CN112354720A - Spraying thickness automatic control's spraying robot control system - Google Patents
Spraying thickness automatic control's spraying robot control system Download PDFInfo
- Publication number
- CN112354720A CN112354720A CN202011241544.9A CN202011241544A CN112354720A CN 112354720 A CN112354720 A CN 112354720A CN 202011241544 A CN202011241544 A CN 202011241544A CN 112354720 A CN112354720 A CN 112354720A
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- Prior art keywords
- nozzle
- spraying
- coating
- mechanical arm
- control system
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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
- 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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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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
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spraying robot control system capable of automatically controlling spraying thickness, which comprises a main mechanical arm, a rotating base positioned at the bottom end of the main mechanical arm, a two-section mechanical arm positioned at the top of the main mechanical arm and a mechanical wrist movably connected to the front end of the two-section mechanical arm, wherein a detection probe is fixedly arranged at the top end of the mechanical wrist, a material conveying pipe is communicated with the front end of the mechanical wrist, a duckbill nozzle is fixedly arranged at the front end of the material conveying pipe, and a paint spray hole communicated with the material conveying pipe is formed in the front end of the duckbill nozzle. According to the invention, the opening and closing of each spray hole can be controlled through the arranged spray hole control structure, so that the coating is saved, and the spraying precision is improved; through the clearance structure that is equipped with, the coating blow gun can blow the dispersed part of duckbilled shower nozzle blowout coating to the work piece, reduces the dispersion of coating, and the deashing shower nozzle can blow away the powder dust on workpiece surface, and the dust is wiped to rethread sponge, makes the adhesion workpiece surface again that coating can be better.
Description
Technical Field
The invention relates to spraying equipment, in particular to a spraying robot control system for automatically controlling spraying thickness.
Background
The spraying robot is also called as a spraying robot, and is an industrial robot capable of automatically spraying paint or other coatings, the spraying robot mainly comprises a robot body, a computer and a corresponding control system, the hydraulically driven spraying robot also comprises a hydraulic oil source, such as an oil pump, an oil tank, a motor and the like, the arm has a large motion space and can do complex track motion and flexibly move, the wrist part of the advanced spraying robot adopts a flexible wrist which can be bent in all directions and can rotate, the motion of the wrist is similar to that of a human, the wrist can conveniently extend into the interior of a workpiece through a small hole to spray the inner surface of the workpiece, the workpiece body and the paint surface can be detected by using a sensor, the spraying thickness can be controlled, manual spraying is replaced, and the spraying quality is improved.
However, in the specific implementation, the switch of each spray hole cannot be controlled, the area of the coating sprayed by the spray head cannot be adjusted, the coating is wasted, an overlapped part is easy to exist, the spraying thickness is difficult to control, secondly, the surface of a workpiece needs to be cleaned, otherwise, the coating is easy to fall off after being dried, the spray head is easy to disperse after being atomized, is difficult to control, can be adsorbed on the surface of a machine, and the attractiveness is affected. Therefore, the spraying robot control system for automatically controlling the spraying thickness is provided.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme:
the invention relates to a spraying robot control system for automatically controlling spraying thickness, which comprises a main mechanical arm, a rotating base arranged at the bottom end of the main mechanical arm, a two-section mechanical arm arranged at the top of the main mechanical arm and a mechanical wrist movably connected to the front end of the two-section mechanical arm, wherein a detection probe is fixedly arranged at the top end of the mechanical wrist, a material conveying pipe is communicated with the front end of the mechanical wrist, a duckbill nozzle is fixedly arranged at the front end of the material conveying pipe, a paint spray hole communicated with the material conveying pipe is formed in the front end of the duckbill nozzle, a spray hole control structure is arranged at the top of the duckbill nozzle and comprises a dust cover fixedly connected to the top of the duckbill nozzle, a metal core is fixedly arranged inside the dust cover, a coil is sleeved on the metal core, a fixed iron block is fixedly arranged at the bottom end of the metal core, the sliding hole that is located fixed iron plate bottom is seted up on the top of coating orifice, the inside activity iron plate that is equipped with of sliding hole, the iron plate groove that sets up with activity iron plate phase-match is seted up to the bottom of coating orifice, the bottom of duckbilled shower nozzle is equipped with the clearance structure.
