CN111760713A - Automatic intelligent coating system for vehicle - Google Patents
Automatic intelligent coating system for vehicle Download PDFInfo
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- CN111760713A CN111760713A CN202010663762.5A CN202010663762A CN111760713A CN 111760713 A CN111760713 A CN 111760713A CN 202010663762 A CN202010663762 A CN 202010663762A CN 111760713 A CN111760713 A CN 111760713A
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- spraying
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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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an automatic intelligent coating system for a vehicle, which comprises one or more cantilever type five-axis linkage spraying structures, wherein the cantilever type five-axis linkage spraying structures at least comprise: the device comprises an X-axis loading ligand, a Y-axis loading ligand, a Z-axis loading ligand, a first rotating shaft and a second rotating shaft; the spray head assembly is arranged on one side of any one rotating shaft; the five-axis linkage drives the spray head assembly to reciprocate and spray along any one appointed direction in space. According to the invention, through the configuration and combination of the two cantilever type five-axis linkage spraying structures, left and right double-station spraying can be realized, so that the spraying efficiency of the whole vehicle is improved. The invention can automatically adjust the spraying frequency and amplitude of the spray head according to the movement speed of the coating system, thereby ensuring the uniformity of the spraying thickness and the definition of the edge of the sprayed pattern, and indirectly realizing the automatic and accurate spraying of the multi-color pattern of the vehicle body of the whole vehicle without shielding and overspray.
Description
Technical Field
The invention belongs to the field of automatic spraying equipment, and particularly relates to a double-column cantilever type five-axis linkage spraying system.
Background
The spraying of whole car automobile body polychrome pattern of vehicle is the indispensable link in the automobile painting field, and prior art still uses the manual work to give first place to when vehicle polychrome pattern spraying, and local monochromatic spraying adopts the mechanical arm structure to carry out the spraying, nevertheless because the mechanical arm structure mainly uses rotary motion as leading, and the functioning speed is slow, and the precision is low, and the bearing is poor, and the movement track planning is complicated, and is expensive, consequently uses when the actual spraying of vehicle comparatively fewly.
The spray head adopted during the existing vehicle body spraying is a spray gun, the driving mode is simple, the pneumatic operation is mainly performed, the switch control is performed, the spraying amount is difficult to control, a conical vaporific coating is generally sprayed, the spraying drop point is circular, the diameter is 200 plus 400mm, the spraying distance is generally about 300 plus 500mm, overspray is easily caused, the loss in the spraying process is serious, about 30 percent of coating splashing loss is caused, meanwhile, the working space pollution is serious, and an operator must wear a whole set of protective clothing to reduce the health damage as much as possible. When the multicolor pattern is subjected to color separation spraying, a shielding belt must be manually covered to avoid an area where the color is not sprayed, after the spraying is finished, the color is waited for to be dried, then the adhesive tape is taken down, and then the second color is sprayed, so that the spraying is repeated, the spraying efficiency is low, and the automatic intelligent spraying without shielding and overspray is difficult to realize.
Disclosure of Invention
Aiming at the defects or shortcomings in the prior art, the invention provides an automatic intelligent coating system for a vehicle, which is a double-column cantilever type five-axis linkage spraying device and is combined with a droplet nozzle special for independent research and development of color separation spraying in an innovative manner, so that the automatic precise spraying without shielding and overspray of a multi-color pattern of the whole vehicle body of the vehicle is realized.
In order to realize the technical task, the invention adopts the following technical scheme to realize:
an automated intelligent vehicle coating system comprising one or more cantilevered five-axis linkage spray structures, said cantilevered five-axis linkage spray structures comprising at least: the device comprises an X-axis loading ligand, a Y-axis loading ligand, a Z-axis loading ligand, a first rotating shaft and a second rotating shaft; the spray head assembly is arranged on one side of any one rotating shaft; the five-axis linkage drives the spray head assembly to reciprocate and spray along any one appointed direction in space.
Furthermore, the spray head assembly comprises a luffing mechanism, a variable frequency rotating mechanism and a material sucking and spraying mechanism; the amplitude-changing mechanism is arranged on the material sucking and spraying mechanism, a cam in the amplitude-changing mechanism is tightly contacted with a universal ball in the material sucking and spraying mechanism, and the amplitude-changing mechanism is contacted with a contact site of the material sucking and spraying mechanism through an adjusting cam; the material sucking and spraying mechanism sucks and sprays the paint, and the sprayed paint is a spraying point through the lifting motion of a piston in the material sucking and spraying mechanism.
According to a further optimization scheme of the invention, the first rotating shaft and the second rotating shaft are connected to form a rotating shaft swinging head, the rotating shaft swinging head at least comprises a first rotating shaft motor, a second rotating shaft motor and a supporting connecting member, and the first rotating shaft motor and the second rotating shaft motor are respectively arranged along the corresponding rotating shaft directions and are fixedly connected through the supporting connecting member.
Furthermore, the X-axis loading ligand, the Y-axis loading ligand and the Z-axis loading ligand are axially connected, so that the Y-axis loading ligand can axially move up and down along the Z-axis loading ligand, and the Z-axis loading ligand can axially move back and forth along the X-axis loading ligand; the X-axis assembly, the Y-axis assembly and the Z-axis assembly respectively at least comprise a motor, a transmission mechanism and a limiting device.
