CN114308487A - Multifunctional paint spraying robot track device and control method thereof - Google Patents
Multifunctional paint spraying robot track device and control method thereof Download PDFInfo
- Publication number
- CN114308487A CN114308487A CN202210014418.2A CN202210014418A CN114308487A CN 114308487 A CN114308487 A CN 114308487A CN 202210014418 A CN202210014418 A CN 202210014418A CN 114308487 A CN114308487 A CN 114308487A
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- Prior art keywords
- paint spraying
- positioning
- painting robot
- track
- workpiece
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- 239000003973 paint Substances 0.000 title claims abstract description 71
- 238000005507 spraying Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000010422 painting Methods 0.000 claims description 40
- 238000001035 drying Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 4
- 230000002950 deficient Effects 0.000 claims description 3
- 238000010981 drying operation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Abstract
The invention discloses a multifunctional paint spraying robot track device and a control method thereof, wherein the track device comprises a track, a plurality of telescopic mechanisms are arranged in the middle of the track at equal intervals, and the front end and the rear end of the track are connected together through an electric push rod; the bottom of the track is equidistantly provided with a plurality of adjustable supporting legs, and the bottom of the track is fixedly connected with the ground through a positioning connecting mechanism; the adjacent tracks are installed together through positioning connecting pieces, and positioning splicing plates connected with the positioning connecting pieces are symmetrically arranged at the connecting ends of the adjacent tracks. The multifunctional paint spraying robot is started to perform paint spraying operation on a workpiece to be painted by the paint spraying control method of the multifunctional paint spraying robot.
Description
Technical Field
The invention relates to the technical field of paint spraying robots, in particular to a multifunctional paint spraying robot track device and a control method thereof.
Background
The paint spraying robot is also called as paint spraying robot, and is an industrial robot capable of automatically spraying paint or other paint, the paint spraying robot with air is also called as low-pressure paint spraying with air, and the paint spraying machine forms atomized air flow to act on the surface of an object (wall surface or wood surface) after the paint is sprayed out of a gun mouth by means of low-pressure air. In the actual paint spraying process of the existing paint spraying robot, in order to facilitate the movement of the paint spraying robot and realize full-automatic paint spraying, a suspended track type paint spraying method is adopted, and the method is relatively complicated when the paint spraying robot is installed and is difficult to install; when the tracks are spliced, the situation of inaccurate positioning or instable installation exists, and the running stability of the paint spraying robot is influenced; the stability of the connection of the painting robot to the ground is also an important factor affecting the painting quality. Based on the above, the invention provides a multifunctional paint spraying robot track device and a control method thereof.
Disclosure of Invention
The present invention is directed to a track device of a multifunctional painting robot and a control method thereof, which solve the above-mentioned problems.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention discloses a multifunctional paint spraying robot track device which comprises a track, wherein a plurality of telescopic mechanisms are arranged in the middle of the track at equal intervals, and the front end and the rear end of the track are connected together through electric push rods; the bottom of the track is equidistantly provided with a plurality of adjustable supporting legs, and the bottom of the track is fixedly connected with the ground through a positioning connecting mechanism; the adjacent tracks are installed together through positioning connecting pieces, and positioning splicing plates connected with the positioning connecting pieces are symmetrically arranged at the connecting ends of the adjacent tracks.
A paint spraying control method of a multifunctional paint spraying robot comprises the following specific steps:
firstly, determining workpiece size information; measuring a workpiece to be painted through a three-dimensional scanner, inputting measurement information into a working parameter module in a painting robot control system, and calculating input size information through a painting robot to obtain a three-dimensional view of the workpiece to be painted;
secondly, determining a paint spraying working path; planning a paint spraying path according to the size information and the three-dimensional view obtained in the step, performing simulated paint spraying on a workpiece to be painted according to the planned paint spraying path, and correcting and updating a result after paint spraying to obtain an optimal paint spraying path;
thirdly, performing paint spraying work; placing a workpiece to be painted on the surface of a workbench, clamping the workpiece to be painted through a clamp, then placing a painting robot on a painting robot rail device, and executing the optimal painting path obtained by the steps on the painting robot rail device by the painting robot;
and fourthly, after the paint spraying operation is finished, drying the painted workpiece through a self-contained drying mechanism of the paint spraying robot, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the paint spraying path again.
