor mounting rack; 22. a mechanical arm scanning motor; 23. a scanning frame; 24. a distance sensor; 25. a tilt sensor; 26. a controller; 27. a battery case; 28. a telescopic arm linear motor mounting rack; 29. a telescopic arm linear motor; 30. a telescopic arm; 31. a spray head fixing frame; 32. transporting the support; 33. transporting the motor mounting rack; 34. a transport motor; 35. a transport wheel; 36. and (4) a conveyor belt.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings, and as shown in fig. 1 to 5, a robot capable of automatically detecting whether a part type on a conveyor belt is painted or not is provided, which includes a base 1, wherein the base 1 is located above the ground, a robot arm mechanism is provided above the base 1, and the robot arm mechanism includes a robot arm base 2 fixedly connected above the base 1, a robot arm base rotating motor fixing frame 3 mounted on the robot arm base 2, a robot arm base rotating motor 4 mounted on the robot arm base rotating motor fixing frame 3, a robot arm rotating base 5 mounted on a rotating end of the robot arm base rotating motor 4, a robot arm base rotating bearing 6 respectively fixedly connected to the robot arm base 2 and the robot arm rotating base 5, a robot arm rotating base bearing 7 mounted above the robot arm rotating base 5, a robot arm 8, a shaft 8, A first mechanical arm 9 fixedly connected with a first mechanical arm 8, a mechanical arm linear motor fixed end mounting rack 10 fixedly connected with the side of a mechanical arm rotating base 5, a mechanical arm linear motor fixed end bearing 11 arranged on the mechanical arm linear motor fixed end mounting rack 10, a mechanical arm linear motor fixed end shaft 12 inserted on the mechanical arm linear motor fixed end bearing 11, a mechanical arm linear motor 13 fixedly connected with the mechanical arm linear motor fixed end shaft 12, a mechanical arm linear motor telescopic end shaft 14 fixedly connected with the mechanical arm linear motor 13 telescopic end, a mechanical arm linear motor telescopic end bearing 15 sleeved on the mechanical arm linear motor telescopic end shaft 14, a mechanical arm linear motor telescopic end mounting rack 16 fixedly connected with the mechanical arm linear motor telescopic end shaft 14 and the mechanical arm 9, a mechanical arm two-rotating stepping motor mounting rack 17 arranged at one end of the mechanical arm 9, a mechanical arm two-rotating stepping motor mounting rack 17, The mechanical arm two-rotation stepping motor 18 arranged on the mechanical arm two-rotation stepping motor mounting frame 17 and the mechanical arm two 19 fixedly connected with the rotation end of the mechanical arm two-rotation stepping motor 18 jointly form a scanning mechanism below the mechanical arm mechanism, the scanning mechanism consists of a mechanical arm scanning motor lifting frame 20 fixedly connected below a mechanical arm one 9, a mechanical arm scanning motor mounting frame 21 arranged on the mechanical arm scanning motor lifting frame 20, a mechanical arm scanning motor 22 arranged on the mechanical arm scanning motor mounting frame 21, a scanning frame 23 fixedly connected with the rotation end of the mechanical arm scanning motor 22, a plurality of distance sensors 24 uniformly distributed below the scanning frame 23 and an inclination angle sensor 25 arranged on the scanning frame 23, the mechanical arm mechanism is provided with a paint spraying mechanism at one end, a transportation mechanism is arranged above the base 1, a controller 26 and a battery box 27 are respectively arranged above the base 1, a power input end of the controller is electrically connected with a power output end of the battery box, a power output end of the controller is electrically connected with a mechanical arm base rotating motor, a mechanical arm first linear motor, a mechanical arm second rotating stepping motor, a mechanical arm scanning motor, a distance sensor, an inclination angle sensor, a paint spraying mechanism and a conveying mechanism respectively, a signal output end of the controller is electrically connected with the mechanical arm base rotating motor, the mechanical arm first linear motor, the mechanical arm second rotating stepping motor, the mechanical arm scanning motor, the paint spraying mechanism and the conveying mechanism respectively, and a signal input end of the controller is electrically connected with the distance sensor and the inclination angle sensor respectively; the paint spraying mechanism is composed of a telescopic arm linear motor mounting frame 28 fixedly connected with one end of the second mechanical arm 19, a telescopic arm linear motor 29 arranged on the telescopic arm linear motor mounting frame 28, a telescopic arm 30 fixedly connected with the telescopic end of the telescopic arm linear motor 29 and a paint spraying head fixing frame 31 fixedly connected with the side surface of the telescopic arm 30, and the telescopic arm linear motor is electrically connected with the power supply output end and the signal output end of the controller; the transportation mechanism is composed of a transportation support 32 fixedly connected above the base 1, a plurality of transportation motor mounting frames 33 uniformly distributed on two sides of the transportation support 32, a transportation motor 34 installed on the transportation motor mounting frames 33, a transportation wheel 35 fixedly connected with the rotating end of the transportation motor 34, and a conveyor belt 36 sleeved on the transportation wheels 35, wherein the transportation motor is electrically connected with the power output end and the signal output end of the controller; the mechanical arm scanning motor 22 is a large-torque stepping motor; the conveyor belt 36 is a rubber conveyor belt; the battery box 27 has a charging function; the controller 26 has a wireless signal receiving and transmitting function; the controller 26 is provided with a capacitive touch screen; the controller 26 has a painting equipment output; the MCU model of the controller 26 is an ARM series single chip microcomputer.