Furthermore, the amplitude variation mechanism comprises a feeding seat arranged on the inner top surface of the housing, a lead screw driven by a feeding motor is arranged on the feeding seat, a feeding sliding block is arranged on the lead screw, and the feeding sliding block is in contact with the feeding seat for limiting, so that the feeding sliding block moves along the transverse direction under the driving of the lead screw; the bottom of the feeding sliding block is fixedly provided with a cam mounting seat, a cam shaft which is transversely arranged is rotatably mounted on the cam mounting seat, and a cam is arranged on the cam shaft; the variable-frequency rotating mechanism is fixedly arranged on the cam mounting seat and is connected with the cam shaft to drive the cam to rotate.
Compared with the prior art, the invention has the following beneficial technical effects:
the vehicle automatic intelligent coating system has mature planning of the spraying motion trail, is provided with a plurality of types of universal motion trail planning software (CAM) and simulation verification software as supports, has high precision of the trail planning, and is most suitable for precision motion;
the vehicle automatic intelligent coating system has the advantages of high positioning precision and high running speed, has the function of five-axis linkage, can realize the spraying work of any surface of a workpiece by one-time clamping, and can effectively ensure the spraying efficiency and the spraying precision.
(III) the vehicle automatic intelligent coating system of the invention has a five-axis linkage structure which is widely applied in the field of machine tools and completely adapts to heavy load requirements.
(IV) the automatic intelligent coating system for the vehicle can realize the automatic accurate spraying of the multicolor patterns on the surface of the whole vehicle with large size and without shielding and overspray, and can realize the left-right double-station spraying by the configuration and combination of two cantilever type five-axis linkage spraying structures, thereby further improving the spraying efficiency of the whole vehicle. The synchronous high-speed and high-precision control of the spraying motion track and the spraying of the spray head is realized by combining five-axis linkage and a spray head system. The frequency and the amplitude of the spray head can be automatically adjusted according to the movement speed of the coating system, so that the uniformity of the spraying thickness and the definition of the edge of a spraying pattern are ensured, and the damage to human bodies caused by manual spraying is indirectly avoided.
Drawings
Fig. 1 is a schematic view of the overall structure of a single coating system of the present invention.
Fig. 2 is a schematic structural diagram of an X-axis apparatus of the coating system of the present invention.
Fig. 3 is a schematic structural view of a Y-axis equipment of the coating system of the present invention.
Fig. 4 is a schematic structural view of a Z-axis equipment body of the coating system of the present invention.
Fig. 5 is a schematic view of a swing head structure of a rotary shaft of a coating system according to the present invention.
FIG. 6 is a schematic front view of the internal structure of the spray head assembly of the coating system of the present invention.
FIG. 7 is a front external schematic view of a spray head assembly of the coating system of the present invention.
FIG. 8 is a side view internal schematic view of a spray head assembly of the coating system of the present invention.
FIG. 9 is a side view external schematic view of a spray head assembly of the coating system of the present invention.
Fig. 10 is a schematic view of the structure of a cam shaft of the head assembly of the present invention.
Fig. 11 is a schematic sectional view of the head assembly of the invention in which the cam is constructed.
Fig. 12 is a schematic diagram of the application of the cantilever type five-axis linkage spraying structure of the coating system of the invention to realize left and right double-station spraying in a combined configuration.
Fig. 13 is a schematic view showing the spraying effect of the spray head of the prior art.
Fig. 14 is a microscopic view showing the spraying effect of the head assembly according to the present invention.
Fig. 15-19 are a using state diagram of the spray coating, an overall vehicle spray coating effect diagram and a spray coating partial effect diagram of the spray coating pattern in practical application of the invention.
The meaning of each reference number in the drawings is:
the meaning of the individual reference numerals in fig. 1 is: the device comprises a 1-X-axis sliding seat, a 2-Z-axis sliding seat connecting piece, a 3-rear plate, a 4-lower cover plate, a 5-motor fixing plate, a 6-X-axis mounting ligand, a 7-upright column base, an 8-Z-axis mounting ligand, a 9-Y-axis mounting ligand, a 10-first rotating shaft, a 11-second rotating shaft, a 12-front corner support, a 13-rear corner support, a 14-rotating shaft swinging head and a 15-nozzle assembly.
The meaning of the individual reference numerals in fig. 2 is: 6-X axis loading of ligand.
The meaning of the individual reference numerals in fig. 3 is: 9-1-base. 9-2-buffer block, 9-3-limit bracket, 9-4-linear guide rail and 9-5-rack.
The meaning of the individual reference numerals in fig. 4 is: 8-1-upper carbon steel plate, 8-2-I-steel, 8-3-lower carbon steel plate, 8-4-linear guide rail, 8-5-limiting bracket, 8-6-buffer block, 8-7-pressing block, 8-8-rack, 8-9-Z-axis slide seat connecting piece, 8-10-motor, 8-11-gear, 8-12-motor seat and 8-13-Z-axis lower cover plate.
The meaning of the individual reference numerals in fig. 5 is: 14-1-nozzle bottom plate, 14-2-motor fixing plate, 14-3-nozzle fixing seat, 14-4-C shaft motor, 14-5-L connecting plate, 14-6-right support, 14-7-upper supporting plate, 14-8-rear plate, 14-9-left support, 14-10-A shaft motor and 15-nozzle assembly.
