CN110665709A - Large-scale component spraying device - Google Patents
Large-scale component spraying device Download PDFInfo
- Publication number
- CN110665709A CN110665709A CN201911053810.2A CN201911053810A CN110665709A CN 110665709 A CN110665709 A CN 110665709A CN 201911053810 A CN201911053810 A CN 201911053810A CN 110665709 A CN110665709 A CN 110665709A
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- axis
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- mechanical arm
- guide rail
- fixed
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- 238000005507 spraying Methods 0.000 title claims abstract description 87
- 239000007921 spray Substances 0.000 claims abstract description 65
- 239000003973 paint Substances 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims description 81
- 239000003638 chemical reducing agent Substances 0.000 claims description 75
- 210000000707 wrist Anatomy 0.000 claims description 42
- 230000033001 locomotion Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 239000003381 stabilizer Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/135—Securing or supporting by load bracing means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
A large-scale component spraying device mainly comprises a delivery wagon positioning system, an external shaft moving system, a mechanical arm control system and a paint spraying system; the mechanical arm control system is arranged on the external shaft moving system, and the paint spraying system is arranged on the mechanical arm control system; the conveying vehicle positioning system pulls a product to be painted to the middle of the external shaft moving system; the conveying vehicle positioning system comprises a conveying vehicle chassis (1) and a support leg support rod (2), wherein the support leg support rod (2) is arranged on the conveying vehicle chassis, and a plurality of wheels are arranged below the conveying vehicle chassis (1); the spraying range of the invention is determined by the outer shaft and the mechanical arm together, the spraying range is wide, and especially the spraying of the lower surface of a non-rotating product is realized; the invention adopts a single mechanical arm to realize the whole-body spraying of the product, and the cost is lower; the spray gun support is connected with the spray gun, so that the spray gun support is simple in structure, convenient to install and high in adaptability to the spray gun.
Description
Technical Field
The invention relates to a large-scale component spraying device, in particular to an automatic moving spraying device for a large-scale four-leg non-rotating complex component.
Background
In the spray coating, a spray gun disperses a spray liquid into uniform and fine droplets by gas pressure, and the droplets are applied to the surface of an object to be coated. A certain product is long and thin tube-shape, and there are four stabilizer blades as the support bottom, because the internal assembly requirement, it is nonrotatable, and surface structure is complicated, has many strengthening ribs, and the design requirement this product needs the spraying everywhere. For rotatable products, a rotating device can be designed according to the structural characteristics of the products, and surface spraying is completed by matching with a reciprocating machine (the surface structure of the products is smooth) or a spraying robot (the surface structure of the products is complex). For the product which is not rotatable and needs to be sprayed on the whole body, manual spraying is generally adopted, and the problems of poor consistency of surface quality, high paint loss rate and the like exist in the manual spraying process, so that the product is unfavorable for the occupational health of operators in the long term. Therefore, the development of an automatic spraying device suitable for the large four-leg non-rotating complex component is imperative.
Disclosure of Invention
The invention aims to provide a spraying device for a large-scale component, which is used for solving the problem of automatic spraying of the surface of a large-scale four-leg non-rotating complex component.
A large-scale component spraying device mainly comprises a delivery wagon positioning system, an external shaft moving system, a mechanical arm control system and a paint spraying system; the mechanical arm control system is arranged on the external shaft moving system, and the paint spraying system is arranged on the mechanical arm control system; the conveying vehicle positioning system pulls a product to be painted to the middle of the external shaft moving system;
the conveying vehicle positioning system comprises a conveying vehicle chassis 1 and a support leg support rod 2, wherein the support leg support rod 2 is arranged on the conveying vehicle chassis, and a plurality of wheels are arranged below the conveying vehicle chassis 1;
the external axis moving system comprises an X-axis moving system, a Y-axis moving system, a Z-axis moving system and a supporting system, wherein the supporting system is a frame structure consisting of a plurality of supports 29, two cross beams 30 and two X-axes 11, the two X-axes 11 and the two cross beams 30 form a rectangular frame, the lower part of the X-axes 11 is connected with a plurality of identical supports 29, and the two X-axes 11 and the two cross beams 30 form the rectangular frame on a horizontal plane which has a certain distance with the ground plane; the X-axis moving system, the Y-axis moving system and the Z-axis moving system are arranged on the supporting system;
when the automatic paint spraying device works, the mechanical arm control system arranged on the external shaft moving system moves along with the X-axis moving system, the Y-axis moving system and the Z-axis moving system, so that the mechanical arm control system and the paint spraying system can spray paint on products to be sprayed on the conveying vehicle positioning system from front, back, left, right and above.