Furthermore, the positioning and connecting mechanism comprises a threaded part in threaded connection with the bottom of the track, a supporting seat is integrally formed at the lower end of the threaded part, a base plate is arranged at the lower end of the supporting seat, and the bottom of the supporting seat is positioned at a central groove of the base plate; pressure fasteners are respectively arranged at two ends of the base plate; one end of the pressure fastener is abutted against the supporting seat, and the other end of the pressure fastener is abutted against the base plate; the lower end of the backing plate is provided with a base, a connecting bolt is arranged at the central position of the pressure fastener, and the connecting bolt penetrates out of the pressure fastener, the backing plate and the base and then is connected with the ground.
Furthermore, a damping device is arranged between the base and the base plate.
Furthermore, the adjustable supporting leg comprises a lifting inner cylinder in threaded connection with the rail, the outer side of the lifting inner cylinder is in threaded connection with a rotating outer cylinder, the lower end of the rotating outer cylinder is rotatably provided with a clamping part, and the lower end of the clamping part is provided with a chassis; the clamping portion is provided with a limiting ring, and the limiting ring is connected with the inner side wall of the rotary outer barrel in a sliding mode.
Furthermore, an annular groove for the rotation of the limiting ring is formed in the inner side wall of the rotary outer cylinder.
Furthermore, the positioning connecting piece comprises a connecting piece body connected with the positioning splicing plate, a positioning plate is arranged at the center of the connecting piece body, and a positioning groove matched with the positioning plate is formed in the positioning splicing plate.
Furthermore, the empty groove formed by splicing the adjacent positioning grooves is matched with the positioning plate.
Furthermore, the positioning splice plate is fixedly connected with the connecting piece body through a plurality of screws.
Compared with the prior art, the invention has the beneficial technical effects that:
when a workpiece to be painted is painted, the size of the painting robot is determined, and the distance between the rails is adjusted through the electric push rod according to the measured size; then, the rail is fixedly arranged on the ground, and the rail is supported by adjusting the adjustable supporting legs; then, splicing the plurality of tracks together through a positioning connecting mechanism to meet the requirement of a paint spraying track; and finally, starting the paint spraying robot to perform paint spraying operation on the workpiece to be painted by using the paint spraying control method of the multifunctional paint spraying robot. In a word, the invention has the advantages of simple structure, convenient operation, stable movement of the paint spraying robot, obvious paint spraying effect and good paint spraying quality.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a top view of the multi-functional painting robot track set of the present invention;
FIG. 2 is a front partial view of the multi-functional painting robot track set of the present invention;
FIG. 3 is a front view of the positioning attachment;
FIG. 4 is a cross-sectional view of an adjustable leg;
FIG. 5 is a top view of the positioning splice plate;
FIG. 6 is a schematic view of a positioning connection;
description of reference numerals: 1. a track; 2. a telescoping mechanism; 3. an electric push rod; 4. a positioning connection mechanism; 5. an adjustable leg; 6. positioning the splice plates; 7. positioning a groove; 8. positioning the connecting piece;
4-1, a base; 4-2, a damping device; 4-3, a backing plate; 4-4, a pressure fastener; 4-5, connecting bolts; 4-6, a support seat; 4-7, a threaded part;
5-1, a chassis; 5-2, a clamping part; 5-3, a limiting ring; 5-4, rotating the outer cylinder; 5-5, lifting the inner cylinder; 8-1, a connector body; 8-2 and a positioning plate.
Detailed Description
As shown in fig. 1-6, a multi-functional painting robot rail set and control method thereof, including track 1, a plurality of telescopic machanism 2 is installed to the mid portion equidistance of track 1, all link together through electric putter 3 between the front and back both ends of track 1, before spraying paint, need select suitable painting robot, different painting robot when carrying out painting robot track selection, the distance size between its track size is different, through starting electric putter 3, realize the adjustment of distance size between the track 1, telescopic machanism 2 adjusts length along with the adjustment, be used for supporting the track, guarantee track stability, avoid producing great deformation after the track pressurized.