The meaning of the various reference numbers in fig. 6-11 is: 15-1-a housing, 15-2-an amplitude variation mechanism, 15-3-a frequency conversion rotating mechanism, 15-4-a material sucking and spraying mechanism, 15-5-an atomizing housing, 16-a pneumatic valve, 17-an air source, 18-a one-way valve and 19-a charging barrel;
15-2-1-feeding seat, 15-2-2-2-feeding motor, 15-2-3-screw rod, 15-2-4-feeding slide block, 15-2-5-cam mounting seat, 15-2-6-cam shaft and 15-2-7-cam;
15-4-1-outer sleeve, 15-4-2-inner sleeve, 15-4-3-piston cylinder, 15-4-4-piston, 15-4-5-piston rod, 15-4-6-universal ball connecting rod, 15-4-7-universal ball mounting seat, 15-4-8-universal ball, 15-4-9-large return spring, 15-4-10-spring stop block, 15-4-11-suction head, 15-4-12-flexible plug, 15-4-13-flexible plug rod, 15-4-14-small return spring, 15-4-15-spray head, 15-4-16-spray channel, 15-4-17-seal ring;
15-4-3-1-piston cavity, 15-4-3-2-material suction cavity, 15-4-3-3-discharge channel and 15-4-3-4-discharge one-way valve cavity;
15-5-1-atomization core body, 15-5-2-atomization cover body, 15-5-3-atomization cover body, 15-5-4-spray opening, 15-5-5-atomization cavity, 15-5-6-gas buffer cavity and 15-5-7-gas channel.
The details of the present invention will be described in further detail below with reference to the accompanying drawings and the detailed description.
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of a single-machine overall structure of the coating system of the present invention. The invention provides an automatic intelligent coating system for a vehicle, which comprises one or more than one system, wherein the system comprises two cantilever type five-axis linkage spraying structures, and the cantilever type five-axis linkage spraying structures at least comprise: an X-axis mounting ligand 6, a Y-axis mounting ligand 9, a Z-axis mounting ligand 8, a first rotating shaft 10, a second rotating shaft 11 and a spray head assembly; the nozzle assembly 15 is arranged on one side of any one of the rotating shafts 11 and 12; the nozzle assembly 15 is driven by the five-axis linkage to realize reciprocating motion and spraying along any one specified direction in space.
Referring to fig. 2-5, the X-axis mount 6, the Y-axis mount 9, and the Z-axis mount 8 are axially connected such that the Y-axis mount 9 can move up and down axially along the Z-axis mount 8, and the Z-axis mount 8 can move back and forth axially along the X-axis mount 6; the X-axis assembly 6, the Y-axis assembly 9 and the Z-axis assembly 8 respectively at least comprise a motor, a transmission mechanism and a limiting device.
The first rotating shaft 10 and the second rotating shaft 11 are connected to form a rotating shaft swinging head 14, the rotating shaft swinging head 14 at least comprises a first rotating shaft motor 14-4, a second rotating shaft motor 14-10 and support connecting members 14-5, 14-6, 14-7, 14-8 and 14-9, and the first rotating shaft motor 14-4 and the second rotating shaft motor 14-10 are respectively arranged along the corresponding rotating shaft direction and fixedly connected through the support connecting members (14-5, 14-6, 14-7, 14-8 and 14-9).
In the embodiment of the invention, the structures of the designed X-axis assembly ligand 6, the Y-axis assembly ligand 9 and the Z-axis assembly ligand 8 are approximately the same, but the structural details are slightly different, the structural description of the Z-axis assembly 8 is taken as an example, the structural characteristics of the Z-axis assembly ligand 8 are listed firstly, and then the detailed structural differences of the three axis assembly ligands are listed respectively.
Referring to fig. 4, the Z-axis assembly 8 is assembled by first connecting the lower carbon steel plates 8-3 and 8-1 with the i-beam 8-2 by screws to form a base, and then connecting the upper carbon steel plate 8-1 with two linear guide rails 8-4 and the rack 8-8 by bolts. Wherein, two sides of the linear guide rail are compressed by pressing blocks 8-7. Then, a Z-axis sliding seat connecting piece 8-9 is connected with a sliding block of the guide rail, a motor base 8-12 is fixed on the Z-axis sliding seat connecting piece, and a motor 8-10 is fixed on the motor base 8-12 through a bolt. Then the motor shaft and the gear shaft are connected through a coupler. The gear shaft is connected with gears 8-11, and the gears 8-11 and the racks 8-8 are meshed with each other to be used as a transmission mechanism. Two ends of the linear guide rail are provided with limiting brackets 8-5 fixed by bolts, the limiting straight line is provided with a buffer block 8-6, and the limiting brackets 8-5 and the buffer block (8-6) are used as limiting devices to ensure that the whole moving process is not slipped off. And the tail end Z-axis lower cover plate 8-13 is connected with the I-shaped steel 2.
Referring to fig. 2, the difference from the Z-axis assembly is that five experimental bottom plates 6-1 are added in the X-axis assembly, the five experimental bottom plates 6-1 are fixed with the ground by bolts, and the rest structures are the same as the Z-axis.
Referring to fig. 3, the Y-axis assembly is different from the Z-axis in that the base 9-1 is machined from a hard aluminum alloy rather than assembled from structural steel. The base is the same as other structures such as a rack 9-5, a linear guide 9-4, a limit bracket 9-3 and a Z-axis assembly body. The limiting bracket 9-3 and the buffer block 9-2 are mutually bonded, and the rest is the same as the structure of the Z-axis assembled ligand.
