CN111958607A - Industrial automation plastic spraying robot - Google Patents

Industrial automation plastic spraying robot Download PDF

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Publication number
CN111958607A
CN111958607A CN202010654311.5A CN202010654311A CN111958607A CN 111958607 A CN111958607 A CN 111958607A CN 202010654311 A CN202010654311 A CN 202010654311A CN 111958607 A CN111958607 A CN 111958607A
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CN
China
Prior art keywords
component
forearm
assembly
transmission
wrist
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Pending
Application number
CN202010654311.5A
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Chinese (zh)
Inventor
李卫军
Original Assignee
李卫军
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Application filed by 李卫军 filed Critical 李卫军
Priority to CN202010654311.5A priority Critical patent/CN111958607A/en
Publication of CN111958607A publication Critical patent/CN111958607A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • B05B13/0431Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00Arrangements for collecting, re-using or eliminating excess spraying material
    • B05B14/10Arrangements for collecting, re-using or eliminating excess spraying material the excess material being particulate
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention relates to the technical field of robots, in particular to an industrial automatic plastic spraying robot, which comprises a pair of installation boxes which are oppositely arranged at two sides of a moving path of a workpiece to be sprayed with plastic, wherein each installation box is symmetrically provided with a pair of mechanical arms, a plastic spraying gun and a powder collecting head are respectively arranged on the working ends of the mechanical arms, and in a working state, the output ends of the plastic spraying gun and the powder collecting head on each mounting box are respectively arranged opposite to the powder collecting head and the powder spraying gun output end on the other mounting box in a centrosymmetric manner relative to a workpiece, the mounting boxes are provided with a recovery box and a powder box which are communicated with each other from top to bottom, a bottom plate of each mounting box is provided with a dust collecting hopper which is positioned below a manipulator, one surfaces of the mounting boxes, which are close to each other, are provided with a visual detection mechanism, the recovery box is communicated with the powder collecting head through a vacuum pump, and the powder box output end is connected with the plastic spraying gun; the scheme effectively reduces waste, reduces labor cost and avoids occupying a large amount of places for a long time.

Description

Industrial automation plastic spraying robot
Technical Field
The invention relates to the technical field of robots, in particular to an industrial automatic plastic spraying robot.
Background
At present, plastic spraying has three ways, one is manual spraying, and the other is spraying by a reciprocating machine; the third is conventional robot spraying, which has the problems of manual spraying: air pollution, flammability and explosiveness, pneumoconiosis, difficult recruitment and unstable quality; problems with reciprocating machine spraying: the device is inflexible, the plastic powder is wasted, and the recovery machine occupies a large area, has high price and poor quality. The conventional robot has problems in that: high price, no vision and no flexibility. Therefore, in terms of investment, spraying quality and molding powder utilization rate, the current spraying way has significant problems of cost, quality, utilization rate and environmental protection, and has hidden health and safety hazards for personnel in related industries.
Chinese patent CN201610451194.6 discloses a plastic spraying robot based on stereoscopic vision, which comprises an image acquisition and processing device, a calculation and control platform, a robot and a spray gun device; the depth information of the workpiece is collected through the special camera, three-dimensional modeling is carried out on the workpiece, a motion path and a posture of the spray gun are generated, the robot is controlled to operate according to the path and the posture, the spray gun sprays plastic powder with static electricity, and the plastic powder spraying work is completed.
Based on this can design one set and can carry out the convenient robot of use in the operation of spraying plastics and not need great place intelligently, still need to reduce the waste of raw materials.
Disclosure of Invention
For solving above-mentioned technical problem, provide an industrial automation spraying plastics robot, above-mentioned problem has been solved to this technical scheme, has effectively reduced the volume that spraying plastics powder falls on ground, has avoided the pollution of powder, has improved recycle, has reduced the waste, has reduced the human cost that cleans after the staff spraying plastics operation, and it is good to use the convenience, avoids taking a large amount of places for a long time.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the industrial automatic plastic spraying robot is characterized by comprising a pair of mounting boxes which are oppositely arranged at two sides of a moving path of a workpiece to be sprayed with plastic, a pair of mechanical arms are symmetrically arranged on each mounting box, a plastic spraying gun and a powder collecting head are respectively arranged on working ends of the mechanical arms, in a working state, the output ends of the plastic spraying gun and the powder collecting head on each mounting box are respectively oppositely arranged with the powder collecting head and the output end of the plastic spraying gun on the other mounting box in a central symmetry manner relative to the workpiece, a recycling box and a powder box which are mutually communicated are arranged on the mounting boxes from top to bottom, a dust collecting hopper is arranged on a bottom plate of each mounting box and is positioned below the mechanical arms, a visual detection mechanism is arranged on the mutually close surface of each mounting box, the recycling box is communicated with the powder collecting head through a vacuum pump, the output end of the powder box is connected with the plastic spraying gun, and the mechanical arms, The plastic spraying gun, the visual detection mechanism and the vacuum pump are all electrically connected with the controller.
