CN115121408A - Industrial spraying robot capable of moving in reciprocating direction changing manner and implementation method thereof - Google Patents
Industrial spraying robot capable of moving in reciprocating direction changing manner and implementation method thereof Download PDFInfo
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- CN115121408A CN115121408A CN202210907250.8A CN202210907250A CN115121408A CN 115121408 A CN115121408 A CN 115121408A CN 202210907250 A CN202210907250 A CN 202210907250A CN 115121408 A CN115121408 A CN 115121408A
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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
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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
- 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
- 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
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
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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
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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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
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0421—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with rotating spray heads
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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
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an industrial spraying robot capable of moving in a reciprocating direction-changing manner and an implementation method thereof, and belongs to the technical field of industrial spraying robots. The industrial spraying robot capable of changing directions in a reciprocating mode comprises two circulating route rails, two spraying robot units and two workpiece conveying platforms, wherein the two workpiece conveying platforms are arranged between the two circulating route rails, and the spraying robot units are arranged above the two circulating route rails. For solving the problem that the spraying robot does not have a corresponding track control structure in the using process and cannot realize quick and effective surface spraying operation, the angle direction of the spraying robot unit is adjusted according to the size and the spraying direction of an object part, and finally the linkage spray gun component at the top of the spraying robot unit is started, and the spraying robot unit can circularly fix a track along the route at the bottom to perform reciprocating movement back and forth, so that the all-dimensional spraying of the object part is realized.
Description
Technical Field
The invention relates to the technical field of industrial spraying robots, in particular to an industrial spraying robot capable of moving in a reciprocating direction-changing manner and an implementation method thereof.
Background
The spray painting robot is also called as a spray painting robot, and is an industrial robot capable of automatically spraying paint or other coatings, the spray painting robot mainly comprises a robot body, a computer and a corresponding control system, the hydraulically driven spray painting robot also comprises a hydraulic oil source such as an oil pump, an oil tank, a motor and the like, the spray painting robot is generally hydraulically driven, has the characteristics of high action speed, good explosion-proof performance and the like, and can realize teaching by hand grip teaching or point location indication; the invention of application number 202210285805.X discloses an industrial spraying robot, which drives a rotating disc to rotate through a driving motor, so as to drive nozzles to rotate, and a sealed space is formed in a protective cover by two groups of moving plates and a sealing plate after the nozzles are replaced, so that the replaced nozzles are stored in the sealed space, the problem that paint is solidified at the nozzle of the replaced nozzles due to the fact that the replaced nozzles are in contact with flowing air is avoided, and meanwhile, the problem that dust in the air falls on the surface of the replaced nozzles is also avoided.
However, the spraying robot has no corresponding track control structure in the using process, and cannot realize quick and effective surface spraying operation; therefore, the existing requirements are not met, and an industrial spraying robot capable of changing directions in a reciprocating mode and an implementation method thereof are provided.
Disclosure of Invention
The invention aims to provide an industrial spraying robot capable of changing directions in a reciprocating manner and an implementation method thereof.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an industry spraying robot that can reciprocate diversion removes, includes route circulation orbit determination, spraying robot unit and work piece conveying platform, work piece conveying platform sets up between route circulation orbit determination, and route circulation orbit determination has two, spraying robot unit sets up in the top of route circulation orbit determination, and spraying robot unit and route circulation orbit determination sliding connection, the top of spraying robot unit is provided with the linkage spray gun subassembly, and linkage spray gun subassembly and spraying robot unit built-up connection, spraying robot unit includes that robot base axle, master control allies oneself with arm, first arm, the second of extending prolongs arm and swivel axis arm, and the one end of master control allies oneself with arm, first arm and the second of extending arm all is provided with joint driving motor.
Preferably, the both sides at machine base axle top all are provided with the pigment jar rocker, and the pigment jar rocker passes through bolted connection with the machine base axle, the main control allies oneself with the arm setting at the top of machine base axle, and the main control allies oneself with the arm and rotates with the machine base axle to be connected, first extension arm sets up in one side of main control allies oneself with the arm top, and first extension arm and main control allies oneself with the arm rotation to be connected.
Preferably, the second extension arm sets up in one side of the first extension arm other end, and the second extension arm rotates with first extension arm to be connected, the swivel axis arm sets up the other end at the second extension arm, and the swivel axis arm rotates with second extension arm to be connected, the other end of swivel axis arm is provided with vision monitoring module, and vision monitoring module and swivel axis arm electric connection.
