CN110694819B - Color-changing valve island for multifunctional manipulator - Google Patents
Color-changing valve island for multifunctional manipulator Download PDFInfo
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- CN110694819B CN110694819B CN201911081497.3A CN201911081497A CN110694819B CN 110694819 B CN110694819 B CN 110694819B CN 201911081497 A CN201911081497 A CN 201911081497A CN 110694819 B CN110694819 B CN 110694819B
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- color changing
- cleaning
- oil inlet
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- 238000004140 cleaning Methods 0.000 claims abstract description 101
- 239000003973 paint Substances 0.000 claims abstract description 82
- 238000007789 sealing Methods 0.000 claims abstract description 51
- 239000002904 solvent Substances 0.000 claims description 33
- 238000010926 purge Methods 0.000 claims description 30
- 239000011324 bead Substances 0.000 claims description 23
- 239000012459 cleaning agent Substances 0.000 claims description 16
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 230000000903 blocking effect Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract description 7
- 238000005507 spraying Methods 0.000 abstract description 5
- 238000000576 coating method Methods 0.000 description 15
- 239000011248 coating agent Substances 0.000 description 14
- 239000003086 colorant Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 6
- 238000010422 painting Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001376 precipitating effect Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007590 electrostatic spraying Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/149—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet characterised by colour change manifolds or valves therefor
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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
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
- B05B15/557—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids the cleaning fluid being a mixture of gas and liquid
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The application discloses a color-changing valve island for a multifunctional manipulator, which comprises a guide rail and a valve island main body clamped on the guide rail; the guide rail is provided with a mounting hole for being mounted on the mechanical arm; a valve island shaft hole extending along the length direction of the guide rail is formed between the valve island main body and the guide rail and is used for the driving shaft of the gear pump to pass through; the valve island main body comprises a paint outlet module, at least one color changing module and a cleaning module which are sequentially clamped on the guide rail; adjacent modules are detachably connected, and each module is provided with a main oil outlet pipeline which is communicated with each other in a sealing way; the end face of the paint outlet module is connected with a main paint outlet connector corresponding to the main oil outlet pipeline. According to the application, the positions of the valve island shaft holes are reserved between the valve island main body and each module, so that the gear pump and the valve island are longitudinally overlapped in space, more auxiliary structures can be arranged on the mechanical arm, and the integration level of the spraying equipment is improved; the valve island main body can be more required to select the number of the color changing modules, and the valve island main body is convenient to disassemble and maintain.
Description
Technical Field
The present disclosure relates generally to the field of spray coating technologies, and in particular, to a color changing valve island for a multifunctional manipulator.
Background
The first electrostatic painting device patent was presented in the united states in 1956, and various electrostatic painting equipment was presented in succession by many companies in united states, law, english, switzerland, japan. The rotary cup type electrostatic spraying equipment is introduced in China in the 50 s, and is widely applied to various coating industries. With the increasing demands of automation and individuation, robots are used as coating tools, and the robots are accelerated to be popularized from the field of high-end automobile coating to the industries of automobile spare parts, furniture, building material, hardware and the like. Along with the development of economy, people can quickly change colors in the coating process to meet the coating demands for personalized color demand coating systems. Therefore, various color changing valve islands have been developed, and the original color changing valve islands simply meet the functions of color changing and paint back flow. For the whole automobile coating, the primary manipulator is generally huge in size, which requires construction of a larger spray booth. The large spray booth requires more supply and exhaust air and a more powerful temperature and humidity regulation system, thus consuming a large amount of energy.
With the increasing requirement on the integration level, the mechanical arm is miniaturized, and the coating mechanical arm is slim, so that the higher requirement on the integration level of the coating system is provided. The higher integration level comprises three aspects, namely, the integration of more functions, so that the control of the coating system is finer and safer. Secondly, the volume is smaller, the equipment arrangement is more reasonable, and the space is saved more. And thirdly, the installation and maintenance are more convenient.
The traditional color-changing valve island has single function and larger volume, and is difficult to disassemble, assemble and maintain once the color-changing valve island is installed. In case of failure in the actual use process, a long time is often required for cleaning and disassembly, so that a great deal of man-hour and energy waste are caused, and even the productivity is seriously affected.
The color-changing valve island is generally composed of a plurality of paint inlet micro valves and paint return micro valves, and in order to prevent paint from precipitating and blocking a pipeline, the paint of each color is continuously circulated in the color-changing valve island. If the micro valve with a certain color is not tightly sealed, the paint with a corresponding color can enter the main pipeline to cause cross color pollution to the paint being sprayed, and serious coating defects can occur at the moment. The other situation has the further consequence that if the paint return micro valve leaks, paint being sprayed flows into the return pipe of the leaked paint and thus into the main pipeline. Especially, the whole automobile is coated, a concentrated paint supply pipeline is complex, and once the concentrated paint supply pipeline is not timely found, a large area of main pipeline is often cross-colored, so that the product being coated is defective, a large amount of materials, labor and time are wasted for cleaning the mixed-color paint, and huge losses are often caused.
