CN110961290A - Subway part spraying industrial robot system - Google Patents
Subway part spraying industrial robot system Download PDFInfo
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- CN110961290A CN110961290A CN201911316411.0A CN201911316411A CN110961290A CN 110961290 A CN110961290 A CN 110961290A CN 201911316411 A CN201911316411 A CN 201911316411A CN 110961290 A CN110961290 A CN 110961290A
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- spraying
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- industrial robot
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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 three-dimensional [3D] surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a subway component spraying industrial robot system which comprises a base, wherein the base is slidably sleeved on an arc-shaped rail, the arc-shaped rail is arranged on the periphery of a subway component, and a spraying device is arranged at the front end of the base; the arc-shaped track is provided with a slide rail, the pulley is connected with the slide rail in a sliding way, and the subway part is arranged on the pulley; and the base is provided with a power device and a corresponding control module. The invention has the beneficial effects that: 1) the manual spraying is replaced by the spraying robot, so that the spray painting personnel can be liberated from severe, heavy, repeated and single working environments. Meanwhile, the coating production efficiency, the utilization rate of paint and the coating quality of a painted vehicle body can be improved by applying and popularizing the production line of the spraying robot; 2) control information of the spraying robot is written into the robot control module through the computer, and the monitoring device transmits acquired information to the video processing module in real time, so that the spraying efficiency is high.
Description
Technical Field
The invention relates to the technical field of spraying equipment, in particular to a novel automobile spraying system with high spraying efficiency.
Background
With the improvement of living standard of people, people consume more and more automobiles, the market of automobile parts becomes larger and larger, and therefore, the requirements on the parts are higher and higher. The corrosion resistance of various elastic parts on an automobile, such as hoops, semicircular hoops, various springs, plate springs and the like, the strength and hardness requirements of the parts are high, electroplating treatment can generate hydrogen embrittlement, and if dehydrogenation is not thorough, the parts are easy to tear or corrode and fatigue after bearing dynamic load for a long time, potential safety hazards can be brought to automobile running, and the requirements on surface treatment of the parts are correspondingly high. In addition, if the parts of various pipes and cavities with complex shapes, such as exhaust pipes and mufflers of engines, are electroplated, the plating layer formed is uneven and even plating leakage may occur due to the complex shapes of the parts and the limitation of the electroplating process, so that the corrosion resistance of the parts is reduced rapidly, and the performance and the service life of the parts of the automobiles are directly affected. Coating is a very important process in the manufacturing industry, at present, the coating process is mainly finished by manpower in China, and the coating quality is greatly influenced by the technical factors of workers; the toxic gas volatilized in the coating process has great influence on the health of workers. Realizes the automation of the coating process and has great social and economic benefits. The spraying robot is a painting automation device. In order to thoroughly get rid of the damage of toxic gas to human bodies in the spraying process, the company designs a spraying robot with a visual system, develops a visual detection function of the robot, and comprehensively improves the spraying efficiency.
Chinese patent 201510548740.3 discloses a large tracts of land spraying robot is used in car surface coating adopts board-like paint spraying apparatus cooperation multiple spot paint spraying hole, realizes that the automobile body surface carries out the swift paint spraying of large tracts of land, has improved the efficiency of spraying paint, has reduced equipment quantity, has reduced manufacturing cost, but the weak point lies in, and the structure is complicated, and fixed chassis mode leads to appearing the inhomogeneous condition of spraying.
Disclosure of Invention
The invention provides a novel automobile spraying system with a vision system, which can accurately detect the position of a workpiece and plan a spraying path of a spraying robot, and has higher spraying efficiency.
A subway component spraying industrial robot system comprises a base, wherein the base is slidably sleeved on an arc-shaped rail, the arc-shaped rail is arranged on the periphery of a subway component, and a spraying device is arranged at the front end of the base; the arc-shaped track is provided with a slide rail, the pulley is connected with the slide rail in a sliding way, and the subway part is arranged on the pulley; and the base is provided with a power device and a corresponding control module.