Preferably, the linkage spray gun subassembly includes compression cylinder, compression cylinder's bottom is provided with the anchor support, and the anchor support passes through bolted connection with compression cylinder and second extension arm, compression cylinder's one end is provided with the feed hose, and the feed hose passes through flange joint with compression cylinder.
Preferably, compression cylinder's the other end is provided with the cushion valve pipe, and the cushion valve pipe extends to compression cylinder's inside, be provided with the pipe fitting bearing between cushion valve pipe and the compression cylinder, and the cushion valve pipe passes through the pipe fitting bearing and is connected with compression cylinder rotation, the other end of cushion valve pipe is provided with the high pressure nozzle, and the high pressure nozzle passes through the internal thread rotation with the cushion valve pipe and is connected, the outside of high pressure nozzle is provided with the relevance lock axle, and the relevance lock axle rotates with high pressure nozzle and swivel spindle arm to be connected.
Preferably, the top of route circulation rail setting is provided with automatically controlled slide, and automatically controlled slide and route circulation rail setting sliding connection, the top of automatically controlled slide is provided with the switching chassis, and the switching chassis passes through bolted connection with the machine base axle, one side of route circulation rail setting is provided with anti-skidding tooth axle, and anti-skidding tooth axle and route circulation rail setting pass through bolted connection.
Preferably, a chain body bracket is arranged below the anti-skidding gear shaft and is connected with the route circulating orbit through a screw, a driving chain is arranged inside the chain body bracket and is connected with the chain body bracket in a sliding mode, one end of the driving chain is connected with the electric control sliding seat through a screw, and the electric control sliding seat is connected with the anti-skidding gear shaft through gear meshing.
Preferably, a horizontal seat rail is arranged at the top of the workpiece conveying platform and is connected with the workpiece conveying platform through screws, a workpiece conveying platen is arranged above the horizontal seat rail and is connected with the horizontal seat rail in a sliding mode, three accommodating chutes are formed in the outer surface of the workpiece conveying platen, workpiece clamping plates are arranged inside the accommodating chutes, and the two workpiece clamping plates are provided with two
Preferably, the surfaces of two sides inside the accommodating sliding groove are provided with spring pull grooves, springs are arranged inside the spring pull grooves, spring connecting shafts are arranged at two ends of the bottom of the workpiece clamping plate and are connected with the spring pull grooves in a rotating mode, and the workpiece clamping plate is connected with the spring pull grooves in a sliding mode through the spring connecting shafts.
An implementation method of an industrial spraying robot capable of changing directions in a reciprocating mode comprises the following steps:
the method comprises the following steps: placing an object part to be painted on a workpiece conveying platen above a workpiece conveying platform, and turning and unfolding two groups of workpiece clamping plates in a containing chute outwards in advance in the process of placing the object part;
step two: after the workpiece clamping plates are rotated to 90 degrees, the workpiece clamping plates are moved outwards, the spring structures in the accommodating sliding grooves are influenced by stretching, and then the object parts are placed between the workpiece clamping plates and clamped and fixed by the resilience of the springs;
step three: starting the whole equipment to run after the object parts are fixed, moving the workpiece transportation bedplate to a spraying working area between the circulating fixed rails of the route along with the object parts, and then manually or program-controlling a spraying robot unit to perform surface spraying operation on the object parts;
step four: the spraying robot unit can rotate and swing at multiple angles in the spraying process, and meanwhile, the spraying robot unit can also move back and forth along the circulating orbit of the route at the bottom, so that the all-dimensional spraying of the object parts is realized.