The coating equipment on the big arm of manipulator mainly includes: if the color changing valve island, the cleaning valve island, the pressure reducing valve, the gear system, the gun switching control system and the like are of earlier models, the explosion-proof servo motor and the speed reducer can be installed on the mechanical arm because no redundant rotating shaft is designed, and even two sets of corresponding systems are required to be integrated in the double-component occasion. Therefore, the color changing valve island is required to save the installation space as much as possible, and because the equipment and pipelines are numerous and concentrated in a narrow space, the structural design and arrangement of the equipment are required to be convenient for subsequent maintenance and replacement.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings in the prior art, it is desirable to provide a color changing valve island for a multi-functional manipulator that is multifunctional and that is convenient to repair and replace.
In a first aspect, the application provides a color changing valve island for a multifunctional manipulator, which comprises a guide rail and a valve island main body clamped on the guide rail; the guide rail is provided with a mounting hole for being mounted on the mechanical arm; a valve island shaft hole extending along the length direction of the guide rail is formed between the valve island main body and the guide rail and is used for the driving shaft of the gear pump to pass through;
The valve island main body comprises a paint outlet module, at least one color changing module and a cleaning module which are sequentially clamped on the guide rail; adjacent modules are detachably connected, and each module is provided with a main oil outlet pipeline which is communicated with each other in a sealing way; and the end face of the paint outlet module is connected with a main paint outlet connector corresponding to the main oil outlet pipeline.
According to the technical scheme provided by the embodiment of the application, the color changing module is polygonal and is provided with a first surface, a second surface and a third surface; an oil inlet structure is arranged in the color changing module; the oil inlet structure comprises a micro valve oil inlet cavity which is arranged in the color changing module and connected to a main oil outlet pipeline, a micro valve sealing plug which is arranged in the micro valve oil inlet cavity, and a switch valve which is arranged on the first surface of the color changing module; when the switch valve stretches out or retracts back, the micro valve sealing plug is controlled to close or open the micro valve oil inlet cavity;
The color changing module is internally provided with a one-way oil inlet channel communicated with the oil inlet cavity of the micro valve and an oil inlet channel and an oil return channel which are simultaneously communicated with the end part of the one-way oil inlet channel; an oil inlet connector arranged on the third surface of the color changing module is connected to the outside of the oil inlet channel; the oil return channel is externally connected with an oil return joint arranged on the second surface of the color changing module;
And a one-way valve is also arranged in the one-way oil inlet channel.
According to the technical scheme provided by the embodiment of the application, the color changing module is also provided with a fourth surface; the one-way valve comprises a sealing gasket, a reset spring, a sealing bead and a one-way blocking valve; the sealing gasket is arranged in the unidirectional oil inlet channel; an inner channel for conducting the oil inlet channel and the unidirectional oil inlet channel is arranged in the sealing gasket; the end part of the inner channel is clamped with a sealing bead; a return spring which is in butt joint with the sealing bead is clamped in the unidirectional oil inlet channel; and the one-way blocking valve is arranged on the fourth surface of the color changing module to tightly press the sealing gasket in the color changing module.
According to the technical scheme provided by the embodiment of the application, two groups of oil inlet structures with the same structure are symmetrically arranged in the color changing module on the vertical axis plane of the main oil outlet pipeline.
According to the technical scheme provided by the embodiment of the application, the top of the color changing module is provided with the visual leakage indicating hole communicated to the micro valve oil inlet cavity.
According to the technical scheme provided by the embodiment of the application, the cleaning module is provided with a cleaning agent channel and an air channel which are respectively communicated with the main oil outlet pipeline; the cleaning module is polygonal;
The cleaning module is provided with a cleaning agent joint, a cleaning air joint and an external cleaning pipe joint on different surfaces respectively; the cleaning agent connector is arranged at the outer end of the cleaning agent channel; the cleaning air connector is arranged at the outer end of the air channel;
An internal solvent cleaning valve and a one-way valve are sequentially arranged between the cleaning agent connector and the main oil outlet pipeline; an external solvent cleaning valve and a flow regulating valve are sequentially arranged between the cleaning agent connector and the external cleaning pipe connector;
An internal air cleaning valve and a one-way valve are sequentially arranged between the cleaning air connector and the main oil outlet pipeline; an external air cleaning valve and a flow regulating valve are sequentially arranged between the cleaning air connector and the external cleaning pipe connector.
According to the technical scheme provided by the embodiment of the application, the flow regulating valve is a flow regulating screw which extends into a required regulating pipeline from the outside of the cleaning module.
