CN113262906A - Mechanical arm and automatic spraying system - Google Patents
Mechanical arm and automatic spraying system Download PDFInfo
- Publication number
- CN113262906A CN113262906A CN202110596628.2A CN202110596628A CN113262906A CN 113262906 A CN113262906 A CN 113262906A CN 202110596628 A CN202110596628 A CN 202110596628A CN 113262906 A CN113262906 A CN 113262906A
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- China
- Prior art keywords
- clamping jaw
- spraying
- mechanical arm
- wall
- fixing base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
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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
- B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
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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
- B05B16/90—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth
- B05B16/95—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth the objects or other work to be sprayed lying on, or being held above the conveying means, i.e. not hanging from the conveying means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to the technical field of automatic equipment, in particular to a mechanical arm and an automatic spraying system, wherein the mechanical arm comprises a base, a driving mechanism, a connecting piece and a clamping jaw, the driving mechanism is arranged on the base and can drive the clamping jaw to move along multiple axial directions, and the clamping jaw is connected with the driving mechanism through the connecting piece; specifically, the clamping jaw cooperates the dabber to promote the clamping jaw on the fixing base and overturn to the outer wall from the inner wall of fixing base to compress tightly the clamping jaw and fix the bottom at the fixing base. The connecting structure between the connecting piece and the clamping jaw is convenient to disassemble and assemble, and the clamping jaw is convenient to replace; when the processing of spraying paint, treat that the transport case targets in place the back control sliding door and close, spray paint again, spray paint and accomplish at the closed spraying incasement, need not artifical entering, the spraying dust is little, practices thrift the spraying raw materials, reduces the exhaust-gas treatment cost, supplements and transports in batches through the turnover case of manual work on first containing tray and second containing tray, keeps spraying uninterrupted operation, raises the efficiency.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a mechanical arm and an automatic spraying system.
Background
The turnover box is widely applied to the field of transportation and storage, and in the long-term use process of the turnover box, metal strips and connecting welding points among the metal strips are easy to rust under various complex environments, so that the firmness and the bearing capacity of the turnover box are influenced, the service cycle of a single turnover box is long, the requirement of the turnover box is huge, and the structure of the turnover box is required to be firm and stable; the problem that the turnover box is easy to rust can be effectively solved by performing paint spraying treatment on the surface of the turnover box, and the service life of the turnover box is prolonged.
In the existing process of paint spraying on the surface of the turnover box, a circulating spraying line occupies a large area, manual feeding, spraying by a reciprocating machine or a robot and finally completing paint spraying on the surface of the turnover box in a manual blanking mode are adopted, so that the paint spraying treatment cost is high and the environmental pollution is great; if adopt the arm to replace artifical material loading or unloading, the turnover case of different specifications of jack catch assistance-mechanical arm reply that needs to adopt multiple specification, mostly through bolt-up connection between traditional arm and the jack catch, the dismouting between jack catch and the arm of being not convenient for.
In view of the above problems, the designer actively makes research and innovation based on the practical experience and professional knowledge that the product engineering is applied for many years, so as to create a mechanical arm and an automatic spraying system, and make the mechanical arm and the automatic spraying system more practical.
Disclosure of Invention
The invention aims to provide a mechanical arm and an automatic spraying system aiming at the defects in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
a kind of mechanical arm, set up on the brace summer and its sliding connection, including: the clamping jaw mechanism comprises a base, a driving mechanism, a connecting piece and clamping jaws, wherein the driving mechanism is arranged on the base and can drive the clamping jaws to move in a multi-axial direction in a space, and the clamping jaws are connected with the driving mechanism through the connecting piece;
the driving mechanism comprises a power device, a first driving assembly, a second driving assembly and a third driving assembly, the power device can drive the mechanical arm to move along the length direction of the supporting beam, the first driving assembly can drive the clamping jaws to move in the horizontal plane along the direction perpendicular to the supporting beam, and the second driving assembly and the third driving assembly can drive the clamping jaws to move along the vertical direction;
the connecting piece includes connecting plate, connecting rod and fixing base, the connecting plate with third drive assembly fixed connection, the fixing base sets up to the cylinder structure that both ends link up, the jack catch be provided with the dabber that the fixing base through-hole suited the inner wall of fixing base is provided with the clamping jaw along its axial, the clamping jaw orientation the lateral wall of fixing base compresses tightly the setting, the jack catch cooperation the dabber promotes the clamping jaw is followed the inner wall upset of fixing base to the outer wall, and will the fixed plate of jack catch compresses tightly to be fixed the bottom of fixing base.