The embodiment is characterized by comprising a base and is characterized in that the base is positioned above the ground, a mechanical arm mechanism is arranged above the base and consists of a mechanical arm base fixedly connected above the base, a mechanical arm base rotating motor fixing frame installed on the mechanical arm base, a mechanical arm base rotating motor installed on the mechanical arm base rotating motor fixing frame, a mechanical arm rotating base installed on a rotating end of the mechanical arm base rotating motor, a mechanical arm base rotating bearing fixedly connected with the mechanical arm base and the mechanical arm rotating base respectively, a mechanical arm rotating base bearing installed above the mechanical arm rotating base, a mechanical arm shaft inserted on the mechanical arm rotating base bearing, a mechanical arm I fixedly connected with the mechanical arm shaft, a mechanical arm linear motor fixing frame fixedly connected with the side of the mechanical arm rotating base, a mechanical arm fixing end fixing frame fixedly connected with the mechanical, A mechanical arm-linear motor fixed end bearing arranged on a mounting frame at the fixed end of a mechanical arm-linear motor, a mechanical arm-linear motor fixed end shaft inserted on the mechanical arm-linear motor fixed end bearing, a mechanical arm-linear motor fixedly connected with the mechanical arm-linear motor fixed end shaft, a mechanical arm-linear motor telescopic end shaft fixedly connected with the mechanical arm-linear motor telescopic end shaft, a mechanical arm-linear motor telescopic end bearing sleeved on the mechanical arm-linear motor telescopic end shaft, a mechanical arm-linear motor telescopic end mounting frame fixedly connected with the mechanical arm-linear motor telescopic end shaft and the mechanical arm-linear motor respectively, a mechanical arm-two-rotation stepping motor mounting frame arranged at one end of the mechanical arm, a mechanical arm-two-rotation stepping motor arranged on the mechanical arm-two-rotation stepping motor mounting frame, and a mechanical arm two fixedly connected with the mechanical arm-two-rotation stepping motor, the mechanical arm mechanism is provided with a scanning mechanism below, the scanning mechanism is composed of a mechanical arm scanning motor lifting frame fixedly connected with the lower part of the mechanical arm, a mechanical arm scanning motor mounting frame mounted on the mechanical arm scanning motor lifting frame, a mechanical arm scanning motor mounted on the mechanical arm scanning motor mounting frame, a scanning frame fixedly connected with the rotating end of the mechanical arm scanning motor, a plurality of distance sensors uniformly distributed below the scanning frame and tilt sensors mounted on the scanning frame, a paint spraying mechanism is arranged at one end of the mechanical arm mechanism, a transport mechanism is arranged above the base, a controller and a battery box are respectively arranged above the base, the power input end of the controller is electrically connected with the power output end of the battery box, the power output end of the controller is respectively electrically connected with a mechanical arm base rotating motor, a mechanical arm first linear motor, the mechanical arm scanning motor, the distance sensor, the inclination angle sensor, the paint spraying mechanism and the transportation mechanism are electrically connected, the signal output end of the controller is respectively electrically connected with the mechanical arm base rotating motor, the mechanical arm one linear motor, the mechanical arm two rotating step motor, the mechanical arm scanning motor, the paint spraying mechanism and the transportation mechanism, and the signal input end of the controller is respectively electrically connected with the distance sensor and the inclination angle sensor. Can spray paint according to the part, to the part automatic stop that does not spray paint, reducible paint spraying process is very big has reduced the occupation of land of production line.
