CN111761592A - Painting mechanism and method carried on tail end of mechanical arm - Google Patents
Painting mechanism and method carried on tail end of mechanical arm Download PDFInfo
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- CN111761592A CN111761592A CN202010746322.6A CN202010746322A CN111761592A CN 111761592 A CN111761592 A CN 111761592A CN 202010746322 A CN202010746322 A CN 202010746322A CN 111761592 A CN111761592 A CN 111761592A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000010422 painting Methods 0.000 title claims description 34
- 239000003973 paint Substances 0.000 claims abstract description 132
- 241000870659 Crassula perfoliata var. minor Species 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 230000001680 brushing effect Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 239000011248 coating agent Substances 0.000 claims description 20
- 238000000576 coating method Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 abstract description 5
- 239000010959 steel Substances 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000002349 favourable effect Effects 0.000 description 5
- 230000008595 infiltration Effects 0.000 description 5
- 238000001764 infiltration Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000009736 wetting Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/02—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
- Spray Control Apparatus (AREA)
Abstract
A paint brushing mechanism carried at the tail end of a mechanical arm and a method thereof comprise a shell, a transmission mechanism, a guide module and a paint container, wherein the paint container is arranged in the shell and is connected with a guide frame of the guide module, a lead screw of the guide module is connected with the transmission mechanism, a piston connected with the transmission mechanism is in sliding fit with the paint container, the lead screw is driven by a motor to drive the paint container connected with the guide frame and the piston to move to discharge paint to soak a paint brush, and a six-axis mechanical arm of the mechanical arm operates the paint brushing mechanism to coat the paint brush close to an object. The invention overcomes the problem of large external connection occupied space of the paint bucket when the pressure steel pipe of the original water power station is coated, and has the characteristics of simple structure, convenient and quick installation, no need of external connection of the paint bucket, small occupied space and simple and convenient operation.
Description
Technical Field
The invention belongs to the technical field of hydropower station pressure steel pipe coating equipment, and relates to a painting mechanism and a painting method carried at the tail end of a mechanical arm.
Background
Since the first unit of the three gorges power station is put into production for power generation in 2003, large hydropower stations such as bay, dragon beach, lacian tile and stream ludu have been successively built in China. As a main component of a generator set, the pressure bearing area of a large-sized pressure steel pipe under a high water head condition is far larger than that of a hydraulic turbine set, the manufacturing process is complex, and the characteristics of multiple sections and multiple welding seams exist. With the continuous increase of the capacity of the single hydroelectric unit, the service life of the weld joint of the special spliced steel pipe for the water inlet channel pressure of the hydroelectric generating set and environmental influence factors are increasingly complicated. Once burst leakage fault occurs, the property safety of the power station, the state and people can be greatly threatened.
Because the diameter of the hydroelectric penstock is large, the elevation angle of the inclined tube is large, the scaffold is usually required to be erected in the penstock for the anticorrosion operation of the penstock of the hydropower station, and the manual anticorrosion is carried out, but the engineering quantity of the scaffold for assembling and disassembling in the penstock is huge, the assembling and disassembling cost and the safety risk are high, and the assembling and disassembling time is long, so that the traditional manual operation is required to be replaced by a wall-climbing robot, and the painting mechanism which can be mounted at the tail end of a mechanical arm is researched.
The invention discloses a circular tube painting device which is disclosed in Chinese invention patent with the patent number of CN 109261392A and the name of 'circular tube painting device', and the device is composed of a movable walking frame, and a painting mechanism which are arranged on the walking frame. The device has simple structure and convenient operation, can improve painting efficiency and reduce labor burden of workers, but is not suitable for being carried on the mechanical arm.