Preferably, the manipulator comprises a shoulder assembly, an upper arm assembly, a forearm assembly, a wrist assembly, an end assembly and a rotating table; the revolving stage sets up in the collection box side, the rotatable fixed mounting of shoulder subassembly is on the revolving stage, upper arm subassembly is articulated with the shoulder subassembly, partly transmission assembly in the shoulder subassembly is connected with upper arm subassembly transmission, another part drive mechanism in the shoulder subassembly is connected with the transmission assembly in the upper arm subassembly in proper order, the upper arm subassembly other end is articulated with the forearm subassembly, transmission assembly in the upper arm subassembly is connected with the forearm subassembly transmission, the wrist subassembly is articulated with the forearm subassembly, partly transmission assembly in the forearm subassembly is connected with wrist subassembly transmission, another part transmission assembly in the forearm subassembly is connected with the transmission assembly in the wrist subassembly in proper order, tip subassembly and wrist subassembly clearance fit, transmission assembly and tip subassembly fixed connection in the wrist subassembly, the first fixed mounting of powder collection is at tip subassembly terminal, shoulder subassembly and forearm subassembly all are connected with the controller electricity.
Preferably, the shoulder assembly comprises a shoulder housing, a first rotary driver, a second rotary driver, a first sprocket pair and a second sprocket pair; the shoulder shell is fixedly connected with the door frame, the first rotary driver and the second rotary driver are fixedly installed in the shoulder shell, the output end of the first rotary driver is fixedly connected with the input end of the first chain wheel pair, the output end of the first chain wheel pair is fixedly connected with the upper arm assembly, the output end of the second rotary driver is fixedly connected with the input end of the second chain wheel pair, the output end of the second chain wheel pair is in transmission connection with the transmission assembly of the upper arm assembly, and the first rotary driver and the second rotary driver are both electrically connected with the controller.
Preferably, the upper arm assembly comprises an upper arm shell, a third chain wheel pair and a fourth chain wheel pair; the two ends of the upper arm shell are hinged with the shoulder components and the front arm components respectively, the third chain wheel pair is fixedly installed on the outer side of the upper arm shell and is in transmission connection with the shoulder components, the fourth chain wheel pair is in transmission connection with the transmission components of the shoulder components, and the other end of the fourth chain wheel pair is in transmission connection with the front arm components.
Preferably, the forearm assembly comprises a forearm shell, a fifth chain wheel pair, a third rotary driver, a fourth rotary driver, a sixth chain wheel pair and a seventh chain wheel pair; forearm casing both ends are articulated with upper arm subassembly and wrist subassembly, the fifth sprocket is vice to be fixed on the forearm casing and to be connected with the transmission assembly transmission of upper arm subassembly, the equal fixed mounting of third rotary actuator and fourth rotary actuator is in the forearm casing, the vice input fixed connection of third rotary actuator output shaft and sixth sprocket, the vice output of sixth sprocket is connected with wrist subassembly transmission, the vice input fixed connection of fourth rotary actuator output shaft and seventh sprocket, the vice input of seventh sprocket is connected with the transmission assembly transmission in the wrist subassembly, third rotary actuator and fourth rotary actuator all are connected with the controller electricity.
Preferably, the wrist assembly comprises a wrist shell, an eighth chain wheel pair, a ninth chain wheel pair and a bevel gear pair; wrist casing is articulated with the forearm subassembly, the vice fixed mounting of eighth sprocket on wrist casing and be connected with the transmission assembly transmission of forearm subassembly, the vice setting of ninth sprocket is in wrist casing and forearm subassembly articulated clearance, the vice input of ninth sprocket is connected with another transmission assembly transmission of forearm subassembly, the vice fixed mounting of bevel gear is on the vice output of ninth sprocket, bevel gear pair output and tip subassembly fixed connection, tip subassembly and wrist casing clearance fit.
Preferably, the end assembly comprises an end fixing plate and a rotating shaft; the powder collecting head is fixedly arranged on the end fixing plate, the rotating shaft is vertically arranged at the bottom of the end fixing plate, the rotating shaft extends into the wrist assembly and is in clearance fit with the wrist assembly, and one end, far away from the end fixing plate, of the rotating shaft is fixedly connected with the transmission assembly of the wrist assembly.
Preferably, the install bin still is equipped with dust board and universal wheel, and the dust board sets up in the install bin both sides symmetrically, and the universal wheel setting is in install bin bottom four corners.
Preferably, a discharge valve is arranged at the communication position of the recovery box and the powder box and electrically connected with the controller.
Preferably, the bottom of the groove formed in the ash collecting hopper upwards is positioned right below a manipulator provided with the powder collecting head.