Furthermore, a sliding rail is arranged on the inner wall of the fixed seat in an extending manner from the bottom end to the top end of the fixed seat, and one end of the clamping jaw is rotatably connected with the sliding block through a pin shaft and is slidably connected with the sliding rail through the sliding block;
the hinge pin is sleeved with a torsional spring, the torsional spring can drive the clamping jaw to be away from one end of the sliding block faces the side wall of the fixing seat and is compressed, and the clamping jaw is away from one end of the sliding block faces the side wall of the fixing seat and is provided with a clamping block.
Furthermore, the inner wall of the fixed seat is provided with a first step and a second step along the axial direction of the fixed seat, the first step and the second step are respectively arranged at the top end and the bottom end of the fixed seat, and the inner diameter of the first step is the same as the outer diameter of the second step;
the sliding rail extends to the plane of the first step from the plane of the second step along the axial direction, and comprises a vertical part and a horizontal part, wherein the vertical part is fixed on the horizontal plane of the second step, and the horizontal part is fixed on the circumferential side wall between the first step and the top end of the fixed seat.
Furthermore, a positioning groove is formed in the top end of the fixed seat corresponding to the slide rail, and the positioning groove penetrates through the side wall of the fixed seat;
the inner wall of the fixed seat is provided with a sliding groove corresponding to the sliding rail, and the sliding groove is arranged below the sliding rail.
Furthermore, the sliding block comprises a first part and a second part, the first part is embedded into the sliding groove and is in sliding connection with the sliding rail, the second part is in rotating connection with the clamping jaw, and the second part extends towards the clamping jaw and corresponds to the positioning groove.
Furthermore, a plurality of clamping jaws are arranged on the inner wall of the fixed seat along the circumferential direction of the clamping jaws, and the length of each clamping jaw is greater than the axial length of the fixed seat;
the connecting rod sets up the top of fixing base, the fixing base pass through the connecting rod with connecting plate fixed connection the spacing groove has been seted up to the bottom of fixing base correspond on the fixed plate the spacing groove is provided with the stopper, the stopper with spacing groove looks gomphosis.
An automatic spraying system comprises a supporting beam, wherein a feeding area, a spraying area and a discharging area are arranged below the supporting beam, the supporting beam is provided with a mechanical arm according to claims 1-6, the feeding area and the discharging area are respectively provided with a first material containing disc and a second material containing disc, and the spraying area is provided with a spraying box and a paint bucket;
the mechanical arm drives the clamping jaw to convey the workpiece on the first material containing disc to the inside of the spraying box, the spraying box sprays paint to the workpiece, and then the clamping jaw drives the workpiece to convey the workpiece from the spraying box to the second material containing disc.
Furthermore, a guide rail is arranged on the support beam along the length direction of the support beam, and the mechanical arm is arranged on the guide rail and is connected with the guide rail in a sliding manner;
the mechanical arm is provided with two on the guide rail, and two the mechanical arm removes along first stroke and second stroke respectively, first stroke corresponds the material loading district with the spraying district sets up, the second stroke corresponds the spraying district with the unloading district sets up.