The invention discloses an automatic painting mechanism in Chinese invention patent with patent number CN 108940713A and name of 'an automatic painting mechanism', the mechanism comprises a brush, the brush is fixed on a conduit, the connecting part of the conduit and the brush is provided with evenly arranged small holes, two ends of the conduit are provided with control valves, the conduit is connected with a paint bin through a rubber tube; two sides of the guide pipe are fixedly connected on the sliding sleeve, the sliding sleeve at the left end is sleeved on the screw rod, and the sliding sleeve at the right end is sleeved on the polished rod; the speed reducer is connected to the lower end of the screw rod and connected to the motor. The device has realized automatic mopping, has reduced workman intensity of labour, and the device needs external paint bucket, and it is great to occupy the volume.
Disclosure of Invention
The invention aims to solve the technical problem of providing a paint brushing mechanism and a paint brushing method carried at the tail end of a mechanical arm, wherein the paint brushing mechanism is simple in structure, a paint container is arranged in a shell and is connected with a guide frame of a guide module, a lead screw of the guide module is connected with a transmission mechanism, a piston connected with the transmission mechanism is in sliding fit with the paint container, a motor drives the lead screw to drive the paint container connected with the guide frame and the piston to move to discharge paint to soak a paint brush, and a six-axis mechanical arm of the mechanical arm operates the paint brushing mechanism to be coated close to an object.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a painting mechanism carried at the tail end of a mechanical arm comprises a shell, a transmission mechanism, a guide module and a paint container; the transmission mechanism and the guide module are located in the shell, a lead screw of the guide module is connected with the transmission mechanism, the guide frame is in sliding fit with a guide groove of the shell, the paint container is connected with the guide frame, a piston in sliding fit with the paint container is connected with the transmission mechanism, and the transmission mechanism drives the guide module to drive the paint container to move in a matched mode with the piston.
The casing is one side open-ended cavity box, is located the opening side and sets up the protection casing.
The side of casing sets up the guide way, the guide block and the guide way sliding fit of leading truck both sides, and the support is connected fixedly with the guide block.
The transmission mechanism comprises an upper plate and a lower plate which are connected with two ends of the guide rod, a motor and a piston which are connected with the upper plate, belt pulleys positioned on two sides of the upper plate are respectively connected with an output end of the motor and a lead screw of the guide module, and the two belt pulleys are matched with the synchronous belt.
The guide module comprises a screw rod seat connected with the guide frame, a screw rod matched with the screw rod seat, and ball bearings matched with two ends of the screw rod and connected with an upper plate and a lower plate of the transmission mechanism.
The guide frame comprises side plates vertically connected with two ends of the horizontal plate, a piston hole is formed in the horizontal plate, the screw rod seat is fixed on one side of the horizontal plate, and a raised guide block is arranged on the side plates.
The guide rod is provided with a linear bearing matched with the guide rod, and the linear bearing is connected with the horizontal plate of the guide frame.
The paint container is a circular cylinder with openings at two ends, a flange plate is arranged on the opening side at the upper end and connected with a horizontal plate of the guide frame, and a paint brush in threaded fit with the lower end is arranged at the lower end.
The brush head of the paint brush is of a hollow flat structure and is communicated with the paint container to penetrate through the lower plate of the transmission mechanism to be exposed out of the shell.
The painting method of the painting mechanism carried on the tail end of the mechanical arm comprises the following steps:
s1, mounting, wherein the bracket is fixedly connected with a flange of a six-axis manipulator at the tail end of the mechanical arm;
s2, feeding, detaching the protective cover, closing a power supply of the motor, driving the guide module to drive the paint container connected with the guide module to be far away from the piston, enabling the piston to be separated from the paint container to be matched with the paint container, stopping the motor to operate, exposing the opening on the upper side of the paint container, and filling the paint into the paint container; starting the motor again, driving the guide module to drive the paint container connected with the guide module to be matched with the piston, and installing a protective cover to be connected and sealed with the shell;
s3, discharging, closing a power supply of a motor, driving belt pulleys matched with a synchronous belt to rotate by the operation of the motor, simultaneously rotating a screw rod connected with one of the belt pulleys, driving a guide frame connected with a screw rod seat to axially move along the screw rod, and simultaneously enabling a paint container connected with the guide frame to be in sliding fit with a piston, wherein paint in the paint container overflows into a flat end of a paint brush to soak bristles after being extruded; meanwhile, the linear bearing and the guide rod are in sliding fit.
