CN111299035A - Automatic spraying method and device for melon petal part surface chemical milling protective glue - Google Patents
Automatic spraying method and device for melon petal part surface chemical milling protective glue Download PDFInfo
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- CN111299035A CN111299035A CN202010106159.7A CN202010106159A CN111299035A CN 111299035 A CN111299035 A CN 111299035A CN 202010106159 A CN202010106159 A CN 202010106159A CN 111299035 A CN111299035 A CN 111299035A
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- Prior art keywords
- spraying
- melon
- petal
- robot arm
- protective glue
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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
- B05B13/025—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 the objects or work being present in bulk
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides an automatic spraying method and device for melon petal part surface chemical milling protective glue, which comprises the following steps: a portal frame walking shaft 2; the spraying robot arm 3 is movably connected to the portal frame walking shaft 2; the output end of the high-pressure airless sprayer 4 is arranged on the spraying robot arm 3; the electric control system 1 is electrically connected with the spraying robot arm 3 and the high-pressure airless sprayer 4 and controls the spraying robot arm 3 and the high-pressure airless sprayer 4 to operate; and the frame trolley 7 is used for loading melon petal parts. The automatic supply of the protective glue is carried out through the high-pressure airless sprayer, and meanwhile, the robot arm is used for replacing manual spraying operation, so that the spraying quality and the spraying efficiency of the chemical milling protective glue are greatly improved, the labor intensity of large melon-petal structural members is effectively reduced, and the operation environment is effectively improved.
Description
Technical Field
The invention relates to the field of spraying devices, in particular to an automatic spraying method and device for chemically milling protective glue on the surface of a melon-petal part.
Background
At present, the machining precision and process of the melon-petal-type parts by a numerical control machining machine tool cannot meet the design requirements, so that the melon-petal-type aluminum alloy parts in the aerospace field at home and abroad are processed by chemical milling, firstly, the surface of the aluminum alloy is sprayed with protective glue, then, the protective glue is carved, and finally, the chemical milling is carried out. For example, patent document CN105483704A discloses a deep chemical milling method for a TA12 and TA15 titanium alloy large structural component.
Because the chemical milling protective glue has large viscosity and long curing time, the manual spraying mode is basically adopted at home and abroad at present, and other specifications or reports of similar technologies such as replacing the manual spraying of the chemical milling protective glue by an automatic spraying process method are not yet successfully applied. The manual spraying of protection glue has poor consistency of spraying quality, low spraying efficiency and poor spraying operation environment, and is harmful to the occupational health of staff. Meanwhile, for melon-petal large-scale aluminum alloy structural members, the spraying workload of chemical milling protective glue is large, and the labor intensity is high.
For spraying equipment for chemical milling protective glue, at present, a manual spray gun and a high-pressure airless machine are combined basically at home and abroad. Because the spraying path of the manual spray gun is completely controlled and ensured by a spraying operator, the repeatability and the regularity of the path cannot be ensured, the spraying thickness of the chemically milled protective glue is uneven, and the consistency of the spraying quality is poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic spraying method and device for chemically milling protective glue on the surface of a melon-petal part.
According to the invention, the automatic spraying device for the melon-petal part surface chemical milling protective glue comprises:
a portal frame walking shaft 2;
the spraying robot arm 3 is movably connected to the portal frame walking shaft 2;
the output end of the high-pressure airless sprayer 4 is arranged on the spraying robot arm 3;
the electric control system 1 is electrically connected with the spraying robot arm 3 and the high-pressure airless sprayer 4 and controls the spraying robot arm 3 and the high-pressure airless sprayer 4 to operate;
and the frame trolley 7 is used for loading melon petal parts.
Preferably, the flow rate of the protective paste, the number of spraying passes, the spraying distance and the automatic spraying speed are controlled by the electrical control system 1.
Preferably, the trolley 7 is connected to the positioning rail 5.
Preferably, the melon-petal parts are stacked and loaded on the trolley 7.