Compared with the prior art, the invention has the beneficial effects that:
1. the spraying robot unit comprises three components, namely a route circulating orbit determination part for controlling the spraying robot to move and a spraying robot unit for realizing multi-angle spraying operation, wherein a workpiece conveying platform is arranged between the route circulating orbit determination part, the conveying operation of an object to be sprayed can be realized through the workpiece conveying platform, when the spraying robot unit is used, the object part is firstly placed on a workpiece conveying platen above the workpiece conveying platform, the workpiece conveying platen can move to a working area of the spraying robot unit along the workpiece conveying platform, then the angle direction of the spraying robot unit is adjusted according to the size and the spraying direction of the object part, and finally a linkage spray gun component at the top of the spraying robot unit is started, and the spraying robot unit can reciprocate along the route circulating orbit determination part at the bottom to realize the all-dimensional spraying of the object part;
2. according to the invention, the pipe bearing is arranged at the joint of the buffer valve pipe and the compression cylinder, and the rotation operation of the buffer valve pipe and the high-pressure nozzle can be realized through the pipe bearing, so that the spray amplitude range and the spray angle can be changed by rotating the high-pressure nozzle in the spray process;
3. according to the invention, the machine seat shaft is connected with the switching chassis at the top of the electric control sliding seat, so that the whole spraying robot unit can be driven by the electric control sliding seat to horizontally move along the route circulating orbit, the anti-skid toothed shaft is arranged on one side of the route circulating orbit, and the electric control sliding seat is in meshed connection with the anti-skid toothed shaft through the gear, so that high-precision movement control can be realized by means of the tooth socket design on the surface of the anti-skid toothed shaft in the moving process of the electric control sliding seat, and the condition that equipment slips or deviates in the moving process is avoided;
4. according to the invention, two groups of workpiece clamping plates in the containing chute need to be turned and unfolded outwards in advance in the process of placing object parts, the workpiece clamping plates are turned and unfolded firstly, and then the workpiece clamping plates move outwards, at the moment, the spring structure in the containing chute is influenced by stretching, then the object parts are placed between the workpiece clamping plates and clamped and fixed by resilience of the springs, so that the object parts are prevented from shaking in the processes of transportation and spraying, and uneven surface spraying is caused;
5. according to the invention, the main control linkage arm is arranged at the top of the machine base shaft and can rotate circumferentially between the main control linkage arm and the machine base shaft, the first extension arm and the second extension arm can adjust the swing angle, the rotating shaft arm is arranged at the other end of the second extension arm and is also connected with the first extension arm and the second extension arm in a circumferential rotating manner, the other end of the rotating shaft arm is also provided with the visual monitoring module, and the visual monitoring module can be used for observing the spraying coverage condition of the current object part.
Drawings
FIG. 1 is an overall front view of the present invention;
FIG. 2 is a schematic diagram of a spraying robot unit according to the present invention;
FIG. 3 is a schematic view of a linkage lance assembly of the present invention;
FIG. 4 is a schematic diagram of a circular path tracking structure according to the present invention;
FIG. 5 is a schematic view of a work piece carrier platform according to the present invention;
fig. 6 is a schematic view of the construction of the workpiece transport platen of the present invention.
In the figure: 1. circularly fixing the orbit of the route; 2. a spray robot unit; 3. a workpiece conveying platform; 4. a linkage spray gun assembly; 101. an electric control slide seat; 102. a transfer chassis; 103. a drive chain; 104. a chain body bracket; 105. an anti-slip pinion; 201. a machine base shaft; 202. a master control linkage arm; 203. a joint driving motor; 204. a pigment tank swing frame; 205. a first extension arm; 206. a second extension arm; 207. a rotating shaft arm; 208. a vision monitoring module; 301. a horizontal seat rail; 302. a workpiece transport platen; 303. a storage chute; 304. a workpiece clamping plate; 305. a spring draws a groove; 306. a spring coupling shaft; 401. a compression cylinder; 402. a cushion valve tube; 403. a tube bearing; 404. a supply hose; 405. anchoring the stent; 406. a high pressure nozzle; 407. the lock shaft is associated.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, an embodiment of the present invention is shown: an industrial spraying robot capable of changing directions and moving back and forth comprises a route circulating fixed rail 1, two spraying robot units 2 and a workpiece conveying platform 3, wherein the workpiece conveying platform 3 is arranged between the route circulating fixed rails 1, the number of the route circulating fixed rails 1 is two, the spraying robot units 2 are arranged above the route circulating fixed rails 1, the spraying robot units 2 are connected with the route circulating fixed rail 1 in a sliding mode, linkage spray gun assemblies 4 are arranged at the tops of the spraying robot units 2, the linkage spray gun assemblies 4 are connected with the spraying robot units 2 in a combined mode, each spraying robot unit 2 comprises a robot base shaft 201, a main control connecting arm 202, a first extending arm 205, a second extending arm 206 and a rotating shaft arm 207, and joint driving motors 203 are arranged at one ends of the main control connecting arm 202, the first extending arm 205 and the second extending arm 206;
mainly comprises three components, namely a route circulating orbit determination 1 for controlling the spraying robot to move and a spraying robot unit 2 for realizing multi-angle spraying operation, the workpiece conveying platforms 3 are arranged between the route circulating fixed rails 1, the conveying operation of an object to be sprayed can be realized through the workpiece conveying platforms 3, when the spraying robot unit is used, an object part is firstly placed on the workpiece conveying platen 302 above the workpiece conveying platforms 3, the workpiece conveying platen 302 can move to the working area of the spraying robot unit 2 along the workpiece conveying platforms 3, then the angle direction of the spraying robot unit 2 is adjusted according to the size and the spraying direction of the object part, and finally the linkage spray gun component 4 at the top of the spraying robot unit is started, the spraying robot unit 2 can circularly fix the rail 1 to move back and forth along the route at the bottom, so that the all-dimensional spraying of the object parts is realized.
