CN111974596A - System device for automatically cleaning and spraying mounting holes of large flange parts - Google Patents
System device for automatically cleaning and spraying mounting holes of large flange parts Download PDFInfo
- Publication number
- CN111974596A CN111974596A CN202010930009.8A CN202010930009A CN111974596A CN 111974596 A CN111974596 A CN 111974596A CN 202010930009 A CN202010930009 A CN 202010930009A CN 111974596 A CN111974596 A CN 111974596A
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- China
- Prior art keywords
- hole
- spraying
- cleaning
- large flange
- automatically cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000005507 spraying Methods 0.000 title claims abstract description 57
- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- 230000001680 brushing effect Effects 0.000 claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 239000007921 spray Substances 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000003973 paint Substances 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 2
- 238000000576 coating method Methods 0.000 claims description 2
- 238000007664 blowing Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005536 corrosion prevention Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000002912 waste gas Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
- B05B13/0609—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies the hollow bodies being automatically fed to, or removed from, the machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- B08B1/32—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention discloses a system device for automatically cleaning and spraying a mounting hole of a large flange part, which comprises: the automatic hole brushing machine comprises a rack for mounting other components, wherein a rotation control device is arranged on the rack, a driving end of the rotation control device is connected with a rotation vertical shaft, a rotating frame is arranged at the tail end of the rotation vertical shaft, and a visual information capturing device, a hole brushing cleaning device, a spraying device and a workpiece fixing device are arranged on the rotating frame. The control device receives the position information data of the mounting hole of the large flange part and then can continuously carry out automatic cleaning, blowing and spraying operations through the hole brushing cleaning device and the spraying device.
Description
Technical Field
The invention relates to a large flange part processing device, in particular to a system device for automatically cleaning and spraying mounting holes of large flange parts.
Background
The large flange parts are basically used outdoors (in mountainous areas or oceans), have severe natural environment and are easily eroded by acid-base media such as wind, frost, rain, snow, seawater and the like; the investment of related engineering projects is huge, and the service life is required to be long; thus, the requirements for corrosion prevention treatment including cleaning and painting are high.
The manual treatment mode commonly adopted at present has poor consistency of coating quality, avoids the phenomena of heavy spraying, missing spraying, over spraying and the like, and has the problems of high labor intensity, low efficiency, large occupied field, poor working environment, random waste gas emission, high treatment difficulty, high cost and the like.
Some manufacturers adopt a mode that workpieces rotate accurately and a robot or a mechanical arm automatically finishes up and down moving of spraying holes. The main problems are that:
1. the mass of the workpiece is large, and the mass of the supporting table board and the mass of the rotary support for driving are large, so that the manufacturing cost of the driving and supporting system is high, and the transmission precision is difficult to maintain for a long time.
2. When the specification and the model of the workpiece are changed, the radial position size between the spray gun and the workpiece needs to be adjusted, the workload is large, the time occupation is large, and the semi-automatic operation is realized.
3. Because the workpiece is heavy and has a huge appearance, when the workpiece is placed on the surface of a rotary worktable, the requirement on the concentricity of the rotary center of the turntable and the rotary center of the workpiece is high, and a large amount of clamping time is consumed.
Disclosure of Invention
The present invention is directed to solving the above-mentioned problems and providing a system for automatically cleaning and spraying installation holes of large flange parts.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a system device for automatically cleaning and spraying installation holes of large flange parts comprises:
the automatic hole brushing machine comprises a rack for mounting other components, wherein a rotation control device is arranged on the rack, a driving end of the rotation control device is connected with a rotation vertical shaft, a rotation support is arranged at the tail end of the rotation vertical shaft, and a visual information capturing device, a hole brushing cleaning device, a spraying device and a workpiece fixing device are arranged on the rotation support.
In a preferred embodiment of the invention, the rotation control means is a precision divider.
In a preferred embodiment of the present invention, the driving end of the rotation control device is further provided with a radial support sleeve, and the rotating vertical shaft is radially supported through the radial support sleeve.
In a preferred embodiment of the present invention, a supporting beam is disposed above the rotating vertical shaft, and the visual information capturing devices are a pair of visual information capturing devices mounted on the supporting beam and disposed at two symmetrical ends of the rotating vertical shaft respectively.
In a preferred embodiment of the present invention, the rotating frame is a first mounting beam and a second mounting beam mounted at the end of the rotating vertical shaft, the two ends of the first mounting beam are respectively provided with the brushing hole cleaning device, and the two ends of the second mounting beam are respectively provided with the spraying device.