The X-axis moving system comprises an X-axis motor 3, an X-axis speed reducer 4, an X-axis coupler 5, an X-axis transmission shaft 6, two X-axis gears 7, two X-axis racks 8, two X-axis sliders 9 and two X-axis guide rails 10, wherein the two X-axis guide rails 10 are respectively arranged on two X-axes 11 to form double-row guide rails; the X-axis motor 3 is connected with a speed reducer 4, the speed reducer 4 is connected with a coupler 5 and a transmission shaft 6 to form a transmission system, the transmission system is fixed with a gear 7, the gear 7 is meshed and connected with racks 8, and the two racks 8 are fixed at the end part of the upper surface of an X-axis 11; the X-axis transmission system is fixed with the Y-axis 19 and the X-axis sliding block 9, the X-axis sliding block 9 is connected with the X-axis guide rail 10 in a matched mode, and the X-axis guide rail 10 is fixed on the X-axis 11;
the Y-axis moving system comprises a Y-axis motor 12, a Y-axis reducer 13, a Y-axis reducer flange 14, a Y-axis gear 15, a Y-axis rack 16, a Y-axis slider 17, a Y-axis guide rail 18 and a Y-axis 19; the Y-axis system is a single-row guide rail, a Y-axis motor 12 is connected with a Y-axis reducer 13, the Y-axis reducer 13 and a Y-axis reducer flange 14 form a Y-axis transmission system, the Y-axis transmission system is fixed with a Y-axis gear 15, the Y-axis gear 15 is meshed and connected with a Y-axis rack 16, and the Y-axis rack 16 is fixed on a Y-axis 19; the Y-axis transmission system is fixed with the Z-axis 27 and the Y-axis sliding block 17, the Y-axis sliding block 17 is connected with the Y-axis guide rail 18 in a matched mode, and the Y-axis guide rail 18 is fixed on the Y-axis 19; when the mechanical arm control system runs, the Y-axis motor 12 rotates, the transmission system drives the Y-axis gear 15 to rotate, and the Z-axis 27 and the Y-axis slider 17 are driven to move along the Y-axis guide rail 18 through being meshed with the Y-axis rack 16, so that the mechanical arm control system moves along the Y axis;
the Z-axis moving system comprises a Z-axis motor 20, a Z-axis reducer 21, a Z-axis reducer flange 22, a Z-axis gear 23, a Z-axis rack 24, a Z-axis slider 25, a Z-axis guide rail 26, a Z-axis 27 and a Z-axis connecting flange 28; the mechanical arm control system consists of a base 31, a turntable 32, a turntable motor 33, a large arm 34, a large arm motor 35, a box 36, a small arm 37, a small arm motor 38, a wrist body 39 and a wrist body connecting flange 40; the paint spraying system consists of a spray gun bracket 41 and an automatic spray gun 42;
the Z-axis system is a single-row guide rail, the Z-axis motor 20 is connected with a Z-axis speed reducer 21, the Z-axis speed reducer 21 and a Z-axis speed reducer flange 22 form a Z-axis transmission system, the Z-axis transmission system is fixed with a Z-axis gear 23, the Z-axis gear 23 is meshed and connected with a Z-axis rack 24, and the Z-axis rack 24 is fixed on a Z-axis 27; the Z-axis transmission system is connected with a Z-axis flange 28 and a Z-axis sliding block 25 through a Z-axis, the Z-axis sliding block 25 is connected with a Z-axis guide rail 26 in a matched mode, the Z-axis guide rail 26 is fixed on a Z-axis 27, and the Z-axis flange 28 is connected with a mechanical arm control system base 31 in a fixed mode; during operation, the Z-axis motor 20 rotates to drive the Z-axis gear 23 to rotate through the Z-axis transmission system, and the Z-axis connection flange 28 and the Z-axis sliding block 25 are driven to move along the Z-axis guide rail 26 through meshing with the Z-axis rack 24, so that the mechanical arm control system moves along the Z axis.
The mechanical arm control system comprises a base 31, a turntable 32, a turntable motor 33, a large arm 34, a large arm motor 35, a box 36, a small arm 37, a small arm motor 38, a wrist body 39 and a wrist body connecting flange 40; the paint spraying system comprises a spray gun bracket 41 and an automatic spray gun 42; a base 31 of the mechanical arm control system is fixedly connected with a Z-axis connecting flange 28; the turntable motor 33 drives the turntable 32 to rotate, the large arm 34 and the large arm motor 35 are arranged on the turntable, and the large arm 34 is driven to rotate by the large arm motor 35; the box body 35 and the small arm motor 36 are arranged on the large arm 34, the small arm 37 is arranged on the box body 35, and the small arm 37 is driven to rotate by the small arm motor 36; the wrist body 39 is arranged between the small arms 37, and the wrist body coupling flange 40 is arranged on the wrist body 39; the spray gun bracket 41 is respectively connected with the wrist body connecting flange 40 and the spray gun 42, and the mechanical arm can drive the spray gun to move;
during operation, the X-axis motor 3 rotates, the X-axis gear 7 is driven to rotate through the transmission system, and the Y-axis 19 and the X-axis slider 9 are driven to move along the X-axis guide rail 10 through meshing with the X-axis gear rack 8, so that the mechanical arm control system is driven to move along the X axis.
The invention provides an automatic spraying device for the surface of a large four-leg non-rotating complex component.
The invention has the following advantages:
(1) the spraying range of the invention is determined by the outer shaft and the mechanical arm together, the spraying range is wide, and especially the spraying of the lower surface of a non-rotating product is realized;
(2) the external shaft of the invention realizes the matching movement by the gear rack and the slide block and slide rail structure, the principle is simple and the realization is easy;
(3) the invention adopts a single mechanical arm to realize the whole-body spraying of the product, and the cost is lower;
(4) the spray gun support is connected with the spray gun, so that the spray gun support is simple in structure, convenient to install and high in adaptability to the spray gun;
(5) the posture of the spray gun can be adjusted according to the structure of the product, and the spray gun can be widely applied to surface spraying of other products and has strong popularization.
