CN114950799B

CN114950799B - Movable spraying robot

Info

Publication number: CN114950799B
Application number: CN202210480682.5A
Authority: CN
Inventors: 李伟; 仇多洋; 张春鹏; 张胜; 张恺; 胡昆
Original assignee: Hefei University
Current assignee: Hefei University
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2023-03-31
Anticipated expiration: 2042-05-05
Also published as: CN114950799A

Abstract

The invention discloses a movable spraying robot, and particularly relates to the field of workpiece spraying, which comprises a travelling mechanism and an executing mechanism, wherein the executing mechanism is arranged on the travelling mechanism, the travelling mechanism comprises a moving component and a transmission component, one side of the moving component is provided with a motor for controlling the moving component to move, the motor is started to drive the executing mechanism to spray the inner wall and the outer wall of a workpiece, the travelling mechanism is utilized to drive the workpiece to move while being sprayed, after the spraying is finished, the workpiece also moves for a certain distance, the certain distance also plays a role in converting a working procedure, the time and labor consumed by manual spraying and carrying are saved, the workpiece spraying efficiency is improved, compared with the conventional multi-axis linkage mechanism, the probability of subsequent frequent refitting is reduced by only using one motor, and the design structure is simpler.

Description

Movable spraying robot

Technical Field

The invention relates to the field of workpiece spraying, in particular to a movable spraying robot.

Background

The common robot used for the spraying production line is mostly of a three-level or even higher-level linkage structure, the robot is weak in structure, especially dust generated when a workpiece is sprayed cannot be sucked too much, the position of the robot is mostly fixed when the workpiece is sprayed, the workpiece is moved, the moving range of a spray head of the robot is small, and especially for a pipe fitting, the spraying effect is possibly unsatisfactory.

Chinese patent publication No. CN207240235U discloses a spraying robot connection structure, a spraying robot and a spraying experiment platform which are simple in structure and convenient to use, and have the characteristics of firm connection and high safety performance, but do not describe how to improve the spraying efficiency on the basis of the prior art.

Chinese patent publication No. CN215964376U describes that static detection is changed into dynamic detection, and there is no need to install equipment on the first guide rail and the second guide rail, so that the independence of the anti-collision device is increased, and the installation and operation are facilitated; the use of springs avoids damage to the equipment caused by collisions and reduces the cost of after-market maintenance for the customer, but does not address how to improve the spray results.

Disclosure of Invention

In order to overcome the above defects in the prior art, the present invention provides a mobile spraying robot, and the technical problems to be solved by the present invention are: when a workpiece is sprayed, the position of the robot is mostly fixed, and the workpiece moves, so that the moving range of a spray head of the robot is small, and the spraying effect may be unsatisfactory.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a portable spraying robot, includes running gear and actuating mechanism, actuating mechanism installs on running gear, running gear is including removing subassembly and drive assembly, one side of removing the subassembly is provided with the motor that is used for controlling the removal of removal subassembly.

Preferably, the moving assembly includes a base, a support table is fixedly disposed on the base, an actuator is mounted on the support table, a plurality of wheels are rotatably disposed on the base and the support table, and the wheels are driven by a motor to rotate.

Preferably, the transmission assembly includes driven gear, all corresponds the fixed drive gear that is provided with on every wheel, sets up through chain drive between two corresponding drive gears, and the output end of one of them drive gear and motor is fixed to be set up, the motor is installed on the base, one side interval of chain is fixed and is provided with multiunit meshing group, and every group meshing group includes a plurality of external teeth, elastic rotation is provided with driven gear on the base, driven gear and external tooth meshing transmission.

Preferably, actuating mechanism includes spray assembly, spacing subassembly and unloading subassembly, spray assembly includes shower nozzle one, pendulum rod and the fixed setting of driven gear, the both ends of pendulum rod are fixed respectively and are provided with shower nozzle one and shower nozzle two, shower nozzle one and shower nozzle two are all linked together with outside coating source, and coating source passes through equipment such as pump machine and supplies coating in shower nozzle one and shower nozzle two, the fixed balance that is provided with on the pendulum rod, balance and conflict piece rotate the setting, and the material of conflict piece is rubber, the lower extreme conflict contact of conflict piece and work piece, the work piece sets up on spacing subassembly, and the parcel has the sponge layer on the conflict piece, the shape of shower nozzle one and shower nozzle two is fan-shapedly.

Preferably, the material of the contact block is rubber.

Preferably, the swinging head is fixedly provided with a nozzle through a pipeline, and the nozzle is communicated with an external air source through a pipeline.