In a preferred embodiment of the present invention, a first four-axis robot and a second four-axis robot are respectively disposed at two ends of the first mounting beam, and the first four-axis robot and the second four-axis robot are respectively connected to the first hole brushing cleaning device and the second hole brushing cleaning device; and a third four-axis robot and a fourth four-axis robot are respectively arranged at two ends of the second mounting beam and are respectively connected with the first spraying device and the second spraying device.
In a preferred embodiment of the invention, the hole brushing cleaning device comprises a cylindrical brush controlled by a motor, the cylindrical brush rotates at a high speed under the driving of the motor, and the cylindrical brush moves up and down along the axial direction of the hole of the workpiece mounting hole under the driving of a robot to finish hole brushing operation. The requirements of holes to be brushed with different inner diameters are met by replacing the cylindrical hairbrushes with different outer diameters. The displacement and the moving speed of the motor and the brush are changed by a program, so that the requirements of brushing holes and cleaning holes with different depths are met.
In a preferred embodiment of the invention, the spraying device is a cylindrical deep-hole spraying gun arranged on a four-axis robot, and the paint sprayed by the cylindrical deep-hole spraying gun is in a conical shape.
In a preferred embodiment of the invention, the angle of the cone of the cylindrical deep-hole spray gun is adjusted by a paint pump system connected to the cylindrical deep-hole spray gun to accommodate different bore diameters. And the robot drives the deep-hole spray gun to move axially up and down in the hole to be sprayed, so that the spraying operation of the inner wall of the hole is completed. The displacement and the speed of the deep-hole spray gun are changed by a program, so that the requirements of spray holes of holes with different depths are met.
In a preferred embodiment of the present invention, the workpiece fixing device includes a translation trolley, and the translation trolley is provided with a workpiece radial and high-low positioning tool.
In a preferred embodiment of the invention, the gantry is a gantry.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the rotating device drives the multiple sets of visual information capturing devices to rotate, large flange parts are photographed in a partitioned mode, the large flange parts are spliced into a whole, after the control device receives position information data of a mounting hole of the large flange parts, automatic cleaning, purging and spraying operation can be continuously conducted through the hole brushing cleaning device and the spraying device, omission and repeated processing of the hole are avoided, the operation range is obviously expanded, the processing efficiency is improved, and the consistency and the stability of the processing quality are guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a process flow diagram of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
Referring to fig. 1 and 2, the system for automatically cleaning and spraying installation holes of large flange parts comprises a rack 100 for installing other components, wherein a rotation control device 200 is arranged on the rack 100, the output end of the rotation control device 200 is connected with a rotation vertical shaft 300, a rotating frame 900 is arranged at the tail end of the rotation vertical shaft, and a visual information capturing device 400, a hole brushing cleaning device 500, a spraying device 600 and a workpiece fixing device 700 are arranged on the rotating frame 900.
The frame 100 is a portal frame, so that the whole is stable, the requirement of photographing delay caused by whole shaking is reduced, and the operation time is shortened. The rotation control device 200 is disposed on the top of the rack 100, the rotation control device 200 is a precision divider, and an output end of the rotation control device 200 is connected to the rotation vertical shaft 300 to drive the rotation vertical shaft 300 to rotate. The radial support sleeve 800 is further arranged at the joint of the rotating vertical shaft 300 and the rotation control device 200, so that the rigidity and the precision of the spindle are improved, the concentricity of a workpiece and the rotating vertical shaft 300 is guaranteed, and the work can be finished in a high-precision environment.
The visual information capturing device 400 is arranged on the rotating vertical shaft 300, specifically, a supporting beam 310 is arranged on the upper part of the rotating vertical shaft 300, and the visual information capturing device 400 is a pair of camera capturing devices which are respectively symmetrically arranged at two ends of the supporting beam 310 relative to the rotating vertical shaft 300. The visual information capturing device 400 is also connected to a fine adjustment mechanism for adjusting the horizontal and vertical positions, which facilitates the debugging of the system device.
The hole brushing and cleaning device 500 and the spraying device 600 are also respectively arranged on the rotating vertical shaft 300, specifically, a rotating frame 900 is arranged at the tail end of the rotating vertical shaft, the rotating frame 900 comprises a first mounting beam 910 and a second mounting beam 920 which are arranged in a mutually perpendicular mode, the hole brushing and cleaning device 500 is respectively arranged at two ends of the first mounting beam 910, and the spraying device 600 is respectively arranged at two ends of the second mounting beam 920.
A first four-axis robot 911 and a second four-axis robot 912 are respectively arranged at two ends of the first mounting beam 910, and the first four-axis robot 911 and the second four-axis robot 912 are respectively connected with a hole brushing cleaning device 500; the two ends of the second mounting beam 920 are respectively provided with a third four-axis robot 921 and a fourth four-axis robot 922, and the third four-axis robot 921 and the fourth four-axis robot 922 are respectively connected with a spraying device 600.