Compared with the prior art, the invention has the beneficial effects that:
1. effectively reduced the volume that the spraying plastics powder fell on ground, avoided the pollution of powder, improved recycle rate, reduced the waste, it is specific, the staff removes the both sides of treating spraying plastics work piece moving mechanism with a pair of install bin earlier, makes both sets up in opposite directions. The worker then moves the workpiece to the very center of the pair of mounting boxes. The visual detection mechanism sends the shot picture signal to the controller, and the controller positions the workpiece according to the signal and calculates the working path of the manipulator. The controller then sends a signal to a pair of manipulators on the mounting box. The manipulator drives the plastic spraying gun and the powder collecting head to face the workpiece direction after receiving the signal, and the plastic spraying gun on the first mounting box, the workpiece and the powder collecting head on the second mounting box always keep moving on the same straight line; the powder collecting head on the first mounting box, the workpiece and the plastic spraying gun on the second mounting box always move on the same straight line. The controller sends signals to the plastic spraying gun and the vacuum pump, the plastic spraying gun leads out plastic spraying powder in the powder box through a pipeline after receiving the signals and sprays the plastic to a workpiece, and meanwhile, the vacuum pump leads redundant powder sprayed in the air into the recovery box through a pipeline through the powder collection head;
2. the labor cost for cleaning after the plastic spraying operation of workers is reduced, and particularly, after the plastic spraying operation is finished, the controller enables the powder collecting head to face the upper end of the dust collecting hopper through the mechanical arm, and then collects the powder falling in the dust collecting hopper through the vacuum pump, so that the waste of materials is further reduced, and the environment-friendly effect is achieved;
3. the use convenience is good, and a large amount of places are avoided being occupied for a long time. Specifically, through setting up the universal wheel, the staff can conveniently remove the install bin, removes a pair of install bin to treating spraying plastics piece removal route both sides and can carry out work.
Drawings
FIG. 1 is an overall perspective view of the present invention;
FIG. 2 is a partial perspective view of the present invention;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a perspective view of the robot of the present invention;
FIG. 5 is a left side view of the robot of the present invention;
FIG. 6 is a sectional view taken along line A-A of FIG. 5;
FIG. 7 is a perspective view of FIG. 6;
FIG. 8 is an enlarged view of a portion of FIG. 7 at C;
FIG. 9 is an enlarged view of a portion of FIG. 7 at D;
FIG. 10 is an enlarged view of a portion of FIG. 6 at B;
fig. 11 is a partial enlarged view of fig. 7 at E.
Description of reference numerals:
1-a manipulator; 1 a-a shoulder assembly; 1a 1-shoulder shell; 1a2 — first rotary drive; 1a3 — a second rotary drive; 1a 4-first sprocket set; 1a 5-second sprocket set; 1 b-an upper arm assembly; 1b 1-upper arm shell; 1b 2-third sprocket set; 1b 3-fourth sprocket set; 1 c-forearm component; 1c 1-forearm housing; 1c 2-fifth sprocket set; 1c 3-third rotary drive; 1c 4-fourth rotary drive; 1c 5-sixth sprocket set; 1c 6-seventh sprocket set; 1 d-wrist component; 1d 1-wrist housing; 1d 2-eighth sprocket set; 1d 3-ninth sprocket set; 1d 4-bevel gear pair; 1 e-an end assembly; 1e 1-end fixing plate; 1e 2-spindle; 1 f-rotating table;
2, installing a box; 2 a-an ash blocking plate; 2 b-a universal wheel;
3-spraying a plastic gun;
4-a powder collection head;
5-a recycling bin; 5 a-a discharge valve;
6-powder box;
7-ash collecting hopper; 8-visual inspection mechanism.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in figures 1 to 3, an industrial automatic plastic spraying robot comprises a pair of mounting boxes 2 which are oppositely arranged at two sides of a moving path of a workpiece to be sprayed with plastic, a pair of mechanical arms 1 are symmetrically arranged on each mounting box 2, a plastic spraying gun 3 and a powder collecting head 4 are respectively arranged on working ends of the mechanical arms 1, in a working state, the output ends of the plastic spraying gun 3 and the powder collecting head 4 on each mounting box 2 are respectively opposite to the powder collecting head 4 and the output end of the plastic spraying gun 3 on the other mounting box 2 in a central symmetry way around the workpiece, a recovery box 5 and a powder box 6 which are mutually communicated are arranged on the mounting box 2 from top to bottom, a dust collecting hopper 7 is arranged on a bottom plate of the mounting box 2, the dust collecting hopper 7 is positioned below the mechanical arms 1, a visual detection mechanism 8 is arranged on the mutually close surface of the mounting boxes 2, the recovery box 5 is communicated with the powder collecting head 4 through a vacuum pump, the output end of the powder box 6 is connected with the plastic spraying gun 3, and the manipulator 1, the plastic spraying gun 3, the visual detection mechanism 8 and the vacuum pump are all electrically connected with the controller.