As a preferred technical scheme, the cleaning structure comprises two supports, an air pump and a coating blowing nozzle, the two supports are respectively and movably connected to two sides of the mechanical wrist through torsion spring hinges, a sponge wiper is hinged to the front ends of the supports, an ash removal nozzle is hinged between the two supports, a connecting rod is hinged to the top ends of the two supports, an air suction nozzle is arranged at the top end of the connecting rod, the air pump is fixedly connected to the bottom end of the mechanical wrist, the coating blowing nozzle is fixedly connected to the front end of a conveying pipe, and the coating blowing nozzle and the ash removal nozzle are both communicated with an air outlet of the air pump through connecting pipes.
As a preferred technical scheme of the invention, the air suction nozzle comprises a shell hinged to the top of the connecting rod, the shell is communicated with an air inlet of the air pump, and a filter screen and a water absorption sponge positioned at the rear end of the filter screen are clamped in the shell.
As a preferable technical scheme of the invention, the bottom end of the shell is provided with a thread groove, the bottom end of the shell is inserted with a water absorption cotton core which is contacted with the water absorption sponge, the water absorption cotton core is positioned in the thread groove, and the thread groove is provided with a cleaning liquid bottle through thread connection.
As a preferable technical scheme of the invention, the air nozzle of the ash removal spray head is inclined downwards, and the air nozzle of the ash removal spray head is positioned at the bottom of the sponge wiper.
As a preferred technical scheme of the invention, the paint blowing nozzle is arranged in parallel with the duckbill spray head.
According to the technical scheme, the invention provides a spraying robot control system for automatically controlling the spraying thickness, which comprises the following steps:
1. through the arranged spray hole control structure, the position of the movable iron block is controlled through the electromagnet consisting of the metal core and the coil, so that the opening and closing of the paint spray holes are controlled, the opening and closing of each spray hole can be controlled, paint is saved, and the spraying precision is improved;
2. through the clearance structure that is equipped with, the air pump passes through the suction nozzle suction air and then spouts from deashing shower nozzle and coating blow gun respectively, and the coating blow gun can blow duckbilled shower nozzle blowout coating's dispersion part to the work piece, reduces the dispersion of coating, and the deashing shower nozzle can blow away the powder dust on workpiece surface, and the rethread sponge is wiped and is cleaned the dust, makes the adhesion that coating can be better workpiece surface again.
Additional features and advantages of the invention will be set forth in the detailed description which follows; and the parts not involved in the invention are the same as or can be realized by the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a control system of a painting robot for automatically controlling the thickness of a painting film according to the present invention;
FIG. 2 is a schematic cross-sectional view of a duckbill sprayer in the automatic control system of the spraying robot for controlling the spraying thickness according to the present invention;
FIG. 3 is an enlarged schematic view of B in FIG. 2;
FIG. 4 is an enlarged schematic view of A of FIG. 1;
FIG. 5 is a schematic structural view of an ash removal nozzle in a spraying robot control system for automatically controlling the spraying thickness according to the present invention
FIG. 6 is a schematic structural diagram of a suction nozzle in a control system of a painting robot for automatically controlling the painting thickness according to the present invention.
Description of the reference numerals
In the figure: 1. a mechanical main arm; 2. rotating the base; 3. a second section of mechanical arm; 4. a mechanical wrist; 5. detecting a probe; 6. a delivery pipe; 7. a duckbill spray head; 8. cleaning the structure; 81. a support; 82. an air pump; 83. a soot cleaning nozzle; 84. sponge wiping; 85. a suction nozzle; 851. a housing; 852. a filter screen; 853. a water-absorbing sponge; 854. cleaning solution bottles; 855. a water absorbent cotton core; 856. a thread groove; 86. a paint blowing nozzle; 9. a nozzle hole control structure; 91. a dust cover; 92. a metal core; 93. a coil; 94. fixing the iron blocks; 95. a movable iron block; 96. an iron block groove; 10. and (5) spraying a coating.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the directional words "upper, lower, inner, outer" and the like included in the terms merely represent the orientation of the terms in a conventional use state or are colloquially understood by those skilled in the art, and should not be construed as limiting the terms.