In this embodiment, install paint spraying apparatus on the first mount that sprays paint, and insert paint spraying apparatus's control joint on the signal output end of controller, open cell-phone APP will need to spray paint in the leading-in controller of part three-dimensional model, control arm base rotating electrical machines, arm linear electric motor and flexible arm linear electric motor adjust the first mount that sprays paint to suitable height, it drives the conveyer belt and conveys the part that sprays paint to the distance sensor below to start the transportation motor, it drives a plurality of distance sensors and rotates and scans object surface to start arm scanning motor, compare when passing the back with three-dimensional model when data, start paint spraying apparatus and adjust the angle of spraying paint through two rotatory step motor of arm, it is even to make it spray paint.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides a can automatic detect robot that whether part kind selected to spray paint on conveyer belt, includes base (1), base (1) is located the ground top, base (1) top is equipped with arm mechanism, a serial communication port, arm mechanism is by arm base (2) that are located base (1) top fixed connection, install arm base rotating electrical machines mount (3) on arm base (2), install arm base rotating electrical machines (4) on arm base rotating electrical machines mount (3), install arm rotating electrical machines (5) on arm base rotating electrical machines (4) rotation end, respectively with arm base (2) and arm rotating electrical machines (5) fixed connection's arm base swivel bearing (6), install arm rotating electrical machines bearing (7) in arm rotating electrical machines (5) top, The mechanical arm fixing device comprises a first mechanical arm shaft (8) inserted and arranged on a bearing (7) of a rotary base of the mechanical arm, a first mechanical arm (9) fixedly connected with the first mechanical arm shaft (8), a first linear motor fixed end mounting frame (10) of the mechanical arm fixedly connected with the side of the rotary base (5) of the mechanical arm, a first linear motor fixed end bearing (11) of the mechanical arm arranged on the first linear motor fixed end mounting frame (10) of the mechanical arm, a first linear motor fixed end shaft (12) of the mechanical arm inserted and arranged on the first linear motor fixed end bearing (11) of the mechanical arm, a first linear motor (13) fixedly connected with the first linear motor fixed end shaft (12) of the mechanical arm, a first linear motor telescopic end shaft (14) of the mechanical arm fixedly connected with the first linear motor (13) of the mechanical arm, a first linear motor telescopic end bearing (15), The mechanical arm scanning mechanism comprises a mechanical arm linear motor telescopic end mounting frame (16) fixedly connected with a mechanical arm linear motor telescopic end shaft (14) and a mechanical arm I (9) respectively, a mechanical arm two-rotation stepping motor mounting frame (17) mounted at one end of the mechanical arm I (9), a mechanical arm two-rotation stepping motor (18) mounted on the mechanical arm two-rotation stepping motor mounting frame (17), and a mechanical arm II (19) fixedly connected with the mechanical arm two-rotation stepping motor (18) in a rotating end mode, wherein a scanning mechanism is arranged below the mechanical arm mechanism, the scanning mechanism is composed of a mechanical arm scanning motor lifting frame (20) fixedly connected with the lower portion of the mechanical arm I (9), a mechanical arm scanning motor mounting frame (21) mounted on the mechanical arm scanning motor lifting frame (20), a mechanical arm scanning motor (22) mounted on the mechanical arm scanning motor mounting frame (21, With scanning frame (23) of arm scanning motor (22) rotatory end fixed connection, a plurality of be located scanning frame (23) below evenly distributed's distance sensor (24), install inclination sensor (25) on scanning frame (23) and constitute jointly, arm mechanism one end is equipped with the mechanism of spraying paint, base (1) top is equipped with transport mechanism, base (1) top is equipped with controller (26) and battery case (27) respectively, the power input end of controller and the power output end electric connection of battery case, the power output end of controller respectively with arm base rotating electrical machines, arm one linear electric motor, two rotatory step motor of arm, arm scanning motor, distance sensor, inclination sensor, the mechanism of spraying paint, transport mechanism electric connection, the signal output end of controller respectively with arm base rotating electrical machines, The mechanical arm I linear motor, the mechanical arm II rotary stepping motor, the mechanical arm scanning motor, the paint spraying mechanism and the conveying mechanism are electrically connected, and the signal input end of the controller is respectively electrically connected with the distance sensor and the inclination angle sensor.