And S4, coating, wherein when the paint is used for wetting the brush of the paint brush, the six-axis mechanical arm of the mechanical arm is used for operating the paint brush mechanism to be close to the object for coating.
A painting mechanism carried at the tail end of a mechanical arm comprises a shell, a transmission mechanism, a guide module and a paint container; the transmission mechanism and the guide module are located in the shell, a lead screw of the guide module is connected with the transmission mechanism, the guide frame is in sliding fit with a guide groove of the shell, the paint container is connected with the guide frame, a piston in sliding fit with the paint container is connected with the transmission mechanism, and the transmission mechanism drives the guide module to drive the paint container to move in a matched mode with the piston. Simple structure is connected through the leading truck that sets up paint container and direction module in the casing, and the lead screw and the drive mechanism of direction module are connected, piston and paint container sliding fit who is connected with drive mechanism, and paint container and piston motion discharge coating infiltration paint brush that drive the leading truck and connect through the motor drive lead screw, and the six-shaft manipulator operation of arm should brush the mechanism and be close to the article coating, and simple to operate is swift, need not external paint can, and occupation space is little, and easy operation is convenient.
In a preferred scheme, the shell is a hollow box body with one side opened, and a protective cover is arranged on the side of the opening. Simple structure, during the use, the paint container is located hollow structure's casing, and occupation space is little, and the protection casing that is located casing opening side can be dismantled, the material loading of being convenient for and wash the paint container.
In the preferred scheme, the side of casing sets up the guide way, and the guide block and the guide way sliding fit of leading truck both sides, support and guide block are connected fixedly. Simple structure, during the use, at the in-process of direction module motion, the guide block and the guide way sliding fit that are located the leading truck both sides have restricted the movement track of leading truck, have correspondingly restricted the movement track of paint container, are favorable to improving and apply paint the quality with a brush, and the support of being connected with the guide block of leading truck both sides is used for being connected with six manipulators of arm, simple to operate is swift, convenient to detach maintains.
In the preferred scheme, the transmission mechanism comprises an upper plate and a lower plate which are connected with two ends of the guide rod, a motor and a piston which are connected with the upper plate, belt pulleys positioned on two sides of the upper plate are respectively connected with an output end of the motor and a screw rod of the guide module, and the two belt pulleys are matched with the synchronous belt. Simple structure, during the use, rotates through motor drive hold-in range complex belt pulley, and the belt pulley rotates the lead screw that drives guide module and rotates, and the rotatory while drive leading truck of lead screw is along lead screw axial linear motion, and meanwhile, the guide bar that passes the leading truck carries out the axial spacing.
In a preferred scheme, the guide module comprises a screw rod seat connected with the guide frame, a screw rod matched with the screw rod seat, and ball bearings matched with two ends of the screw rod are connected with an upper plate and a lower plate of the transmission mechanism. The structure is simple, during installation, the ball bearings matched with the two ends of the screw rod are connected with the upper plate and the lower plate, the lower plate is connected with the shell, the rotating stability of the screw rod is improved, the screw rod seat matched with the screw rod is connected with the guide frame, and when the screw rod rotates, the guide frame is driven to move axially along the screw rod.
In preferred scheme, the leading truck includes the curb plate with the vertical connection in horizontal plate both ends, is located to set up the piston hole on the horizontal plate, and the lead screw seat is located horizontal plate one side fixed, is located to set up bellied guide block on the curb plate. Simple structure, during the installation, the piston body of piston front end passes the piston hole on the leading truck horizontal plate and goes deep into paint container, is located the bellied guide block of leading truck curb plate and the guide way sliding fit of casing both sides.