Drawings
FIG. 1 is a schematic view of a supporting leg supporting rod 2 of a positioning system of a conveying vehicle for placing a product to be painted;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic view of the motion of the robot control system incorporating the painting system of the present invention on the external axis movement system;
FIG. 4 is a schematic view of the paint spraying system and robot control system of the present invention;
wherein, 1, a chassis of the conveying vehicle; 2-support leg support bar; 3-X axis motor; 4-X axis reducer; 5-X axis coupler; 6-X axis drive shaft; 7-X axis gear; 8-X axis rack; 9-X axis slide; 10-X axis guide rail; 11-X axis; 12-Y axis motor; 13-Y-axis reducer; 14-Y-axis reducer flange; 15-Y axis gear; 16-Y axis rack; 17-Y axis slide; 18-Y-axis guide rails; 19-Y axis; 20-Z axis motor; 21-Z axis reducer; 22-Z axis reducer flange; 23-Z axis gear; 24-Z axis rack; 25-Z axis slide; 26-Z axis guide rails; 27-Z axis; 28-Z shaft connecting flange; 29-a scaffold; 30-a cross beam; 31-a base; 32, a rotating disc; 33-a turntable motor; 34-big arm; 35-large arm motor; 36-a box body; 37-forearm; 38-small arm motor; 39-wrist body; 40-wrist body connecting flange; 41-spray gun support; 42-automatic spray gun; m-products.
Detailed Description
A large-scale component spraying device mainly comprises a delivery wagon positioning system, an external shaft moving system, a mechanical arm control system and a paint spraying system; the mechanical arm control system is arranged on the external shaft moving system, and the paint spraying system is arranged on the mechanical arm control system; the conveying vehicle positioning system pulls a product to be painted to the middle of the external shaft moving system;
the conveying vehicle positioning system comprises a conveying vehicle chassis 1 and a support leg support rod 2, wherein the support leg support rod 2 is arranged on the conveying vehicle chassis, and a plurality of wheels are arranged below the conveying vehicle chassis 1;
the external axis moving system comprises an X-axis moving system, a Y-axis moving system, a Z-axis moving system and a supporting system, wherein the supporting system is a frame structure consisting of a plurality of supports 29, two cross beams 30 and two X-axes 11, the two X-axes 11 and the two cross beams 30 form a rectangular frame, the lower part of the X-axes 11 is connected with a plurality of identical supports 29, and the two X-axes 11 and the two cross beams 30 form the rectangular frame on a horizontal plane which has a certain distance with the ground plane; the X-axis moving system, the Y-axis moving system and the Z-axis moving system are arranged on the supporting system;
when the automatic paint spraying device works, the mechanical arm control system arranged on the external shaft moving system moves along with the X-axis moving system, the Y-axis moving system and the Z-axis moving system, so that the mechanical arm control system and the paint spraying system can spray paint on products to be sprayed on the conveying vehicle positioning system from front, back, left, right and above.
The X-axis moving system comprises an X-axis motor 3, an X-axis speed reducer 4, an X-axis coupler 5, an X-axis transmission shaft 6, two X-axis gears 7, two X-axis racks 8, two X-axis sliders 9 and two X-axis guide rails 10, wherein the two X-axis guide rails 10 are respectively arranged on two X-axes 11 to form double-row guide rails; the X-axis motor 3 is connected with a speed reducer 4, the speed reducer 4 is connected with a coupler 5 and a transmission shaft 6 to form a transmission system, the transmission system is fixed with a gear 7, the gear 7 is meshed and connected with racks 8, and the two racks 8 are fixed at the end part of the upper surface of an X-axis 11; the X-axis transmission system is fixed with the Y-axis 19 and the X-axis sliding block 9, the X-axis sliding block 9 is connected with the X-axis guide rail 10 in a matched mode, and the X-axis guide rail 10 is fixed on the X-axis 11;
the Y-axis moving system comprises a Y-axis motor 12, a Y-axis reducer 13, a Y-axis reducer flange 14, a Y-axis gear 15, a Y-axis rack 16, a Y-axis slider 17, a Y-axis guide rail 18 and a Y-axis 19; the Y-axis system is a single-row guide rail, a Y-axis motor 12 is connected with a Y-axis reducer 13, the Y-axis reducer 13 and a Y-axis reducer flange 14 form a Y-axis transmission system, the Y-axis transmission system is fixed with a Y-axis gear 15, the Y-axis gear 15 is meshed and connected with a Y-axis rack 16, and the Y-axis rack 16 is fixed on a Y-axis 19; the Y-axis transmission system is fixed with the Z-axis 27 and the Y-axis sliding block 17, the Y-axis sliding block 17 is connected with the Y-axis guide rail 18 in a matched mode, and the Y-axis guide rail 18 is fixed on the Y-axis 19; when the mechanical arm control system runs, the Y-axis motor 12 rotates, the transmission system drives the Y-axis gear 15 to rotate, and the Z-axis 27 and the Y-axis slider 17 are driven to move along the Y-axis guide rail 18 through being meshed with the Y-axis rack 16, so that the mechanical arm control system moves along the Y axis;