The frame passes through actuating mechanism and is connected with the spraying device, actuating mechanism includes arm, wrist and hand, the arm is connected with the frame, the hand passes through the wrist and is connected with the arm.
The power device comprises a servo motor and a servo driver.
The control module comprises a robot control module, a communication module and a digital input/output module.
The spraying device is also provided with a vehicle type recognition device, and the vehicle type recognition device comprises grating recognition, bar code recognition, ultrasonic recognition and EMS recognition.
The main body is also provided with an EcoRC2 controller which can transmit the real-time position of the trolley on the slide rail to the spraying device.
And the tackle is provided with a rotating device, and the subway part is rotatably connected with the tackle through the rotating device.
And the spraying device is provided with a plurality of paint spraying holes.
And a lifting device is arranged between the subway component and the pulley.
The invention has the beneficial effects that: 1) the machine base can be slidably sleeved on the arc-shaped track, so that the coating production efficiency, the paint utilization rate and the coating quality of a painted vehicle body can be improved;
2) the vehicle type recognition device is also arranged and can transmit the collected information to the video processing module in real time;
3) the central control module calculates a spraying path of the spraying robot, and the robot control module controls the spraying robot to spray accurately, so that the spraying efficiency is high, and the damage of toxic gas to human bodies in a spraying process is thoroughly eliminated.
Drawings
FIG. 1 is a schematic structural diagram of a subway component spraying industrial robot system according to the present invention;
FIG. 2 is a schematic structural diagram of a spray coating industrial robot;
fig. 3 is a schematic structural diagram of the vehicle type recognition apparatus.
The reference numerals in the figures illustrate: 1. the system comprises a base, 2, an arc-shaped rail, 3, a subway part, 4, a spraying device, 5, a sliding rail, 6, a pulley, 7, a power device, 8, a control module, 9, an execution mechanism, 10, an arm, 11, a wrist, 12, a hand, 13, a servo motor, 14, a servo driver, 15, a robot control module, 16, a communication module, 17, a digital input/output module, 18, a vehicle type recognition device, 19, a grating recognition device, 20, a bar code recognition device, 21, an ultrasonic recognition device, 22, an EMS recognition device, 23, an EcoRC2 controller, 24, a rotating device, 25, a spraying hole and 26 a lifting device.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention and the technical solutions in the prior art, the following will describe the specific embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and it is obvious to a person skilled in the art that other drawings and other embodiments can be obtained from these drawings without inventive effort, and the invention is not limited to this example.
The subway component spraying industrial robot system shown in fig. 1 comprises a machine base 1, wherein the machine base 1 is slidably sleeved on an arc-shaped rail 2, the arc-shaped rail 2 is arranged on the periphery of a subway component 3, and a spraying device 4 is arranged at the front end of the machine base 1; the arc-shaped track 2 is provided with a slide rail 5, the pulley 6 is slidably connected with the slide rail 5, and the subway component 3 is arranged on the pulley 6; the engine base 1 is provided with a power device 7 and a corresponding control module 8.
The machine base 1 is connected with the spraying device 4 through the actuator 9, the actuator 9 comprises an arm 10, a wrist 11 and a hand 12, the arm 10 is connected with the machine base 1, and the hand 12 is connected with the arm 10 through the wrist 11.
The power device 7 comprises a servo motor 13 and a servo driver 14, the control module 8 comprises a robot control module 15, a communication module 16 and a digital input/output module 17, the spraying device 4 is further provided with a vehicle type recognition device 18, and the vehicle type recognition device 18 comprises a grating recognition device 19, a bar code recognition device 20, an ultrasonic recognition device 21 and an EMS recognition device 22.
The main body 1 is further provided with an EcoRC2 controller 23 capable of transmitting the real-time position of the trolley 6 on the sliding rail 5 to the spraying device 4, the trolley 6 is provided with a rotating device 24, the subway component 3 is rotatably connected with the trolley 6 through the rotating device 24, the spraying device 4 is provided with a plurality of spraying holes 25, and a lifting device 26 is arranged between the subway component 3 and the trolley 6.