Furthermore, the spraying case includes support frame, sliding door and nozzle, the support frame sets up inside the spraying case, the sliding door sets up the spraying roof portion, the nozzle is in be provided with on the support frame a plurality ofly and all with the paint kettle links to each other.
Furthermore, the support frame comprises a first support and a second support, the first support and the second support are symmetrically arranged on two sides of the inner wall of the spraying box, connecting cross rods are symmetrically arranged on two sides of the top end of the support frame, and two ends of each connecting cross rod are fixedly connected with the first support and the second support respectively;
the connecting cross rods are provided with hooks, and the hooks are arranged between the two connecting cross rods.
The invention has the beneficial effects that:
the claw is driven by the driving mechanism in the mechanical arm to lift and move the transfer box, so that automatic control is realized in the transfer process, labor is saved, and efficiency is improved;
the driving mechanism in the mechanical arm is connected with the clamping jaws through the connecting piece, the clamping jaws are tightly pressed and fixed at the bottoms of the clamping jaws through the connecting piece, the connecting structure between the connecting piece and the clamping jaws is convenient to disassemble and assemble, the clamping jaws are convenient to replace, and the clamping jaws of various specifications can be matched to adapt to the transferring operation of different transfer boxes;
when the processing of spraying paint, treat that the transport case targets in place the back control sliding door and close, spray paint again, spray paint and accomplish at the closed spraying incasement, need not artifical entering, the spraying dust is little, practices thrift the spraying raw materials, reduces the exhaust-gas treatment cost, supplements and transports in batches through the turnover case of manual work on first containing tray and second containing tray, keeps spraying uninterrupted operation, raises the efficiency.
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 described in 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 view of a robotic arm according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robotic arm according to an embodiment of the present invention;
FIG. 3 is a schematic view of the connection of the connecting member and the jaw in the embodiment of the present invention;
FIG. 4 is an exploded view of the structure of FIG. 3;
FIG. 5 is an enlarged view of a portion of the structure at A in FIG. 4;
FIG. 6 is a schematic structural diagram of a fixing base according to an embodiment of the present invention;
FIG. 7 is a cross-sectional view of a fixing base according to an embodiment of the present invention;
FIG. 8 is an enlarged view of a portion of the structure shown at B in FIG. 7;
FIG. 9 is a schematic structural view of a clamping jaw located on an inner wall of a fixing seat according to an embodiment of the present invention;
FIG. 10 is a schematic cross-sectional view of FIG. 9;
FIG. 11 is a top view of an automated spray system in an embodiment of the present invention;
FIG. 12 is a schematic diagram of an automatic coating system according to an embodiment of the present invention;
FIG. 13 is a schematic view of the connection of the robot arm and the support beam in the embodiment of the present invention;
FIG. 14 is a schematic view of the construction of a spray booth in an embodiment of the present invention;
fig. 15 is an enlarged view of a portion of the structure at C in fig. 14.