According to the technical scheme provided by the embodiment of the application, the adjacent contact surfaces between the adjacent paint outlet modules and the color changing modules, between the adjacent two color changing modules and between the adjacent color changing modules and the cleaning module are mounting surfaces; the mounting surface comprises a first mounting surface and a second mounting surface; a positioning locking pin is fixed on the first mounting surface through a screw; a locking matching groove is formed in the second mounting surface; the positioning locking pin is provided with a through hole penetrating in the horizontal direction; when the first mounting surface is close to the second mounting surface, the positioning locking pin is inserted into the corresponding locking matching groove and locked by the locking screw horizontally inserted into the through hole.
According to the technical scheme provided by the embodiment of the application, the through hole is a frustum with wide ends and narrow middle; the end part of the locking screw is provided with a conical surface parallel to the side wall of the through hole.
According to the technical scheme provided by the embodiment of the application, the two sides of the guide rail are outwards turned to form guide rail flanging; the paint discharging module, the color changing module and the cleaning module are respectively provided with a fixed clamping plate at two sides of the bottom, and slots for inserting the flanges of the guide rails are horizontally formed in the fixed clamping plates; the top bead is clamped in the slot of the fixed clamping plate at any side, and the flange of the guide rail is inserted between the top bead and the side wall of the slot.
The beneficial effects of the application are as follows: through reserving the position of the valve island shaft hole between the valve island main body and each module, the gear pump driving shaft can pass through the valve island shaft hole, but on the premise of not increasing the volume of the valve island, the gear pump and the valve island are longitudinally overlapped in space, so that more auxiliary structures can be arranged on the mechanical arm, and the integration level of the spraying equipment is improved; according to the application, the paint outlet module, at least one color changing module and the cleaning module are designed, and adjacent modules are detachably connected, so that the valve island main body can more need to select the number of the color changing modules, and the valve island main body is convenient to detach and maintain; in the technical scheme of the application, the cleaning module and the color changing module are integrated on the valve island main body, so that the cleaning and the paint supply are concentrated, and the integration level of the valve island is further improved.
According to the technical scheme provided by the embodiment of the application, the color changing module adopts a double-line paint supply design, and is provided with the oil inlet and the oil return port, so that the oil return port can be blocked due to simpler requirements in the single-line paint supply occasion, and the color changing module is only used for color changing. When the double lines are used for supplying paint, oil inlet and oil return are simultaneously opened, so that the paint can be prevented from precipitating in a main pipeline; each color is provided with a one-way valve which is opened during normal paint supply, and which is closed when the valve island paint return valve fails, thereby preventing paint from entering the paint return pipeline of other colors from the main discharge pipeline, and preventing paint cross color.
According to the technical scheme provided by the embodiment of the application, the cleaning module not only can clean the main paint supply pipeline during color replacement, but also is provided with an independent external cleaning channel for the paint application tool in order to meet the cleaning requirement of the paint application tool. Meanwhile, the cleaning module is provided with an independent flow regulating valve for regulating the use amount of cleaning solvent and cleaning air during external cleaning, so that consumables are saved and the optimal cleaning effect is achieved.
According to the technical scheme provided by the embodiment of the application, each module adopts a polygonal shape, each functional piece is arranged on different surfaces, enough spaces are reserved among different functional pieces, and enough space is provided for maintenance. The polygonal structure enables the disassembly and assembly of each valve, the disassembly and assembly of the coating pipe, the air pipe and the joint, the observation of leakage state and the like to be independently and conveniently operated.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a valve island structure according to the present application;
FIG. 2 is a schematic side view of a valve island of the present application;
FIG. 3 is a schematic diagram of an internal structure of a color changing module according to the present application;
FIG. 4 is a schematic diagram of an external structure of a color changing module;
FIG. 5 is a schematic view of the external structure of the cleaning module according to the present application;
FIG. 6 is a schematic diagram of a system in accordance with the present application;
FIG. 7 is a schematic diagram of the connection structure between the modules in the present application;
FIG. 8 is a schematic view of the mounting structure of the valve island body and the guide rail of the present application;
reference numerals in the drawings:
1, installing a guide rail; 2, a guide rail mounting groove; 3, a valve island shaft hole; 4, a valve island paint outlet module; 5, paint outlet joints; 7A and 7B are connected with oil inlets; 8A and 8B oil return joints; 9A and 9B switch valves; 11 switch valve pneumatic control joint; 12 cleaning the tube; 13, a color changing module; 14 cleaning a valve pneumatic control joint; 15 a leak indicator hole; 16 cleaning the module; 17 paint outlet pipes; 18, a paint inlet pipe; 19 a one-way valve; 20 joint spacing; 21 a flow rate adjusting screw; 22 an external purge valve pneumatic control tube; 23 an internal purge valve pneumatic control tube; 24 paint return pipes; 25 a third direction; 26, fixing a clamping plate; 27, flanging the guide rail; 28 direction of rotation; 29 top beads; 30 fourth direction; 32 positioning a locking pin; 33 sealing rings; 34 through holes; 35 one-way valve plug; 36 oil feed passage; 37 oil return channels; 38 micro valve oil inlet cavity; 39 micro valve sealing plug; 40 main oil outlet pipeline; 41 valve gaskets; 42 sealing beads; 43 a return spring; 44 a check valve oil inlet passage; 45 front end sealing surface; 46 rear end sealing surface; 47A valve island module a;47B valve island module B;48 screw 49 locking mating groove; 50 conical surfaces of screws; 51 second direction; 52 locking screws; 53 a first direction; 54 locking angle; 56 cleaning the solvent joint; 57 external solvent cleaning pneumatic joint; 58 external solvent purge valve; 59 an internal solvent purge valve; 61 an internal solvent purge pneumatic connector 62 an internal air purge pneumatic connector; 63 an outside air purge valve; 64 external air purge pneumatic control fitting 65 internal air purge valve; 66 cleaning the air connector; a 70A flow regulating valve; 70B flow regulating valve; 75. an external solvent purge tube 76, an external air purge tube.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Please refer to fig. 1 and fig. 2, which are schematic structural diagrams of a first embodiment of a color changing valve island for a multifunctional manipulator according to the present application, wherein the color changing valve island comprises a guide rail 1 and a valve island main body clamped on the guide rail 1; the guide rail 1 is provided with a mounting hole 2 for being mounted on the mechanical arm; a valve island shaft hole 3 extending along the length direction of the guide rail 1 is formed between the valve island main body and the guide rail 1, and is used for the driving shaft of the gear pump to pass through; therefore, in the scheme, independent space is not required to be arranged for the driving shaft, so that the gear pump and the valve island main body are longitudinally overlapped in space, but the volume of the valve island main body is not increased, and only the structure optimization of the valve island main body is realized, so that more accessory equipment can be installed on the mechanical arm.
As shown in fig. 1 and fig. 2, in this embodiment, the valve island main body includes a paint outlet module 4, five color changing modules 13, and a cleaning module 16 that are sequentially clamped on the guide rail 1; the adjacent modules are detachably connected, and each module is provided with a main oil outlet pipeline 40 which is communicated with each other in a sealing way; the main paint outlet pipe 40 corresponding to the end face of the paint outlet module 4 is connected with a main paint outlet joint 5, and the main paint outlet joint 5 is provided with a paint supply hose 17 for a painting appliance attached to a manipulator. The paint outlet module 4 is a paint outlet summarizing module of the whole valve island body. The color changing module 13 is a main body module, and can be increased or decreased as required due to the design of detachable connection.
In this embodiment, as shown in fig. 3 and 4, the color changing module 13 is polygonal, and has a first surface, a second surface and a third surface; an oil inlet structure is arranged in the color changing module 13; the oil inlet structure comprises a micro valve oil inlet cavity 38 which is arranged in the color changing module 13 and is communicated with a main oil outlet pipeline 40, a micro valve sealing plug 39 which is arranged in the micro valve oil inlet cavity 38, and switching valves 9A and 9B which are arranged on the first surface of the color changing module 13; when the switch valve 9A is extended/retracted, the micro valve sealing plug 39 is controlled to close/open the micro valve oil inlet cavity 38; the color changing module 13 is provided with a switching valve pneumatic control joint 11 corresponding to each switching valve 9A,9B and is used for connecting an air source to provide power for the switching valves;
The color changing module 13 is also internally provided with a one-way oil inlet channel 44 communicated with the micro-valve oil inlet cavity 38, and an oil inlet channel 36 and an oil return channel 37 which are simultaneously communicated with the end part of the one-way oil inlet channel 44; the oil inlet passage 36 is externally connected with an oil inlet joint 7 arranged on the third surface of the color changing module 13; the oil return channel 37 is externally connected with an oil return joint 8 arranged on the second surface of the color changing module 13;
A one-way valve 19 is also arranged in the one-way oil inlet channel 44; the color changing module is also provided with a fourth surface; the check valve 19 comprises a sealing gasket 42, a return spring 43, a sealing bead 42 and a check valve 35; the sealing gasket 42 is installed in the one-way oil inlet passage 44; an inner channel for conducting the oil inlet channel 36 and the unidirectional oil inlet channel 44 is arranged in the sealing gasket; the end part of the inner channel is clamped with a sealing bead 42; a return spring which is abutted against the sealing bead 42 is clamped in the unidirectional oil inlet channel 44; the one-way valve 35 is installed from the fourth surface of the color changing module 13 to press the sealing gasket 42 into the color changing module 13.
In this embodiment, two groups of oil inlet structures with the same structure are symmetrically arranged in the color changing module 13 on the vertical axis plane of the main oil outlet pipeline 40.