The working process of the example is as follows: the spraying path of the spraying robot is designed through the control module, the information of the sprayed workpiece is acquired through a vehicle type recognition device arranged on a mechanical arm of the spraying device and is transmitted to the central control module, the shape of the sprayed workpiece is displayed on a computer, the spraying path of the spraying robot is calculated through the central control module, and then the robot control module controls the spraying robot to perform spraying operation.
Specific embodiments of the present invention have been described above in detail. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, any technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments in the prior art based on the inventive concept should be within the scope of protection defined by the claims.
Claims (9)
1. A subway part spraying industrial robot system which characterized in that: the underground railway track spraying device comprises a machine base (1), wherein the machine base (1) is slidably sleeved on an arc-shaped track (2), the arc-shaped track (2) is arranged on the periphery of a subway part (3), and a spraying device (4) is arranged at the front end of the machine base (1);
the subway rail is characterized in that slide rails (5) which are vertically distributed with the arc-shaped rail (2) are arranged in the arc-shaped rail, a pulley (6) is arranged on the slide rails (5) and is slidably connected with the slide rails (5), and the subway part (3) is fixedly connected to the pulley (6);
the engine base (1) is provided with a power device (7) and a corresponding control module (8).
2. A subway component spraying industrial robot system as claimed in claim 1, wherein: the spraying machine is characterized in that the machine base (1) is connected with the spraying device (4) through an executing mechanism (9), the executing mechanism (9) comprises an arm part (10), a wrist part (11) and a hand part (12), the arm part (10) is connected with the machine base (1), and the hand part (12) is connected with the arm part (10) through the wrist part (11).
3. A subway component spraying industrial robot system as claimed in claim 1, wherein: the power device (7) comprises a servo motor (13) and a servo driver (14).
4. A subway component spraying industrial robot system as claimed in claim 1, wherein: the control module (8) comprises a robot control module (15), a communication module (16) and a digital input/output module (17).
5. A subway component spraying industrial robot system as claimed in claim 1, wherein: the spraying device (4) is further provided with a vehicle type recognition device (18), and the vehicle type recognition device (18) comprises grating recognition (19), bar code recognition (20), ultrasonic recognition (21) and EMS recognition (22).
6. A subway component spraying industrial robot system as claimed in claim 1, wherein: the main body (1) is also provided with an EcoRC2 controller (23) which can transmit the real-time position of the pulley (6) on the sliding rail (5) to the spraying device (4).
7. A subway component spraying industrial robot system as claimed in claim 1, wherein: and a rotating device (24) is arranged on the tackle (6), and the subway part (3) is rotatably connected with the tackle (6) through the rotating device (24).
8. A subway component spraying industrial robot system as claimed in claim 1, wherein: the spraying device (4) is provided with a plurality of paint spraying holes (25).