2. The robot capable of automatically detecting whether the part types on the conveyor belt are selected for painting or not according to claim 1, wherein the painting mechanism is composed of a telescopic arm linear motor mounting frame (28) fixedly connected to one end of the second mechanical arm (19), a telescopic arm linear motor (29) mounted on the telescopic arm linear motor mounting frame (28), a telescopic arm (30) fixedly connected to the telescopic end of the telescopic arm linear motor (29), and a painting head fixing frame (31) fixedly connected to the side surface of the telescopic arm (30), and the telescopic arm linear motor is electrically connected with a power output end and a signal output end of the controller.
3. The robot capable of automatically detecting whether the part types on the conveyor belt are sprayed or not according to claim 1, wherein the conveying mechanism is composed of a conveying support (32) fixedly connected above the base (1), a plurality of conveying motor mounting frames (33) uniformly distributed on two sides of the conveying support (32), a conveying motor (34) mounted on the conveying motor mounting frames (33), a conveying wheel (35) fixedly connected with the rotating end of the conveying motor (34), and a conveyor belt (36) sleeved on the plurality of conveying wheels (35), and the conveying motor is electrically connected with a power output end and a signal output end of the controller.
4. A robot for automatically detecting the selection of parts on a conveyor for painting or not according to claim 1, characterised in that the arm scan motor (22) is a high torque stepper motor.
5. A robot for automatically detecting the selection of the type of parts to be painted on a conveyor belt according to claim 1, characterised in that the conveyor belt (36) is a rubber conveyor belt.
6. A robot for automatically detecting the selection of parts on a conveyor for painting or not according to claim 1, characterized in that said battery compartment (27) has a charging function.
7. A robot for automatically detecting the selection of parts on a conveyor for painting or not according to claim 1, characterised in that said controller (26) has wireless signal transmission and reception functions.
8. A robot for automatically detecting the painting of a selection of parts on a conveyor according to claim 1, characterised in that the controller (26) has a capacitive touch screen.
9. A robot for automatically detecting the selection of parts types on a conveyor for painting or not according to claim 1, characterised in that the controller (26) has a painting equipment output.
10. The robot capable of automatically detecting whether the part types on the conveyor belt are selected for painting or not according to claim 1, wherein the MCU model of the controller (26) is an ARM series single chip microcomputer.
CN201910571729.7A 2019-06-28 2019-06-28 Robot capable of automatically detecting whether part types on conveyor belt are sprayed or not Active CN110270456B (en)

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Application Number Priority Date Filing Date Title
CN201910571729.7A CN110270456B (en) 2019-06-28 2019-06-28 Robot capable of automatically detecting whether part types on conveyor belt are sprayed or not

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Application Number Priority Date Filing Date Title
CN201910571729.7A CN110270456B (en) 2019-06-28 2019-06-28 Robot capable of automatically detecting whether part types on conveyor belt are sprayed or not

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CN110270456A CN110270456A (en) 2019-09-24
CN110270456B true CN110270456B (en) 2020-08-18

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102139260A (en) * 2011-01-13 2011-08-03 株洲时代新材料科技股份有限公司 Method and device for automatically detecting coating of glue sprayer
CN202316200U (en) * 2011-11-09 2012-07-11 深圳锟翰科技有限公司 Automatic paint spraying machine and feeding device thereof
CN203527477U (en) * 2013-09-12 2014-04-09 深圳市锐思技术有限公司 Continuous conveying and accurate positioning mechanical arm system
CN106513223A (en) * 2016-12-11 2017-03-22 河北建筑工程学院 Pipeline inner wall spraying method and robot
CN108393933A (en) * 2018-05-25 2018-08-14 饶先梅 A kind of robot production device for fast detecting

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102139260A (en) * 2011-01-13 2011-08-03 株洲时代新材料科技股份有限公司 Method and device for automatically detecting coating of glue sprayer
CN202316200U (en) * 2011-11-09 2012-07-11 深圳锟翰科技有限公司 Automatic paint spraying machine and feeding device thereof
CN203527477U (en) * 2013-09-12 2014-04-09 深圳市锐思技术有限公司 Continuous conveying and accurate positioning mechanical arm system
CN106513223A (en) * 2016-12-11 2017-03-22 河北建筑工程学院 Pipeline inner wall spraying method and robot
CN108393933A (en) * 2018-05-25 2018-08-14 饶先梅 A kind of robot production device for fast detecting

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