The manipulator 1 is a five-degree-of-freedom manipulator. 02 adopt transparent material, the staff of being convenient for observes the inside operation. The 08 is an industrial camera. The worker firstly moves the pair of installation boxes 2 to two sides of the workpiece moving mechanism to be sprayed with plastics so that the installation boxes and the workpiece moving mechanism are oppositely arranged. The worker then moves the workpiece to the very center of the pair of mounting boxes 2. The visual detection mechanism 8 sends the shot picture signal to the controller, and the controller positions the workpiece according to the signal and calculates the working path of the manipulator 1. The controller then sends a signal to a pair of robots 1 on a mounting box 2. The mechanical arm 1 drives the plastic spraying gun 3 and the powder collecting head 4 to face the workpiece direction after receiving signals, and the plastic spraying gun 3 on the first installation box 2, the workpiece and the powder collecting head 4 on the second installation box 2 always keep moving on the same straight line; the powder collecting head 4 on the first mounting box 2, the workpiece and the plastic spraying gun 3 on the second mounting box 2 always move on the same straight line. The controller sends signals to the plastic spraying gun 3 and the vacuum pump, the plastic spraying gun 3 draws out plastic spraying powder in the powder box 6 through a pipeline after receiving the signals and sprays plastic to a workpiece, and meanwhile the vacuum pump introduces redundant powder sprayed into the air into the recovery box 5 through a pipeline through the powder collection head 4. Part of the powder not collected by the powder collecting head 4 is blown inside the mounting box 2 and finally falls on the hopper 7. The powder collected by the recycling bin 5 enters the powder bin 6 again, so that the waste of materials is reduced. After the spraying plastics are accomplished, the controller passes through manipulator 1 and collects head 4 towards ash collecting bucket 7 upper end opening with the powder, then will fall the powder in ash collecting bucket 7 through the vacuum pump and collect, has further reduced the waste of material, and is environment-friendly, has reduced the human cost that the later stage workman cleaned.
As shown in fig. 4 and 5, the robot 1 includes a shoulder assembly 1a, an upper arm assembly 1b, a forearm assembly 1c, a wrist assembly 1d, an end assembly 1e and a rotary table 1 f; the rotary table 1f is arranged on the side surface of the recycling box 5, the shoulder component 1a is rotatably and fixedly arranged on the rotary table 1f, the upper arm component 1b is hinged with the shoulder component 1a, one part of transmission components in the shoulder component 1a is in transmission connection with the upper arm component 1b, the other part of transmission mechanisms in the shoulder component 1a is sequentially connected with the transmission components in the upper arm component 1b, the other end of the upper arm component 1b is hinged with the forearm component 1c, the transmission components in the upper arm component 1b are in transmission connection with the forearm component 1c, the wrist component 1d is hinged with the forearm component 1c, one part of transmission components in the forearm component 1c is in transmission connection with the wrist component 1d, the other part of transmission components in the forearm component 1c is sequentially connected with the transmission components in the wrist component 1d, the end component 1e is in clearance fit with the wrist component 1d, and the transmission components in the wrist component 1d are fixedly, the powder collection head 4 is fixedly mounted on the end of the end member 1e, and the shoulder member 1a and the forearm member 1c are electrically connected to the controller.
The rotating platform 1f enables the whole robot 1 to perform a rotation motion in a horizontal plane, the driving assembly in the shoulder assembly 1a can drive the upper arm assembly 1b to rotate around the joint with the shoulder assembly 1a through the transmission assembly in the shoulder assembly 1a, the driving assembly in the shoulder assembly 1a can also jointly realize the rotation motion of the forearm assembly 1c around the joint between the forearm assembly 1c and the upper arm assembly 1b through the transmission assembly in the shoulder assembly 1a and the transmission assembly in the upper arm assembly 1b, the driving assembly in the forearm assembly 1c can drive the wrist assembly 1d to perform the rotation motion around the joint between the wrist assembly 1d and the forearm assembly 1c through the transmission assembly in the forearm assembly 1c, and the driving assembly in the forearm assembly 1c can also jointly realize the rotation of the end assembly 1e in the wrist assembly 1d through the transmission assembly in the forearm assembly 1c and the transmission assembly in the wrist assembly 1d, the controller achieves flexible adjustment of the position of the end assembly 1e by controlling the drive assemblies in the shoulder assembly 1a and the forearm assembly 1c, the end assembly 1e driving the powder collection head 4 together.
As shown in fig. 6 and 8, the shoulder assembly 1a includes a shoulder housing 1a1, a first rotary driver 1a2, a second rotary driver 1a3, a first sprocket set 1a4, and a second sprocket set 1a 5; the shoulder housing 1a1 is fixedly connected with the door frame, the first rotary driver 1a2 and the second rotary driver 1a3 are fixedly installed in the shoulder housing 1a1, the output end of the first rotary driver 1a2 is fixedly connected with the input end of the first chain wheel pair 1a4, the output end of the first chain wheel pair 1a4 is fixedly connected with the upper arm assembly 1b, the output end of the second rotary driver 1a3 is fixedly connected with the input end of the second chain wheel pair 1a5, the output end of the second chain wheel pair 1a5 is in transmission connection with the transmission assembly of the upper arm assembly 1b, and the first rotary driver 1a2 and the second rotary driver 1a3 are both electrically connected with the controller.