Referring to fig. 5, a first rotating shaft 10 and a second rotating shaft 11 are connected to form a rotating shaft swinging head 14, the rotating shaft swinging head 14 at least comprises a first rotating shaft motor 14-4, a second rotating shaft motor 14-10 and support connecting members (14-5, 14-6, 14-7, 14-8, 14-9), and the first rotating shaft motor 14-4 and the second rotating shaft motor 14-10 are respectively arranged along the corresponding rotating shaft direction and fixedly connected through the support connecting members (14-5, 14-6, 14-7, 14-8, 14-9).
The first rotating shaft 10 and the second rotating shaft 11 are fixedly arranged at one end of the 3Y-axis assembling body through a back plate 14-8, the first rotating shaft 10 is fixedly provided with a rotating shaft motor 14-4 on the back plate 14-8, and the rotating shaft motor 14-4 is fixedly connected with a motor fixing plate (14-2) through a left supporting plate (14-9), a right supporting plate (14-10), an upper supporting plate (14-7) and a left supporting plate (14-9). A motor fixing plate (14-2) is provided with a second rotating shaft 11 and a shaft motor 14-11, the shaft motor 14-11 and a spray head fixing seat 14-3 are fixed and directly connected through bolts, the spray head fixing seat 14-3 is fixed on an L connecting plate 14-5 through bolts, and a spray head assembly 15 is fixed on the L connecting plate 14-5, so that the spray head assembly 15 is indirectly driven to move in the direction of the rotating shaft.
The basic principle of the invention is as follows: XYZ axes are connected with a coupler through a servo motor to drive a gear rack to slide back and forth on a linear guide rail, so that the linear motion and the accurate positioning control in the three-axis direction are realized. Any two rotating shafts adopt a direct connection mode to drive the spray head assembly to realize the positive and negative 180-degree rotary motion of the rotating shafts in two directions.
Referring to fig. 6-11, the spray head assembly 15 of the present invention comprises a housing 15-1, and further comprises a luffing mechanism 15-2, a variable frequency rotating mechanism 15-3, a material sucking and spraying mechanism 15-4, and an atomizing cover 15-5;
the amplitude variation mechanism 15-2 comprises a feeding seat 15-2-1 arranged on the inner top surface of the housing 15-1, a lead screw 15-2-3 driven by a feeding motor 15-2-2 is arranged on the feeding seat 15-2-1, a feeding slide block 15-2-4 is arranged on the lead screw 15-2-3, and the feeding slide block 15-2-4 is in contact limit with the feeding seat 15-2-1, so that the feeding slide block 15-2-4 moves along the transverse direction under the driving of the lead screw 15-2-3; the bottom of the feeding sliding block 15-2-4 is fixedly provided with a cam installation seat 15-2-5, a cam shaft 15-2-6 which is transversely arranged is rotatably installed on the cam installation seat 15-2-5, and a cam 15-2-7 is arranged on the cam shaft 15-2-6;
the variable-frequency rotating mechanism 3 is fixedly arranged on the cam mounting seat 15-2-5 and is connected with the cam shaft 15-2-6 to drive the cam 15-2-7 to rotate;
the material sucking and spraying mechanism 15-4 comprises an outer sleeve 15-4-1 vertically extending out of the bottom of a housing 15-1, the outer sleeve 15-4-1 is fixedly arranged at the bottom of the housing 15-1, the bottom end of the outer sleeve 15-4-1 is detachably provided with the top end of an inner sleeve 15-4-2, and piston cylinder bodies 15-4-3 are fixedly arranged in the outer sleeve 15-4-01 and the inner sleeve 15-4-2; the top end of the piston cylinder 15-4-3 is supported on the flange in the outer sleeve 15-4-1, and the bottom end of the piston cylinder 15-4-3 is supported on the inner bottom surface of the inner sleeve 15-4-2.
The piston cylinder 15-4-3 is internally provided with a piston cavity 15-4-3-1, a material suction cavity 15-4-3-2, a discharge channel 15-4-3-3 and a discharge one-way valve cavity 15-4-3-4 which are coaxially communicated from top to bottom along the vertical direction in sequence, the inner diameter of the piston cavity 15-4-3-1 is larger than that of the material suction cavity 15-4-3-2, the inner diameter of the discharge channel 15-4-3-3 is smaller than that of the discharge one-way valve cavity 15-4-3-4, the top of the piston cavity 15-4-3-1 is open, and the bottom of the discharge one-way valve cavity 15-4-3-4 is open.
A piston 15-4-4 is arranged in the piston cavity 15-4-3-1, the piston 15-4-4 is connected with the bottom end of a piston rod 15-4-5, the top end of the piston rod 15-4-5 is connected with the bottom end of a universal ball connecting rod 15-4-6, a universal ball mounting seat 15-4-7 is arranged at the top end of the universal ball connecting rod 15-4-6, a universal ball 15-4-8 is arranged in the universal ball mounting seat 15-4-7, and the universal ball 15-4-8 is installed in contact with a cam 15-2-7; a piston rod 15-4-5 extending out of the piston cylinder 15-4-3 is sleeved with a large return spring 15-4-8, the bottom end of the large return spring 15-4-9 is propped against the top of the piston cylinder 15-4-3, the top end of the large return spring 15-4-9 is propped against a spring stop 15-4-10 arranged on the piston rod 15-4-5, and the large return spring 14-4-9 enables the universal ball 15-4-8 to be in close contact with the cam 15-2-7.
