CN115400921A - Gluing robot and gluing method - Google Patents
Gluing robot and gluing method Download PDFInfo
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- CN115400921A CN115400921A CN202210812686.9A CN202210812686A CN115400921A CN 115400921 A CN115400921 A CN 115400921A CN 202210812686 A CN202210812686 A CN 202210812686A CN 115400921 A CN115400921 A CN 115400921A
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 261
- 239000007921 spray Substances 0.000 claims abstract description 204
- 238000005507 spraying Methods 0.000 claims abstract description 60
- 239000003292 glue Substances 0.000 claims abstract description 12
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C7/00—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work
- B05C7/06—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work by devices moving in contact with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
- B05D7/22—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to internal surfaces, e.g. of tubes
- B05D7/227—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to internal surfaces, e.g. of tubes of containers, cans or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Wood Science & Technology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a gluing robot and a gluing method, wherein the gluing robot is used for gluing the inner wall of a workpiece to be processed and comprises a mechanical arm mechanism, a spray gun mechanism and a transverse moving mechanism, and the mechanical arm mechanism comprises a second connecting arm; the spray gun mechanism is used for spraying glue solution, the spray gun mechanism is rotationally connected to the second connecting arm, the spray gun mechanism can rotate relative to the second connecting arm so as to adjust an included angle between the second connecting arm and the spray gun mechanism, the mechanical arm mechanism can rotate around the radial direction of the workpiece to be processed so as to enable a region to be sprayed to be located in a spraying range of the spray gun mechanism, and the second connecting arm can drive the spray gun mechanism to rotate around the axial direction of the workpiece to be processed so as to perform gluing work; the mechanical arm mechanism is installed on the transverse moving mechanism, and the transverse moving mechanism can slide along the axial direction of the workpiece to be processed, so that the second connecting arm drives the spray gun mechanism to enter or move out of the workpiece to be processed.
Description
Technical Field
The invention relates to the technical field of gluing, in particular to a gluing robot and a gluing method.
Background
Along with the development of the gluing technology, an adhesive or a sealant is sprayed on the inner wall of the tank body of the storage tank, a medium protective layer is formed on the inner wall of the tank body, or the heat resistance and the corrosion resistance of the storage tank are improved, so that different functional requirements of the storage tank are met. The throat jar body both ends have the minor diameter entry, and the centre is the major diameter barrel, and the entry diameter is far less than the barrel diameter, and the tip of the throat jar body is the annular curved surface towards outer protrusion, and general rubber coating robot hardly gets into jar internal wall and accomplishes the rubber coating operation, often can use the artifical manual rubber coating of rubber coating brush to assist, is difficult to handle the accuse to glue film thickness homogeneity, and the requirement is high to workman's operating skill, and intensity of labour is great. The existing gluing robot comprises a plurality of mechanical arms and an operation machine head arranged at the end part of each mechanical arm, and the adjacent mechanical arms are movably connected through joints, so that the operation machine head is driven to stretch into the tank body for operation. But after the current rubber coating robot got into the throat jar body, reverse spraying annular cambered surface behind the self that needs fold also puts forward the requirement to the flexibility of robot, and current rubber coating robot structure is complicated, and manufacturing cost is high, only can realize the spraying work of major diameter barrel, is difficult to realize the spraying work of the tip of the throat jar body.
Disclosure of Invention
Therefore, it is necessary to provide a gluing robot to solve the problem of complex structure of the gluing robot.
A gluing robot for gluing the inner wall of a workpiece to be processed, comprising:
the mechanical arm mechanism comprises a second connecting arm;
the spray gun mechanism is used for spraying glue solution and is rotationally connected to the second connecting arm, the spray gun mechanism can rotate relative to the second connecting arm so as to adjust an included angle between the second connecting arm and the spray gun mechanism, the mechanical arm mechanism can rotate around the radial direction of the workpiece to be processed so as to enable a region to be sprayed to be located in a spraying range of the spray gun mechanism, and the second connecting arm can drive the spray gun mechanism to rotate around the axial direction of the workpiece to be processed so as to perform gluing work;
and the transverse moving mechanism is arranged on the transverse moving mechanism and can slide along the axial direction of the workpiece to be processed, so that the second connecting arm drives the spray gun mechanism to enter or move out of the workpiece to be processed.
In one embodiment, the spray gun further comprises a timing belt mechanism, the spray gun mechanism is located at one side of the second connecting arm, and the timing belt mechanism comprises:
a synchronous belt driving source;
the rotating shaft is rotatably connected to the second connecting arm, and the spray gun mechanism is fixedly connected to the rotating shaft;
hold-in range subassembly, including drive belt, action wheel and follow the driving wheel, the action wheel with follow the driving wheel edge the axial distribution of second linking arm, just the action wheel connect in the output of hold-in range driving source, install from the driving wheel in the pivot, hold-in range driving source drive the action wheel drives from the driving wheel with the pivot rotates, so that spray gun mechanism for the second linking arm rotates.