The first rotary driver 1a2 and the second rotary driver 1a3 are servo motors; the controller sends signals to the first rotary driver 1a2 and the second rotary driver 1a3, when the first rotary driver 1a2 works, the output shaft of the first rotary driver 1a2 drives the first chain wheel pair 1a4 to run together, the first chain wheel pair 1a4 transmits the torsion of the output shaft of the first rotary driver 1a2 to the upper arm component 1b, so that the upper arm component 1b rotates around the hinge joint of the upper arm component 1b and the shoulder component 1a, when the second rotary driver 1a3 works, the output shaft of the second rotary driver 1a5 moves together, and the second chain wheel pair 1a5 transmits the torsion of the second rotary driver 1a3 to the transmission component in the upper arm component 1 b.
As shown in fig. 8, the upper arm assembly 1b includes an upper arm housing 1b1, a third sprocket set 1b2 and a fourth sprocket set 1b 3; two ends of an upper arm shell 1b1 are respectively hinged with a shoulder component 1a and a forearm component 1c, a third chain wheel pair 1b2 is fixedly arranged at the outer side of the upper arm shell 1b1, a third chain wheel pair 1b2 is in transmission connection with the shoulder component 1a, a fourth chain wheel pair 1b3 is in transmission connection with the transmission component of the shoulder component 1a, and the other end of the fourth chain wheel pair 1b3 is in transmission connection with the forearm component 1 c.
When the transmission assembly in the shoulder assembly 1a, which is in transmission connection with the third sprocket pair 1b2, moves, the third sprocket pair 1b2 will drive the upper arm assembly 1b to rotate integrally around the hinge of the upper arm housing 1b1 and the shoulder assembly 1a, and when the transmission assembly in the shoulder assembly 1a, which is in transmission connection with the fourth sprocket pair 1b3, moves, the fourth sprocket pair 1b3 will be driven to move and further drive the forearm assembly 1c to rotate around the hinge of the forearm assembly 1c and the upper arm assembly 1 b.
As shown in fig. 9, the forearm assembly 1c includes a forearm housing 1c1, a fifth sprocket pair 1c2, a third rotary drive 1c3, a fourth rotary drive 1c4, a sixth sprocket pair 1c5 and a seventh sprocket pair 1c 6; two ends of the forearm housing 1c1 are hinged with the upper arm assembly 1b and the wrist assembly 1d, a fifth chain wheel pair 1c2 is fixed on the forearm housing 1c1 and is in transmission connection with the transmission assembly of the upper arm assembly 1b, a third rotary driver 1c3 and a fourth rotary driver 1c4 are both fixedly installed in the forearm housing 1c1, an output shaft of the third rotary driver 1c3 is fixedly connected with an input end of a sixth chain wheel pair 1c5, an output end of the sixth chain wheel pair 1c5 is in transmission connection with the wrist assembly 1d, an output shaft of the fourth rotary driver 1c4 is fixedly connected with an input end of a seventh chain wheel pair 1c6, an input end of the seventh chain wheel pair 1c6 is in transmission connection with the transmission assembly in the wrist assembly 1d, and the third rotary driver 1c3 and the fourth rotary driver 1c4 are both electrically connected with the controller.
The third rotary driver 1c3 and the fourth rotary driver 1c4 are servo motors; when the transmission assembly in the upper arm assembly 1b, which is in transmission connection with the fifth chain wheel pair 1c2, works, the forearm housing 1c1 is driven to rotate around the hinged position of the forearm housing 1c1 and the upper arm assembly 1b, the controller controls the work of the third rotation driver 1c3 and the fourth rotation driver 1c4, the sixth chain wheel pair 1c5 transmits the torsion of the output shaft of the third rotation driver 1c3 to the wrist assembly 1d, so that the wrist assembly 1d rotates around the hinged position of the forearm housing 1c1, and the seventh chain wheel pair 1c6 transmits the torsion of the output shaft of the fourth rotation driver 1c4 to the transmission assembly in the wrist assembly 1 d.
As shown in fig. 10 and 1, the wrist assembly 1d includes a wrist housing 1d1, an eighth sprocket pair 1d2, a ninth sprocket pair 1d3 and a bevel gear pair 1d 4; wrist housing 1d1 is articulated with forearm subassembly 1c, eighth sprocket pair 1d2 is fixed mounting on wrist housing 1d1 and is connected with the transmission assembly transmission of forearm subassembly 1c, ninth sprocket pair 1d3 sets up in wrist housing 1d1 and the articulated clearance of forearm subassembly 1c, ninth sprocket pair 1d3 input and the transmission assembly transmission connection of another transmission assembly of forearm subassembly 1c, bevel gear pair 1d4 is fixed mounting on ninth sprocket pair 1d3 output, bevel gear pair 1d4 output and end subassembly 1e fixed connection, end subassembly 1e and wrist housing 1d1 clearance fit.