In a preferred scheme, a linear bearing matched with the guide rod is arranged on the guide rod, and the linear bearing is connected with a horizontal plate of the guide frame. Simple structure, during the use, lie in the guide bar and go up the complex linear bearing and be connected with the horizontal plate of leading truck, stability when having improved the leading truck motion.
In preferred scheme, the paint container is the open-ended circular barrel in both ends, and the opening side that is located the upper end sets up the ring flange and is connected with the horizontal plate of leading truck, is located the lower extreme and sets up rather than screw-thread fit's paint brush. Simple structure, during the use, the ring flange of being connected with paint container and screw-thread fit's paint brush are favorable to dismantling the maintenance, and simple to operate is swift.
In a preferred scheme, the brush head of the paint brush is of a hollow flat structure, and is communicated with the paint container and penetrates through the lower plate of the transmission mechanism to be exposed out of the shell. The paint brush has a simple structure, and when the paint brush is used, the paint brush exposed out of the shell is of a hollow flat structure, so that the infiltration area of paint is enlarged, and the paint is favorably and uniformly attached to the surface of an object.
In a preferred embodiment, the painting method of the painting mechanism mounted on the end of the robot arm comprises the following steps:
s1, mounting, wherein the bracket is fixedly connected with a flange of a six-axis manipulator at the tail end of the mechanical arm;
s2, feeding, detaching the protective cover, closing a power supply of the motor, driving the guide module to drive the paint container connected with the guide module to be far away from the piston, enabling the piston to be separated from the paint container to be matched with the paint container, stopping the motor to operate, exposing the opening on the upper side of the paint container, and filling the paint into the paint container; starting the motor again, driving the guide module to drive the paint container connected with the guide module to be matched with the piston, and installing a protective cover to be connected and sealed with the shell;
s3, discharging, closing a power supply of a motor, driving belt pulleys matched with a synchronous belt to rotate by the operation of the motor, simultaneously rotating a screw rod connected with one of the belt pulleys, driving a guide frame connected with a screw rod seat to axially move along the screw rod, and simultaneously enabling a paint container connected with the guide frame to be in sliding fit with a piston, wherein paint in the paint container overflows into a flat end of a paint brush to soak bristles after being extruded; meanwhile, the linear bearing and the guide rod are in sliding fit.
And S4, coating, wherein when the paint is used for wetting the brush of the paint brush, the six-axis mechanical arm of the mechanical arm is used for operating the paint brush mechanism to be close to the object for coating. The method realizes automatic coating by combining the six-axis mechanical arm on the mechanical arm, and has the advantages of small occupied space and high coating efficiency.
A paint brushing mechanism carried at the tail end of a mechanical arm and a method thereof comprise a shell, a transmission mechanism, a guide module and a paint container, wherein the paint container is arranged in the shell and is connected with a guide frame of the guide module, a lead screw of the guide module is connected with the transmission mechanism, a piston connected with the transmission mechanism is in sliding fit with the paint container, the lead screw is driven by a motor to drive the paint container connected with the guide frame and the piston to move to discharge paint to soak a paint brush, and a six-axis mechanical arm of the mechanical arm operates the paint brushing mechanism to coat the paint brush close to an object. The invention overcomes the problem of large external connection occupied space of the paint bucket when the pressure steel pipe of the original water power station is coated, and has the characteristics of simple structure, convenient and quick installation, no need of external connection of the paint bucket, small occupied space and simple and convenient operation.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a schematic sectional view at a-a of fig. 2.
Fig. 4 is a schematic sectional view at B-B of fig. 3.
Fig. 5 is a schematic cross-sectional view at C-C of fig. 3.
Fig. 6 is an exploded view of the present invention.
In the figure: the device comprises a shell 1, a protective cover 11, a guide groove 12, a support 13, a transmission mechanism 2, a guide rod 21, an upper plate 22, a lower plate 23, a motor 24, a piston 25, a belt pulley 26, a synchronous belt 27, a linear bearing 28, a guide module 3, a guide frame 31, a screw rod seat 32, a screw rod 33, a ball bearing 34, a paint container 4, a flange plate 41 and a paint brush 42.