the Z-axis moving system comprises a Z-axis motor 20, a Z-axis reducer 21, a Z-axis reducer flange 22, a Z-axis gear 23, a Z-axis rack 24, a Z-axis slider 25, a Z-axis guide rail 26, a Z-axis 27 and a Z-axis connecting flange 28; the mechanical arm control system consists of a base 31, a turntable 32, a turntable motor 33, a large arm 34, a large arm motor 35, a box 36, a small arm 37, a small arm motor 38, a wrist body 39 and a wrist body connecting flange 40; the paint spraying system consists of a spray gun bracket 41 and an automatic spray gun 42;
the Z-axis system is a single-row guide rail, the Z-axis motor 20 is connected with a Z-axis speed reducer 21, the Z-axis speed reducer 21 and a Z-axis speed reducer flange 22 form a Z-axis transmission system, the Z-axis transmission system is fixed with a Z-axis gear 23, the Z-axis gear 23 is meshed and connected with a Z-axis rack 24, and the Z-axis rack 24 is fixed on a Z-axis 27; the Z-axis transmission system is connected with a Z-axis flange 28 and a Z-axis sliding block 25 through a Z-axis, the Z-axis sliding block 25 is connected with a Z-axis guide rail 26 in a matched mode, the Z-axis guide rail 26 is fixed on a Z-axis 27, and the Z-axis flange 28 is connected with a mechanical arm control system base 31 in a fixed mode; during operation, the Z-axis motor 20 rotates to drive the Z-axis gear 23 to rotate through the Z-axis transmission system, and the Z-axis connection flange 28 and the Z-axis sliding block 25 are driven to move along the Z-axis guide rail 26 through meshing with the Z-axis rack 24, so that the mechanical arm control system moves along the Z axis.
The mechanical arm control system comprises a base 31, a turntable 32, a turntable motor 33, a large arm 34, a large arm motor 35, a box 36, a small arm 37, a small arm motor 38, a wrist body 39 and a wrist body connecting flange 40; the paint spraying system comprises a spray gun bracket 41 and an automatic spray gun 42; a base 31 of the mechanical arm control system is fixedly connected with a Z-axis connecting flange 28; the turntable motor 33 drives the turntable 32 to rotate, the large arm 34 and the large arm motor 35 are arranged on the turntable, and the large arm 34 is driven to rotate by the large arm motor 35; the box body 35 and the small arm motor 36 are arranged on the large arm 34, the small arm 37 is arranged on the box body 35, and the small arm 37 is driven to rotate by the small arm motor 36; the wrist body 39 is arranged between the small arms 37, and the wrist body coupling flange 40 is arranged on the wrist body 39; the spray gun bracket 41 is respectively connected with the wrist body connecting flange 40 and the spray gun 42, and the mechanical arm can drive the spray gun to move;
during operation, the X-axis motor 3 rotates, the X-axis gear 7 is driven to rotate through the transmission system, and the Y-axis 19 and the X-axis slider 9 are driven to move along the X-axis guide rail 10 through meshing with the X-axis gear rack 8, so that the mechanical arm control system is driven to move along the X axis.
The invention will be further elucidated with reference to the drawing.
As shown in figures 1-4, the automatic moving spraying device for the large-scale four-support-leg non-rotating complex component mainly comprises a chassis 1 of a conveyor, a support leg support bar 2, an X-axis motor 3, an X-axis reducer 4, an X-axis coupler 5, an X-axis transmission shaft 6, an X-axis gear 7, an X-axis rack 8, an X-axis slider 9, an X-axis guide rail 10, an X-axis 11, a Y-axis motor 12, a Y-axis reducer 13, a Y-axis reducer flange 14, a Y-axis gear 15, a Y-axis rack 16, a Y-axis slider 17, a Y-axis guide rail 18, a Y-axis 19, a Z-axis motor 20, a Z-axis reducer 21, a Z-axis reducer flange 22, a Z-axis gear 23, a Z-axis rack 24, a Z-axis slider 25, a Z-axis guide rail 26, a Z-axis 27, a Z-axis connector flange 28, a bracket 29, a cross beam 30, a base 31, a turntable 32, a turntable, The device comprises a small arm motor 38, a wrist body 39, a wrist body connecting flange 40, a spray gun bracket 41 and an automatic spray gun 42.
In order to achieve the purpose, the invention adopts the following technical scheme: a large-scale four-leg non-rotating automatic moving spraying device for complex components mainly comprises a conveying vehicle positioning system, an external shaft moving system, a mechanical arm control system and a spraying system. The conveying vehicle positioning system consists of a conveying vehicle chassis 1 and a support leg support rod 2; the external axis moving system consists of an X-axis moving system, a Y-axis moving system, a Z-axis moving system and a supporting system, wherein the X-axis moving system consists of an X-axis motor 3, an X-axis speed reducer 4, an X-axis coupler 5, an X-axis transmission shaft 6, an X-axis gear 7, an X-axis rack 8, an X-axis slider 9, an X-axis guide rail 10 and an X-axis 11; the mechanical arm control system consists of a base 31, a turntable 32, a turntable motor 33, a large arm 34, a large arm motor 35, a box 36, a small arm 37, a small arm motor 38, a wrist body 39 and a wrist body connecting flange 40; the paint spraying system consists of a spray gun bracket 41 and an automatic spray gun 42.