When the transmission assembly connected with the eighth chain wheel pair 1d2 in the front arm assembly 1c works, the wrist housing 1d1 is driven to rotate around the hinged position of the front arm assembly 1c, when the transmission assembly connected with the ninth chain wheel pair 1d3 in the front arm assembly 1c works, the ninth chain wheel pair 1d3 rotates to drive the bevel gear pair 1d4 to work, the bevel gear pair 1d4 deflects the torsion force by an angle and then transmits the torsion force to the end assembly 1e, and the rotation of the end assembly 1e can be realized.
As shown in fig. 10 and 11, the end assembly 1e includes an end fixing plate 1e1 and a rotating shaft 1e 2; the powder collecting head 4 is fixedly arranged on the end fixing plate 1e1, the rotating shaft 1e2 is vertically arranged at the bottom of the end fixing plate 1e1, the rotating shaft 1e2 extends into the wrist component 1d to be in clearance fit with the wrist component 1d, and one end, far away from the end fixing plate 1e1, of the rotating shaft 1e2 is fixedly connected with the transmission component of the wrist component 1 d.
When the transmission assembly in the wrist assembly 1d works, the driving shaft 1e2 rotates around the gap-fit with the wrist assembly 1d, and further drives the end fixing plate 1e1 to rotate at the end of the whole robot arm 1, so that the powder collecting head 4 has a rotational degree of freedom.
As shown in fig. 3, the installation box 2 is further provided with dust baffles 2a and universal wheels 2b, the dust baffles 2a are symmetrically arranged on two sides of the installation box 2, and the universal wheels 2b are arranged at four corners of the bottom of the installation box 2.
The powder sprayed from the plastic spraying gun 3 and moving to both sides is blocked inside the installation box 2 by the ash blocking plate 2a and falls into the ash collecting hopper 7. Through setting up universal wheel 2b, the staff can conveniently remove install bin 2, has improved the holistic convenience of robot.
As shown in fig. 3, a discharge valve 5a is arranged at the communication position of the recycling bin 5 and the powder bin 6, and the discharge valve 5a is electrically connected with the controller.
The discharge valve 5a is an electric butterfly valve. The controller controls the dust recovered in the recovery box 5 to fall into the powder box 6 by controlling the opening and closing of the discharge valve 5 a. The bleeder valve 5a is in the closed condition under the operation state of spraying plastics, avoids the powder in the collection box 5 to fall into powder case 6 and causes the influence to the operation. During the working interval, the controller controls the discharge valve 5a to open so that the powder in the recovery box 5 falls into the powder box 6 to supplement the powder in the powder box 6.
As shown in fig. 1 and 2, the bottom of the upward groove of the dust collecting hopper 7 is located right below the manipulator 1 for installing the powder collecting head 4.
The powder falling into the dust collecting hopper 7 is concentrated under the action of gravity towards the mechanical arm 1 provided with the powder collecting head 4 through the structure of the dust collecting hopper 7, so that the powder is conveniently recovered by the powder collecting head 4.
The working principle of the invention is as follows:
the device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
firstly, a worker moves a pair of installation boxes 2 to two sides of a workpiece moving mechanism to be sprayed with plastics, and the installation boxes and the workpiece moving mechanism are oppositely arranged.
And step two, the worker moves the workpiece to the center of the pair of installation boxes 2.
And step three, the visual detection mechanism 8 sends the shot picture signal to the controller, and the controller positions the workpiece according to the signal and calculates the working path of the manipulator 1.
And step four, the controller sends signals to the pair of mechanical arms 1 on the installation box 2. The mechanical arm 1 drives the plastic spraying gun 3 and the powder collecting head 4 to face the workpiece direction after receiving signals, and the plastic spraying gun 3 on the first installation box 2, the workpiece and the powder collecting head 4 on the second installation box 2 always keep moving on the same straight line; the powder collecting head 4 on the first mounting box 2, the workpiece and the plastic spraying gun 3 on the second mounting box 2 always move on the same straight line.
And step five, the controller sends signals to the plastic spraying gun 3 and the vacuum pump, the plastic spraying gun 3 leads out the plastic spraying powder in the powder box 6 through a pipeline after receiving the signals and sprays the plastic to the workpiece, and meanwhile, the vacuum pump leads the redundant powder sprayed in the air into the recovery box 5 through a pipeline through the powder collection head 4. Part of the powder not collected by the powder collecting head 4 is blown inside the mounting box 2 and finally falls on the hopper 7. The powder collected by the recycling bin 5 enters the powder bin 6 again, so that the waste of materials is reduced.