Example (b): as shown in fig. 1, 2, 3, 4, 5 and 6, the invention relates to a spraying robot control system for automatically controlling spraying thickness, which comprises a main mechanical arm 1, a rotating base 2 at the bottom end of the main mechanical arm 1, a two-section mechanical arm 3 at the top of the main mechanical arm 1, and a mechanical wrist 4 movably connected to the front end of the two-section mechanical arm 3, wherein a detection probe 5 is fixedly arranged at the top end of the mechanical wrist 4, a feed delivery pipe 6 is communicated with the front end of the mechanical wrist 4, a duckbill nozzle 7 is fixedly arranged at the front end of the feed pipe 6, a paint spray hole 10 communicated with the feed pipe 6 is arranged at the front end of the duckbill nozzle 7, a spray hole control structure 9 is arranged at the top of the duckbill nozzle 7, the spray hole control structure 9 comprises a dust cover 91 fixedly connected to the top of the duckbill nozzle 7, a metal core 92 is fixedly arranged inside the, the bottom mounting of metal core 92 is equipped with fixed iron plate 94, and fixed iron plate 94 inlays the top of locating duckbilled shower nozzle 7, and the slide opening that is located fixed iron plate 94 bottom is seted up on the top of coating orifice 10, and the inside activity iron plate 95 that is equipped with of slide opening, the iron plate groove 96 that sets up with activity iron plate 95 phase-match is seted up to the bottom of coating orifice 10, and the bottom of duckbilled shower nozzle 7 is equipped with clearance structure 8.
Wherein, clearance structure 8 includes two supports 81, air pump 82 and coating blow gun 86, two supports 81 are respectively through torsional spring hinge swing joint in the both sides of machinery wrist 4, the front end hinge of support 81 is equipped with the sponge and wipes 84, the articulated deashing shower nozzle 83 that is equipped with between two supports 81, the top of two supports 81 is articulated to be equipped with the connecting rod, the top of connecting rod is equipped with suction nozzle 85, air pump 82 fixed connection is in the bottom of machinery wrist 4, coating blow gun 86 fixed connection is in the front end of conveying pipeline 6, coating blow gun 86 all communicates through the gas outlet of connecting pipe with air pump 82 with deashing shower nozzle 83, realize the deashing and blow dispersed coating to the work piece.
Wherein, the suction nozzle 85 is including articulating the shell 851 at the connecting rod top, and shell 851 is linked together with the air inlet of air pump 82, and the inside block of shell 851 is equipped with filter screen 852 and is located the sponge 853 that absorbs water of filter screen 852 rear end, realizes filtering paint.
Wherein, thread groove 856 has been seted up to the bottom of shell 851, and the bottom of shell 851 alternates and is equipped with the cotton core 855 that absorbs water that contacts with sponge 853 that absorbs water, and the cotton core 855 that absorbs water is located the inside of thread groove 856, and thread groove 856 is equipped with cleaning solution bottle 854 through threaded connection, conveniently adds the washing liquid.
Wherein, the air jet of deashing shower nozzle 83 slopes down, and the air jet of deashing shower nozzle 83 is located the bottom that the sponge wiped 84, and the better dust that blows away is avoided mixing in the coating after the dust blows up.
Wherein, the coating blow gun 86 is arranged in parallel with the duckbilled spray head 7, and the dispersed coating is blown to the workpiece better.