Reference numerals: 1. a base; 2. a drive mechanism; 21. a power plant; 22. a first drive assembly; 23. a second drive assembly; 24. a third drive assembly; 3. a connecting member; 31. a connecting plate; 32. a connecting rod; 33. a fixed seat; 331. a first step; 332. a second step; 333. positioning a groove; 334. a chute; 335. a limiting groove; 34. a clamping jaw; 341. a clamping block; 35. a slide rail; 351. a vertical portion; 352. a horizontal portion; 36. a pin shaft; 37. a slider; 371. a first portion; 372. a second portion; 38. a torsion spring; 4. a claw; 41. a mandrel; 42. a fixing plate; 421. a limiting block; 5. a support beam; 51. a guide rail; 6. a mechanical arm; 7. a feeding area; 71. a first material containing tray; 8. a spraying area; 81. a spraying box; 82. a support frame; 821. a first bracket; 822. a second bracket; 823. connecting the cross bars; 824. hooking; 83. a sliding door; 84. a nozzle; 85. a paint bucket; 9. a blanking area; 91. a second material containing tray.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 10, the mechanical arm 6 is arranged on the support beam 5 and is connected with the support beam in a sliding manner, and comprises a base 1, a driving mechanism 2, a connecting piece 3 and a claw 4, wherein the driving mechanism 2 is arranged on the base 1 and can drive the claw 4 to move in multiple axial directions in space, and the claw 4 is connected with the driving mechanism 2 through the connecting piece 3; the driving mechanism 2 comprises a power device 21, a first driving assembly 22, a second driving assembly 23 and a third driving assembly 24, wherein the power device 21 can drive the mechanical arm 6 to move along the length direction of the supporting beam 5, the first driving assembly 22 can drive the clamping jaw 4 to move in a direction perpendicular to the supporting beam 5 in a horizontal plane, and the second driving assembly 23 and the third driving assembly 24 can both drive the clamping jaw 4 to move in a vertical direction; connecting piece 3 includes connecting plate 31, connecting rod 32 and fixing base 33, connecting plate 31 and third drive assembly 24 fixed connection, fixing base 33 sets up to the cylinder structure that both ends are link up, jack catch 4 is provided with the dabber 41 that suits with fixing base 33 through-hole, inner wall at fixing base 33 is provided with clamping jaw 34 along its axial, clamping jaw 34 compresses tightly the setting towards the lateral wall of fixing base 33, jack catch 4 cooperation dabber 41 promotes clamping jaw 34 and overturns to the outer wall from the inner wall of fixing base 33, and compress tightly the bottom of fixing base 33 with the fixed plate 42 of jack catch 4.
In the invention, the mechanical arm 6 can drive the clamping jaws 4 to perform multi-axial movement in a space, specifically, the first driving assembly 22 comprises a first driving beam and a first motor which are arranged on the base 1, the first driving beam is arranged in a horizontal plane along a direction perpendicular to the length direction of the supporting beam 5, and the first motor provides power to enable the first driving beam to move along the length direction of the supporting beam; the second driving assembly 23 comprises a supporting seat, a second driving beam and an air cylinder, the supporting seat is fixed at one end of the first driving beam, the second driving beam is arranged along the vertical direction and is in sliding connection with the supporting seat, and the air cylinder is fixed on the supporting seat and drives the second driving beam to move along the vertical direction; the third driving assembly 24 includes a third driving beam disposed along the vertical direction, and the third driving beam is slidably connected to the second driving beam, and the third driving beam is moved along the vertical direction by the power provided by the second motor. In the specific driving process, the vertical position of the chuck 4 is adjusted to a large extent through the second driving assembly 23, and then adjusted to a small extent through the third driving assembly 24.
Further, as shown in fig. 3 and 4, a connecting member 3 is provided between the jaw 4 and the robot arm 6, one end of the connecting member 3 is fixed to the third driving assembly 24 through a connecting plate 31, and the jaw 4 is press-fixed to the other end by a clamping jaw 34. Specifically, the connecting piece 3 is fixedly connected with a third driving beam in the third driving assembly 24 through the connecting plate 31, and the clamping jaw 34 is fixed at the bottom of the fixed seat 33 by pressing the fixed plate 42 at the upper end of the clamping jaw 4, so that the connecting piece 3 is fixedly connected with the driving mechanism 2.
Clamping jaw 34 compresses tightly the setting towards the lateral wall of fixing base 33 all the time, and in the installation of clamping jaw 4 and connecting piece 3, clamping jaw 4 cooperation dabber 41 promotes clamping jaw 34 and overturns to the outer wall from the inner wall of fixing base 33 to compress tightly the fixed plate 42 of clamping jaw 4 and fix the bottom at fixing base 33, realize connecting piece 3 and clamping jaw 4's fixed connection.