In one embodiment, the spray gun mechanism comprises a spray gun and a spray gun mounting arm, the spray gun is mounted at one end of the spray gun mounting arm, the other end of the spray gun mounting arm is fixedly connected to the rotating shaft, and the rotating shaft can rotate and drive the spray gun mounting arm to synchronously rotate.
In one embodiment, the spray gun mechanism further comprises a limiting member, and the limiting member can abut against the outer wall of the spray gun mounting arm to limit the rotation angle of the spray gun mounting arm.
In one embodiment, the robot arm mechanism includes:
a first connecting arm connected to the second connecting arm;
the first driving source is arranged on the transverse moving mechanism, the output end of the first driving source is connected to the first connecting arm, and the first driving source is used for driving the first connecting arm to rotate around the radial direction of the workpiece to be machined;
and the second driving source is arranged on the first connecting arm, the output end of the second driving source is connected to the second connecting arm, and the second driving source is used for driving the second connecting arm to rotate around the radial direction of the workpiece to be processed.
In one embodiment, the robot arm mechanism includes a third drive source connected to an output end of the second drive source, an output end of the third drive source being connected to the second link arm, and the third drive source being configured to drive the second link arm to rotate about an axial direction of the workpiece to be processed.
In one embodiment, the axial direction of the second connecting arm is parallel to the axial direction of the workpiece to be processed, and the rotation axis of the second connecting arm is located at the center of the workpiece to be processed.
In one embodiment, the robot arm mechanism further includes a base on which the first drive source is mounted, the base being slidably connected to the traverse mechanism, the base being slidable in a radial direction of the workpiece to be processed.
The invention also provides a gluing method, which uses the gluing robot to glue, and comprises the following steps:
s1, enabling the mechanical arm mechanism to rotate around the radial direction of the workpiece to be machined, enabling the transverse moving mechanism to slide along the axial direction of the workpiece to be machined, and at least partially sending the spray gun mechanism into a region to be sprayed of the workpiece to be machined;
s2, adjusting an included angle between the spray gun mechanism and the mechanical arm mechanism to enable the area to be sprayed to be located in a spraying range of the spray gun mechanism;
and S3, the second connecting arm rotates and drives the spray gun mechanism to rotate around the axial direction of the workpiece to be machined, and the spray gun mechanism performs spraying work on the inner peripheral surface of the workpiece to be machined.
In one embodiment, when the spray gun mechanism sprays the inner end wall of the workpiece to be machined:
the transverse moving mechanism at least partially sends the spray gun mechanism into a to-be-sprayed area of the to-be-processed workpiece, and adjusts an included angle between the spray gun mechanism and the mechanical arm mechanism so that the spray gun mechanism faces the inner end wall, and the second connecting arm drives the spray gun mechanism to rotate and spray along the circumferential direction of the inner end wall;
the transverse moving mechanism drives the spray gun mechanism to slide axially along the workpiece to be machined, the included angle between the spray gun mechanism and the mechanical arm mechanism is adjusted again, the spray gun mechanism is adjusted to be in the radial position of the workpiece to be machined, the second connecting arm drives the spray gun mechanism to rotate circumferentially and spray the inner end wall, the end position of one circle on the rotating path is coincided with the initial position of the next circle, and the two steps are repeatedly executed until the spraying work of the inner end wall is finished.
According to the gluing robot, the mechanical arm mechanism is arranged on the transverse moving mechanism, the transverse moving mechanism can slide along the axial direction of a workpiece to be machined, the mechanical arm mechanism and the spray gun mechanism arranged on the mechanical arm mechanism are driven to slide along the axial direction of the workpiece to be machined, and therefore at least part of the spray gun mechanism is sent into the workpiece to be machined. The second connecting arm of the mechanical arm mechanism is rotatably connected to the spray gun mechanism, the spray gun mechanism rotates relative to the second connecting arm to adjust an included angle between the second connecting arm and the spray gun mechanism, the spraying angle of the spray gun mechanism is adjusted, the mechanical arm mechanism can rotate along the radial direction of a workpiece to be machined, the spraying area of the spray gun mechanism is further adjusted, and the area to be sprayed is located in the spraying range of the spray gun mechanism. The second connecting arm can rotate and drive the spray gun mechanism to rotate relative to the workpiece to be processed, so that the inner wall of the workpiece to be processed is coated with glue. According to the gluing robot provided by the invention, the mechanical arm mechanism rotates along the radial direction of the workpiece to be processed, and the included angle between the second connecting arm and the spray gun mechanism is adjusted, so that the area to be sprayed is positioned in the spraying range of the spray gun mechanism, the structure is simple, and the production cost is low.