When the spraying machine works, firstly, the cleaning liquid bottle 854 is screwed down, a cleaning agent capable of dissolving paint is added into the cleaning liquid bottle 854, then the cleaning liquid bottle 854 is loaded through the thread groove 856, the cleaning liquid is upwards sucked by the water-absorbing cotton core 855, then the water-absorbing sponge 853 is filled with the cleaning liquid, the paint is sprayed out to the surface of a workpiece from the duckbill spray head 7 after passing through the conveying pipe 6, the angle of the spray head and the distance between the spray head and the workpiece are controlled by the cooperation among the main mechanical arm 1, the rotary base 2 and the two-section mechanical arm 3, the duckbill spray head 7 sprays the workpiece from top to bottom in the spraying process, the cleaning structure 8 is contacted with the workpiece, the air pump 82 sucks air through the air suction nozzle 85 and then sprays out from the ash cleaning spray head 83 and the paint blow nozzle 86 respectively, the paint blow nozzle 86 can blow the dispersed part of the paint sprayed out from the duckbill spray head 7 to, and then the sponge wiper 84 is used for wiping dust, so that the coating can be better adhered to the surface of the workpiece, the coating sucked by the suction nozzle 85 is dissolved by a cleaning agent in the water-absorbing sponge 853, when a small range of coating needs to be sprayed, the electromagnet consisting of the metal core 92 and the coil 93 is used for controlling the magnetism of the electromagnet by controlling whether the coil 93 is electrified or not, and the position of the movable iron block 95 is controlled by utilizing the magnetism, so that the opening and closing of the coating spray holes 10 are controlled, the opening and closing of each spray hole can be controlled, the coating is saved, and the spraying precision is improved.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (6)
1. A spraying robot control system capable of automatically controlling spraying thickness comprises a main mechanical arm (1), a rotating base (2) located at the bottom end of the main mechanical arm (1), a two-section mechanical arm (3) located at the top of the main mechanical arm (1) and a mechanical wrist (4) movably connected to the front end of the two-section mechanical arm (3), and is characterized in that a detection probe (5) is fixedly arranged at the top end of the mechanical wrist (4), a material conveying pipe (6) is communicated with the front end of the mechanical wrist (4), a duckbill nozzle (7) is fixedly arranged at the front end of the material conveying pipe (6), a paint spraying hole (10) communicated with the material conveying pipe (6) is formed in the front end of the duckbill nozzle (7), a spraying hole control structure (9) is arranged at the top of the duckbill nozzle (7), the spraying hole control structure (9) comprises a dust cover (91) fixedly connected to the top of, the inside fixed metal core (92) that is equipped with of dust cover (91), the cover is equipped with coil (93) on metal core (92), the bottom mounting of metal core (92) is equipped with fixed iron plate (94), fixed iron plate (94) inlay the top of locating duckbilled shower nozzle (7), the slide opening that is located fixed iron plate (94) bottom is seted up on the top of coating orifice (10), inside activity iron plate (95) that is equipped with of slide opening, iron plate groove (96) that set up with activity iron plate (95) phase-match are seted up to the bottom of coating orifice (10), the bottom of duckbilled shower nozzle (7) is equipped with clearance structure (8).
2. The automatic control system for spraying thickness of spraying robot as claimed in claim 1, it is characterized in that the cleaning structure (8) comprises two brackets (81), an air pump (82) and a coating blowing nozzle (86), the two brackets (81) are respectively and movably connected with the two sides of the mechanical wrist (4) through torsion spring hinges, the front ends of the brackets (81) are hinged with sponge wipers (84), an ash removal spray head (83) is hinged between the two brackets (81), the top ends of the two brackets (81) are hinged with connecting rods, the top end of the connecting rod is provided with an air suction nozzle (85), the air pump (82) is fixedly connected with the bottom end of the mechanical wrist (4), the coating blowing nozzle (86) is fixedly connected to the front end of the material conveying pipe (6), and the coating blowing nozzle (86) and the ash removal spray head (83) are communicated with the air outlet of the air pump (82) through connecting pipes.
3. The spraying robot control system for automatically controlling the spraying thickness according to claim 2, wherein the air suction nozzle (85) comprises a shell (851) hinged to the top of the connecting rod, the shell (851) is communicated with an air inlet of the air pump (82), and a filter screen (852) and a water absorption sponge (853) positioned at the rear end of the filter screen (852) are clamped inside the shell (851).