As a preferred embodiment of the present invention, as shown in fig. 7 to 10, a sliding rail 35 is provided at the inner wall of the fixed seat 33 and extends from the bottom end to the top end thereof, one end of the clamping jaw 34 is rotatably connected with a sliding block 37 through a pin shaft 36, and is slidably connected with the sliding rail 35 through the sliding block 37; the pin shaft 36 is sleeved with a torsion spring 38, the torsion spring 38 can drive one end of the clamping jaw 34 far away from the sliding block 37 to press towards the side wall of the fixed seat 33, and a clamping block 341 is arranged at one end of the clamping jaw 34 far away from the sliding block 37 towards the side wall of the fixed seat 33.
Further, the inner wall of the fixed seat 33 is provided with a first step 331 and a second step 332 along the axial direction thereof, the first step 331 and the second step 332 are respectively arranged at the top end and the bottom end of the fixed seat 33, and the inner diameter of the first step 331 is the same as the outer diameter of the second step 332; the slide rail 35 extends from the plane of the second step 332 to the plane of the first step 331 along the axial direction, the slide rail 35 includes a vertical portion 351 and a horizontal portion 352, the vertical portion 351 is fixed on the horizontal plane of the second step 332, and the horizontal portion 352 is fixed on the circumferential side wall between the first step 331 and the top end of the fixed seat 33.
In the specific implementation process, when the fixed seat 33 is separated from the claw 4, the clamping jaw 34 arranged on the fixed seat 33 is positioned on the inner wall of the through hole of the fixed seat 33, as shown in fig. 9 and 10, the sliding block 37 is positioned at the bottom of the inner wall of the fixed seat 33, and at this time, the clamping jaw 34 is always pressed towards the inner wall of the fixed seat 33 under the action of the torsion spring 38; further, when the clamping jaw 4 is installed, the movable clamping jaw 4 moves towards the bottom end of the fixed seat 33, and simultaneously drives the mandrel 41 on the clamping jaw 4 to extend into the through hole of the fixed seat 33, and in the process that the mandrel 41 gradually extends, the sliding block 37 is simultaneously pushed to move along the sliding rail 35, and the clamping jaw 34 is pushed to extend out of the top end of the fixed seat 33; when the sliding block 37 moves to a position close to the top end of the fixed seat 33, the clamping jaw 34 is pressed towards the side wall of the fixed seat 33 all the time under the action of the torsion spring 38, at this time, the clamping jaw 34 completely extends out of the through hole of the fixed seat 33, under the action of the torsion spring 38, the clamping jaw 34 overturns to the outer wall of the fixed seat 33 and continues to press towards the outer wall of the fixed seat 33 at the same time, at this time, the fixing plate 42 of the clamping jaw 4 is contacted with the bottom of the fixed seat 33, the fixing plate 42 of the clamping jaw 4 is pressed and fixed at the bottom end of the fixed seat 33 when the clamping jaw 34 overturns, and specifically, the fixing plate 42 of the clamping jaw 4 is pressed and fixed through the clamping block 341 arranged at one end, far away from the sliding block 37, of the clamping jaw 34.
Further, as shown in fig. 10 and 7, when the clamping jaw 34 is completely folded in the through hole of the fixing seat 33, the sliding block 37 is located on the second step 332, and when the clamping jaw 34 is turned over to the outer wall of the fixing seat 33, the sliding block 37 is located on the first step 331.
As a preference of the above embodiment, a positioning slot 333 is formed at the top end of the fixing base 33 corresponding to the sliding rail 35, and the positioning slot 333 passes through the side wall of the fixing base 33; the inner wall of the fixing seat 33 is provided with a sliding groove 334 corresponding to the sliding rail 35, and the sliding groove 334 is arranged below the sliding rail 35. Further, the slider 37 includes a first portion 371 and a second portion 372, the first portion 371 is inserted into the sliding groove 334 and slidably connected to the sliding rail 35, the second portion 372 is rotatably connected to the clamping jaw 34, and the second portion 372 extends toward the clamping jaw 34 and corresponds to the positioning groove 333.