Preferably, the spraying robot arm 3 adopts a multi-degree-of-freedom joint type structure, and a pipeline for transmitting the protective glue is arranged in the spraying robot arm.
Preferably, a robot movable base is arranged on the portal frame walking shaft 2 and is connected to the portal frame walking shaft 2 through a servo motor in a driving mode, and the spraying robot arm 3 is connected to the robot movable base.
According to the automatic spraying method for the protective colloid for the surface chemical milling of the melon-petal parts, which is provided by the invention, the protective colloid is sprayed by adopting the automatic spraying device for the protective colloid for the surface chemical milling of the melon-petal parts.
Preferably, the rack vehicle loaded with the melon-petal-shaped parts is pushed into the positioning track, the high-pressure airless spraying machine is started to supply the protective glue, and the electric control system controls the spraying robot arm to automatically spray the protective glue on the surface of the melon-petal-shaped parts through chemical milling according to a preset glue spraying program.
Compared with the prior art, the invention has the following beneficial effects:
the automatic feeding of the protective glue is carried out by the high-pressure airless sprayer, and meanwhile, the manual spraying operation is replaced by the robot arm, so that the spraying quality and the spraying efficiency of the chemical milling protective glue are greatly improved, the labor intensity of large melon petal structural members is effectively reduced, and the operation environment is effectively improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the automatic spraying device for the protective glue for chemically milling the surface of the melon-petal-shaped part provided by the invention comprises: a spraying robot arm 3 for automatic spraying; the portal frame walking shaft 2 is used for enabling the spraying robot arm 3 to slide in the transverse position; the positioning track 5 is used for determining and fixing the specific position of the glue spraying frame vehicle 7; the electric control system 1 is used for controlling the overall operation of the spraying robot arm 3 and the high-pressure airless sprayer 4; the high-pressure airless sprayer 4 is used for automatically supplying chemical milling protective glue; the rack vehicle 7 is used for loading the melon-petal parts 6.
The automatic paint supply of the high-pressure airless sprayer 4 and the automatic walking of the spraying robot arm 3 are combined, so that the automatic spraying of the chemical milling protective glue is successfully applied at home for the first time, and the spraying quality is ensured.
The control of the spraying robot arm 3 can be realized through the control of the electrical control system 1, the control of the spraying flow, the spraying times, the spraying distance and the spraying automatic speed of the protective glue is realized, the regulation and control of the automatic spraying parameters of the chemical milling protective glue are ensured, and the spraying applicability of the protective glue is improved.
The spraying robot arm 3 can move through the portal frame walking shaft 2, and the space range of automatic spraying of the spraying robot arm is effectively enlarged.
The positioning track 5 can accurately position and fix the melon-petal parts 6 on the frame vehicle 7, and effectively facilitates implementation of automatic spraying and unification of spraying paths.
The automatic paint supply of the high-pressure airless sprayer 4 is combined with the spraying robot arm 3, manual spraying is completely replaced, the spraying efficiency is effectively improved, and the labor intensity of spraying is reduced.
Melon lamella class part 6 can pile up many times on frame car 7, can realize once spraying when a plurality of part surface chemistry mills protection and glues like this.
In the embodiment shown in fig. 1, the spraying robot arm 3 is used for automatic spraying, a 6-degree-of-freedom (6-axis) joint type structure is adopted, the arm has a large movement space and can move along a complex track, the wrist part of the arm has 3 degrees of freedom and can move flexibly, and the robot arm is provided with a built-in pipeline with the diameter of phi 40 mm. The built-in pipeline reduces the possibility that the pipeline is adhered with mist and spray to the minimum, and ensures the glue spraying quality.