The bottom of the bracket 29 is connected with the ground, and the upper end of the bracket is fixed with the X-axis 11 and is used for supporting the whole spraying system frame and adjusting the system level;
two ends of the beam 30 are connected with the side surfaces of the X-axis 11 and are used for adjusting the parallelism of the two X-axis 11;
the X-axis system is a double-row guide rail, the X-axis motor 3 is connected with the speed reducer 4, the speed reducer 4 is connected with the coupler 5 and the transmission shaft 6 to form a transmission system, the transmission system is fixed with the gear 7, the gear 7 is meshed with the rack 8, and the rack 8 is fixed on the X-axis 11. The transmission system is fixed with the Y shaft 19 and the sliding block 9, the sliding block 9 is connected with the guide rail 10 in a matching mode, and the guide rail 10 is fixed on the X shaft 11. During operation, the X-axis motor 3 rotates to drive the gear 7 to rotate through the transmission system, and the Y-axis 19 and the sliding block 9 are driven to move along the guide rail 10 through meshing with the rack 8, so that the mechanical arm control system moves along the X axis.
The Y-axis system is a single-row guide rail, the Y-axis motor 12 is connected with a speed reducer 13, the speed reducer 13 and a speed reducer flange 14 form a transmission system, the transmission system is fixed with a gear 15, the gear 15 is meshed with a rack 16, and the rack 16 is fixed on a Y-axis 19. The transmission system is fixed with the Z shaft 27 and the sliding block 17, the sliding block 17 is matched and connected with the guide rail 18, and the guide rail 18 is fixed on the Y shaft 19. In operation, the Y-axis motor 12 rotates to drive the gear 15 to rotate through the transmission system, and the Z-axis 27 and the slider 17 are driven to move along the guide rail 18 by being meshed with the rack 16, so that the mechanical arm control system moves along the Y-axis.
The Z-axis system is a single-row guide rail, the Z-axis motor 20 is connected with the speed reducer 21, the speed reducer 21 and the speed reducer flange 22 form a transmission system, the transmission system is fixed with the gear 23, the gear 23 is meshed with the rack 24, and the rack 24 is fixed on the Z-axis 27. The transmission system is fixed with a Z-axis connecting flange 28 and a sliding block 25, the sliding block 25 is connected with a guide rail 26 in a matching mode, the guide rail 26 is fixed on a Z-axis 27, and the Z-axis connecting flange 28 is fixedly connected with a mechanical arm control system base 31. In operation, the Z-axis motor 20 rotates to drive the gear 23 to rotate through the transmission system, and the Z-axis connecting flange 28 and the slider 25 are driven to move along the guide rail 26 through meshing with the rack 24, so that the mechanical arm control system moves along the Z-axis.
The base 31 of the robotic arm control system is fixedly connected to the Z-axis connecting flange 28. The turntable motor 33 drives the turntable 32 to rotate, the large arm 34 and the large arm motor 35 are arranged on the turntable, and the large arm 34 is driven to rotate by the large arm motor 35. The box body 35 and the small arm motor 36 are arranged on the large arm 34, the small arm 37 is arranged on the box body 35, and the small arm 37 is driven to rotate by the small arm motor 36. A wrist 39 is disposed between the lower arms 37 and a wrist coupling flange 40 is disposed on the wrist 39. The spray gun bracket 41 is respectively connected with the wrist body coupling flange 40 and the spray gun 42, so that the mechanical arm drives the spray gun to move.
The bottom of the bracket 29 is connected with the ground, and the upper end is fixed with the X-axis 11. The beam 30 is connected at both ends to the sides of the X-axis 11. The X-axis system is a double-row guide rail, the X-axis motor 3 is connected with the speed reducer 4, the speed reducer 4 is connected with the coupler 5 and the transmission shaft 6 to form a transmission system, the transmission system is fixed with the gear 7, the gear 7 is meshed with the rack 8, and the rack 8 is fixed on the X-axis 11. The transmission system is fixed with the Y shaft 19 and the sliding block 9, the sliding block 9 is connected with the guide rail 10 in a matching mode, and the guide rail 10 is fixed on the X shaft 11. The Y-axis system is a single-row guide rail, the Y-axis motor 12 is connected with a speed reducer 13, the speed reducer 13 and a speed reducer flange 14 form a transmission system, the transmission system is fixed with a gear 15, the gear 15 is meshed with a rack 16, and the rack 16 is fixed on a Y-axis 19. The transmission system is fixed with the Z shaft 27 and the sliding block 17, the sliding block 17 is matched and connected with the guide rail 18, and the guide rail 18 is fixed on the Y shaft 19. The Z-axis system is a single-row guide rail, the Z-axis motor 20 is connected with the speed reducer 21, the speed reducer 21 and the speed reducer flange 22 form a transmission system, the transmission system is fixed with the gear 23, the gear 23 is meshed with the rack 24, and the rack 24 is fixed on the Z-axis 27. The transmission system is fixed with a Z-axis connecting flange 28 and a sliding block 25, the sliding block 25 is connected with a guide rail 26 in a matching mode, the guide rail 26 is fixed on a Z-axis 27, and the Z-axis connecting flange 28 is fixedly connected with a mechanical arm control system base 31. The base 31 of the robotic arm control system is fixedly connected to the Z-axis connecting flange 28. The turntable motor 33 drives the turntable 32 to rotate, the large arm 34 and the large arm motor 35 are arranged on the turntable, and the large arm 34 is driven to rotate by the large arm motor 35. The box body 35 and the small arm motor 36 are arranged on the large arm 34, the small arm 37 is arranged on the box body 35, and the small arm 37 is driven to rotate by the small arm motor 36. A wrist 39 is disposed between the lower arms 37 and a wrist coupling flange 40 is disposed on the wrist 39. The spray gun support 41 is connected with the wrist body coupling flange 40 and the spray gun 42, respectively.