In the specific implementation process, the first part 371 of the sliding block 37 is embedded in the sliding groove 334, so that the sliding block 37 and the clamping jaw 34 are more stable in the moving process along the sliding rail 35, after the sliding block 37 moves to the first step 331, the sliding block 37 cannot be turned over to the outer wall of the fixed seat 33 along with the clamping jaw 34, the second part 372 of the sliding block 37 extends into the positioning groove 333, as shown in fig. 5 and 7, when the sliding block 37 is located at the horizontal part 352 of the sliding rail 35, the sliding block is rotated by 90 degrees relative to the vertical part 351, the clamping jaw 34 is correspondingly rotated by 180 degrees, and after the clamping jaw 34 is rotated by 90 degrees relative to the sliding block 37, the clamping jaw continues to be pressed towards the outer wall of the fixed seat 33.
In the installation process of the connecting piece 3 and the clamping jaws 4, the connecting piece 3 presses the fixing plate 42 for fixing the clamping jaws 4 through the clamping jaws 34, specifically, a plurality of clamping jaws 34 are arranged on the inner wall of the fixed seat 33 along the circumferential direction of the inner wall, and the length of each clamping jaw 34 is greater than the axial length of the fixed seat 33; the connecting rod 32 is arranged at the top end of the fixing seat 33, the fixing seat 33 is fixedly connected with the connecting plate 31 through the connecting rod 32, the overturning process of the clamping jaw 34 cannot be blocked by the connecting plate 31, the bottom end of the fixing seat 33 is provided with a limiting groove 335, a limiting block 421 is arranged on the fixing plate 42 corresponding to the limiting groove 335, and the limiting block 421 is embedded with the limiting groove 335. Be provided with spacing groove 335 and stopper 421 on fixing base 33 bottom and fixed plate 42 respectively, be convenient for location between jack catch 4 and the fixing base 33, when can also ensuring that clamping jaw 34 compresses tightly fixed plate 42, jack catch 4 is more stable.
An automatic spraying system, as shown in fig. 11 to 15, comprises a supporting beam 5, a feeding area 7, a spraying area 8 and a discharging area 9 are arranged below the supporting beam 5, the supporting beam 5 is provided with the mechanical arm 6, the feeding area 7 and the discharging area 9 are respectively provided with a first material containing tray 71 and a second material containing tray 91, and the spraying area 8 is provided with a spraying box 81 and a paint bucket 85; the mechanical arm 6 drives the claw 4 to convey the workpiece on the first material containing tray 71 to the spraying box 81, the spraying box 81 sprays paint to the workpiece, and then the mechanical arm 6 drives the claw 4 to convey the workpiece from the spraying box 81 to the second material containing tray 91.
In the invention, the automatic material taking and spraying system is used for performing paint spraying treatment on the outer surface of the turnover box, the mechanical arm 6 is driven to take the turnover box from the first material containing tray 71 and then put into the spraying box 81, the spraying box 81 performs paint spraying treatment on the turnover box, and the mechanical arm 6 is driven to take the turnover box after paint spraying out of the spraying box 81 and then transport the turnover box to the second material containing tray 91 in the blanking area 9. The turnover boxes on the first material containing tray 71 and the second material containing tray 91 can be supplemented and transported in batches in a manual mode, so that the labor is saved, the spraying uninterrupted operation is kept, and the efficiency is improved; when the spraying box 81 sprays paint to the turnover box, the sliding door 83 of the spraying box 81 is controlled to be opened, the sliding door 83 is controlled to be closed after the transfer box is in place, then the paint is sprayed, the paint spraying is finished in the small closed spraying box 81, manual entering is not needed, the spraying dust is small, the spraying raw materials are saved, and the waste gas treatment cost is reduced. In the conveying process of the transfer box, the mechanical arm 6 drives the claw 4 to lift and put down the transfer box, and a connecting piece 3 is arranged between the claw 4 and the mechanical arm 6 to facilitate the disassembly and assembly between the claw 4 and the mechanical arm.