According to the gluing method, the mechanical arm mechanism is adjusted to rotate around the radial direction of the workpiece to be machined, the transverse moving mechanism slides along the axial direction of the workpiece to be machined, and at least part of the spray gun mechanism is conveyed into the workpiece to be machined; the included angle between the spray gun mechanism and the mechanical arm mechanism is adjusted, and the relative position between the spray gun mechanism and the inner wall of the workpiece to be processed is adjusted, so that the area to be sprayed is positioned in the spraying range of the spray gun mechanism, and the spraying accuracy is improved; and finally, the second connecting arm rotates and drives the spray gun mechanism to rotate around the axial direction of the workpiece to be processed relative to the workpiece to be processed, so that the inner wall of the workpiece to be processed is coated with glue.
Drawings
Fig. 1 is a schematic structural diagram of a first view angle of a gluing robot provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a second view angle of the gluing robot provided by the embodiment of the invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic diagram of a robotic arm mechanism according to an embodiment of the present invention from a first perspective;
FIG. 5 is a schematic diagram of a second perspective of a robotic arm mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a partial structure of a synchronous belt mechanism provided in an embodiment of the present invention;
fig. 7 is a flowchart of a gluing method according to an embodiment of the present invention.
In the figure:
100. a workpiece to be processed;
200. a traversing mechanism;
300. a mechanical arm mechanism; 310. a first connecting arm; 320. a second connecting arm; 330. a first drive source; 340. a second drive source; 350. a third drive source; 360. a base;
400. a spray gun mechanism; 410. a spray gun; 420. a spray gun mounting arm; 430. a limiting member; 440. a connecting member; 450. a clamping member;
500. a synchronous belt mechanism; 510. a rotating shaft; 520. a transmission belt; 530. a driven wheel; 540. and (4) a spacer bush.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 to 4, the present embodiment provides a glue applying robot for applying glue to the inner wall of a workpiece 100 to be processed. The gluing robot comprises a mechanical arm mechanism 300, a spray gun mechanism 400 and a transverse moving mechanism 200, wherein the mechanical arm mechanism 300 comprises a second connecting arm 320; the spray gun mechanism 400 is used for spraying glue solution, the spray gun mechanism 400 is rotationally connected to the second connecting arm 320, the spray gun mechanism 400 can rotate relative to the second connecting arm 320 to adjust an included angle between the second connecting arm 320 and the spray gun mechanism 400, the mechanical arm mechanism 300 can rotate around the radial direction of the workpiece 100 to be processed, so that a region to be sprayed is located in a spraying range of the spray gun mechanism 400, and the second connecting arm 320 can drive the spray gun mechanism 400 to rotate around the axial direction of the workpiece 100 to be processed to perform gluing work; the robot arm mechanism 300 is mounted on the traverse mechanism 200, and the traverse mechanism 200 can slide along the axial direction of the workpiece 100 to be processed, so that the second connecting arm 320 drives the torch mechanism 400 to enter or move out of the workpiece 100 to be processed.
In the gluing robot, the mechanical arm mechanism 300 is mounted on the traversing mechanism 200, and the traversing mechanism 200 can slide along the axial direction of the workpiece 100 to be processed, so as to drive the mechanical arm mechanism 300 and the spray gun mechanism 400 mounted on the mechanical arm mechanism 300 to slide along the axial direction of the workpiece 100 to be processed, thereby at least partially feeding the spray gun mechanism 400 into the workpiece 100 to be processed. The second connecting arm 320 of the mechanical arm mechanism 300 is rotatably connected to the spray gun mechanism 400, the spray gun mechanism 400 rotates relative to the second connecting arm 320 to adjust an included angle between the second connecting arm 320 and the spray gun mechanism 400, and adjust a spraying angle of the spray gun mechanism 400, and the mechanical arm mechanism 300 can rotate along a radial direction of the workpiece 100 to be processed, so as to adjust a spraying area of the spray gun mechanism 400, and enable the area to be sprayed to be located within a spraying range of the spray gun mechanism 400. The second connecting arm 320 can rotate and drive the spray gun mechanism 400 to rotate relative to the workpiece 100 to be processed, so as to perform gluing work on the inner wall of the workpiece 100 to be processed. The gluing robot provided by the embodiment has the advantages that the mechanical arm mechanism 300 rotates along the radial direction of the workpiece 100 to be processed, and the included angle between the second connecting arm 320 and the spray gun mechanism 400 is adjusted, so that the area to be sprayed is located in the spraying range of the spray gun mechanism 400, the structure is simple, and the production cost is low.