Referring to fig. 2, pigment tank swing frames 204 are disposed on two sides of the top of the machine base shaft 201, the pigment tank swing frames 204 are connected to the machine base shaft 201 through bolts, the main control coupling arm 202 is disposed on the top of the machine base shaft 201, the main control coupling arm 202 is rotatably connected to the machine base shaft 201, the first extending arm 205 is disposed on one side above the main control coupling arm 202, the first extending arm 205 is rotatably connected to the main control coupling arm 202, the second extending arm 206 is disposed on one side of the other end of the first extending arm 205, the second extending arm 206 is rotatably connected to the first extending arm 205, the rotating shaft arm 207 is disposed at the other end of the second extending arm 206, the rotating shaft arm 207 is rotatably connected to the second extending arm 206, the other end of the rotating shaft arm 207 is disposed with the vision monitoring module 208, and the vision monitoring module 208 is electrically connected to the rotating shaft arm 207;
the spraying robot unit 2 is composed of a machine seat shaft 201, a main control connecting arm 202, a first extending arm 205, a second extending arm 206 and a rotating shaft arm 207, wherein the machine seat shaft 201 is used as a supporting structure of the whole mechanical arm, a pigment tank swing frame 204 is arranged on each of two sides above the machine seat shaft 201, a pigment tank required to be used can be placed above the pigment tank swing frame 204 when the spraying robot unit is used, and then a feeding hose 404 at one end of a spraying gun is connected into the pigment tank, so that the condition that the pipeline of the spraying gun is too long can be avoided;
the main control linkage arm 202 is installed on the top of the machine base shaft 201, and can rotate circumferentially between the two, the first extension arm 205 and the second extension arm 206 can adjust the swing angle, the rotating shaft arm 207 is arranged at the other end of the second extension arm 206, and is also connected in a circumferential rotation manner, the other end of the rotating shaft arm 207 is further provided with a visual monitoring module 208, and the spraying coverage condition of the current object part can be observed by using the visual monitoring module 208.
Referring to fig. 3, the linkage spray gun assembly 4 includes a compression cylinder 401, an anchor bracket 405 is provided at the bottom of the compression cylinder 401, and the anchor bracket 405 is connected with the compression cylinder 401 and the second extension arm 206 by bolts, one end of the compression cylinder 401 is provided with a supply hose 404, and the supply hose 404 is connected with the compression cylinder 401 through a flange, the other end of the compression cylinder 401 is provided with a buffer valve pipe 402, and the cushion valve pipe 402 extends to the inside of the compression cylinder 401, a tube bearing 403 is provided between the cushion valve pipe 402 and the compression cylinder 401, and the cushion valve pipe 402 is rotatably connected with the compression cylinder 401 through a pipe bearing 403, the other end of the cushion valve pipe 402 is provided with a high pressure nozzle 406, the high-pressure nozzle 406 is rotatably connected with the buffer valve pipe 402 through an internal thread, a related interlocking shaft 407 is arranged on the outer side of the high-pressure nozzle 406, and the related interlocking shaft 407 is rotatably connected with the high-pressure nozzle 406 and the rotating shaft arm 207;
the linkage spray gun assembly 4 is arranged above the second extension arm 206 and connected with the second extension arm through an anchoring support 405, a group of compression air cylinders 401 are arranged on the upper surface of the anchoring support 405, two ends of each compression air cylinder 401 are respectively provided with a feeding hose 404 and a buffer valve pipe 402, when the linkage spray gun assembly works, the compression air cylinders 401 extract pigment from the tank body into the cylinder body through the feeding hoses 404, the pigment is input into the buffer valve pipes 402 after being compressed, and finally the pigment is sprayed out through high-pressure nozzles 406 at the tail ends of the buffer valve pipes 402;
the joint of the cushion valve pipe 402 and the compression cylinder 401 is provided with a pipe bearing 403, and the rotation operation of the cushion valve pipe 402 and the high-pressure nozzle 406 can be realized through the pipe bearing 403, so that the spray width range and the spray angle can be changed by rotating the high-pressure nozzle 406 in the spray process.