Detailed Description
As shown in fig. 1 to 6, a painting mechanism mounted at the end of a mechanical arm comprises a housing 1, a transmission mechanism 2, a guide module 3 and a paint container 4; the transmission mechanism 2 and the guide module 3 are located in the shell 1, a lead screw 33 of the guide module 3 is connected with the transmission mechanism 2, a guide frame 31 is in sliding fit with a guide groove 12 of the shell 1, the paint container 4 is connected with the guide frame 31, a piston 25 in sliding fit with the paint container 4 is connected with the transmission mechanism 2, and the transmission mechanism 2 drives the guide module 3 to drive the paint container 4 to move in a matched mode with the piston 25. Simple structure, leading truck 31 through set up paint container 4 and guide module 3 in casing 1 is connected, guide module 3's lead screw 33 is connected with drive mechanism 2, piston 25 and paint container 4 sliding fit of being connected with drive mechanism 2, paint container 4 and piston 25 motion discharge coating infiltration paint brush 42 that drives lead screw 33 and drive leading truck 31 and connect through motor 24, the six-axis manipulator operation of arm should be brushed the mechanism and be close to the article coating, simple to operate is swift, need not external paint bucket, occupation space is little, easy operation is convenient.
In a preferred embodiment, the housing 1 is a hollow box with an opening at one side, and a protective cover 11 is disposed at the opening side. Simple structure, during the use, paint container 4 is located hollow structure's casing 1, and occupation space is little, and the protection casing 11 that is located casing 1 opening side can be dismantled, the material loading of being convenient for and wash paint container 4.
In a preferable scheme, a guide groove 12 is formed in the side surface of the housing 1, guide blocks on two sides of the guide frame 31 are in sliding fit with the guide groove 12, and the support 13 is fixedly connected with the guide blocks. Simple structure, during the use, at the in-process of the motion of guide module 3, the guide block that is located the leading truck 31 both sides and guide way 12 sliding fit have restricted the movement track of leading truck 31, have correspondingly restricted the movement track of paint container 4, are favorable to improving and apply paint the quality with a brush, and support 13 of being connected with the guide block of leading truck 31 both sides is used for being connected with six manipulators of arm, simple to operate is swift, convenient to detach maintains.
In a preferred scheme, the transmission mechanism 2 comprises an upper plate 22 and a lower plate 23 connected with two ends of the guide rod 21, a motor 24 and a piston 25 connected with the upper plate 22, belt pulleys 26 positioned on two sides of the upper plate 22 are respectively connected with an output end of the motor 24 and a screw 33 of the guide module 3, and the two belt pulleys 26 are matched with a synchronous belt 27. Simple structure, during the use, through motor 24 drive hold-in range 27 complex belt pulley 26 rotation, belt pulley 26 rotates and rotates the lead screw 33 that drives guide module 3 and rotates, and drive leading truck 31 is along lead screw 33 axial rectilinear motion when lead screw 33 is rotatory, and meanwhile, passes the guide bar 21 of leading truck 31 and carries out axial spacing.
Preferably, the motor 24 is a stepping motor or a servo motor, which is beneficial to controlling the rotation speed and the angular speed of the screw rod 33 and improving the uniformity of coating.
In a preferred embodiment, the guide module 3 includes a screw base 32 connected to the guide frame 31, a screw 33 engaged with the screw base 32, and ball bearings 34 engaged with both ends of the screw 33 and connected to the upper plate 22 and the lower plate 23 of the transmission mechanism 2. The structure is simple, when the device is installed, the ball bearings 34 matched with the two ends of the screw 33 are connected with the upper plate 22 and the lower plate 23, the lower plate 23 is connected with the shell 1, the rotating stability of the screw 33 is improved, the screw seat 32 matched with the screw 33 is connected with the guide frame 31, and when the screw 33 rotates, the guide frame 31 is driven to move axially along the screw 33.