Preferably, a baffle is fixedly arranged on the swing rod.

Preferably, the limiting assembly comprises a first guide rail, the sliding block is arranged between the first guide rail and a second guide rail in a sliding mode, an elastic rod is arranged on the sliding block in an elastic mode, a butting contact is arranged on the elastic rod in a rotating mode, and the butting contact is abutted to the inner wall of the butting contact and the inner wall of the workpiece.

Preferably, the blanking assembly comprises a pressing plate, the blanking rod is rotatably arranged on the second guide rail, the cross section of the blanking rod is U-shaped, the pressing plate is fixedly arranged at one end of the sliding block, the blanking rod is located on a rotating path of the pressing plate, and the upper end of the workpiece is located on a swinging path of the blanking rod.

The invention has the technical effects and advantages that: open the motor, let the motor drive actuating mechanism carry out the spraying to the inner wall and the outer wall of work piece, and utilize running gear, it is removed by the spraying while to drive the work piece, after the spraying, the work piece has also moved a section distance, this section distance has also played the effect of conversion process, time and manpower that the transport consumed were carried earlier in the manual work have been saved, thereby the efficiency of spraying work piece has been improved, moreover for current multiaxis link gear, only use a motor to also reduce follow-up frequent renovation probability, and this project organization is simpler.

Drawings

Fig. 1 is a schematic structural diagram of a mobile spraying robot according to the present invention.

FIG. 2 is a schematic structural diagram of a contact block according to the present invention.

FIG. 3 is a schematic view of the structure of the pressure plate of the present invention.

Fig. 4 is a schematic structural view of the baffle of the present invention.

FIG. 5 is a schematic view of the structure of the blanking bar of the present invention.

Fig. 6 is a schematic structural view of the driven gear of the present invention.

The reference signs are:

1. a first guide rail; 2. a second guide rail; 3. a third guide rail; 4. a base; 5. a workpiece; 6. a slider; 7. pressing a plate; 8. a blanking rod; 9. a support table; 10. a wheel; 11. a first spray nozzle; 12. a second spray head; 13. a baffle plate; 14. a nozzle; 15. a pipeline; 16. swinging the head; 17. a contact block; 18. an elastic rod; 19. abutting against the contact; 20. a driven gear; 21. a drive gear; 22. a swing rod; 23. a chain; 24. and (4) external teeth.

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. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Example one

Referring to fig. 1, a mobile spraying robot includes a traveling mechanism and an executing mechanism, the executing mechanism is mounted on the traveling mechanism, the traveling mechanism includes a moving assembly and a transmission assembly, and a motor for controlling the moving assembly to move is disposed on one side of the moving assembly. Open the motor, let the motor drive actuating mechanism carry out the spraying to the inner wall and the outer wall of work piece 5, and utilize running gear, drive work piece 5 limit and moved by the spraying, after the spraying, work piece 5 has also moved a section distance, this section distance has also played the effect of conversion process, the time and the manpower that the transport consumed were carried earlier in the manual work have been saved, thereby the efficiency of spraying work piece 5 has been improved, moreover for current multiaxis link gear, only use a motor to also reduce follow-up probability of frequently renovating, and this project organization is simpler.

As shown in fig. 1, the moving assembly includes a base 4, a support table 9 and wheels 10, the support table 9 is fixedly connected to the base 4, an actuator is mounted on the support table 9, a plurality of wheels 10 are rotatably connected to both the base 4 and the support table 9, and the wheels 10 are driven by a motor to rotate. The whole robot can be driven to move by the rotating action of the wheels 10, so that the efficiency of the robot for conveying the workpieces 5 is improved.

As shown in fig. 6, the transmission assembly includes a driven gear 20, a driving gear 21, a chain 23 and external teeth 24, each wheel 10 is provided with a corresponding driving gear 21, two corresponding driving gears 21 are in transmission connection with each other through the chain 23, one of the driving gears 21 is fixedly connected with an output end of the motor, the motor is installed on the base 4, one side of the chain 23 is fixedly connected with multiple sets of meshing sets at intervals, each set of meshing set includes multiple external teeth 24, the base 4 is elastically and rotatably connected with the driven gear 20, and the driven gear 20 is in meshing transmission with the external teeth 24. The motor drives the driving gear 21 to rotate, through the transmission relation of the driving gear 21 and the chain 23, make the driving gear 21 drive a plurality of wheels 10 to rotate simultaneously, and then drive the whole robot to move, when the driving gear 21 drives the chain 23 to rotate, the external tooth 24 on the chain 23 can rotate when meshing with the driven gear 20, the driving execution mechanism carries out spraying treatment on the workpiece 5, when the external tooth 24 does not mesh with the driven gear 20 for transmission, the driven gear 20 resets under the effect of the elastic force of the torsional spring, the driving execution mechanism moves backwards, in the process of the return movement of the execution mechanism, the area of the execution mechanism which can be sprayed on the workpiece 5 is enlarged, and the spraying efficiency and quality are improved.