The adjustable landing leg of a plurality of 5 is installed to track 1's bottom equidistance, adjustable landing leg 5 include with track 1 threaded connection's lift inner tube 5-5, the outside threaded connection of lift inner tube 5-5 has rotatory urceolus 5-4, the rotatable joint portion 5-2 of installing of the lower extreme of rotatory urceolus 5-4, chassis 5-1 is installed to the lower extreme of joint portion 5-2. The clamping part 5-2 is provided with a limiting ring 5-3, and the limiting ring 5-3 is connected with the inner side wall of the rotary outer barrel 5-4 in a sliding manner. An annular groove for the limiting ring 5-3 to rotate is formed in the inner side wall of the rotary outer cylinder 5-4, the limiting ring 5-3 rotates in the annular groove, and the rotary outer cylinder 5-4 is limited to move up and down on the clamping portion 5-2 and only rotates. By rotating the rotary outer cylinder 5-4, the lifting inner cylinder 5-5 moves up and down in the rotary outer cylinder 5-4 according to the lead screw principle, so that the height of the track 1 is adjusted, and the support effect on the track 1 is met.
The bottom of the track 1 is fixedly connected with the ground through a positioning connecting mechanism 4. The positioning and connecting mechanism 4 comprises a threaded portion 4-7 in threaded connection with the bottom of the track 1, a supporting seat 4-6 is integrally formed at the lower end of the threaded portion 4-7, a base plate 4-3 is mounted at the lower end of the supporting seat 4-6, and the bottom of the supporting seat 4-6 is located in a central groove of the base plate 4-3. Two ends of the backing plate 4-3 are respectively provided with a pressure fastener 4-4; one end of the pressure fastener 4-4 is abutted against the supporting seat 4-6, and the other end is abutted against the backing plate 4-3; the lower end of the backing plate 4-3 is provided with a base 4-1, the center of the pressure fastener 4-4 is provided with a connecting bolt 4-5, and the connecting bolt 4-5 penetrates through the pressure fastener 4-4, the backing plate 4-3 and the base 4-1 and then is connected with the ground. A damping device 4-2 is arranged between the base 4-1 and the backing plate 4-3, so that the purpose of buffering pressure is achieved, and the service life is prolonged.
The adjacent tracks 1 are installed together through positioning connecting pieces 8, and positioning splicing plates 6 connected with the positioning connecting pieces 8 are symmetrically installed at the connecting ends of the adjacent tracks 1. The positioning connecting piece 8 comprises a connecting piece body 8-1 connected with the positioning splice plate 6, a positioning plate 8-2 is mounted at the center of the connecting piece body 8-1, and a positioning groove 7 matched with the positioning plate 8-2 is formed in the positioning splice plate 6. And the adjacent positioning grooves 7 are spliced together to form empty grooves matched with the positioning plate 8-2. The positioning splice plate 6 is fixedly connected with the connecting piece body 8-1 through a plurality of screws. The positioning plate 8-2 is placed in the positioning groove 7 between the adjacent tracks 1, so that the tracks 1 are spliced and quickly positioned, and then the positioning splicing plates 6 and the connecting piece bodies 8-1 are connected together through screws, so that quick connection and fixation are realized.
The paint spraying control method of the multifunctional paint spraying robot comprises the following steps:
firstly, determining workpiece size information; measuring a workpiece to be painted through a three-dimensional scanner, inputting measurement information into a working parameter module in a painting robot control system, and calculating input size information through a painting robot to obtain a three-dimensional view of the workpiece to be painted;
secondly, determining a paint spraying working path; planning a paint spraying path according to the size information and the three-dimensional view obtained in the step, performing simulated paint spraying on a workpiece to be painted according to the planned paint spraying path, and correcting and updating a result after paint spraying to obtain an optimal paint spraying path;
thirdly, performing paint spraying work; placing a workpiece to be painted on the surface of a workbench and clamping the workpiece to be painted through a clamp; then, adjusting the space, the length and the mounting position of the tracks according to the size requirement of the painting robot, and placing the painting robot on a track device of the painting robot; finally, the painting robot executes the optimal painting path obtained by the steps on the painting robot track device;
and fourthly, after the paint spraying operation is finished, drying the painted workpiece through a self-contained drying mechanism of the paint spraying robot, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the paint spraying path again.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (9)
1. The utility model provides a multi-functional painting robot rail set which characterized in that: the telescopic rail comprises a rail (1), wherein a plurality of telescopic mechanisms (2) are arranged in the middle of the rail (1) at equal intervals, and the front end and the rear end of the rail (1) are connected together through an electric push rod (3); a plurality of adjustable supporting legs (5) are arranged at the bottom of the track (1) at equal intervals, and the bottom of the track (1) is fixedly connected with the ground through a positioning connecting mechanism (4); the adjacent tracks (1) are installed together through positioning connecting pieces (8), and positioning splicing plates (6) connected with the positioning connecting pieces (8) are symmetrically arranged at the connecting ends of the adjacent tracks (1).