In a preferred embodiment, the guide frame 31 includes side plates vertically connected to two ends of the horizontal plate, a piston hole is disposed on the horizontal plate, the screw rod seat 32 is fixed on one side of the horizontal plate, and a raised guide block is disposed on the side plates. The structure is simple, during installation, the piston body at the front end of the piston 25 penetrates through the piston hole on the horizontal plate of the guide frame 31 to extend into the paint container 4, and the raised guide block on the side plate of the guide frame 31 is in sliding fit with the guide grooves 12 on the two sides of the shell 1.
In a preferred embodiment, the guide rod 21 is provided with a linear bearing 28 engaged therewith, and the linear bearing 28 is connected with the horizontal plate of the guide frame 31. Simple structure, during the use, be located guide bar 21 on the complex linear bearing 28 be connected with the horizontal plate of leading truck 31, stability when having improved leading truck 31 motion.
In a preferred scheme, the paint container 4 is a circular cylinder with two open ends, a flange 41 is arranged on the open side of the upper end and connected with a horizontal plate of the guide frame 31, and a paint brush 42 in threaded fit with the lower end is arranged on the lower end. Simple structure, during the use, the ring flange 41 of being connected with paint container 4 and screw-thread fit's paint brush 42 are favorable to dismantling the maintenance, and simple to operate is swift.
In a preferred scheme, the brush head of the paint brush 42 is of a hollow flat structure and is communicated with the paint container 4 to penetrate through the lower plate 23 of the transmission mechanism 2 to be exposed out of the shell 1. The structure is simple, when in use, the paint brush 42 exposed out of the shell 1 is a hollow flat structure, the infiltration area of the paint is enlarged, and the paint is favorably and uniformly attached to the surface of an object.
In a preferred embodiment, the painting method of the painting mechanism mounted on the end of the robot arm includes the steps of:
s1, mounting, and fixedly connecting the bracket 13 with a flange of a six-axis manipulator at the tail end of the mechanical arm;
s2, feeding, detaching the protective cover 11, closing a power supply of the motor 24, driving the guide module 3 to drive the paint container 4 connected with the guide module to be far away from the piston 25, enabling the piston 25 to be separated from being matched with the paint container 4, stopping the motor 24 to operate, exposing an opening on the upper side of the paint container 4, and pouring the coating into the paint container 4; the motor 24 is started again, the guide module 3 is driven to drive the paint container 4 connected with the guide module to be matched with the piston 25, and the protective cover 11 is installed to be connected and sealed with the shell 1;
s3, discharging, closing a power supply of the motor 24, driving the belt pulley 26 matched with the synchronous belt 27 to rotate by the operation of the motor 24, simultaneously rotating the screw rod 33 connected with one of the belt pulleys 26, driving the guide frame 31 connected with the screw rod seat 32 to axially move along the screw rod 33, simultaneously, enabling the paint container 4 connected with the guide frame 31 to be in sliding fit with the piston 25, extruding the paint in the paint container 4, and enabling the extruded paint to overflow into the flat end of the paint brush 42 to soak the bristles; at the same time, the linear bearing 28 is in sliding engagement with the guide bar 21.
S4, coating, the paint brush mechanism is operated by the six axis robot of the robot arm to apply the coating adjacent the object while the paint wets the brushes of the paint brush 42. The method realizes automatic coating by combining the six-axis mechanical arm on the mechanical arm, and has the advantages of small occupied space and high coating efficiency.
When the painting mechanism and the painting method mounted at the tail end of the mechanical arm are installed and used, the paint container 4 is arranged in the shell 1 and connected with the guide frame 31 of the guide module 3, the lead screw 33 of the guide module 3 is connected with the transmission mechanism 2, the piston 25 connected with the transmission mechanism 2 is in sliding fit with the paint container 4, the motor 24 drives the lead screw 33 to drive the paint container 4 connected with the guide frame 31 and the piston 25 to move to discharge paint to soak the paint brush 42, the six-axis mechanical arm of the mechanical arm operates the painting mechanism to be close to an object to be painted, the painting mechanism is convenient and rapid to install, an external paint barrel is not needed, the occupied space is small, and the operation is.