Referring to fig. 5 and 6, the gluing robot further includes a synchronous belt mechanism 500, the spray gun mechanism 400 is located at one side of the second connecting arm 320, the synchronous belt mechanism 500 includes a synchronous belt driving source, a rotating shaft 510 and a synchronous belt assembly, the rotating shaft 510 is rotatably connected to the second connecting arm 320, and the spray gun mechanism 400 is fixedly connected to the rotating shaft 510; the synchronous belt assembly comprises a transmission belt 520, a driving wheel and a driven wheel 530, the driving wheel and the driven wheel 530 are distributed along the axial direction of the second connecting arm 320, the driving wheel is connected to the output end of the synchronous belt driving source, the driven wheel 530 is installed on a rotating shaft 510, the driving wheel of the synchronous belt driving source drives the driven wheel 530 and the rotating shaft 510 to rotate, and therefore the spray gun mechanism 400 rotates relative to the second connecting arm 320. Set up hold-in range mechanism 500, hold-in range driving source drive action wheel rotates, and the action wheel passes through drive belt 520 and drives from the rotation of driving wheel 530, rotates from driving wheel 530 and drives pivot 510 and rotate, and pivot 510 rotates and then drives spray gun mechanism 400 and rotate. In this embodiment, set up the hold-in range subassembly, transmit the power of hold-in range driving source to pivot 510, and then realize spray gun mechanism 400 and the angle modulation of second linking arm 320, make spray gun mechanism 400 can be towards treating the spraying area.
In some embodiments, referring to fig. 5 and 6, the second link arm 320 is a hollow structure, the synchronous belt driving source and the synchronous belt assembly are disposed in the second link arm 320, the synchronous belt driving source is disposed at one end of the second link arm 320 close to the traversing mechanism 200, the driving wheel is sleeved at an output end of the synchronous belt driving source, the rotating shaft 510 is rotatably connected to one end of the second link arm 320 far from the traversing mechanism 200, the rotating shaft 510 penetrates through the second link arm 320 and is connected to the spray gun mechanism 400, the driven wheel 530 is fixed on the rotating shaft 510, the driving belt 520 is sleeved on the driving wheel and the driven wheel 530, and the driving wheel and the driven wheel 530 are arranged at intervals along an axial direction of the second link arm 320, so that power of the synchronous belt driving source is transmitted to the rotating shaft 510. Set up hold-in range driving source and hold-in range subassembly in second linking arm 320, hide hold-in range driving source and hold-in range subassembly, not only reduced hold-in range driving source and hold-in range subassembly occupation space's size, but also play the effect of protection hold-in range driving source and hold-in range subassembly.
In some embodiments, the second connecting arm 320 is a hollow structure, and only the synchronous belt assembly may be disposed in the second connecting arm 320, the synchronous belt driving source is disposed outside the second connecting arm 320, and the output end of the synchronous belt driving source passes through the second connecting arm 320 to be connected with the driving wheel, so that the power transmission of the synchronous belt driving source to the rotating shaft 510 can also be achieved. In this embodiment, the arrangement of the timing belt assembly is the same as that of the previous embodiment, and will not be described again.
In some embodiments, the timing belt driving source and the timing belt assembly are disposed outside the second connecting arm 320, so long as the rotating shaft 510 is rotatably connected to the second connecting arm 320 and is fixedly connected to the spray gun mechanism 400, the driving wheel and the driven wheel 530 are distributed along the axial direction of the second connecting arm 320, the driving wheel is connected to the output end of the timing belt driving source, and the driven wheel 530 is mounted on the rotating shaft 510, so that the power transmission of the timing belt driving source to the rotating shaft 510 can also be achieved.
Referring to fig. 4 to 6, the spray gun mechanism 400 includes a spray gun 410 and a spray gun mounting arm 420, the spray gun 410 is mounted at one end of the spray gun mounting arm 420, the other end of the spray gun mounting arm 420 is fixedly connected to a rotating shaft 510, and the rotating shaft 510 can rotate and drive the spray gun mounting arm 420 to rotate synchronously. Install spray gun 410 in the one end of spray gun installation arm 420, not only be convenient for install, install it at the tip moreover, the spray angle of spray gun 410 is adjusted to the at utmost, with the other end fixed connection of spray gun installation arm 420 in pivot 510, rotate through pivot 510 and drive spray gun installation arm 420 and rotate, and then adjust the spray angle of spray gun 410.
Specifically, referring to fig. 5, the spray gun mechanism 400 further includes a connecting member 440, and the spray gun mounting arm 420 is connected to the rotating shaft 510 through the connecting member 440, and the spray gun mounting arm 420 and the rotating shaft 510 are connected through the connecting member 440.
Specifically, the synchronous belt mechanism 500 further includes a spacer 540, the spacer 540 is sleeved on the end of the rotating shaft 510 and is in interference fit with the shaft sleeve 510, the end wall of the spacer 540 abuts against the side wall of the connecting member 440, and the spacer 540 is arranged to improve the connection strength between the rotating shaft 510 and the connecting member 440.
Referring to fig. 4 and 5, in some embodiments, the spray gun mechanism 400 further includes a limiting member 430, and the limiting member 430 can abut against an outer wall of the spray gun mounting arm 420 to limit a rotation angle of the spray gun mounting arm 420. The rotation angle of the torch mounting arm 420 is limited by providing the limiting member 430, thereby limiting the injection angle of the torch 410.