The color changing module 13 has a polygonal shape with symmetrical distribution, and the internal pipelines are also symmetrically distributed, and the left and right parts are two sets of oil inlet mechanisms. Taking one side as an example, the oil inlet joint 7 is connected with a paint inlet pipe 18, and the oil return joint 8 is connected with a paint return pipe 24; paint flows in from the oil inlet joint 7, when the color is not required to be sprayed, the paint flows out of the color changing module 13 from the oil inlet channel 36 through the oil return channel 37 and the oil return joint 8, enters into a main oil return pipeline, when the color A is required to be sprayed, the switching valve 9A corresponding to the color A controls the air supply to supply air, the micro valve sealing plug 39 is opened, the sealing bead 42 is propped open by the oil inlet channel 36 due to the action of pressure difference, and enters into the check valve oil inlet channel 44 and the micro valve oil inlet cavity 38 of the switching valve, passes through the micro valve sealing plug 39 and then enters into the main oil outlet pipeline 40, and then is conveyed to the gear pump or the atomizer.
The application is provided with a one-way valve 19 at the front of the on-off valve 9. The check valve 19 is composed of a sealing valve pad 41, a check valve plug 35, a return spring 43 and a sealing bead 42. The check valve plug 35 presses against the sealing gasket 41, and the front end sealing surface 45 and the rear end sealing surface 46 of the sealing gasket seal the check valve internally and externally. When the on-off valve 9 leaks, paint reversely flows from the main oil outlet pipe 40, the return spring 43 and the reverse flow pressure push the sealing bead 42 to press the sealing gasket 41, thereby preventing the reversely flowing paint from entering the oil inlet passage 36, and avoiding paint contamination.
In the embodiment, each color changing module is provided with two paths of color paint, the combination of a plurality of color changing modules can realize the replacement and spraying of a plurality of colors, and the quantity and combination of the colors can be freely controlled and matched through the switch valve 9; brings convenience to the use. Each color changing module can meet the control requirements of two colors, paint enters from the oil inlet connector 7A and the oil inlet connector 7B and circularly flows out from the oil return connector 8A and the oil return connector 8B, and the on-off valve 9A and the on-off valve 9B can be opened and closed by switching on and off compressed air for the on-off valve pneumatic control connector 11. The oil inlet joint 7A and the oil inlet joint 7B are oil inlet joints corresponding to different colors of paint on the same module, and the oil return joint 8A and the oil return joint 8B are oil return joints corresponding to different colors of paint on the same module; the switch valve 9A and the switch valve 9B are switch valves corresponding to different colors on the same module.
In this embodiment, in order to reduce the paint feeding resistance, the paint feeding pipe 18 is a thick pipe with an inner diameter of 8mm, and the paint returning pipe 24 is a paint pipe with an inner diameter of 6 mm. The non-return valve 19 is arranged at the bottom of the valve island body, as it is not frequently disassembled. Sufficient joint spacing 20 is reserved between the paint inlet pipeline 18 and the paint inlet joint 7, and the paint pipeline 18 can be independently and conveniently disassembled and replaced by utilizing the space distance under the condition that other pipelines and joints are not changed.
The color changing modules are of a laterally symmetrical polyhedral structure, the oil inlet joint 7A, the oil inlet joint 7B, the oil return joint 8A, the oil return joint 8B, the switch valve 9A, the switch valve 9B and the like are all arranged on a specific plane and do not interfere with each other, and the outlet of each module is sealed with the other module by using a sealing ring 33.
Preferably, in this embodiment, a visual leakage indicating hole 15 communicating with the micro valve oil inlet cavity 38 is provided at the top of the color changing module 13. The microvalve leakage indicator aperture 15 indicates the state of health of the on-off valve. If an axial sealing leakage occurs in a certain switching valve, the axial sealing leakage appears from the visual leakage indicating hole 15 first, so that the axial sealing leakage can be replaced in time.
In this embodiment, as shown in fig. 5, the cleaning module 16 is provided with a cleaning agent passage and an air passage which are respectively connected to the main oil outlet pipe 40; the cleaning module 16 is polygonal;
The cleaning module 16 has cleaning agent connectors 56, cleaning air connectors 66 and external cleaning pipe connectors 12 mounted on different surfaces thereof; the cleaner connector 56 is mounted at the outer end of the cleaner passage; the purge air connector 66 is mounted at the outer end of the air passage;
An internal solvent cleaning valve 59 and a one-way valve 19 are sequentially arranged between the cleaning agent connector 56 and the main oil outlet pipeline 40; an external solvent cleaning valve 58, flow regulating valves 70A,70B and an external solvent cleaning pipe 75 are sequentially arranged between the cleaning agent joint 56 and the external cleaning pipe joint 12;
An internal air purge valve 65 and a check valve 19 are sequentially arranged between the purge air connector 66 and the main oil outlet pipe 40; an outside air purge valve 63, flow rate adjusting valves 70a,70b, and an outside air purge pipe 76 are provided in this order between the purge air joint 66 and the outside purge pipe joint 12.