During the use, paint container 4 is located hollow structure's casing 1, and occupation space is little, and the protection casing 11 that is located casing 1 opening side can be dismantled, the material loading of being convenient for and wash paint container 4.
During the use, at the in-process of direction module 3 motion, the guide block that is located the leading truck 31 both sides and guide way 12 sliding fit have restricted the movement track of leading truck 31, have correspondingly restricted the movement track of paint container 4, are favorable to improving and apply paint the quality with a brush, and support 13 of being connected with the guide block of leading truck 31 both sides is used for being connected with six manipulators of arm, simple to operate is swift, convenient to detach maintains.
When the guide frame is used, the belt pulley 26 matched with the synchronous belt 27 is driven to rotate through the motor 24, the belt pulley 26 rotates to drive the screw rod 33 of the guide module 3 to rotate, the screw rod 33 rotates and simultaneously drives the guide frame 31 to move linearly along the axial direction of the screw rod 33, and meanwhile, the guide rod 21 penetrating through the guide frame 31 is axially limited.
When the lead screw 33 is installed, the ball bearings 34 matched with the two ends of the lead screw 33 are connected with the upper plate 22 and the lower plate 23, the lower plate 23 is connected with the shell 1, the rotating stability of the lead screw 33 is improved, the lead screw seat 32 matched with the lead screw 33 is connected with the guide frame 31, and when the lead screw 33 rotates, the guide frame 31 is driven to move axially along the lead screw 33.
During installation, the piston body at the front end of the piston 25 penetrates through the piston hole on the horizontal plate of the guide frame 31 and extends into the paint container 4, and the guide blocks protruding on the side plate of the guide frame 31 are in sliding fit with the guide grooves 12 on the two sides of the shell 1.
When the guide frame is used, the linear bearing 28 matched with the guide rod 21 is connected with the horizontal plate of the guide frame 31, so that the stability of the guide frame 31 during movement is improved.
When the paint brush is used, the flange 41 connected with the paint container 4 and the paint brush 42 matched with the threads are beneficial to disassembly and maintenance, and the installation is convenient and quick.
When the paint brush is used, the paint brush 42 exposed out of the shell 1 is of a hollow flat structure, so that the infiltration area of paint is enlarged, and the paint is favorably and uniformly attached to the surface of an object.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. A paint brushing mechanism carried on the tail end of a mechanical arm is characterized in that: the device comprises a shell (1), a transmission mechanism (2), a guide module (3) and a paint container (4); drive mechanism (2) and direction module (3) are located casing (1), lead screw (33) and drive mechanism (2) of direction module (3) are connected, guide bracket (31) and guide way (12) sliding fit of casing (1), paint container (4) are connected with guide bracket (31), be connected with drive mechanism (2) with paint container (4) sliding fit's piston (25), drive mechanism (2) drive direction module (3) drive paint container (4) and piston (25) cooperation motion.
2. The painting mechanism and method carried on the end of a robot arm as claimed in claim 1, wherein: the shell (1) is a hollow box body with an opening at one side, and a protective cover (11) is arranged at the opening side.
3. The painting mechanism and method carried on the end of the robot arm as claimed in claim 2, wherein: the side of casing (1) sets up guide way (12), guide block and guide way (12) sliding fit of leading truck (31) both sides, and support (13) are connected fixedly with the guide block.
4. The painting mechanism and method carried on the end of a robot arm as claimed in claim 1, wherein: the transmission mechanism (2) comprises an upper plate (22) and a lower plate (23) which are connected with two ends of the guide rod (21), a motor (24) and a piston (25) which are connected with the upper plate (22), belt pulleys (26) positioned on two sides of the upper plate (22) are respectively connected with an output end of the motor (24) and a screw rod (33) of the guide module (3), and the two belt pulleys (26) are matched with the synchronous belt (27).