After the plastic spraying is finished, the controller enables the powder collecting head 4 to face an opening in the upper end of the ash collecting hopper 7 through the mechanical arm 1, then powder falling into the ash collecting hopper 7 is collected through the vacuum pump, the waste of materials is further reduced, the environment is protected, and the manpower cost for later-stage cleaning by workers is reduced.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. An industrial automatic plastic spraying robot is characterized by comprising a pair of installation boxes (2) which are oppositely arranged at two sides of a moving path of a workpiece to be sprayed with plastic, wherein each installation box (2) is symmetrically provided with a pair of mechanical arms (1), a plastic spraying gun (3) and a powder collecting head (4) are respectively arranged at working ends of the mechanical arms (1), in a working state, the plastic spraying gun (3) and the powder collecting head (4) on each installation box (2) are respectively and oppositely arranged with the powder collecting head (4) and the plastic spraying gun (3) on the other installation box (2) in a central symmetry manner relative to the workpiece at output ends, the installation boxes (2) are respectively provided with a recovery box (5) and a powder box (6) which are mutually communicated from top to bottom, a dust collecting hopper (7) is arranged on a bottom plate of the installation box (2), and the dust collecting hopper (7) is positioned below the mechanical arms (1), the mounting box (2) is provided with visual inspection mechanism (8) on the one side that is close to each other, and collection head (4) intercommunication is collected through vacuum pump and powder in collection case (5), and powder case (6) output is connected with plastic-blasting rifle (3), and manipulator (1), plastic-blasting rifle (3), visual inspection mechanism (8), vacuum pump all are connected with the controller electricity.
2. An industrial automatic plastic spraying robot as claimed in claim 1, characterized in that the robot arm (1) comprises a shoulder assembly (1a), an upper arm assembly (1b), a forearm assembly (1c), a wrist assembly (1d), an end assembly (1e) and a rotary table (1 f); the rotary table (1f) is arranged on the side surface of the recovery box (5), the shoulder component (1a) is rotatably and fixedly arranged on the rotary table (1f), the upper arm component (1b) is hinged with the shoulder component (1a), one part of transmission components in the shoulder component (1a) is in transmission connection with the upper arm component (1b), the other part of transmission mechanisms in the shoulder component (1a) is sequentially connected with the transmission components in the upper arm component (1b), the other end of the upper arm component (1b) is hinged with the forearm component (1c), the transmission components in the upper arm component (1b) are in transmission connection with the forearm component (1c), the wrist component (1d) is hinged with the forearm component (1c), one part of transmission components in the forearm component (1c) is in transmission connection with the wrist component (1d), the other part of transmission components in the forearm component (1c) is sequentially connected with the transmission components in the wrist component (1d), tip subassembly (1e) and wrist subassembly (1d) clearance fit, transmission assembly and tip subassembly (1e) fixed connection in wrist subassembly (1d), powder collection head (4) fixed mounting are at tip subassembly (1e) terminal, and shoulder subassembly (1a) and forearm subassembly (1c) all are connected with the controller electricity.
3. The industrial automation plastic spraying robot as claimed in claim 2, wherein the shoulder assembly (1a) comprises a shoulder housing (1a1), a first rotary driver (1a2), a second rotary driver (1a3), a first sprocket pair (1a4) and a second sprocket pair (1a 5); the shoulder shell (1a1) is fixedly connected with the door frame, the first rotary driver (1a2) and the second rotary driver (1a3) are fixedly installed in the shoulder shell (1a1), the output end of the first rotary driver (1a2) is fixedly connected with the input end of the first chain wheel pair (1a4), the output end of the first chain wheel pair (1a4) is fixedly connected with the upper arm component (1b), the output end of the second rotary driver (1a3) is fixedly connected with the input end of the second chain wheel pair (1a5), the output end of the second chain wheel pair (1a5) is in transmission connection with the transmission component of the upper arm component (1b), and the first rotary driver (1a2) and the second rotary driver (1a3) are both electrically connected with the controller.
4. The industrial automatic plastic spraying robot as claimed in claim 2, wherein the upper arm assembly (1b) comprises an upper arm housing (1b1), a third chain wheel set (1b2) and a fourth chain wheel set (1b 3); two ends of an upper arm shell (1b1) are respectively hinged with a shoulder component (1a) and a forearm component (1c), a third chain wheel pair (1b2) is fixedly installed on the outer side of the upper arm shell (1b1), a third chain wheel pair (1b2) is in transmission connection with the shoulder component (1a), a fourth chain wheel pair (1b3) is in transmission connection with a transmission component of the shoulder component (1a), and the other end of the fourth chain wheel pair (1b3) is in transmission connection with the forearm component (1 c).
5. An industrial automated spray robot according to claim 2, wherein said forearm assembly (1c) comprises a forearm housing (1c1), a fifth sprocket (1c2), a third rotary drive (1c3), a fourth rotary drive (1c4), a sixth sprocket (1c5) and a seventh sprocket (1c 6); two ends of a forearm shell (1c1) are hinged with an upper arm component (1b) and a wrist component (1d), a fifth chain wheel pair (1c2) is fixed on the forearm shell (1c1) and is in transmission connection with a transmission component of the upper arm component (1b), a third rotary driver (1c3) and a fourth rotary driver (1c4) are both fixedly installed in the forearm shell (1c1), an output shaft of the third rotary driver (1c3) is fixedly connected with an input end of a sixth chain wheel pair (1c5), an output end of the sixth chain wheel pair (1c5) is in transmission connection with the wrist component (1d), an output shaft of the fourth rotary driver (1c4) is fixedly connected with an input end of a seventh chain wheel pair (1c6), an input end of the seventh chain wheel pair (1c6) is in transmission connection with the transmission component in the forearm component (1d), and the third rotary driver (1c3) and the fourth rotary driver (1c4) are both electrically connected with a controller.