Specifically, referring to fig. 5, in some embodiments, the limiting member 430 includes a first limiting block 431 and a second limiting block 432, the first limiting block 431 is fixed on the second connecting arm 320, the first limiting block 431 is located between the spray gun mounting arm 420 and the second connecting arm 320, the rotating shaft 510 drives the spray gun mounting arm 420 to rotate in a direction close to the second connecting arm 320, and the spray gun mounting arm 420 can abut against the first limiting block 431, so as to limit a minimum included angle between the spray gun mounting arm 420 and the second connecting arm 320, and prevent the spray gun mounting arm 420 and the second connecting arm 320 from abutting and being worn. The second limiting block 432 is disposed on the second connecting arm 320, the rotating shaft 510 drives the spray gun mounting arm 420 to rotate in a direction away from the second connecting arm 320, the spray gun mounting arm 420 can abut against the second limiting block 432, and the second limiting block 432 is used for limiting a maximum included angle between the spray gun mounting arm 420 and the second connecting arm 320.
Specifically, the spray gun mechanism 400 further includes a clamping member 450, the spray gun 410 is connected to the spray gun mounting arm 420 through the clamping member 450, and two ends of the clamping member 450 abut against two opposite sidewalls of the spray gun 410, so as to limit the spray gun 410.
Referring to fig. 1 to 4, in some embodiments, the robot arm mechanism 300 includes a first connecting arm 310, a first driving source 330, and a second driving source 340, wherein the first connecting arm 310 is connected to the second connecting arm 320; the first driving source 330 is mounted on the traversing mechanism 200, an output end of the first driving source 330 is connected to the first connecting arm 310, and the first driving source 330 is used for driving the first connecting arm 310 to rotate around the radial direction of the workpiece 100 to be processed; the second driving source 340 is mounted on the first connecting arm 310, an output end of the second driving source 340 is connected to the second connecting arm 320, and the second driving source 340 is used for driving the second connecting arm 320 to rotate around the radial direction of the workpiece 100 to be processed. By arranging the first driving source 330, the first connecting arm 310 is driven to drive the second connecting arm 320 to rotate around the workpiece 100 to be processed in the radial direction, and the included angle between the first connecting arm 310 and the traversing mechanism 200 is adjusted, so that the workpiece 100 to be processed can be conveniently moved in or out; by providing the second driving source 340, only the second connecting arm 320 is driven to rotate around the radial direction of the workpiece 100 to be processed, and the included angle between the second connecting arm 320 and the first connecting arm 310 is adjusted.
The robot arm mechanism provided in this embodiment can realize synchronous rotation of the first connecting arm 310 and the second connecting arm 320, or single rotation of the second connecting arm 320, only by providing the first driving source 330 and the second driving source. Compare in current rubber coating robot, the rubber coating robot mechanical joint of this application still less, simple structure, low in production cost. Moreover, the rubber coating robot of this application has multiple gesture, is convenient for realize the rubber coating operation.
Specifically, in some embodiments, the second driving source 340 drives the second connecting arm 320 to rotate around the workpiece 100 to be processed in a radial direction, so that an included angle between the second connecting arm 320 and the first connecting arm 310 is 90 °, and when the glue coating operation is performed, the spray gun mechanism 400 is driven to enter or move out of the workpiece 100 to be processed only through the second connecting arm 320. In other embodiments, the first driving source 330 and the second driving source 340 are matched with each other to make the axial direction of the first connecting arm 310 and the axial direction of the second connecting arm 320 parallel, and the spray gun mechanism 400 is arranged at one side of the second connecting arm 320, so that the first connecting arm 310 and the second connecting arm 320 jointly enter or move out of the workpiece 100 to be processed to perform the gluing operation, and the arrangement mode is that the moving distance of the spray gun mechanism 400 in the workpiece 100 to be processed along the axial direction is longer.
Referring to fig. 4 and 5, the robot arm mechanism 300 includes a third driving source 350 connected to an output end of the second driving source 340, an output end of the third driving source 350 is connected to the second link arm 320, and the third driving source 350 is configured to drive the second link arm 320 to rotate around the axial direction of the workpiece 100 to be processed. A third driving source 350 is provided, and the third driving source 350 drives the second connecting arm 320 to drive the spray gun mechanism 400 to rotate around the axial direction of the workpiece 100 to be processed. And the output end of the second driving source 340 is connected to the third driving source 350, and the second driving source 340 drives the third driving source 350, the second connecting arm 320 and the spray gun mechanism 400 to rotate together around the radial direction of the workpiece 100 to be processed.
In some embodiments, the axial direction of the second connecting arm 320 is parallel to the axial direction of the workpiece 100 to be processed, and the rotation axis of the second connecting arm 320 is located at the center of the workpiece 100 to be processed. The rotation axis of the second connecting arm 320 is located at the center of the workpiece 100 to be processed, the axial direction of the second connecting arm 320 is parallel to the axial direction of the workpiece 100 to be processed, and the third driving source 350 drives the second connecting arm 320 and the spraying mechanism to rotate 360 degrees, so that the spraying work of one circle of the inner wall of the workpiece 100 to be processed can be completed.