9. A subway component spraying industrial robot system as claimed in claim 1, wherein: and a lifting device (26) is arranged between the subway component (3) and the pulley (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911316411.0A CN110961290A (en) | 2019-12-19 | 2019-12-19 | Subway part spraying industrial robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911316411.0A CN110961290A (en) | 2019-12-19 | 2019-12-19 | Subway part spraying industrial robot system |
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| Publication Number | Publication Date |
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| CN110961290A true CN110961290A (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911316411.0A Pending CN110961290A (en) | 2019-12-19 | 2019-12-19 | Subway part spraying industrial robot system |
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| CN101879486A (en) * | 2010-01-06 | 2010-11-10 | 王宝根 | Spray booth for automatically recycling spray mist through electrostatic adsorption |
| CN102120202A (en) * | 2011-04-14 | 2011-07-13 | 中国水利水电第十三工程局有限公司橡塑制品厂 | Annular chain type automatic spraying mechanism |
| CN203862461U (en) * | 2014-05-14 | 2014-10-08 | 厦门映日新材料科技有限公司 | Traveling mechanism for vacuum spraying of rotating targets |
| CN104699115A (en) * | 2013-12-06 | 2015-06-10 | 王健 | Intelligent self-positioning system of spraying robot |
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| CN108296058A (en) * | 2018-01-15 | 2018-07-20 | 王双 | A kind of filter is anti-oxidation to use surface lacquer machine |
| CN108816567A (en) * | 2018-08-17 | 2018-11-16 | 苏州鸿渺智能科技有限公司 | A kind of paint spraying robot |
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| CN109290088A (en) * | 2018-08-08 | 2019-02-01 | 湖南晗光智能科技股份有限公司 | A kind of spraying intelligence control system and automation equipment based on machine vision |
| CN109453921A (en) * | 2019-01-25 | 2019-03-12 | 陈益童 | A kind of spraying equipment and its spraying process for cylindrical component |
| CN208800297U (en) * | 2018-07-30 | 2019-04-30 | 无锡市伟丰印刷机械厂 | A kind of rotary nozzle |
| CN209065984U (en) * | 2018-11-21 | 2019-07-05 | 徐州工程学院 | An easy-to-control supersonic spraying device |
| CN110369195A (en) * | 2019-07-04 | 2019-10-25 | 佛山科学技术学院 | A kind of robot automatic spraying system |
| CN209597521U (en) * | 2019-01-30 | 2019-11-08 | 郑州宇特森喷涂设备有限公司 | A kind of powdery paints powder blower |
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2019
- 2019-12-19 CN CN201911316411.0A patent/CN110961290A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101879486A (en) * | 2010-01-06 | 2010-11-10 | 王宝根 | Spray booth for automatically recycling spray mist through electrostatic adsorption |
| CN102120202A (en) * | 2011-04-14 | 2011-07-13 | 中国水利水电第十三工程局有限公司橡塑制品厂 | Annular chain type automatic spraying mechanism |
| CN104699115A (en) * | 2013-12-06 | 2015-06-10 | 王健 | Intelligent self-positioning system of spraying robot |
| CN203862461U (en) * | 2014-05-14 | 2014-10-08 | 厦门映日新材料科技有限公司 | Traveling mechanism for vacuum spraying of rotating targets |
| CN206661512U (en) * | 2017-03-14 | 2017-11-24 | 福建宏贯路桥防腐科技股份有限公司 | A kind of circular pipe outer wall automatic spray apparatus |
| CN206951463U (en) * | 2017-07-13 | 2018-02-02 | 江苏电力装备有限公司 | A kind of Paint spraying platform and paint spray booth |
| CN107486360A (en) * | 2017-10-19 | 2017-12-19 | 中国工程物理研究院化工材料研究所 | A kind of adjustable non-full circle cambered surface automatic spray apparatus of sprinkler height |
| CN108296058A (en) * | 2018-01-15 | 2018-07-20 | 王双 | A kind of filter is anti-oxidation to use surface lacquer machine |
| CN208800297U (en) * | 2018-07-30 | 2019-04-30 | 无锡市伟丰印刷机械厂 | A kind of rotary nozzle |
| CN109290088A (en) * | 2018-08-08 | 2019-02-01 | 湖南晗光智能科技股份有限公司 | A kind of spraying intelligence control system and automation equipment based on machine vision |
| CN108816567A (en) * | 2018-08-17 | 2018-11-16 | 苏州鸿渺智能科技有限公司 | A kind of paint spraying robot |
| CN109046851A (en) * | 2018-08-22 | 2018-12-21 | 温州磐石机械设备维修咨询有限公司 | A kind of metal product processing unit (plant) with multi-angle spraying function |
| CN209065984U (en) * | 2018-11-21 | 2019-07-05 | 徐州工程学院 | An easy-to-control supersonic spraying device |
| CN109453921A (en) * | 2019-01-25 | 2019-03-12 | 陈益童 | A kind of spraying equipment and its spraying process for cylindrical component |
| CN209597521U (en) * | 2019-01-30 | 2019-11-08 | 郑州宇特森喷涂设备有限公司 | A kind of powdery paints powder blower |
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Application publication date: 20200407 |
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