The utility model provides a large-scale four stabilizer blade non-rotation complicated component automatic movement spraying device which the key feature is: the device consists of a delivery wagon positioning system, an external shaft moving system, a mechanical arm control system and a paint spraying system. The conveying vehicle positioning system consists of a conveying vehicle chassis and a support leg support rod; the external shaft moving system consists of an X-axis moving system, a Y-axis moving system, a Z-axis moving system and a supporting system, wherein the X-axis moving system consists of an X-axis motor, an X-axis speed reducer, an X-axis coupler, an X-axis transmission shaft, an X-axis gear, an X-axis rack, an X-axis slider, an X-axis guide rail and an X-axis; the mechanical arm control system consists of a base, a turntable motor, a large arm motor, a box body, a small arm motor, a wrist body and a wrist body connecting flange; the paint spraying system consists of a spray gun bracket and an automatic spray gun.
The bottom of the bracket is connected with the ground, and the upper end of the bracket is fixed with the X axis and is used for supporting the whole spraying system frame and adjusting the system level;
two ends of the beam are connected with the X-axis side surface and used for adjusting the parallelism of the two X axes;
the X-axis system is a double-row guide rail, an X-axis motor is connected with a speed reducer, the speed reducer is connected with a coupler and a transmission shaft to form a transmission system, the transmission system is fixed with a gear, the gear is meshed with a rack, and the rack is fixed on the X-axis. The transmission system is fixed with the Y shaft and the sliding block, the sliding block is connected with the guide rail in a matching mode, and the guide rail is fixed on the X shaft. When the mechanical arm control system runs, the X-axis motor rotates, the gear is driven to rotate through the transmission system, the Y-axis motor and the sliding block are driven to move along the guide rail through meshing with the rack, and therefore the mechanical arm control system is driven to move along the X axis.
The Y-axis system is a single-row guide rail, the Y-axis motor is connected with the speed reducer, the speed reducer and the speed reducer flange form a transmission system, the transmission system is fixed with the gear, the gear is meshed with the rack, and the rack is fixed on the Y-axis. The transmission system is fixed with the Z shaft and the sliding block, the sliding block is connected with the guide rail in a matching mode, and the guide rail is fixed on the Y shaft. When the mechanical arm control system runs, the Y-axis motor rotates, the gear is driven to rotate through the transmission system, and the Z-axis motor and the sliding block are driven to move along the guide rail through meshing with the rack, so that the mechanical arm control system is driven to move along the Y axis.
The Z-axis system is a single-row guide rail, the Z-axis motor is connected with the speed reducer, the speed reducer and the speed reducer flange form a transmission system, the transmission system is fixed with the gear, the gear is meshed with the rack, and the rack is fixed on the Z axis. The transmission system is fixed with a Z-axis connecting flange and a sliding block, the sliding block is connected with a guide rail in a matching mode, the guide rail is fixed on a Z axis, and the Z-axis connecting flange is fixedly connected with a mechanical arm control system base 31. When the mechanical arm control system runs, the Z-axis motor rotates, the gear is driven to rotate through the transmission system, and the Z-axis connecting flange and the sliding block are driven to move along the guide rail through meshing with the rack, so that the mechanical arm control system is driven to move along the Z axis.
And a base of the mechanical arm control system is fixedly connected with the Z-axis connecting flange. The turntable motor drives the turntable to rotate, the large arm and the large arm motor are arranged on the turntable, and the large arm is driven to rotate by the large arm motor. The box body and the small arm motor are arranged on the big arm, the small arm is arranged on the box body, and the small arm is driven to rotate by the small arm motor. The wrist body is arranged between the small arms, and the wrist body connecting flange is arranged on the wrist body. The spray gun support is respectively connected with the wrist body connecting flange and the spray gun, so that the mechanical arm drives the spray gun to move.