Referring to fig. 4 and 5, the robot mechanism 300 further includes a base 360, the first driving source 330 is mounted on the base 360, the base 360 is slidably connected to the traversing mechanism 200, and the base 360 can slide along the radial direction of the workpiece 100 to be processed. The first driving source 330 is connected to the traverse mechanism 200 through the base 360 so as to mount the robot mechanism 300 on the traverse mechanism 200, and the base 360 is slidable in the radial direction of the workpiece 100 to be processed so as to adjust the relative positions of the robot mechanism 300 and the workpiece 100 to be processed.
The embodiment also provides a gluing method, which uses the gluing robot to glue, as shown in fig. 7, the gluing method includes the following steps:
s1, enabling the mechanical arm mechanism 300 to rotate around the radial direction of the workpiece 100 to be machined, enabling the transverse moving mechanism 200 to slide along the axial direction of the workpiece 100 to be machined, and at least partially sending the spray gun mechanism 400 into a region, to be sprayed, of the workpiece 100 to be machined;
s2, adjusting an included angle between the spray gun mechanism 400 and the mechanical arm mechanism 300 to enable the area to be sprayed to be located within a spraying range of the spray gun mechanism 400;
and S3, the second connecting arm 320 rotates and drives the spray gun mechanism 400 to rotate around the axial direction of the workpiece 100 to be processed, and the spray gun mechanism 400 performs spraying work on the inner peripheral surface of the workpiece to be processed.
In the gluing method, the mechanical arm mechanism 300 is adjusted to rotate around the radial direction of the workpiece 100 to be processed, the transverse moving mechanism 200 slides along the axial direction of the workpiece 100 to be processed, and the spray gun mechanism 400 is at least partially sent into the workpiece 100 to be processed; the included angle between the spray gun mechanism 400 and the mechanical arm mechanism 300 is adjusted, and the relative position between the spray gun mechanism 400 and the inner wall of the workpiece 100 to be processed is adjusted, so that the area to be sprayed is positioned in the spraying range of the spray gun mechanism 400, and the spraying accuracy is improved; finally, the second connecting arm 320 rotates and drives the spray gun mechanism 400 to rotate around the axial direction of the workpiece 100 to be processed relative to the workpiece 100 to be processed so as to perform a gluing operation on the inner wall of the workpiece 100 to be processed.
In some embodiments, the end of the workpiece 100 to be processed protrudes outward in an annular curved surface, and when the spray gun mechanism 400 sprays the inner end wall of the workpiece 100 to be processed:
the transverse moving mechanism 200 at least partially sends the spray gun mechanism 400 into a to-be-sprayed area of the to-be-processed workpiece 100, and adjusts an included angle between the spray gun mechanism 400 and the mechanical arm mechanism 300, so that the spray gun mechanism 400 faces towards the inner end wall, and the second connecting arm 320 drives the spray gun mechanism 400 to rotate and spray along the circumferential direction of the inner end wall;
the traversing mechanism 200 drives the spray gun mechanism 400 to slide along the axial direction of the workpiece 100 to be processed, the included angle between the spray gun mechanism 400 and the mechanical arm mechanism 300 is adjusted again so as to adjust the radial position of the spray gun mechanism 400 on the workpiece 100 to be processed, the second connecting arm 320 drives the spray gun mechanism 400 to rotate and spray along the circumferential direction of the inner end wall, the ending position of one circle on the rotating path is overlapped with the starting position of the next circle, and the two steps are repeatedly executed until the spraying work of the inner end wall is finished.
In some embodiments, when the spray gun mechanism 400 sprays the inner end wall of the workpiece 100 to be processed, the transverse moving mechanism 200 at least partially feeds the spray gun mechanism 400 and the robot mechanism 300 into the end portion of the workpiece 100 to be processed, adjusts the axial direction of the second connecting arm 320 to be parallel to the axial direction of the workpiece 100 to be processed, and the rotation axis of the second connecting arm 320 is located at the center position of the workpiece 100 to be processed, and drives the second connecting arm 320 and the spray gun mechanism 400 to rotate 360 ° by the third driving source 350, so as to complete the spraying operation of the inner end wall of one circle, and the transverse moving mechanism 200 drives the second connecting arm 320 and the spray gun mechanism 400 to slide along the axial direction of the workpiece 100 to be processed, and adjusts the included angle between the spray gun mechanism 400 and the robot mechanism 300 again, so as to perform the spraying operation of the inner end wall of the next circle, so that the end position of one circle coincides with the start position of the next circle, and ensures the spraying thickness of the inner end.
In some embodiments, the spray gun 410 may be configured to drive the second connecting arm 320 and the spray gun mechanism 400 to rotate by a specific angle by the third driving source 350, so as to complete the spraying operation of the area to be sprayed.