The cleaning module 16 is also provided with an external solvent cleaning pneumatic control joint 57 corresponding to the external solvent cleaning valve 58, and is used for switching on and switching on the external solvent cleaning valve 58 by switching on an air source; an internal solvent cleaning pneumatic control joint 61 is arranged corresponding to the internal solvent cleaning valve 59 and is used for switching on an air source to control the on-off of the internal solvent cleaning valve 59; an external air cleaning pneumatic control joint 64 is arranged corresponding to the external air cleaning valve 63 and is used for switching on an air source to control the on-off of the external air cleaning valve 63; an internal air cleaning pneumatic control joint 62 is arranged corresponding to the internal air cleaning valve 65 and is used for switching on an air source to control the on-off of the internal air cleaning valve 65; each of the connectors is connected with an air pipe, and as shown in fig. 2, the external solvent cleaning pneumatic connector 57 is connected with an external cleaning valve pneumatic pipe 22, and the internal solvent cleaning pneumatic connector 61 is connected with an internal cleaning valve pneumatic pipe.
Fig. 6 is a system schematic diagram of the entire valve island body. The left side of the system is a cleaning part, and the right side is a color changing part. The purge section includes two symmetrical sets of solvent and air distribution systems, solvent entering from purge fitting 56, and when a purge of solvent is required to complete a color change, an internal solvent purge valve 59 is opened and enters main oil outlet line 40, completing the purge of the line. To prevent paint from the main oil outlet line 40 from returning to the cleaning solvent system, a one-way valve 19 is provided at the front end of the internal solvent cleaning valve 59. Similarly, purge air is admitted from purge air connection 66, and when air purging is required from main oil outlet line 40, internal air purge valve 65 is opened to complete purging of main oil outlet line 40. To prevent paint from the main oil outlet line 40 from returning to the air system, a one-way valve 19 is also added before the internal air purge valve 65. When the coating tool hung on the manipulator needs to be cleaned independently, the external solvent cleaning valve 58 and the external air cleaning valve 63 are opened, so that the specific cleaning of the coating tool hung on the outside can be completed. The amount of the solvent and air used for external cleaning can be controlled by adjusting the opening of the flow rate adjusting valves 70A and 70B, thereby achieving the purpose of precise control. For cleaning, the control valve for cleaning inside and outside can be opened alternately to realize the alternate cleaning pulse of cleaning solvent and air.
Preferably, the flow control valves 70A, 70B are flow control screws 21 extending from the exterior of the cleaning module 16 into the desired conditioning line. The flow rates of the cleaning air and the cleaning solvent can be controlled by adjusting the screw 21, thereby optimizing and improving the consumption of the solvent and the air.
The right side of fig. 6 is the color changing part of the valve island, and different numbers of color changing modules can be hung according to the needs, so as to meet the needs of changing different colors. For example, with one color, paint enters from the paint inlet pipe 18 and flows from the paint return pipe 24 into the return pipe if spraying is not desired. If painting is required, the on-off valve 9A is opened and paint passes through the check valve 19 into the main oil outlet line 40. In the case of applying other neutral colors, if the failure of the on-off valve 9A is not tightly sealed, the check valve 19 prevents paint in the main oil outlet pipe 40 from flowing into the paint return pipe 24, thereby preventing color cross caused by the failure of the on-off valve.
Preferably, the detachable connection mode between the modules is as follows: as shown in fig. 7, adjacent contact surfaces between the adjacent paint discharging modules 4 and the color changing modules 13, between the adjacent two color changing modules 13 and between the adjacent color changing modules 13 and the cleaning modules 16 are mounting surfaces; the mounting surface comprises a first mounting surface and a second mounting surface; a positioning locking pin 32 is fixed on the first mounting surface through a screw; a locking matching groove 49 is formed in the second mounting surface; the positioning locking pin 32 is provided with a through hole 34 penetrating in the horizontal direction; when the first mounting surface is close to the second mounting surface, the positioning locking pin 32 is inserted into the corresponding locking matching groove 49, and locked by the locking screw 52 horizontally inserted into the through hole.
Preferably, the through hole is a frustum with wide ends and narrow middle; the end of the locking screw 52 is provided with a conical surface 55 parallel to the side wall of the through hole.