The device has a simple structure, the spraying range is jointly determined by the X-axis, Y-axis and Z-axis motion ranges of the external axis and the motion range of the mechanical arm control system, the spraying range is extremely wide, and the automatic spraying of the large four-support-leg non-rotating complex component can be realized. The spraying process comprises the following steps: hoisting the product to a conveying vehicle for fixing; the conveying vehicle conveys the product to the spraying range of the spraying device; the external shaft moves the mechanical arm to a specified position, and the mechanical arm drives the spray gun to finish the regional spraying of the single side part of the product; the external shaft moves the mechanical arm to the next designated position again, and the mechanical arm drives the spray gun to finish the next part of the area spraying on the single side of the product; moving the mechanical arm again until the spraying of all the areas on the single side of the product is finished; moving a mechanical arm to a designated position on the other side of the product, and driving a spray gun to finish partial area spraying on the other side of the product by the mechanical arm; moving the mechanical arm to a next designated position on the other side of the product, and driving the spray gun to finish the next part of area spraying on the other side of the product by the mechanical arm; moving the mechanical arm again until the spraying of all areas on the other side of the product is finished; the external shaft drives the mechanical arm to move to a zero position; the product is transferred to the curing area using a transfer car.
It has the following advantages: the spraying range is determined by the outer shaft and the mechanical arm together, the spraying range is wide, and the spraying of the lower surface of a non-rotating product is particularly realized; the external shaft realizes the matching movement by the gear rack and the slide block and slide rail structure, the principle is simple and the realization is easy; the product is sprayed on the whole body by adopting a single mechanical arm, so that the cost is low; the spray gun support is connected with the spray gun, so that the structure is simple, the installation is convenient, and the adaptability to the spray gun is strong; the posture of the spray gun can be adjusted according to the structure of the product, and the spray gun can be widely applied to surface spraying of other products and has strong popularization.
The device has a simple structure, the spraying range is jointly determined by the X-axis, Y-axis and Z-axis motion ranges of the external axis and the motion range of the mechanical arm control system, the spraying range is extremely wide, and the automatic spraying of the large four-support-leg non-rotating complex component can be realized. The spraying process is as follows:
(1) hoisting the product to a conveying vehicle for fixing;
(2) the conveying vehicle conveys the product to the spraying range of the spraying device;
(3) the external shaft moves the mechanical arm to a specified position, and the mechanical arm drives the spray gun to finish the regional spraying of the single side part of the product;
(4) the external shaft moves the mechanical arm to the next designated position again, and the mechanical arm drives the spray gun to finish the next part of the area spraying on the single side of the product;
(5) moving the mechanical arm again until the spraying of all the areas on the single side of the product is finished;
(6) moving a mechanical arm to a designated position on the other side of the product, and driving a spray gun to finish partial area spraying on the other side of the product by the mechanical arm;
(7) moving the mechanical arm to a next designated position on the other side of the product, and driving the spray gun to finish the next part of area spraying on the other side of the product by the mechanical arm;
(8) moving the mechanical arm again until the spraying of all areas on the other side of the product is finished;
(9) the external shaft drives the mechanical arm to move to a zero position;
the product is transferred to the curing area using a transfer car.
Claims (3)
1. A large-scale component spraying device mainly comprises a delivery wagon positioning system, an external shaft moving system, a mechanical arm control system and a paint spraying system; the mechanical arm control system is arranged on the external shaft moving system, and the paint spraying system is arranged on the mechanical arm control system; the conveying vehicle positioning system pulls a product to be painted to the middle of the external shaft moving system;
the conveying vehicle positioning system comprises a conveying vehicle chassis (1) and a support leg support rod (2), wherein the support leg support rod (2) is arranged on the conveying vehicle chassis, and a plurality of wheels are arranged below the conveying vehicle chassis (1);
the external axis moving system comprises an X-axis moving system, a Y-axis moving system, a Z-axis moving system and a supporting system, wherein the supporting system is a frame structure consisting of a plurality of supports (29), two cross beams (30) and two X-axes (11), the two X-axes (11) and the two cross beams (30) form a rectangular frame, the lower surface of the X-axes (11) is connected with a plurality of identical supports (29), and the two X-axes (11) and the two cross beams (30) form the rectangular frame on a horizontal plane which has a distance with the ground plane; the X-axis moving system, the Y-axis moving system and the Z-axis moving system are arranged on the supporting system;
when the automatic paint spraying device works, the mechanical arm control system arranged on the external shaft moving system moves along with the X-axis moving system, the Y-axis moving system and the Z-axis moving system, so that the mechanical arm control system and the paint spraying system can spray paint on products to be sprayed on the conveying vehicle positioning system from front, back, left, right and above.