Preferably, triangular patch densification is performed through a point cloud model at the end of the workpiece 100 to be processed, dense points of an inner bus of the annular cambered surface are obtained by performing densification on the triangular patch, and a least square fitting is performed on the dense points to obtain a bus equation of the annular cambered surface. According to the structure of the spray robot, the distance of the second link arm 320 entering the workpiece 100 to be processed and the included angle between the spray gun mounting arm 420 and the second link arm 320 are obtained based on the elliptical dual-beta distribution model. Finally, the rotation angles of the first driving source 330, the second driving source 340, the third driving source 350 and the timing belt driving source are calculated, and the gluing operation is prepared.
Specifically, the annular arc surface of the tank body is scanned through related equipment, a point cloud file containing the positions of the points and the normal vector direction of the points is obtained, and an equation is fitted by means of a least square method:
wherein x i 、y i For the coordinates of the point cloud data, fitting the equation f (x) i ) And y i The sum of the squared differences of (a) is calculated as δ, and δ represents the closeness of the fitted curve, resulting in an infinitely close bus equation:
specifically, according to an elliptic double-beta distribution model formed by a spray gun in a spraying principle, under the condition of ensuring a spraying distance h, a spraying angle, a spraying width length a and a spraying speed v to be certain, a paint film thickness distribution function is established:
establishing an optimization equation of the actual paint film thickness and the ideal paint film thickness:
according to a least square method calculation formula, the distance d that the second connecting arm 320 extends into the workpiece 100 to be processed and the spraying speed v are calculated;
and (4) listing an equation set according to the distance d of the second connecting arm 320 extending into the workpiece 100 to be processed, and solving the coordinate of the spraying key on the bus equation.
FP x >FP xx
FP y <FP yy
P x <m
n<P y
R L 2 ＝(D 0 +L 4 ) 2 +(L 4 +L 0 ) 2
(P x +x) 2 +P y 2 ＝R L 2
(P x -P x ′) 2 +P y -P y ′) 2 ＝D 0 2 +L 0 2
(P x ′+x) 2 +P y 2 ＝L 4 2 +L 4 ′ 2
Wherein (FP) x ，FP y ) Is the tank body necking coordinate (FP) xx ，FP yy ) The last key point (P) at the tail end of the track in the direction of the generatrix of the tank body x ，P y ) For spraying intermediate key points, D 0 For spraying length, L 0 For the spraying distance, x is the distance d of the second connecting arm 320 extending into the workpiece 100 to be processed, the distance d of the second connecting arm 320 extending into the workpiece 100 to be processed is substituted into the above-mentioned generatrix equation, and the included angle between the second connecting arm 320 and the spray gun mounting arm 420 is obtained through the generatrix equation.
Specifically, the rotation angles of the first driving source, the second driving source, the third driving source and the synchronous belt driving source are calculated according to the following formula, and the relative positions of the first connecting arm, the second connecting arm, the spray gun mechanism and the workpiece to be processed are determined.
Based on the relevant knowledge of the kinematics of the robot, the inverse kinematics of the robot is solved according to the known key points, the joint angles theta1, theta2, theta3 and theta4 are obtained, and finally the spraying track file of the annular cambered surface of the end part of the workpiece 100 to be processed is obtained.
Wherein, theta1 (i.e.
) Is the angle of rotation, theta2, of the first drive source 330 (i.e., the
) Is the angle of rotation, theta3 (i.e., the angle of rotation) of the second drive source 340
) Is the angle of rotation, theta4, of the third driving source 350 (i.e., the
) The rotation angle of a synchronous belt drive source.
In some embodiments, the tank of the workpiece 100 to be processed has a ring-shaped structure, and when the spray gun mechanism 400 sprays the inner wall of the tank of the workpiece 100 to be processed:
the transverse moving mechanism 200 at least partially sends the spray gun mechanism 400 into a to-be-sprayed area of the to-be-processed workpiece 100, an included angle between the spray gun mechanism 400 and the mechanical arm mechanism 300 is adjusted, so that the spray gun mechanism 400 faces the inner wall of the tank body, and the second connecting arm 320 drives the spray gun mechanism 400 to rotate and spray along the circumferential direction of the inner wall of the tank body, so that the spraying work of the inner wall of the tank body is completed; the transverse moving mechanism 200 drives the spray gun mechanism 400 to slide along the axial direction of the workpiece 100 to be processed, the second connecting arm 320 drives the spray gun mechanism 400 to spray along the circumferential direction of the inner wall of the tank body, so as to complete the spraying work of the inner wall of the tank body, the ending position of one circle coincides with the starting position of the next circle, and the two steps are repeatedly executed until the spraying work of the inner wall of the tank body is finished.