The suction chamber 40302 communicates with the suction head 411 provided outside the piston cylinder 403.
A flexible plug 15-4-12 which is propped against the inner top surface of the unidirectional valve cavity 15-4-3-4 and is used for plugging the discharging channel 15-4-3-3 is arranged in the discharging unidirectional valve cavity 15-4-3-4, a flexible plug rod 15-4-13 is vertically arranged at the bottom of the flexible plug 15-4-12, a small return spring 15-4-14 is sleeved on the flexible plug rod 15-4-13, the top end of the small return spring 15-4-14 is propped against the bottom of the flexible plug 15-4-12, and the bottom end of the small return spring 15-4-14 is propped against the inner bottom surface of the inner sleeve 15-4-2. The bottom of the bottom surface of the inner sleeve 15-4-2 is provided with a material spraying head 15-4-15, and a material spraying channel 15-4-16 which penetrates through the bottom surface of the inner sleeve 15-4-2 and is communicated with the discharge one-way valve cavity 15-4-3-4 is arranged in the material spraying head 15-4-15;
the material spraying head 15-4-15 is provided with an atomizing cover 15-5. The atomizing cover 15-5 comprises an atomizing core body 15-5-1 of which the top end is connected with the material spraying head 15-4-15, an atomizing cover body 15-5-2 is sleeved outside the atomizing core body 15-5-1, and an atomizing cover body 15-5-3 is arranged at the top end of the atomizing cover body 15-5-2 and the top end of the atomizing core body 15-5-1; the bottom end of the atomizing core body 15-5-1 is provided with a material spraying opening 15-5-4, an atomizing cavity 15-5-5 communicated with a material spraying channel 15-4-16 and the material spraying opening 15-5-4 is arranged in the atomizing core body 15-5-1, a sealed gas buffer cavity 15-5-6 is formed between the atomizing core body 15-5-1 and the atomizing cover body 15-5-2, and the side wall of the atomizing core body 15-5-1 is provided with a plurality of gas channels 15-5-7 communicated with the gas buffer cavity 15-5-6 and the atomizing cavity 15-5-5.
Specifically, the gas buffer chamber 15-5-7 is communicated with a gas source 17 with a gas pressure valve 16. The pneumatic valve 16 can control the size of the atomization. The suction head 15-4-11 is connected to a cartridge 19 with a non-return valve 18. The one-way valve 18 only allows paint to pass from the cartridge 19 into the suction head 15-4-11.
The gas passages 15-5-7 are arranged obliquely. The specific number and the inclination angle can be optimally designed according to the requirement.
The housing 15-1 is a closed casing assembled by detachable panels, which is convenient for installation, disassembly and maintenance. The inner diameter of the material spraying channel 15-4-16 is larger than the outer diameter of the flexible blocking rod 15-4-13. In the downward movement process of the piston 15-4-4, the flexible plug 15-4-12 and the flexible blocking rod 15-4-13 also move downward under the action of pressure, the flexible blocking rod 15-4-13 enters the material spraying channel 15-4-16, and the inner diameter of the material spraying channel 15-4-16 is larger than the outer diameter of the flexible blocking rod 15-4-13, so that the coating can be smoothly sprayed out from a gap between the flexible blocking rod 15-4-13 and the material spraying channel 15-4-16.
The flexible plug 15-4-12 and the flexible plug rod 15-4-13 are both made of rubber materials.
A sealing ring 15-4-7 is arranged between the bottom end of the piston cylinder 15-4-3 and the inner bottom surface of the inner sleeve 15-4-2. The camshaft 15-2-6 is rotatably mounted on the cam mount 15-2-5 through a bearing.
The frequency conversion rotating mechanism 15-3 adopts a motor. Other products capable of realizing the frequency conversion rotation function can be adopted instead.
The basic principle of the overall design of the sprayer combination of the invention is as follows: the structure of the cam 15-2-7 is in an elliptical frustum shape, one end of the cam 15-2-7 close to the variable frequency rotating mechanism 3 is a large end, and one end of the cam 15-2-7 far away from the variable frequency rotating mechanism 15-3 is a small end. When the feed motor 15-2-2 stops rotating, a certain point of the cam 15-2-7 is contacted with the universal ball 15-4-8, and when the motor of the variable frequency rotating mechanism 15-3 rotates at a certain rotating speed n, the cam 15-2-7 rotates at the rotating speed n, so that the piston rod 15-4-5 is driven to move up and down.
The shaft section of the cam 15-2-7 is oval, and the motion frequency of the piston rod 15-4-5 is 2 n; when the piston rod 15-4-5 moves upwards, the piston 15-4-4 enables the material suction cavity 15-4-3-2 to form negative pressure, at the moment, as the flexible plug 15-4-12 in the material discharge one-way valve cavity 15-4-3-4 clings to the inner top surface to plug the material discharge channel 15-4-3-3, and the material spray channel 15-4-16 in the material spray head 15-4-15 is equivalent to a closed state, the coating can be sucked into the material suction cavity 15-4-3-2 from the material cylinder 19 through the one-way valve 18. And when the piston rod 15-4-4 moves downwards, the check valve 18 on the material barrel 19 is closed, the piston 15-4-4 enables the material suction cavity 15-4-3-2 to form positive pressure, at the moment, as the flexible plug 15-4-12 in the material discharge check valve cavity 15-4-3-4 is separated from the inner top surface to move downwards, the material discharge channel 15-4-3-3 is opened, and the material spray channel 15-4-16 in the material spray head 15-4-15 is equivalent to an open state, the coating can be sprayed out from the material spray channel 15-4-16 in the material spray head 15-4-15, enters the atomization cover 15-5 and is atomized through the atomization cover 15-5. When the rotating speed n of the variable-frequency rotating mechanism 15-3 is changed, the coating point sprayed out by the spray head is changed, and variable-frequency control is formed.