4. The spraying robot control system of claim 3, characterized in that a threaded groove (856) is formed in the bottom end of the outer shell (851), a water-absorbing cotton core (855) in contact with a water-absorbing sponge (853) is inserted into the bottom end of the outer shell (851), the water-absorbing cotton core (855) is located inside the threaded groove (856), and the threaded groove (856) is provided with a cleaning liquid bottle (854) through threaded connection.
5. The automatic spraying thickness control spraying robot control system as claimed in claim 1, characterized in that the air nozzle of the ash removal nozzle (83) is inclined downwards, and the air nozzle of the ash removal nozzle (83) is positioned at the bottom of the sponge wiper (84).
6. A painting robot control system with automatic control of painting thickness, according to claim 2, characterized by the fact that the paint blowing nozzle (86) is arranged parallel to the duckbill nozzle (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241544.9A CN112354720A (en) | 2020-11-09 | 2020-11-09 | Spraying thickness automatic control's spraying robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241544.9A CN112354720A (en) | 2020-11-09 | 2020-11-09 | Spraying thickness automatic control's spraying robot control system |
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| Publication Number | Publication Date |
|---|---|
| CN112354720A true CN112354720A (en) | 2021-02-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011241544.9A Pending CN112354720A (en) | 2020-11-09 | 2020-11-09 | Spraying thickness automatic control's spraying robot control system |
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| Country | Link |
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| CN (1) | CN112354720A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967548A (en) * | 2021-10-11 | 2022-01-25 | 重庆特铺路面工程技术有限公司 | Automatic spraying robot with thickness detection function |
| CN114082875A (en) * | 2021-11-19 | 2022-02-25 | 金马工业集团股份有限公司 | Multi-station die forging production line and using method thereof |
| CN114749288A (en) * | 2022-04-22 | 2022-07-15 | 江苏瑞恩建设工程有限公司 | Adjustable anti-blocking spray head applicable to spraying equipment for early-strength quick-setting cement mortar |
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| CN101163553A (en) * | 2005-04-19 | 2008-04-16 | Pgi聚合物公司 | Process and apparatus for forming unifrom nanofiber substrates |
| WO2009079280A1 (en) * | 2007-12-14 | 2009-06-25 | Illinois Tool Works Inc. | Cordless spray gun with an on-board compressed air source |
| CN206104181U (en) * | 2016-08-26 | 2017-04-19 | 重庆泽田汽车部件有限责任公司 | A paint spraying apparatus for cylinder block surface |
| CN107051799A (en) * | 2017-05-26 | 2017-08-18 | 车急修汽车科技有限公司 | A kind of spray robot |
| CN107666966A (en) * | 2015-05-22 | 2018-02-06 | 萨塔有限两合公司 | Spray nozzle device for spray gun |
| CN210474343U (en) * | 2019-08-21 | 2020-05-08 | 故城县三朗福兴阀门厂 | Switch type duckbill nozzle |
-
2020
- 2020-11-09 CN CN202011241544.9A patent/CN112354720A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101163553A (en) * | 2005-04-19 | 2008-04-16 | Pgi聚合物公司 | Process and apparatus for forming unifrom nanofiber substrates |
| WO2009079280A1 (en) * | 2007-12-14 | 2009-06-25 | Illinois Tool Works Inc. | Cordless spray gun with an on-board compressed air source |
| CN107666966A (en) * | 2015-05-22 | 2018-02-06 | 萨塔有限两合公司 | Spray nozzle device for spray gun |
| CN206104181U (en) * | 2016-08-26 | 2017-04-19 | 重庆泽田汽车部件有限责任公司 | A paint spraying apparatus for cylinder block surface |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967548A (en) * | 2021-10-11 | 2022-01-25 | 重庆特铺路面工程技术有限公司 | Automatic spraying robot with thickness detection function |
| CN114082875A (en) * | 2021-11-19 | 2022-02-25 | 金马工业集团股份有限公司 | Multi-station die forging production line and using method thereof |
| CN114749288A (en) * | 2022-04-22 | 2022-07-15 | 江苏瑞恩建设工程有限公司 | Adjustable anti-blocking spray head applicable to spraying equipment for early-strength quick-setting cement mortar |
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Application publication date: 20210212 |