Specifically, as an embodiment of the invention, a camera is arranged on the mechanical arm 6 and used for automatically identifying the coordinate position of a product to realize automatic grabbing of the product to be sprayed, the position coordinate of the product is confirmed by photographing, a mechanical arm grabbing path and a product spraying path are generated by special neural network deep learning visual guidance software, further, the spraying effect and the spraying process can be monitored, automatic blanking is performed after spraying is completed, and a full-automatic spraying line without human participation is realized.
As a preference of the above embodiment, a guide rail 51 is provided on the support beam 5 along the longitudinal direction thereof, and the robot arm 6 is provided on the guide rail 51 and slidably connected thereto; two mechanical arms 6 are arranged on the guide rail 51, the two mechanical arms 6 move along a first stroke and a second stroke respectively, the first stroke corresponds to the feeding area 7 and the spraying area 8, and the second stroke corresponds to the spraying area 8 and the discharging area 9. As shown in fig. 11 and 12, the transfer container on the first tray 71 is conveyed to the painting box 81 by the robot arm 6 moving along the first stroke, and the transfer container after painting is conveyed to the second tray 91 by the robot arm 6 moving along the second stroke. The mechanical arm 6 is sequentially taken and placed, labor is saved, spraying uninterrupted operation is kept, and efficiency is improved.
In the embodiment of the present invention, as shown in fig. 14 and 15, the spraying box 81 includes a support frame 82, a sliding door 83, and a nozzle 84, the support frame 82 is disposed inside the spraying box 81, the sliding door 83 is disposed on the top of the spraying box 81, and the nozzle 84 is disposed on the support frame 82 in plurality and is connected to a paint bucket 85. Specifically, the support frame 82 comprises a first support 821 and a second support 822, the first support 821 and the second support 822 are symmetrically arranged on two sides of the inner wall of the spraying box 81, connecting cross rods 823 are symmetrically arranged on two sides of the top end of the support frame 82, and two ends of each connecting cross rod 823 are respectively fixedly connected with the first support 821 and the second support 822; be provided with couple 824 on connecting horizontal pole 823, and two couples 824 all set up between two connecting horizontal pole 823, support the turnover case through two couples 824644.
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 mechanical arm is arranged on a support beam and is connected with the support beam in a sliding way, and is characterized by comprising: the clamping jaw mechanism comprises a base, a driving mechanism, a connecting piece and clamping jaws, wherein the driving mechanism is arranged on the base and can drive the clamping jaws to move in a multi-axial direction in a space, and the clamping jaws are connected with the driving mechanism through the connecting piece;
the driving mechanism comprises a power device, a first driving assembly, a second driving assembly and a third driving assembly, the power device can drive the mechanical arm to move along the length direction of the supporting beam, the first driving assembly can drive the clamping jaws to move in the horizontal plane along the direction perpendicular to the supporting beam, and the second driving assembly and the third driving assembly can drive the clamping jaws to move along the vertical direction;
the connecting piece includes connecting plate, connecting rod and fixing base, the connecting plate with third drive assembly fixed connection, the fixing base sets up to the cylinder structure that both ends link up, the jack catch be provided with the dabber that the fixing base through-hole suited the inner wall of fixing base is provided with the clamping jaw along its axial, the clamping jaw orientation the lateral wall of fixing base compresses tightly the setting, the jack catch cooperation the dabber promotes the clamping jaw is followed the inner wall upset of fixing base to the outer wall, and will the fixed plate of jack catch compresses tightly to be fixed the bottom of fixing base.