The workpiece fixing device 700 is arranged below the rotating vertical shaft 300 and used for fixing a workpiece to be machined, the workpiece fixing device 700 in the embodiment comprises a translation trolley, a workpiece radial and high-low positioning tool 710 is arranged on the translation trolley, and the workpiece radial and high-low positioning tool 710 comprises a plurality of positioning blocks and lifting blocks, the positions of which can be adjusted. The center of the translation trolley is provided with a positioning hole which is used as a positioning reference and is convenient to align and be concentric with the rotating vertical shaft 300.
With reference to fig. 2, based on the above structure, the working principle of the present invention is as follows:
the rotation control device 200, the visual information capturing device 400, the hole brushing cleaning device 500 and the spraying device 600 are connected, when the spraying device works, a workpiece 10 is positioned and placed on a corresponding tool of the workpiece fixing device 700 as required after being properly protected outside a spraying hole, the workpiece fixing device 700 carrying the workpiece moves to a specified position in the spraying hole, and the deviation of the front, rear, left and right positions of the workpiece fixing device 700 is ensured to be within a specified range; the visual information capturing device 400 photographs the hole on the workpiece 10, the rotation control device 200 drives the rotating vertical shaft 300 to rotate by a certain angle, so that the visual information capturing device 400 also rotates by a certain angle, and then photographs the hole on the workpiece 10.
This is repeated until each visual information capturing device 400 has photographed the hole of the workpiece 10 within 180 °.
Then, the visual information capturing device 400 sends the position information data of the holes to the control device for processing, and the position information data of the holes in the range of 180 ° × 2 ═ 360 ° of the workpiece 10 are combined to avoid repetition or omission; the control device packs the data respectively and transmits the data to the hole brushing cleaning device 500 and the spraying device 600; the two hole brushing cleaning devices 500 are matched with the rotating device 300 in a rotating mode to respectively clean the inner holes within the range of 180 degrees. The other two spraying devices 600 repeat the above operations to respectively complete the spraying operation of the inner holes within the range of 180 degrees. At this time, the rotating vertical shaft 300, the visual information capturing device 400, the hole brushing cleaning device 500, and the spraying device 600 are linked to return to the original position, the workpiece fixing device 700 moves, the workpiece 10 moves out of the spraying hole chamber, the operator removes the workpiece on the workpiece fixing device 700, and the next cleaning and spraying is started.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present 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. A system device for automatically cleaning and spraying installation holes of large flange parts is characterized by comprising:
the automatic hole brushing machine comprises a rack for mounting other components, wherein a rotation control device is arranged on the rack, a driving end of the rotation control device is connected with a rotation vertical shaft, a rotating frame is arranged at the tail end of the rotation vertical shaft, and a visual information capturing device, a hole brushing cleaning device, a spraying device and a workpiece fixing device are arranged on the rotating frame.
2. The system for automatically cleaning and spraying large flange part mounting holes as claimed in claim 1, wherein said rotational control means is a precision divider.
3. The system for automatically cleaning and spraying the installation hole of the large flange part as claimed in claim 1, wherein the driving end of the rotation control device is further provided with a radial support sleeve, and the rotating vertical shaft is radially supported through the radial support sleeve.
4. The system device for automatically cleaning and spraying the installation hole of the large flange part as claimed in claim 1, wherein a supporting cross beam is arranged above the rotating vertical shaft, and the visual information capturing devices are a pair of visual information capturing devices which are arranged on the supporting cross beam and are respectively arranged at two symmetrical ends of the rotating vertical shaft.
5. The system device for automatically cleaning and spraying the mounting hole of the large flange part as claimed in claim 1, wherein the rotating frame is a first mounting beam and a second mounting beam which are arranged at the tail ends of the rotating vertical shaft, the brushing hole cleaning device is respectively arranged at two ends of the first mounting beam, and the spraying device is respectively arranged at two ends of the second mounting beam.
6. The system device for automatically cleaning and spraying the mounting hole of the large flange part according to claim 1, wherein a first four-axis robot and a second four-axis robot are respectively arranged at two ends of the first mounting beam, and are respectively connected with the first hole brushing cleaning device and the second hole brushing cleaning device; and a third four-axis robot and a fourth four-axis robot are respectively arranged at two ends of the second mounting beam and are respectively connected with the first spraying device and the second spraying device.
7. The system for automatically cleaning and spraying the installation hole of the large flange part as claimed in claim 1, wherein the hole cleaning device comprises a cylindrical brush controlled by a motor, and the cylindrical brush moves up and down in the hole under the driving of the motor to complete the hole cleaning operation. The requirements of holes to be brushed with different inner diameters are met by replacing the cylindrical hairbrushes with different outer diameters. The displacement of the motor and the hairbrush is changed through a program, and the requirements of hole brushing and cleaning of holes with different depths are met.