The gantry traveling shaft 2 is used for sliding the spraying robot arm 3 in the transverse position, a robot movable base is arranged on the gantry and can transversely move under the driving of a servo motor, and the maximum moving stroke is 6500 mm. The freedom degree of the automatic spraying robot arm 1 is increased by 7 from 6, and the automatic spraying robot arm 1
The range and the flexibility of the movable space are greatly improved;
the positioning track 5 is used for determining and fixing the specific position of the glue spraying frame vehicle 7, so that the implementation of automatic spraying and the unification of a spraying path are effectively facilitated;
the electric control system 1 is used for controlling an electric appliance to carry out overall control on the spraying equipment, comprises an automatic spraying robot arm 3, a portal frame walking shaft 2 and the like, and can display the working state on a control panel. All parts of the system are provided with automatic interlocking, so that the reliable operation of the equipment is ensured. And each motor control operation loop is provided with corresponding low-voltage circuit breakers, thermal relays and other protection elements, so that short circuit and overload protection of the motor are realized, and the metal shell of the whole electrical equipment is completely protected by zero connection. The control cabinet is provided with an emergency stop switch, and the operation of the whole equipment can be quickly stopped when an accident happens. (ii) a
The high-pressure airless sprayer 4 is used for automatically supplying chemical milling protective glue, is provided with an automatic spray gun for spraying primer and surface glue respectively, and is also provided with 1 cleaning device (pressure ratio of 30: 1). But automatic control spray gun opens and stops, but end, face glue automatic switch-over, self-cleaning, very big convenience spouts gluey work.
The frame trolley 7 is used for loading the melon-petal-type parts 6, the width and the wheel track of the frame trolley are unified, the frame trolley meets the rail positioning requirement, meanwhile, the frame trolley is provided with the workpiece positioning device, and the consistency of workpiece mounting and hanging is guaranteed so as to guarantee the spraying quality.
The using process of the invention is as follows:
the melon petal type aluminum alloy parts with clean surfaces are hung on a frame vehicle, the frame vehicle is pushed to a positioning track in a glue spraying room, then protective glue is led into a feeding tank of a high-pressure airless sprayer, the high-pressure airless sprayer is started, and the room in the glue spraying room is closed after the spraying pressure of the high-pressure airless sprayer is stable. And then, calling out a spraying program of the melon-petal aluminum alloy parts for spraying through a control cabinet of the electric control terminal, wherein the robot arm can automatically slide on a portal frame walking shaft in the spraying process, and automatically stop spraying and return to the original position after protective glue is sprayed on all the surfaces of the melon-petal aluminum alloy parts. And opening the door of the spraying room to push out the trolley loaded with the melon petal type aluminum alloy parts.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. The utility model provides a melon lamella class part surface chemical milling protective colloid automatic spraying device which characterized in that includes:
a portal frame walking shaft (2);
the spraying robot arm (3) is movably connected to the portal frame walking shaft (2);
the output end of the high-pressure airless sprayer (4) is arranged on the spraying robot arm (3);
the electric control system (1) is electrically connected with the spraying robot arm (3) and the high-pressure airless sprayer (4) and controls the spraying robot arm (3) and the high-pressure airless sprayer (4) to operate;
the melon-petal-shaped part rack comprises a rack trolley (7), wherein the rack trolley (7) is used for loading melon-petal-shaped parts.
2. The automatic spraying device for the melon-petal-type part surface chemical milling protective glue according to claim 1, wherein the spraying flow rate, the spraying pass, the spraying distance and the automatic spraying speed of the protective glue are controlled by an electrical control system (1).
3. The automatic spraying device for the melon-petal part surface chemical milling protective glue according to claim 1, wherein the frame trolley (7) is connected to the positioning rail (5).
4. An automatic spraying device for melon-petal-type part surface chemical milling protective glue according to claim 1, characterized in that melon-petal-type parts are stacked and loaded on the frame trolley (7).
5. The automatic spraying device for melon-petal-type part surface chemical milling protective glue according to claim 1, wherein the spraying robot arm (3) is of a multi-degree-of-freedom joint type structure and is internally provided with a pipeline for conveying the protective glue.