When the feed motor 15-2-2 stops rotating, a determined oval circle on the cam 15-2-7 is in contact with the universal ball 15-4-8, the amplitude of one rotation of the cam 15-2-7 is b-a, namely the coating amount V is s (b-a), wherein s is the cavity cross-sectional area of the piston cavity 15-4-3-1, b is the major axis radius of the oval, and a is the minor axis radius of the oval. When the feed motor 15-2-2 rotates, the screw 15-2-3 rotates along with the feed motor, so that the feed slider 15-2-4 is driven to move transversely, the cam 15-2-7 is driven to move transversely, after the cam 15-2-7 moves transversely, the elliptical circle on the cam 15-2-7 which is in contact with the universal ball 15-4-8 changes along with the elliptical circle, and the amplitude b-a of the elliptical circle changes along with the elliptical circle, so that the amplitude variation is controlled, namely the discharge quantity at each time is controlled.
The spray head assembly 15 of the present invention, when in use, proceeds as follows:
in the first step, the feed motor 15-202 is activated to move the cam 15-2-7 to the desired amplitude position to achieve the desired discharge volume for spraying.
And secondly, stopping the rotation of the feeding motor 15-2-2, starting the variable-frequency rotating mechanism 15-3 at the expected rotation speed n to enable the cam shaft 15-2-6 to operate, driving the cam shaft 15-2-6 to drive the cam 15-2-7 to rotate, and enabling the piston rod 15-4-5 to vertically reciprocate to enable the coating to be sprayed out at the frequency of 2n, atomizing the sprayed coating through the atomizing cover 5, finally spraying atomized spray points, and spraying the atomized spray points into various patterns.
Thirdly, during atomization, the atomization degree can be adjusted through the air pressure valve 16 to achieve an ideal atomization spraying point; the pneumatic valve 16 may be automatically controlled using a control program as desired.
Fourthly, adjusting the rotating speed of the variable frequency rotating mechanism 15-3 to automatically control the frequency of the spraying points; in the spraying process, the feed motor 15-2-2 is started to drive the cam 15-2-7 to move, the amplitude b-a is changed, and the purpose of automatically adjusting the discharge amount of each spraying point, namely amplitude modulation, can be achieved.
The following is the vehicle automatic intelligent coating system of the invention, when in use, the following steps are carried out:
fixing a workpiece to be sprayed in a working space area on the right side of an X-axis assembly, accurately positioning to obtain a workpiece coordinate of the center of the workpiece, and adjusting the distance between a spray head and the surface of the workpiece through a motor;
secondly, planning a workpiece spraying track and generating a spraying program code by establishing a model of the workpiece according to the obtained workpiece coordinates;
thirdly, controlling X, Y, Z shaft motors to drive the ball screw to do linear motion, controlling the first rotating shaft motor and the second rotating shaft motor to do rotating motion through the generated spraying track program codes, enabling the spray head to move to a corresponding spraying area point, and controlling the spray head to spray on the corresponding spraying point through a synchronous trigger signal;
and fourthly, after the spraying is finished, in order to avoid collision between the spray head and the workpiece, the spray head is moved to an initial position far away from the workpiece.
Particularly, the device can change the equipment stroke of the cantilever type five-axis linkage spraying structure according to the size of the sprayed workpiece and the spraying equipment cost.
Fig. 13 shows the conventional spraying effect, which is continuous but large in loss, the spraying pattern needs to be manually shielded from the sprayed object, the efficiency is low, the body health is harmed, the environment is not protected, and the automation degree is not high. By adopting the automatic intelligent vehicle coating system, the variable-frequency amplitude can be automatically controlled in the spraying process, the spraying is not continuous any more, the spraying is carried out as required, the shielding is not needed, the efficiency is improved, the loss is reduced, the harm to the body of a worker is reduced, and the microscopic effect graph of the spraying effect of the spray head assembly is shown in fig. 14.
Fig. 15-19 are a using state diagram of the spraying, an overall vehicle spraying effect diagram and a partial effect diagram of the spraying pattern in the practical application process of the invention.
Claims (10)
1. The utility model provides a vehicle automation intelligence application system which characterized in that: the system comprises one or more cantilever type five-axis linkage spraying structures, wherein the cantilever type five-axis linkage spraying structures at least comprise: an X-axis assembly ligand (6), a Y-axis assembly ligand (9), a Z-axis assembly ligand (8), a first rotating shaft (10) and a second rotating shaft (11); the spray head assembly (15) is arranged on one side of any one of the rotating shafts (11, 12); the five-axis linkage drives the spray head component (15) to reciprocate and spray along any one appointed direction in space.