As shown in fig. 7, taking the valve island module 47A and the valve island module 47B as an example, each module has two positioning locking pins 32 which are symmetrical left and right, the positioning locking pins 32 are connected with the valve island module by screws 48, for example, one surface of the valve island module 47A is provided with a locking matching groove 49, and the screws 48 extend from the locking matching groove 49 to penetrate through the valve island module and then are fixedly connected with the positioning locking pins 32 on the other surface of the valve island module. When the modules are assembled, the positioning locking pin 32 of the valve island module 47A is inserted into the locking engagement groove 49 on the back of the other module 47B. The locking screw 52 is screwed in a first direction 53, the screw taper 50 of which cooperates with the taper 34 of the through hole 34, and the screw taper 50 locks the two modules in a second direction 51 as the locking screw 52 is screwed in. The locking angle 54 of the locking screw 52 may be selected between 90 degrees and 30 degrees for optimal installation and locking pin passage, with the invention preferably having a 60 degree angle as the locking taper angle for a 6mm diameter locking screw 52.
The modules are connected by using positioning locking pins 32 which have both locking and positioning functions by cooperation. Since the paint discharging module 4 is positioned at the end, the positioning locking pin 32 is fixed on one surface adjacent to the color changing module 13 through the screw 48; since the cleaning module 14 is located at the end, it is provided with a lock engagement groove 49 only on the side adjacent to the color changing module 13.
Preferably, the valve island body is connected with the guide rail 1 in the following manner: the two sides of the guide rail 1 are outwards turned to form guide rail flanges 27; the two sides of the bottoms of the paint discharging module 4, the color changing module 13 and the cleaning module 16 are respectively provided with a fixed clamping plate 26, and slots for inserting the guide rail flanges 27 are horizontally formed in the fixed clamping plates 26; the top bead 29 is clamped in the slot of the fixed clamping plate at any side, and the guide rail flanging 27 is inserted between the top bead 29 and the side wall of the slot.
Fig. 8 is a view showing a method of detaching the valve island module, and the guide rail 1 is fixed to the arm through the mounting hole 2. When the valve island module 47A is installed, it is first pushed in according to the third direction 25, pushing the rail flange 27 into the slot of the fixing clip 26. The valve island module 47A is then rotated according to the direction of rotation 28. The guide rail 1 is fixed on the mechanical arm, and the guide rail flange 27 pushes the top bead 29 inwards to be clamped into the gap between the top bead 29 and the side wall of the slot of the valve island module 47A. The top bead 29 is movable in a fourth direction 30 and provides a pre-load force.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (7)
1. The color-changing valve island for the multifunctional manipulator is characterized by comprising a guide rail (1) and a valve island main body clamped on the guide rail (1); the guide rail (1) is provided with a mounting hole (2) for being mounted on the mechanical arm; a valve island shaft hole (3) extending along the length direction of the guide rail (1) is formed between the valve island main body and the guide rail (1) and is used for enabling a driving shaft of the gear pump to pass through;
The valve island main body comprises a paint outlet module (4), at least one color changing module (13) and a cleaning module (16) which are sequentially clamped on the guide rail (1); adjacent modules are detachably connected, and each module is provided with a main oil outlet pipeline (40) which is communicated with each other in a sealing way; the end face of the paint outlet module (4) is connected with a main paint outlet connector (5) corresponding to the main oil outlet pipeline (40);
the color changing module (13) is polygonal and is provided with a first surface, a second surface and a third surface; an oil inlet structure is arranged in the color changing module (13); the oil inlet structure comprises a micro-valve oil inlet cavity (38) which is arranged in the color changing module (13) and communicated with a main oil outlet pipeline (40), a micro-valve sealing plug (39) which is arranged in the micro-valve oil inlet cavity (38), and switching valves (9A, 9B) which are arranged on the first surface of the color changing module (13); when the switch valve extends or retracts, the micro valve sealing plug (39) is controlled to close or open the micro valve oil inlet cavity (38);
A unidirectional oil inlet channel (44) communicated with the micro valve oil inlet cavity (38) and an oil inlet channel (36) and an oil return channel (37) communicated with the end part of the unidirectional oil inlet channel (44) are also arranged in the color changing module (13); the oil inlet channel (36) is externally connected with oil inlet connectors (7A, 7B) arranged on the third surface of the color changing module (13); the oil return channel (37) is externally connected with oil return joints (8A, 8B) arranged on the second surface of the color changing module (13);
a one-way valve is also arranged in the one-way oil inlet channel (44);
two groups of oil inlet structures with the same structure are symmetrically arranged in the color changing module (13) on the vertical axis plane of the main oil outlet pipeline (40);
the cleaning module (16) is provided with a cleaning agent channel and an air channel which are respectively communicated with the main oil outlet pipeline (40); the cleaning module (16) is polygonal;
The cleaning module (16) is provided with a cleaning agent joint (56), a cleaning air joint (66) and an external cleaning pipe joint (12) on different surfaces respectively; the cleaning agent joint (56) is mounted at the outer end of the cleaning agent channel; the purge air fitting (66) is mounted at the outer end of the air passage;
An internal solvent cleaning valve (59) and a one-way valve are sequentially arranged between the cleaning agent joint (56) and the main oil outlet pipeline (40); an external solvent cleaning valve (58) and a flow regulating valve are sequentially arranged between the cleaning agent joint (56) and the external cleaning pipe joint (12);
an internal air cleaning valve (65) and a one-way valve are sequentially arranged between the cleaning air connector (66) and the main oil outlet pipeline (40); an external air cleaning valve (63) and a flow regulating valve are sequentially arranged between the cleaning air connector (66) and the external cleaning pipe connector (12).