8. The system device for automatically cleaning and spraying the installation hole of the large flange part as claimed in claim 1, wherein the spraying paint is a cylindrical deep-hole spraying gun installed on a four-axis robot, and the spraying paint sprayed by the cylindrical deep-hole spraying gun is in a conical shape.
9. The system for automatically cleaning and spraying installation holes of large flange parts according to claim 1, wherein the angle of the cone of the cylindrical deep-hole spray gun is adjusted by a coating pump connected with the cylindrical deep-hole spray gun to adapt to different hole diameters. And the robot drives the deep-hole spray gun to move up and down in the hole to be sprayed, so that the spraying operation of the inner wall of the hole is completed. The displacement of the deep-hole spray gun is changed by a program, so that the requirements of spray holes of holes with different depths are met.
10. The system device for automatically cleaning and spraying the mounting hole of the large flange part according to claim 1, wherein the workpiece fixing device comprises a translation trolley, and a workpiece radial and high-low positioning tool is arranged on the translation trolley; the frame is a portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010930009.8A CN111974596A (en) | 2020-09-07 | 2020-09-07 | System device for automatically cleaning and spraying mounting holes of large flange parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010930009.8A CN111974596A (en) | 2020-09-07 | 2020-09-07 | System device for automatically cleaning and spraying mounting holes of large flange parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111974596A true CN111974596A (en) | 2020-11-24 |
Family
ID=73446938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010930009.8A Withdrawn CN111974596A (en) | 2020-09-07 | 2020-09-07 | System device for automatically cleaning and spraying mounting holes of large flange parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111974596A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201061782Y (en) * | 2007-06-11 | 2008-05-21 | 中国二十冶建设有限公司 | Pipe gas flushing gun |
| CN103600155A (en) * | 2013-10-25 | 2014-02-26 | 上海工程技术大学 | Real-time monitoring device for welding robot welding process |
| CN105033803A (en) * | 2015-07-28 | 2015-11-11 | 伟本机电（上海）有限公司 | Automatic hole burr removing device for valve body |
| CN206425134U (en) * | 2017-01-20 | 2017-08-22 | 山东中清智能科技股份有限公司 | A kind of binocular stereo visual sensor for spray robot |
| CN208005480U (en) * | 2018-01-15 | 2018-10-26 | 北京石油化工学院 | A kind of mechanical device for the positioning of deep-hole structures surface Hardening Treatment |
| CN109821687A (en) * | 2019-03-04 | 2019-05-31 | 清研同创机器人（天津）有限公司 | Large complicated workpiece surface multirobot automatic spraying system |
| CN208976406U (en) * | 2018-07-17 | 2019-06-14 | 广东中博汽车零部件有限公司 | Full-automatic clamp cylinder holes scavenging machine |
| CN110124924A (en) * | 2019-05-06 | 2019-08-16 | 河北科技大学 | Automatic spray apparatus |
| US20210308710A1 (en) * | 2018-10-19 | 2021-10-07 | Transforma Robotics Pte Ltd | Surface-coating robot operating system and method thereof |
-
2020
- 2020-09-07 CN CN202010930009.8A patent/CN111974596A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201061782Y (en) * | 2007-06-11 | 2008-05-21 | 中国二十冶建设有限公司 | Pipe gas flushing gun |
| CN103600155A (en) * | 2013-10-25 | 2014-02-26 | 上海工程技术大学 | Real-time monitoring device for welding robot welding process |
| CN105033803A (en) * | 2015-07-28 | 2015-11-11 | 伟本机电（上海）有限公司 | Automatic hole burr removing device for valve body |
| CN206425134U (en) * | 2017-01-20 | 2017-08-22 | 山东中清智能科技股份有限公司 | A kind of binocular stereo visual sensor for spray robot |
| CN208005480U (en) * | 2018-01-15 | 2018-10-26 | 北京石油化工学院 | A kind of mechanical device for the positioning of deep-hole structures surface Hardening Treatment |
| CN208976406U (en) * | 2018-07-17 | 2019-06-14 | 广东中博汽车零部件有限公司 | Full-automatic clamp cylinder holes scavenging machine |
| US20210308710A1 (en) * | 2018-10-19 | 2021-10-07 | Transforma Robotics Pte Ltd | Surface-coating robot operating system and method thereof |
| CN109821687A (en) * | 2019-03-04 | 2019-05-31 | 清研同创机器人（天津）有限公司 | Large complicated workpiece surface multirobot automatic spraying system |
| CN110124924A (en) * | 2019-05-06 | 2019-08-16 | 河北科技大学 | Automatic spray apparatus |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20201124 |