Referring to fig. 4, an electric control slide seat 101 is disposed above the route circulating fixed rail 1, the electric control slide seat 101 is connected with the route circulating fixed rail 1 in a sliding manner, a switching chassis 102 is disposed above the electric control slide seat 101, the switching chassis 102 is connected with a machine seat shaft 201 through a bolt, an anti-skid toothed shaft 105 is disposed on one side of the route circulating fixed rail 1, the anti-skid toothed shaft 105 is connected with the route circulating fixed rail 1 through a bolt, a chain body bracket 104 is disposed below the anti-skid toothed shaft 105, the chain body bracket 104 is connected with the route circulating fixed rail 1 through a bolt, a driving chain 103 is disposed inside the chain body bracket 104, the driving chain 103 is connected with the chain body bracket 104 in a sliding manner, one end of the driving chain 103 is connected with the electric control slide seat 101 through a bolt, and the electric control slide seat 101 is connected with the anti-skid toothed shaft 105 through a gear engagement;
the machine seat shaft 201 is connected with the switching chassis 102 on the top of the electric control sliding seat 101, so that the whole spraying robot unit 2 can be driven by the electric control sliding seat 101 to horizontally move along the route circulating orbit 1, the anti-skid toothed shaft 105 is further arranged on one side of the route circulating orbit 1, the electric control sliding seat 101 is connected with the anti-skid toothed shaft 105 through gear meshing, high-precision movement control can be achieved by means of tooth groove design on the surface of the anti-skid toothed shaft 105 in the moving process of the electric control sliding seat 101, and the situation that equipment slips or deviates in the moving process is avoided.
Referring to fig. 5-6, a horizontal seat rail 301 is arranged at the top of the workpiece conveying platform 3, the horizontal seat rail 301 is connected with the workpiece conveying platform 3 through screws, a workpiece conveying platen 302 is arranged above the horizontal seat rail 301, the workpiece conveying platen 302 is connected with the horizontal seat rail 301 in a sliding manner, three accommodating sliding grooves 303 are arranged on the outer surface of the workpiece conveying platen 302, three accommodating sliding grooves 303 are arranged, a workpiece clamping plate 304 is arranged inside the accommodating sliding groove 303, two workpiece clamping plates 304 are arranged, spring pull grooves 305 are arranged on the two side surfaces inside the accommodating sliding groove 303, springs are arranged inside the spring pull grooves 305, spring connecting shafts 306 are arranged at the two ends of the bottom of the workpiece clamping plate 304, the spring connecting shafts 306 are connected with the spring pull grooves 305 in a rotating manner, and the workpiece clamping plate 304 is connected with the spring pull grooves 305 in a sliding manner through the spring connecting shafts 306;
the in-process of placing the object part needs will accomodate inside two sets of work piece splint 304 of spout 303 and outwards overturn the expansion in advance, expand work piece splint 304 upset earlier, remove work piece splint 304 outside again, accomodate the inside spring structure of spout 303 this moment and will receive tensile influence, arrange the object part in between the work piece splint 304 afterwards, it is fixed with its clamp tightly to utilize the resilience of spring, the condition that rocks appears in the in-process of can avoiding the object part like this in transportation and spraying, thereby lead to the surface coating inequality.