2. The color changing valve island for a multifunctional manipulator of claim 1, wherein the color changing module further has a fourth surface; the one-way valve comprises a sealing gasket (41), a return spring (43), a sealing bead (42) and a one-way blocking valve (35); the sealing gasket (41) is arranged in the unidirectional oil inlet channel (44); an inner channel for conducting the oil inlet channel (36) and the unidirectional oil inlet channel (44) is arranged in the sealing gasket (41); the end part of the inner channel is clamped with a sealing bead (42); a return spring which is abutted against the sealing bead (42) is clamped in the unidirectional oil inlet channel (44); the one-way blocking valve (35) is arranged on the fourth surface of the color changing module (13) to press the sealing gasket (41) into the color changing module (13).
3. The color changing valve island for the multifunctional manipulator according to claim 2, wherein a visual leakage indication hole communicated into the micro-valve oil inlet cavity (38) is formed in the top of the color changing module (13).
4. The color changing valve island for the multifunctional manipulator according to claim 1, characterized in that the flow regulating valve is a flow regulating screw (21) extending into a desired regulating pipeline from the outside of the cleaning module (16).
5. The color changing valve island for the multifunctional manipulator according to claim 1, wherein adjacent contact surfaces between adjacent paint outlet modules (4) and color changing modules (13) and between adjacent two color changing modules (13) and between adjacent color changing modules (13) and cleaning modules (16) are mounting surfaces; the mounting surface comprises a first mounting surface and a second mounting surface; a positioning locking pin (32) is fixed on the first mounting surface through a screw; a locking matching groove (49) is formed in the second mounting surface; the positioning locking pin (32) is provided with a through hole penetrating in the horizontal direction; when the first mounting surface is close to the second mounting surface, the positioning locking pin (32) is inserted into the corresponding locking matching groove (49) and locked by the locking screw (52) horizontally inserted into the through hole.
6. The color changing valve island for the multifunctional manipulator according to claim 5, wherein the through hole is a frustum with wide ends and narrow middle; the end of the locking screw (52) is provided with a conical surface (55) parallel to the side wall of the through hole.
7. The color changing valve island for the multifunctional manipulator according to claim 5, wherein guide rail flanges (27) are formed by outwards turning two sides of the guide rail (1); the paint discharging module (4), the color changing module (13) and the cleaning module (16) are respectively provided with a fixed clamping plate (26) at two sides at the bottom, and slots for inserting the guide rail flanges (27) are horizontally formed in the fixed clamping plates (26); the top bead (29) is clamped in the slot of the fixed clamping plate at any side, and the guide rail flanging (27) is inserted between the top bead (29) and the side wall of the slot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911081497.3A CN110694819B (en) | 2019-11-07 | 2019-11-07 | Color-changing valve island for multifunctional manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911081497.3A CN110694819B (en) | 2019-11-07 | 2019-11-07 | Color-changing valve island for multifunctional manipulator |
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| CN110694819A CN110694819A (en) | 2020-01-17 |
| CN110694819B true CN110694819B (en) | 2024-05-28 |
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| CN201911081497.3A Active CN110694819B (en) | 2019-11-07 | 2019-11-07 | Color-changing valve island for multifunctional manipulator |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114505189B (en) * | 2022-01-28 | 2022-12-02 | 山东交通学院 | Color changing module with detection feedback and spraying equipment |
| CN114345156A (en) * | 2022-02-14 | 2022-04-15 | 天津铭捷智能装备有限公司 | Bi-component coating mixing device and cleaning method |
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| CN108970842A (en) * | 2018-07-06 | 2018-12-11 | 上海千歌环保科技有限公司 | A kind of novel planar color changing valve |
| CN208494648U (en) * | 2018-06-28 | 2019-02-15 | 百富非凡机电设备（昆山）有限公司 | A kind of color changing valve based on diaphragm |
| CN211190666U (en) * | 2019-11-07 | 2020-08-07 | 天津铭捷智能装备有限公司 | Color-changing valve terminal for multifunctional manipulator |
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| JPH0994497A (en) * | 1995-10-02 | 1997-04-08 | Trinity Ind Corp | Color change washing valve device |
| JPH09248499A (en) * | 1996-03-14 | 1997-09-22 | Trinity Ind Corp | Color replacing valve device |
| CN201552087U (en) * | 2009-08-28 | 2010-08-18 | Abb技术有限公司 | Modularized pneumatic switch control valve, and painting device and painting robot adopting color changing valve |
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| CN110694819A (en) | 2020-01-17 |
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