2. The vehicle automated smart coating system of claim 1, wherein: the spray head assembly (15) comprises an amplitude variation mechanism (15-2), a variable frequency rotating mechanism (15-3) and a material sucking and spraying mechanism (15-4); the amplitude variation mechanism (15-2) is arranged on the material sucking and spraying mechanism (15-4), a cam in the amplitude variation mechanism (15-2) is tightly contacted with a universal ball in the material sucking and spraying mechanism (15-4), and the amplitude variation mechanism (15-2) is contacted with a contact point of the material sucking and spraying mechanism (4) through an adjusting cam; the material sucking and spraying mechanism (4) sucks and sprays the coating, and the sprayed coating is a spraying point through the lifting motion of a piston in the material sucking and spraying mechanism (4).
3. The vehicle automated smart coating system of claim 1 or 2, wherein: the first rotating shaft (10) and the second rotating shaft (11) are connected to form a rotating shaft swinging head (14), the rotating shaft swinging head (14) at least comprises a first rotating shaft motor (14-4), a second rotating shaft motor (14-10) and supporting connecting members (14-5, 14-6, 14-7, 14-8 and 14-9), and the first rotating shaft motor (14-4) and the second rotating shaft motor (14-10) are respectively arranged along the corresponding rotating shaft directions and fixedly connected through the supporting connecting members (14-5, 14-6, 14-7, 14-8 and 14-9).
4. The vehicle automated smart coating system of claim 1 or 2, wherein: the X-axis loading ligand (6), the Y-axis loading ligand (9) and the Z-axis loading ligand (8) are axially connected, so that the Y-axis loading ligand (9) can axially move up and down along the Z-axis loading ligand (8), and the Z-axis loading ligand (8) can axially move back and forth along the X-axis loading ligand (6); the X-axis assembly body (6), the Y-axis assembly body (9) and the Z-axis assembly body (8) respectively at least comprise a motor, a transmission mechanism and a limiting device.
5. The vehicle automatic intelligent coating system according to any one of claims 2 to 4, wherein the amplitude variation mechanism (15-2) comprises a feeding seat (15-2-1) arranged on the inner top surface of the housing (15-1), a lead screw (15-2-3) driven by a feeding motor (15-2-2) is arranged on the feeding seat (15-2-1), a feeding slide block (15-2-4) is arranged on the lead screw (15-2-3), and the feeding slide block (15-2-4) is in contact with the feeding seat (15-2-1) for limiting, so that the feeding slide block (15-2-4) moves along the transverse direction under the driving of the lead screw (15-2-3); a cam installation seat (15-2-5) is fixedly installed at the bottom of the feeding sliding block (15-2-4), a cam shaft (15-2-6) which is transversely arranged is rotatably installed on the cam installation seat (15-2-5), and a cam (15-2-7) is arranged on the cam shaft (15-2-6); the variable-frequency rotating mechanism (15-3) is fixedly arranged on the cam mounting seat (15-2-5), and is connected with the cam shaft (15-2-6) to drive the cam (15-2-7) to rotate.
6. The vehicle automatic intelligent coating system according to claim 2 or 4, wherein the material sucking and spraying mechanism (15-4) comprises an outer sleeve (15-4-1) vertically extending out of the bottom of the housing (15-1), the outer sleeve (15-4-1) is fixedly arranged at the bottom of the housing (15-1), the bottom end of the outer sleeve (15-4-1) is detachably provided with the top end of the inner sleeve (15-4-2), and piston cylinder bodies (15-4-3) are fixedly arranged in the outer sleeve (15-4-1) and the inner sleeve (15-4-2); the top end of the piston cylinder body (15-4-3) is pressed against the flange in the outer sleeve (15-4-1), and the bottom end of the piston cylinder body (15-4-3) is pressed against the inner bottom surface of the inner sleeve (15-4-2);
the piston cylinder body (15-4-3) is internally provided with a piston cavity (15-4-3-1), a material suction cavity (15-4-3-2), a discharge passage (15-4-3-3) and a discharge one-way valve cavity (15-4-3-4) which are coaxially communicated along the vertical direction from top to bottom in sequence, the inner diameter of the piston cavity (15-4-3-1) is larger than that of the material suction cavity (15-4-3-2), the inner diameter of the discharge channel (15-4-3-3) is smaller than that of the discharge one-way valve cavity (15-4-3-4), the top of the piston cavity (15-4-3-1) is open, and the bottom of the discharge one-way valve cavity (15-4-3-4) is open;
a piston (15-4-4) is arranged in the piston cavity (15-4-3-1), the piston (15-4-4) is connected with the bottom end of a piston rod (15-4-5), the top end of the piston rod (15-4-5) is connected with the bottom end of a universal ball connecting rod (15-4-6), a universal ball mounting seat (15-4-7) is arranged at the top end of the universal ball connecting rod (15-4-6), a universal ball (15-4-8) is arranged in the universal ball mounting seat (15-4-7), and the universal ball (15-4-8) is installed in contact with a cam (15-2-7); a piston rod (15-4-5) extending out of the piston cylinder body (15-4-3) is sleeved with a large return spring (15-4-8), the bottom end of the large return spring (15-4-9) is pressed against the top of the piston cylinder body (15-4-3), the top end of the large return spring (15-4-9) is pressed against a spring stop block (15-4-10) arranged on the piston rod (15-4-5), and the large return spring (15-4-9) enables the universal ball (15-4-8) to be in close contact with the cam (15-2-7); the material suction cavity (15-4-3-2) is communicated with a material suction head (15-4-11) arranged outside the piston cylinder body (15-4-3);
a flexible plug (15-4-12) which is propped against the inner top surface of the unidirectional valve cavity (15-4-3-4) and is used for plugging the discharging channel (15-4-3-3) is arranged in the discharging unidirectional valve cavity (15-4-3-4), a flexible plug rod (15-4-13) is vertically arranged at the bottom of the flexible plug (15-4-12), a small return spring (15-4-14) is sleeved on the flexible plug rod (15-4-13), the top end of the small return spring (15-4-14)) is propped against the bottom of the flexible plug (15-4-12), and the bottom end of the small return spring (15-4-14)) is propped against the inner bottom surface of the inner sleeve (15-4-2);
the bottom of the bottom surface of the inner sleeve (15-4-2) is provided with a material spraying head (15-4-15), and a material spraying channel (15-4-16) which penetrates through the bottom surface of the inner sleeve (15-4-2) and is communicated with the discharge one-way valve cavity (15-4-3-4) is arranged in the material spraying head (15-4-15).