5. The painting mechanism and method carried on the end of a robot arm as claimed in claim 1, wherein: the guide module (3) comprises a screw rod seat (32) connected with the guide frame (31) and a screw rod (33) matched with the screw rod seat (32), and ball bearings (34) matched with the two ends of the screw rod (33) are connected with an upper plate (22) and a lower plate (23) of the transmission mechanism (2).
6. The painting mechanism and method carried on the end of a robot arm as claimed in claim 5, wherein: the guide frame (31) comprises side plates vertically connected with two ends of the horizontal plate, a piston hole is formed in the horizontal plate, the screw rod seat (32) is fixed on one side of the horizontal plate, and a raised guide block is arranged on the side plates.
7. The painting mechanism and method carried on the end of a robot arm as claimed in claim 4, wherein: the guide rod (21) is provided with a linear bearing (28) matched with the guide rod, and the linear bearing (28) is connected with a horizontal plate of the guide frame (31).
8. The painting mechanism and method carried on the end of a robot arm as claimed in claim 1, wherein: the paint container (4) is a circular cylinder with openings at two ends, a flange plate (41) is arranged on the opening side of the upper end and connected with a horizontal plate of the guide frame (31), and a paint brush (42) in threaded fit with the lower end is arranged on the lower end.
9. The painting mechanism and method carried on the end of a robot arm as claimed in claim 8, wherein: the brush head of the paint brush (42) is of a hollow flat structure and is communicated with the paint container (4) and penetrates through the lower plate (23) of the transmission mechanism (2) to be exposed out of the shell (1).
10. The method for painting a painting mechanism mounted on an end of a robot arm as claimed in any one of claims 1 to 9, comprising the steps of:
s1, mounting, wherein a support (13) is fixedly connected with a flange of a six-axis manipulator at the tail end of the mechanical arm;
s2, feeding, detaching the protective cover (11), closing a power supply of the motor (24), driving the guide module (3) to drive the paint container (4) connected with the guide module to be far away from the piston (25), separating the piston (25) from being matched with the paint container (4), stopping the motor (24), exposing an opening on the upper side of the paint container (4), and pouring the coating into the paint container (4); the motor (24) is started again, the guide module (3) is driven to drive the paint container (4) connected with the guide module to be matched with the piston (25), and the installation protective cover (11) is connected and sealed with the shell (1);
s3, discharging, closing a power supply of a motor (24), driving a belt pulley (26) matched with a synchronous belt (27) to rotate by the operation of the motor (24), simultaneously rotating a screw rod (33) connected with one of the belt pulleys (26) to drive a guide frame (31) connected with a screw rod seat (32) to axially move along the screw rod (33), meanwhile, enabling a paint container (4) connected with the guide frame (31) to be in sliding fit with a piston (25), and extruding paint in the paint container (4) to overflow and enter a flat end of a paint brush (42) to soak bristles; meanwhile, the linear bearing (28) is in sliding fit with the guide rod (21);
and S4, coating, wherein when the paint soaks the brush of the paint brush (42), the paint brush mechanism is operated by a six-axis manipulator of the mechanical arm to be close to the object for coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010746322.6A CN111761592A (en) | 2020-07-29 | 2020-07-29 | Painting mechanism and method carried on tail end of mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010746322.6A CN111761592A (en) | 2020-07-29 | 2020-07-29 | Painting mechanism and method carried on tail end of mechanical arm |
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| CN111761592A true CN111761592A (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010746322.6A Pending CN111761592A (en) | 2020-07-29 | 2020-07-29 | Painting mechanism and method carried on tail end of mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113414051A (en) * | 2021-04-11 | 2021-09-21 | 太原科技大学 | Bar end painting robot |
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