2. The mechanical arm according to claim 1, wherein a sliding rail is arranged on the inner wall of the fixed seat in an extending manner from the bottom end to the top end of the fixed seat, and one end of the clamping jaw is rotatably connected with the sliding block through a pin shaft and is slidably connected with the sliding rail through the sliding block;
the hinge pin is sleeved with a torsional spring, the torsional spring can drive the clamping jaw to be away from one end of the sliding block faces the side wall of the fixing seat and is compressed, and the clamping jaw is away from one end of the sliding block faces the side wall of the fixing seat and is provided with a clamping block.
3. The mechanical arm as claimed in claim 2, wherein the inner wall of the fixed seat is provided with a first step and a second step along the axial direction of the fixed seat, the first step and the second step are respectively arranged at the top end and the bottom end of the fixed seat, and the inner diameter of the first step is the same as the outer diameter of the second step;
the sliding rail extends to the plane of the first step from the plane of the second step along the axial direction, and comprises a vertical part and a horizontal part, wherein the vertical part is fixed on the horizontal plane of the second step, and the horizontal part is fixed on the circumferential side wall between the first step and the top end of the fixed seat.
4. The mechanical arm as claimed in claim 3, wherein a positioning groove is formed at the top end of the fixing seat corresponding to the slide rail, and the positioning groove penetrates through the side wall of the fixing seat;
the inner wall of the fixed seat is provided with a sliding groove corresponding to the sliding rail, and the sliding groove is arranged below the sliding rail.
5. A robot arm as claimed in claim 4, wherein the slider comprises a first portion which is inserted into the slide groove and slidably connected to the slide rail, and a second portion which is rotatably connected to the jaw and extends toward the jaw and corresponds to the positioning groove.
6. A robot arm as claimed in claim 5, wherein the clamping jaw is provided in plurality at the inner wall of the fixing seat along the circumferential direction thereof, and the length of the clamping jaw is greater than the axial length of the fixing seat;
the connecting rod sets up the top of fixing base, the fixing base pass through the connecting rod with connecting plate fixed connection the spacing groove has been seted up to the bottom of fixing base correspond on the fixed plate the spacing groove is provided with the stopper, the stopper with spacing groove looks gomphosis.
7. An automatic spraying system is characterized by comprising a supporting beam, wherein a feeding area, a spraying area and a discharging area are arranged below the supporting beam, the supporting beam is provided with a mechanical arm according to claims 1-6, the feeding area and the discharging area are respectively provided with a first material containing disc and a second material containing disc, and the spraying area is provided with a spraying box and a paint bucket;
the mechanical arm drives the clamping jaw to convey the workpiece on the first material containing disc to the inside of the spraying box, the spraying box sprays paint to the workpiece, and then the clamping jaw drives the workpiece to convey the workpiece from the spraying box to the second material containing disc.
8. The automated coating system of claim 7, wherein a guide rail is disposed on the support beam along a length thereof, and the robot arm is disposed on and slidably coupled to the guide rail;
the mechanical arm is provided with two on the guide rail, and two the mechanical arm removes along first stroke and second stroke respectively, first stroke corresponds the material loading district with the spraying district sets up, the second stroke corresponds the spraying district with the unloading district sets up.
9. The automatic paint spraying system of claim 7 wherein the spray booth includes a support frame disposed inside the spray booth, a sliding door disposed on a top of the spray booth, and a spray nozzle disposed on the support frame and each connected to the paint bucket.
10. The automatic spraying system of claim 9, wherein the support frame comprises a first support and a second support, the first support and the second support are symmetrically arranged on two sides of the inner wall of the spraying box, connecting cross rods are symmetrically arranged on two sides of the top end of the support frame, and two ends of each connecting cross rod are fixedly connected with the first support and the second support respectively;
the connecting cross rods are provided with hooks, and the hooks are arranged between the two connecting cross rods.
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| CN202110596628.2A CN113262906B (en) | 2021-05-31 | 2021-05-31 | Mechanical arm and automatic spraying system |
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| CN202110596628.2A CN113262906B (en) | 2021-05-31 | 2021-05-31 | Mechanical arm and automatic spraying system |
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