An implementation method of an industrial spraying robot capable of changing directions in a reciprocating mode comprises the following steps:
the method comprises the following steps: placing the object part to be painted on the workpiece transport platen 302 above the workpiece transport platform 3, and turning and unfolding two groups of workpiece clamping plates 304 inside the storage chute 303 outwards in advance in the process of placing the object part;
step two: after the workpiece clamping plates 304 are rotated to 90 degrees, the workpiece clamping plates 304 are moved outwards, the spring structures in the accommodating sliding grooves 303 are influenced by stretching, and then the object parts are placed between the workpiece clamping plates 304 and clamped and fixed by the resilience of the springs;
step three: after the object parts are fixed, the whole equipment is started to run, the workpiece transportation bedplate 302 carries the object parts to move to a spraying working area between the route circulating fixed rails 1, and then the spraying robot unit 2 is controlled manually or by a program to perform surface spraying operation on the object parts;
step four: the spraying robot unit 2 can rotate and swing at multiple angles in the spraying process, and meanwhile, the spraying robot unit 2 can also move back and forth along the route circulation fixed rail 1 at the bottom, so that all-dimensional spraying on object parts is realized.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a can reciprocate industrial spraying robot that turns to removal, includes route circulation orbit determination (1), spraying robot cell (2) and work piece conveying platform (3), its characterized in that: work piece conveying platform (3) set up between route circulation orbit (1), and route circulation orbit (1) has two, spraying robot unit (2) set up in the top of route circulation orbit (1), and spraying robot unit (2) and route circulation orbit (1) sliding connection, the top of spraying robot unit (2) is provided with linkage spray gun subassembly (4), and linkage spray gun subassembly (4) and spraying robot unit (2) built-up connection, spraying robot unit (2) are including robot base axle (201), master control yoke (202), first extension arm (205), second extension arm (206) and swivel axis arm (207), and the one end of master control yoke (202), first extension arm (205) and second extension arm (206) all is provided with joint driving motor (203).
2. The industrial spray painting robot capable of changing direction to and fro as claimed in claim 1, wherein: the both sides at machine seat axle (201) top all are provided with pigment jar rocker (204), and pigment jar rocker (204) pass through bolted connection with machine seat axle (201), master control antithetical couplet arm (202) set up the top at machine seat axle (201), and master control antithetical couplet arm (202) rotate with machine seat axle (201) and be connected, first extension arm (205) set up the one side in master control antithetical couplet arm (202) top, and first extension arm (205) and master control antithetical couplet arm (202) rotate and be connected.
3. The industrial spraying robot capable of changing direction and moving back and forth as claimed in claim 2, wherein: second extension arm (206) sets up in one side of first extension arm (205) other end, and second extension arm (206) rotate with first extension arm (205) and be connected, swivel spindle arm (207) set up the other end at second extension arm (206), swivel spindle arm (207) rotate with second extension arm (206) and be connected, the other end of swivel spindle arm (207) is provided with vision monitoring module (208), and vision monitoring module (208) and swivel spindle arm (207) electric connection.
4. The industrial spray painting robot capable of changing direction to and fro as claimed in claim 1, wherein: linkage spray gun subassembly (4) are including compression cylinder (401), the bottom of compression cylinder (401) is provided with anchor support (405), and anchor support (405) and compression cylinder (401) and second extend arm (206) and pass through bolted connection, the one end of compression cylinder (401) is provided with feed hose (404), and feed hose (404) and compression cylinder (401) pass through flange joint.
5. The industrial spraying robot capable of changing directions back and forth as claimed in claim 4, wherein: the other end of compression cylinder (401) is provided with cushion valve pipe (402), and cushion valve pipe (402) extend to the inside of compression cylinder (401), be provided with pipe fitting bearing (403) between cushion valve pipe (402) and compression cylinder (401), and cushion valve pipe (402) rotate with compression cylinder (401) through pipe fitting bearing (403) and be connected, the other end of cushion valve pipe (402) is provided with high-pressure nozzle (406), and high-pressure nozzle (406) rotate with cushion valve pipe (402) through the internal thread and be connected, the outside of high-pressure nozzle (406) sets up relevant interlocking axle (407), and relevant locking axle (407) rotate with high-pressure nozzle (406) and swivel axis arm (207) and be connected.
6. The industrial spray painting robot capable of changing direction to and fro as claimed in claim 1, wherein: the line circulation is decided the top of rail (1) and is provided with automatically controlled slide (101), and automatically controlled slide (101) and line circulation and decide rail (1) sliding connection, the top of automatically controlled slide (101) is provided with switching chassis (102), and switching chassis (102) and machine seat axle (201) pass through bolted connection, one side of line circulation and decide rail (1) is provided with anti-skidding pinion shaft (105), and anti-skidding pinion shaft (105) and line circulation and decide rail (1) pass through the screw connection.