6. The industrial automatic plastic spraying robot as claimed in claim 2, wherein the wrist assembly (1d) comprises a wrist housing (1d1), an eighth chain wheel set (1d2), a ninth chain wheel set (1d3) and a bevel gear set (1d 4); wrist casing (1d1) is articulated with forearm subassembly (1c), eighth sprocket pair (1d2) fixed mounting is on wrist casing (1d1) and is connected with the transmission assembly transmission of forearm subassembly (1c), ninth sprocket pair (1d3) sets up in wrist casing (1d1) and the articulated clearance of forearm subassembly (1c), ninth sprocket pair (1d3) input and another transmission assembly transmission connection of forearm subassembly (1c), bevel gear pair (1d4) fixed mounting is on ninth sprocket pair (1d3) output, bevel gear pair (1d4) output and tip subassembly (1e) fixed connection, tip subassembly (1e) and wrist casing (1d1) clearance fit.
7. The industrial automatic plastic spraying robot as claimed in claim 2, wherein the end assembly (1e) comprises an end fixing plate (1e1) and a rotating shaft (1e 2); the powder collecting head (4) is fixedly arranged on the end fixing plate (1e1), the rotating shaft (1e2) is vertically arranged at the bottom of the end fixing plate (1e1), the rotating shaft (1e2) extends into the wrist component (1d) to be in clearance fit with the wrist component (1d), and one end, far away from the end fixing plate (1e1), of the rotating shaft (1e2) is fixedly connected with the transmission component of the wrist component (1 d).
8. The industrial automatic plastic spraying robot as claimed in claim 1, wherein the mounting box (2) is further provided with dust baffles (2a) and universal wheels (2b), the dust baffles (2a) are symmetrically arranged on two sides of the mounting box (2), and the universal wheels (2b) are arranged at four corners of the bottom of the mounting box (2).
9. The industrial automatic plastic spraying robot as claimed in claim 1, wherein a discharge valve (5a) is arranged at the communication position of the recovery tank (5) and the powder tank (6), and the discharge valve (5a) is electrically connected with the controller.
10. The industrial automatic plastic spraying robot as claimed in claim 1, wherein the bottom of the groove opened upwards by the dust collecting hopper (7) is positioned right below the manipulator (1) for installing the powder collecting head (4).
CN202010654311.5A 2020-07-09 2020-07-09 Industrial automation plastic spraying robot Pending CN111958607A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010654311.5A CN111958607A (en) 2020-07-09 2020-07-09 Industrial automation plastic spraying robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010654311.5A CN111958607A (en) 2020-07-09 2020-07-09 Industrial automation plastic spraying robot

Publications (1)

Publication Number Publication Date
CN111958607A true CN111958607A (en) 2020-11-20

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Country Status (1)

Country Link
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009147073A1 (en) * 2008-06-05 2009-12-10 Abb France Paint booth
CN106733379A (en) * 2017-01-11 2017-05-31 西华大学 The spray robot and its control method of view-based access control model identification
CN108355874A (en) * 2018-05-02 2018-08-03 东莞市迪沙机电有限公司 Wooden workpiece powder coating device, Powder Coating System and powder coating process
CN108569071A (en) * 2017-03-08 2018-09-25 南充多维时空科技有限公司 A kind of micro- factory of robot shell
CN209156210U (en) * 2018-10-23 2019-07-26 漳州市万昆工贸有限公司 A kind of coating painting area powder recovering device
CN111331355A (en) * 2020-01-03 2020-06-26 杨照明 Automatic assembling equipment for butt joint pipes of oxygen storage oxygen bags

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009147073A1 (en) * 2008-06-05 2009-12-10 Abb France Paint booth
CN106733379A (en) * 2017-01-11 2017-05-31 西华大学 The spray robot and its control method of view-based access control model identification
CN108569071A (en) * 2017-03-08 2018-09-25 南充多维时空科技有限公司 A kind of micro- factory of robot shell
CN108355874A (en) * 2018-05-02 2018-08-03 东莞市迪沙机电有限公司 Wooden workpiece powder coating device, Powder Coating System and powder coating process
CN209156210U (en) * 2018-10-23 2019-07-26 漳州市万昆工贸有限公司 A kind of coating painting area powder recovering device
CN111331355A (en) * 2020-01-03 2020-06-26 杨照明 Automatic assembling equipment for butt joint pipes of oxygen storage oxygen bags

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