2. A paint spraying control method of a multifunctional paint spraying robot comprises the following specific steps:
firstly, determining workpiece size information; measuring a workpiece to be painted through a three-dimensional scanner, inputting measurement information into a working parameter module in a painting robot control system, and calculating input size information through a painting robot to obtain a three-dimensional view of the workpiece to be painted;
secondly, determining a paint spraying working path; planning a paint spraying path according to the size information and the three-dimensional view obtained in the step, performing simulated paint spraying on a workpiece to be painted according to the planned paint spraying path, and correcting and updating a result after paint spraying to obtain an optimal paint spraying path;
thirdly, performing paint spraying work; placing a workpiece to be painted on the surface of a workbench, clamping the workpiece to be painted through a clamp, then placing a painting robot on a painting robot rail device, and executing the optimal painting path obtained by the steps on the painting robot rail device by the painting robot;
and fourthly, after the paint spraying operation is finished, drying the painted workpiece through a self-contained drying mechanism of the paint spraying robot, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the paint spraying path again.
3. The multi-function painting robot rail device according to claim 1, wherein: the positioning connecting mechanism (4) comprises a threaded part (4-7) in threaded connection with the bottom of the track (1), a supporting seat (4-6) is integrally formed at the lower end of the threaded part (4-7), a base plate (4-3) is arranged at the lower end of the supporting seat (4-6), and the bottom of the supporting seat (4-6) is located at a central groove of the base plate (4-3); two ends of the backing plate (4-3) are respectively provided with a pressure fastener (4-4); one end of the pressure fastener (4-4) is abutted against the supporting seat (4-6), and the other end of the pressure fastener is abutted against the base plate (4-3); the lower end of the backing plate (4-3) is provided with a base (4-1), the center of the pressure fastener (4-4) is provided with a connecting bolt (4-5), and the connecting bolt (4-5) penetrates out of the pressure fastener (4-4), the backing plate (4-3) and the base (4-1) and then is connected with the ground.
4. The multi-function painting robot rail device according to claim 3, wherein: and a damping device (4-2) is arranged between the base (4-1) and the backing plate (4-3).
5. The multi-function painting robot rail device according to claim 1, wherein: the adjustable supporting leg (5) comprises a lifting inner cylinder (5-5) in threaded connection with the track (1), the outer side of the lifting inner cylinder (5-5) is in threaded connection with a rotary outer cylinder (5-4), the lower end of the rotary outer cylinder (5-4) is rotatably provided with a clamping part (5-2), and the lower end of the clamping part (5-2) is provided with a chassis (5-1); the clamping part (5-2) is provided with a limiting ring (5-3), and the limiting ring (5-3) is in sliding connection with the inner side wall of the rotary outer barrel (5-4).
6. The multi-function painting robot rail device according to claim 5, wherein: an annular groove for the limiting ring (5-3) to rotate is formed in the inner side wall of the rotary outer cylinder (5-4).
7. The multi-function painting robot rail device according to claim 1, wherein: the positioning connecting piece (8) comprises a connecting piece body (8-1) connected with the positioning splicing plate (6), a positioning plate (8-2) is arranged at the center of the connecting piece body (8-1), and a positioning groove (7) matched with the positioning plate (8-2) is formed in the positioning splicing plate (6).
8. The multi-function painting robot rail device according to claim 7, wherein: and the adjacent positioning grooves (7) are spliced together to form empty grooves which are matched with the positioning plates (8-2).
9. The multi-function painting robot rail device according to claim 7, wherein: the positioning splice plate (6) is fixedly connected with the connecting piece body (8-1) through a plurality of screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014418.2A CN114308487A (en) | 2022-01-05 | 2022-01-05 | Multifunctional paint spraying robot track device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014418.2A CN114308487A (en) | 2022-01-05 | 2022-01-05 | Multifunctional paint spraying robot track device and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114308487A true CN114308487A (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210014418.2A Pending CN114308487A (en) | 2022-01-05 | 2022-01-05 | Multifunctional paint spraying robot track device and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114887810A (en) * | 2022-06-24 | 2022-08-12 | 上海外高桥造船有限公司 | Rotating equipment for ship spraying |
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| CN114887810B (en) * | 2022-06-24 | 2023-12-26 | 上海外高桥造船有限公司 | Rotary equipment for ship spraying |
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Application publication date: 20220412 |