Example two

Referring to fig. 2, the executing mechanism includes a spraying component, a limiting component and a blanking component, the spraying component includes a first spray head 11, a second spray head 12 and a swing rod 22, the swing rod 22 is fixedly connected with a driven gear 20, two ends of the swing rod 22 are respectively and fixedly connected with the first spray head 11 and the second spray head 12, the first spray head 11 and the second spray head 12 are both communicated with an external coating source, the coating source supplies a coating into the first spray head 11 and the second spray head 12 through equipment such as a pump, the swing rod 22 is fixedly connected with a swing head 16, the swing head 16 is rotatably connected with a collision block 17, the collision block 17 is made of rubber, the collision block 17 is in collision contact with the lower end of the workpiece 5, the workpiece 5 is arranged on the limiting component, a sponge layer wraps the collision block 17, and the first spray head 11 and the second spray head 12 are both in a fan shape. Driven gear 20 drives pendulum rod 22 and swings in the within range during just reversing to drive fan-shaped shower nozzle 11 and shower nozzle two 12 and carry out the spraying to work piece 5, because the area of spraying enlarges along with the swing of pendulum rod 22, so shower nozzle 11 and shower nozzle two 12 can all spout the coating to the inner wall and the outer wall of work piece 5, again utilize pendulum rod 22 when the swing under the conflict effect of conflict piece 17, can conflict work piece 5, thereby promote work piece 5 and rotate under spacing effect of spacing subassembly, the effect of shower nozzle 11 and shower nozzle two 12 to the spraying area and the spraying of work piece 5 has been improved. Furthermore, the setting angle of the first spray head 11 and the second spray head 12 can be determined by people, the positions of the first spray head 11 and the second spray head 12 relative to the workpiece 5 are determined according to specific conditions, the surface of the contact block 17 is wrapped by a sponge layer, and the adsorption and wiping capabilities of the sponge layer are utilized to adsorb paint slipping off from the workpiece 5 and soak the lower end face of the workpiece 5, so that the contact part of the contact block 17 and the workpiece 5 can be coated with the paint.

As shown in fig. 2, the swinging head 16 is fixedly connected with a nozzle 14 through a pipeline 15, and the nozzle 14 is communicated with an external air source through the pipeline 15. The swinging head 16 can drive the nozzle 14 to swing when swinging, and the hot air sprayed out of the nozzle 14 is in a fan shape and radiates outwards, so that the drying efficiency of the coating on the workpiece 5 can be improved, and the manpower and material resources spent on carrying the workpiece 5 to a drying mechanism by subsequent manual work are saved.

As shown in fig. 4, the swing link 22 is fixedly connected with a baffle 13. The baffle 13 can play a certain role in blocking the paint from spreading.

EXAMPLE III

Referring to fig. 3, the limiting assembly includes a first guide rail 1, a second guide rail 2, a slider 6, an elastic rod 18 and a contact stopper 19, the slider 6 is slidably connected between the first guide rail 1 and the second guide rail 2, the elastic rod 18 is elastically connected to the slider 6, the contact stopper 19 is rotatably connected to the elastic rod 18, and the contact stopper 19 is in contact with the inner wall of the workpiece 5. When the work piece 5 is being contradicted to conflict piece 17, wheel 10 is just driving work piece 5 and is removing, this moment slider 6, elastic rod 18 and conflict head 19 can play the effect of connecting guide rail 1 and work piece 5 for base 4 can drive work piece 5 and remove along guide rail 1 and guide rail two 2, can rotate when work piece 5 receives the conflict power of contradicting block 17, and then drive slider 6 and rotate under the effect of conflict head 19 and elastic rod 18, make slider 6 both removed on guide rail 1 and also rotated on guide rail 1.