7. The industrial spraying robot capable of changing directions back and forth as claimed in claim 6, wherein: the anti-skidding gear shaft fixing device is characterized in that a chain body bracket (104) is arranged below the anti-skidding gear shaft (105), the chain body bracket (104) is connected with the route circulating orbit determination (1) through screws, a driving chain (103) is arranged inside the chain body bracket (104), the driving chain (103) is connected with the chain body bracket (104) in a sliding mode, one end of the driving chain (103) is connected with the electric control sliding seat (101) through screws, and the electric control sliding seat (101) is connected with the anti-skidding gear shaft (105) through gear meshing.
8. The industrial spray painting robot capable of changing direction to and fro as claimed in claim 1, wherein: the workpiece conveying device is characterized in that a horizontal seat rail (301) is arranged at the top of the workpiece conveying platform (3), the horizontal seat rail (301) is connected with the workpiece conveying platform (3) through screws, a workpiece conveying bedplate (302) is arranged above the horizontal seat rail (301), the workpiece conveying bedplate (302) is connected with the horizontal seat rail (301) in a sliding mode, the number of accommodating sliding grooves (303) is arranged on the outer surface of the workpiece conveying bedplate (302), the number of accommodating sliding grooves (303) is three, workpiece clamping plates (304) are arranged inside the accommodating sliding grooves (303), and the number of the workpiece clamping plates (304) is two.
9. The industrial spray painting robot movable in a reciprocating direction changing manner according to claim 8, wherein: accomodate inside both sides surface of spout (303) and all be provided with spring pull groove (305), and the inside of spring pull groove (305) is provided with the spring, the both ends of work piece splint (304) bottom all are provided with spring even axle (306), and spring even axle (306) is connected through rotating with spring pull groove (305), work piece splint (304) are through spring even axle (306) and spring pull groove (305) sliding connection.
10. An implementation method of an industrial spraying robot capable of changing directions in a reciprocating manner is realized on the basis of the industrial spraying robot capable of changing directions in a reciprocating manner according to any one of claims 1 to 9, and comprises the following steps:
the method comprises the following steps: placing the object parts to be painted on a workpiece conveying platen (302) above a workpiece conveying platform (3), and turning and unfolding two groups of workpiece clamping plates (304) inside a containing chute (303) outwards in advance in the process of placing the object parts;
step two: after the workpiece clamping plates (304) are rotated to 90 degrees, the workpiece clamping plates (304) are moved outwards, the spring structure in the containing sliding groove (303) is influenced by stretching, and then the object parts are placed between the workpiece clamping plates (304) and clamped and fixed by resilience of the springs;
step three: after the object parts are fixed, the whole equipment is started to run, the workpiece transportation bedplate (302) carries the object parts to move to a spraying working area between the circulating fixed rails (1) of the route, and then the spraying robot unit (2) is controlled manually or by a program to perform surface spraying operation on the object parts;
step four: the spraying robot unit (2) can rotate and swing at multiple angles in the spraying process, and meanwhile, the spraying robot unit (2) can also move back and forth along the route circulation fixed rail (1) at the bottom, so that all-dimensional spraying on object parts is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210907250.8A CN115121408B (en) | 2022-07-29 | 2022-07-29 | Industrial spraying robot capable of reciprocating and turning movement and implementation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210907250.8A CN115121408B (en) | 2022-07-29 | 2022-07-29 | Industrial spraying robot capable of reciprocating and turning movement and implementation method thereof |
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| Publication Number | Publication Date |
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| CN115121408A true CN115121408A (en) | 2022-09-30 |
| CN115121408B CN115121408B (en) | 2023-07-14 |
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| CN202210907250.8A Active CN115121408B (en) | 2022-07-29 | 2022-07-29 | Industrial spraying robot capable of reciprocating and turning movement and implementation method thereof |
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| CN207628625U (en) * | 2017-11-24 | 2018-07-20 | 湖北航聚科技有限公司 | A kind of outer thermal protective coating automatic spraying equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115121408B (en) | 2023-07-14 |
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