2. The large-scale component spraying device according to claim 1, wherein the X-axis moving system comprises an X-axis motor (3), an X-axis speed reducer (4), an X-axis coupler (5), an X-axis transmission shaft (6), two X-axis gears (7), two X-axis racks (8), two X-axis sliders (9) and two X-axis guide rails (10), the two X-axis guide rails (10) are respectively arranged on the two X-axes (11) to form double-row guide rails, the X-axis motor (3) is connected with the speed reducer (4), the speed reducer (4) is connected with the coupler (5) and the transmission shaft (6) to form a transmission system, the transmission system is fixed with the gears (7), the gears (7) are connected with the racks (8) in a meshed manner, the two racks (8) are fixed on the upper surface end portion of the X-axis (11), and the X-axis transmission system is fixed with the Y-axis (19) and the X-axis sliders, the X-axis sliding block (9) is connected with the X-axis guide rail (10) in a matching way, and the X-axis guide rail (10) is fixed on the X-axis (11);
the Y-axis moving system comprises a Y-axis motor (12), a Y-axis reducer (13), a Y-axis reducer flange (14), a Y-axis gear (15), a Y-axis rack (16), a Y-axis slider (17), a Y-axis guide rail (18) and a Y-axis (19); the Y-axis system is a single-row guide rail, a Y-axis motor (12) is connected with a Y-axis speed reducer (13), the Y-axis speed reducer (13) and a Y-axis speed reducer flange (14) form a Y-axis transmission system, the Y-axis transmission system is fixed with a Y-axis gear (15), the Y-axis gear (15) is meshed with a Y-axis rack (16), and the Y-axis rack (16) is fixed on a Y-axis (19); the Y-axis transmission system is fixed with the Z-axis (27) and the Y-axis sliding block (17), the Y-axis sliding block (17) is connected with the Y-axis guide rail (18) in a matched manner, and the Y-axis guide rail (18) is fixed on the Y-axis (19); when in operation, the Y-axis motor (12) rotates, the Y-axis gear (15) is driven to rotate through a transmission system, and the Z-axis (27) and the Y-axis slider (17) are driven to move along the Y-axis guide rail (18) through being meshed with the Y-axis rack (16), so that the mechanical arm control system moves along the Y axis;
the Z-axis moving system comprises a Z-axis motor (20), a Z-axis reducer (21), a Z-axis reducer flange (22), a Z-axis gear (23), a Z-axis rack (24), a Z-axis slider (25), a Z-axis guide rail (26), a Z-axis (27) and a Z-axis connecting flange (28); the mechanical arm control system consists of a base (31), a turntable (32), a turntable motor (33), a large arm 34, a large arm motor 35, a box body (36), a small arm (37), a small arm motor (38), a wrist body (39) and a wrist body connecting flange (40); the paint spraying system consists of a spray gun bracket (41) and an automatic spray gun (42);
the Z-axis system is a single-row guide rail, a Z-axis motor (20) is connected with a Z-axis speed reducer (21), the Z-axis speed reducer (21) and a Z-axis speed reducer flange (22) form a Z-axis transmission system, the Z-axis transmission system is fixed with a Z-axis gear (23), the Z-axis gear (23) is meshed with a Z-axis rack (24), and the Z-axis rack (24) is fixed on a Z-axis (27); the Z-axis transmission system is connected with a Z-axis flange (28) and a Z-axis sliding block (25) through a Z-axis, the Z-axis sliding block (25) is connected with a Z-axis guide rail (26) in a matched mode, the Z-axis guide rail (26) is fixed on a Z-axis 27, and the Z-axis flange (28) is connected with a mechanical arm control system base (31) in a fixed mode; during operation, the Z-axis motor (20) rotates, the Z-axis gear (23) is driven to rotate through the Z-axis transmission system, and the Z-axis flange (28) connected with the Z axis and the Z-axis sliding block (25) are driven to move along the Z-axis guide rail (26) through meshing with the Z-axis rack (24), so that the mechanical arm control system moves along the Z axis.
3. The large-scale component spraying device according to claim 2, wherein the mechanical arm control system comprises a base (31), a turntable (32), a turntable motor (33), a large arm (34), a large arm motor (35), a box body (36), a small arm (37), a small arm motor (38), a wrist body (39) and a wrist body connecting flange (40), the spraying system comprises a spray gun support (41) and an automatic spray gun (42), the base (31) of the mechanical arm control system is fixedly connected with a Z-axis connecting flange (28) connected with a Z-axis, the turntable motor (33) drives the turntable (32) to rotate, the large arm (34) and the large arm motor (35) are arranged on the turntable, the large arm (34) is driven to rotate by the large arm motor (35), the box body (35) and the small arm motor (36) are arranged on the large arm (34), the small arm (37) is arranged on the box body (35), the small arm (37) is driven to rotate by a small arm motor (36); the wrist body (39) is arranged between the small arms (37), and the wrist body connecting flange (40) is arranged on the wrist body (39); the spray gun bracket (41) is respectively connected with the wrist body connecting flange (40) and the spray gun (42), and the mechanical arm can drive the spray gun to move;
during operation, the X-axis motor (3) rotates, the X-axis gear (7) is driven to rotate through the transmission system, and the Y-axis (19) and the X-axis slider (9) are driven to move along the X-axis guide rail (10) through being meshed with the X-axis rack (8), so that the mechanical arm control system is realized to move along the X axis.
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| CN112108302A (en) * | 2020-08-31 | 2020-12-22 | 杭州山立净化设备股份有限公司 | Paint spraying equipment for large equipment and paint spraying method thereof |
| CN112691819A (en) * | 2020-12-18 | 2021-04-23 | 邵阳先进制造技术研究院有限公司 | AC swing head for automatic spraying equipment |
| CN112916260A (en) * | 2021-01-20 | 2021-06-08 | 合肥工业大学 | Series-parallel robot for linkage spraying of large-scale surface structure |
| CN112936114A (en) * | 2021-02-09 | 2021-06-11 | 山东科技大学 | Intelligent sand blasting system |
| CN113071700A (en) * | 2021-04-14 | 2021-07-06 | 中国航空规划设计研究总院有限公司 | Servo system for airplane surface treatment and application method thereof |
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