As shown in fig. 3 and 5, the blanking assembly includes a pressing plate 7 and a blanking rod 8, the blanking rod 8 is rotatably connected to the second guide rail 2, the section of the blanking rod 8 is U-shaped, one end of the slider 6 is fixedly connected to the pressing plate 7, the blanking rod 8 is located on a rotating path of the pressing plate 7, and the upper end of the workpiece 5 is located on a swinging path of the blanking rod 8. When the sliding block 6 drives the pressing plate 7 to rotate to the blanking rod 8, the pressing plate 7 can press the upper end of the blanking rod 8, so that the blanking rod 8 deflects, the lower part of the blanking rod 8 is used for extruding the workpiece 5, and the workpiece 5 slides off the contact head 19 due to the deformation of the contact block 17, so that the workpiece 5 can be collected by a user conveniently, the user can collect the workpiece 5 by using the clamping device, and the clamping device is not an invention point of the design, so that the repeated description is omitted, and the contact head 19 can be wrapped with sponge to improve the effect of coating on the workpiece 5.

As shown in fig. 1, a third guide rail 3 is fixedly connected to one side of the first guide rail 1. The slide that guide rail 1 and guide rail two 2 are constituteed is "returning" font, and after a work piece 5 was taken down, corresponding slider 6 can move back the starting point through guide rail 1 and guide rail two 2 like this to the centre gripping next work piece 5, and guide rail 1 has opened a port in this slide department of "returning" font, is convenient for send into slider 6 or withdraw from slider 6 in guide rail 1 and guide rail two 2, makes whole design have the practicality more.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a portable spraying robot, includes running gear and actuating mechanism, actuating mechanism installs on running gear, its characterized in that: the walking mechanism comprises a moving assembly and a transmission assembly, and a motor for controlling the moving assembly to move is arranged on one side of the moving assembly; the moving assembly comprises a base (4), a supporting table (9) and wheels (10), the supporting table (9) is fixedly connected to the base (4), an executing mechanism is mounted on the supporting table (9), the base (4) and the supporting table (9) are both rotatably connected with the wheels (10), and the wheels (10) are driven by a motor to rotate; the transmission assembly comprises driven gears (20), driving gears (21), chains (23) and external teeth (24), each wheel (10) is correspondingly and fixedly connected with the driving gears (21), the two corresponding driving gears (21) are in transmission connection through the chains (23), one driving gear (21) is fixedly connected with the output end of a motor, the motor is installed on the base (4), one side of each chain (23) is fixedly connected with multiple groups of meshing groups at intervals, each group of meshing groups comprises multiple external teeth (24), the base (4) is elastically and rotatably connected with the driven gears (20), and the driven gears (20) are in meshing transmission with the external teeth (24); actuating mechanism includes spray assembly, spacing subassembly and unloading subassembly, spray assembly includes shower nozzle (11), shower nozzle two (12) and pendulum rod (22), pendulum rod (22) and driven gear (20) fixed connection, the both ends difference fixedly connected with shower nozzle (11) and shower nozzle two (12) of pendulum rod (22), shower nozzle (11) and shower nozzle two (12) all are linked together with the outside coating source, fixedly connected with yaw (16) are gone up in pendulum rod (22), yaw (16) and conflict piece (17) rotate to be connected, the lower extreme conflict contact of conflict piece (17) and work piece (5), work piece (5) set up on spacing subassembly, and the parcel has the sponge layer on conflict piece (17), the shape of shower nozzle (11) and shower nozzle two (12) is the fan-shaped.

2. A mobile painting robot as claimed in claim 1, wherein: the material of the contact block (17) is rubber.

3. A mobile painting robot as claimed in claim 2, wherein: the swinging head (16) is fixedly connected with a nozzle (14) through a pipeline (15), and the nozzle (14) is communicated with an external air source through the pipeline (15).

4. A mobile painting robot according to any one of claims 1 to 3, characterised in that: the swing rod (22) is fixedly connected with a baffle (13).

5. A mobile painting robot as claimed in claim 4, wherein: spacing subassembly includes guide rail (1), guide rail two (2), slider (6), elastic rod (18) and conflict head (19), slider (6) sliding connection is between guide rail (1) and guide rail two (2), elastic rod (18) are gone up to elastic connection in slider (6), it is connected with to support contact (19) to rotate on elastic rod (18), support the inner wall conflict contact of contact (19) and work piece (5).

6. A mobile painting robot according to claim 5, characterised in that: the blanking assembly comprises a pressing plate (7) and a blanking rod (8), the blanking rod (8) is rotatably connected to the second guide rail (2), the cross section of the blanking rod (8) is U-shaped, the pressing plate (7) is fixedly connected to one end of the sliding block (6), the blanking rod (8) is located on the rotating path of the pressing plate (7), and the upper end of the workpiece (5) is located on the swinging path of the blanking rod (8).

7. A mobile painting robot as claimed in claim 6, wherein: and one side of the first guide rail (1) is fixedly connected with a third guide rail (3).