6. The automatic spraying device for the melon-petal-type part surface chemical milling protective glue according to claim 1, wherein a robot movable base is arranged on the gantry traveling shaft (2), the robot movable base is connected to the gantry traveling shaft (2) through a servo motor in a driving mode, and the spraying robot arm (3) is connected to the robot movable base.
7. An automatic spraying method for chemical milling protective glue on the surface of a melon-petal-shaped part is characterized in that the automatic spraying device for chemical milling protective glue on the surface of the melon-petal-shaped part is used for spraying the protective glue, and the device for spraying protective glue on the surface of the melon-petal-shaped part is disclosed in any one of claims 1 to 6.
8. The automatic spraying method for the protective gum for surface chemical milling of the melon-petal parts according to claim 7, wherein a trolley loaded with the melon-petal parts is pushed onto the positioning rail, a high-pressure airless sprayer is started to supply the protective gum, and the electric control system controls a spraying robot arm to automatically spray the protective gum for surface chemical milling of the melon-petal parts according to a preset gum spraying program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010106159.7A CN111299035A (en) | 2020-02-20 | 2020-02-20 | Automatic spraying method and device for melon petal part surface chemical milling protective glue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010106159.7A CN111299035A (en) | 2020-02-20 | 2020-02-20 | Automatic spraying method and device for melon petal part surface chemical milling protective glue |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111299035A true CN111299035A (en) | 2020-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010106159.7A Pending CN111299035A (en) | 2020-02-20 | 2020-02-20 | Automatic spraying method and device for melon petal part surface chemical milling protective glue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111299035A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487425A (en) * | 2020-04-26 | 2020-08-04 | 徐州泰瑞仪器设备有限公司 | Inverted mobile robot coal sample preparation and testing system |
| CN114146878A (en) * | 2021-11-26 | 2022-03-08 | 哈尔滨飞机工业集团有限责任公司 | Method for spraying, inspecting and engraving aluminum alloy chemical milling protective adhesive |
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| WO2015070988A2 (en) * | 2013-11-16 | 2015-05-21 | Eisenmann Se | Device for treating objects |
| CN107262321A (en) * | 2017-06-30 | 2017-10-20 | 北京兴信易成机电工程有限公司 | A kind of spraying method and spray equipment for automatically generating spraying profile |
| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN208894471U (en) * | 2018-08-21 | 2019-05-24 | 天津汇博智联机器人技术有限公司 | A kind of industrial robot for spraying |
| CN209362794U (en) * | 2018-12-17 | 2019-09-10 | 华泰汽车配件工业（南平）有限公司 | A kind of mechanical arm of paint line |
| CN110639739A (en) * | 2019-09-20 | 2020-01-03 | 浙江爱仕达电器股份有限公司 | Automatic spraying device and method for kitchenware |
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2020
- 2020-02-20 CN CN202010106159.7A patent/CN111299035A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015070988A2 (en) * | 2013-11-16 | 2015-05-21 | Eisenmann Se | Device for treating objects |
| CN107262321A (en) * | 2017-06-30 | 2017-10-20 | 北京兴信易成机电工程有限公司 | A kind of spraying method and spray equipment for automatically generating spraying profile |
| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN208894471U (en) * | 2018-08-21 | 2019-05-24 | 天津汇博智联机器人技术有限公司 | A kind of industrial robot for spraying |
| CN209362794U (en) * | 2018-12-17 | 2019-09-10 | 华泰汽车配件工业（南平）有限公司 | A kind of mechanical arm of paint line |
| CN110639739A (en) * | 2019-09-20 | 2020-01-03 | 浙江爱仕达电器股份有限公司 | Automatic spraying device and method for kitchenware |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487425A (en) * | 2020-04-26 | 2020-08-04 | 徐州泰瑞仪器设备有限公司 | Inverted mobile robot coal sample preparation and testing system |
| CN114146878A (en) * | 2021-11-26 | 2022-03-08 | 哈尔滨飞机工业集团有限责任公司 | Method for spraying, inspecting and engraving aluminum alloy chemical milling protective adhesive |
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Application publication date: 20200619 |