7. The vehicle automated intelligent painting system of claim 6, characterized in that the spray head (15-4-15) is provided with an atomizing hood (15-5); the atomizing cover (15-5) comprises an atomizing core body (15-5-1) the top end of which is connected with the material spraying head (15-4-15), the atomizing cover body (15-5-2) is sleeved outside the atomizing core body (15-5-1), and the atomizing cover body (15-5-3) is arranged at the top end of the atomizing cover body (15-5-2) and the top end of the atomizing core body (15-5-1); the bottom end of the atomizing core body (15-5-1) is provided with a material spraying opening (15-5-4), an atomizing cavity (15-5-5) communicated with the material spraying passage (15-4-16) and the material spraying opening (15-5-4) is arranged in the atomizing core body (15-5-1), a sealed gas buffer cavity (15-5-6) is formed between the atomizing core body (15-5-1) and the atomizing cover body (15-5-2), and the side wall of the atomizing core body (15-5-1) is provided with a plurality of gas passages (15-5-7) communicated with the gas buffer cavity (15-5-6) and the atomizing cavity (15-5-5).
8. The vehicle automated smart coating system of claim 7, characterized in that the gas buffer chamber (15-5-7) is in communication with a gas source (17) having a gas pressure valve (16).
9. The vehicle automated smart coating system according to claims 7 and 8, characterized in that the gas passages (15-5-7) are arranged obliquely.
10. The vehicle automated smart paint system according to any one of claims 6 to 9, wherein the suction head (15-4-11) is connected to a cartridge (19) having a check valve (18), and the inner diameter of the spray passage (16-4-16) is larger than the outer diameter of the flexible stopper rod (15-4-13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010663762.5A CN111760713A (en) | 2020-07-10 | 2020-07-10 | Automatic intelligent coating system for vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010663762.5A CN111760713A (en) | 2020-07-10 | 2020-07-10 | Automatic intelligent coating system for vehicle |
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| CN111760713A true CN111760713A (en) | 2020-10-13 |
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| CN202010663762.5A Pending CN111760713A (en) | 2020-07-10 | 2020-07-10 | Automatic intelligent coating system for vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112387482A (en) * | 2020-10-28 | 2021-02-23 | 杭州国辰机器人科技有限公司 | Five-axis manipulator spraying robot based on workpiece pose correction |
| CN113477445A (en) * | 2021-07-28 | 2021-10-08 | 张云霞 | Compound well pipe tubular product prosthetic devices of water conservancy for building engineering |
| CN113578580A (en) * | 2021-08-24 | 2021-11-02 | 浙江九川竹木股份有限公司 | Spraying equipment and control system |
| CN113664385A (en) * | 2021-08-19 | 2021-11-19 | 广东宏石激光技术股份有限公司 | Plate code spraying and cutting device and method |
| CN114226119A (en) * | 2021-12-23 | 2022-03-25 | 杭州樱多电器有限公司 | Equipment convenient for spraying anticorrosive paint |
| CN114472024A (en) * | 2022-01-26 | 2022-05-13 | 南京汉启智能科技有限公司 | Charged insulation coating robot and automatic wire feeding and discharging method |
| CN115647303A (en) * | 2022-12-19 | 2023-01-31 | 济南二机床集团有限公司 | Automatic spraying equipment for roller casting mold |
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- 2020-07-10 CN CN202010663762.5A patent/CN111760713A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112387482A (en) * | 2020-10-28 | 2021-02-23 | 杭州国辰机器人科技有限公司 | Five-axis manipulator spraying robot based on workpiece pose correction |
| CN113477445A (en) * | 2021-07-28 | 2021-10-08 | 张云霞 | Compound well pipe tubular product prosthetic devices of water conservancy for building engineering |
| CN113664385A (en) * | 2021-08-19 | 2021-11-19 | 广东宏石激光技术股份有限公司 | Plate code spraying and cutting device and method |
| CN113578580A (en) * | 2021-08-24 | 2021-11-02 | 浙江九川竹木股份有限公司 | Spraying equipment and control system |
| CN114226119A (en) * | 2021-12-23 | 2022-03-25 | 杭州樱多电器有限公司 | Equipment convenient for spraying anticorrosive paint |
| CN114472024A (en) * | 2022-01-26 | 2022-05-13 | 南京汉启智能科技有限公司 | Charged insulation coating robot and automatic wire feeding and discharging method |
| CN115647303A (en) * | 2022-12-19 | 2023-01-31 | 济南二机床集团有限公司 | Automatic spraying equipment for roller casting mold |
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