The gluing robot provided by the embodiment of the invention has the following beneficial effects:
1. the gluing robot can realize the mutual attachment of the first connecting arm 310 and the second connecting arm 320 through the folding of a plurality of joints, the minimization of the occupied space of the section is ensured, the in-out problem of a narrow inlet is solved, and the spraying work of the front and the rear annular cambered surfaces can be realized by moving the mechanical arm mechanism 300 on the transverse moving mechanism 200 by virtue of the minimization of the occupied space although the front and the rear seal heads of the workpiece 100 to be processed have narrow inlets;
2. the traditional gluing robot is distinguished, the lightweight design of the load at one end of the second connecting arm 320 far away from the first connecting arm 310 is realized through the synchronous belt mechanism 500, the rapidity and the stability in the spraying process are improved, the vibration in the spraying motion process is avoided, and the spraying quality is improved;
3. in order to further save the occupied space, the synchronous belt mechanism 500 is embedded in one end of the second connecting arm 320 far away from the first connecting arm 310, so that the tensioning effect is ensured, and the design of minimizing the occupied space is realized;
4. the first driving source 330, the second driving source 340 and the third driving source 350 of the gluing robot adopt hollow structures, so that power supply and communication line arrangement are facilitated, and narrow space in the mechanical arm is fully utilized. In addition, the structure of the rubber coating tube and the air tube depends on the hollow inside of the spray gun mounting arm 420, so that the diameter of the section when entering the necking of the tank body is reduced;
5. the spray gun mounting arm 420, the first connecting arm 310 and the second connecting arm 320 of the spray gun mechanism 400 perform spraying operation in a closed environment, and explosion can occur carelessly, so that the spray gun mounting arm 420 adopts a positive pressure explosion-proof design, and the motor is isolated from the spraying environment by continuously inflating the air pipe into the spray gun mounting arm 420, the first connecting arm 310 and the second connecting arm 320, thereby effectively avoiding explosion;
6. the first connecting arm 310, the second connecting arm 320 and the spray gun mounting arm 420 are used for realizing automatic spraying of the seal head by extracting a seal head bus of the workpiece 100 to be processed, extracting key points and adopting the forward and reverse kinematics of the robot.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A gluing robot for gluing the inner walls of a workpiece (100) to be processed, characterized in that it comprises:
a robotic arm mechanism (300) comprising a second connecting arm (320);
the spray gun mechanism (400) is used for spraying glue solution, the spray gun mechanism (400) is rotationally connected to the second connecting arm (320), the spray gun mechanism (400) can rotate relative to the second connecting arm (320) to adjust an included angle between the second connecting arm (320) and the spray gun mechanism (400), the mechanical arm mechanism (300) can rotate around the radial direction of the workpiece (100) to be processed, so that a region to be sprayed is located in a spraying range of the spray gun mechanism (400), and the second connecting arm (320) can drive the spray gun mechanism (400) to rotate around the axial direction of the workpiece (100) to be processed to perform gluing work;
the transverse moving mechanism (200), the mechanical arm mechanism (300) is installed on the transverse moving mechanism (200), and the transverse moving mechanism (200) can slide along the axial direction of the workpiece (100) to be processed, so that the second connecting arm (320) drives the spray gun mechanism (400) to enter or move out of the workpiece (100) to be processed.
2. Gluing robot according to claim 1, further comprising a timing belt mechanism (500), the gun mechanism (400) being located on one side of the second connecting arm (320), the timing belt mechanism (500) comprising:
a synchronous belt driving source;
the rotating shaft (510), the rotating shaft (510) is rotatably connected to the second connecting arm (320), and the spray gun mechanism (400) is fixedly connected to the rotating shaft (510);
hold-in range subassembly, including drive belt (520), action wheel and follow driving wheel (530), the action wheel with follow driving wheel (530) and follow the axial distribution of second linking arm (320), just the action wheel connect in the output of hold-in range driving source, install from driving wheel (530) pivot (510) is last, hold-in range driving source drive the action wheel drives follow driving wheel (530) with pivot (510) rotate, so that spray gun mechanism (400) for second linking arm (320) rotate.
3. Gluing robot according to claim 2, characterised in that the gun mechanism (400) comprises a gun (410) and a gun mounting arm (420), the gun (410) being mounted at one end of the gun mounting arm (420), the other end of the gun mounting arm (420) being fixedly connected to the spindle (510), the spindle (510) being able to rotate and bring the gun mounting arm (420) into synchronous rotation.
4. The gluing robot according to claim 3, characterized in that the gun mechanism (400) further comprises a stop (430), the stop (430) being capable of abutting against an outer wall of the gun mounting arm (420) to limit the angle of rotation of the gun mounting arm (420).
5. Gluing robot according to claim 1, characterized in that said robotized arm mechanism (300) comprises:
a first connecting arm (310) connected to the second connecting arm (320);
a first driving source (330) mounted on the transverse moving mechanism (200), wherein the output end of the first driving source (330) is connected to the first connecting arm (310), and the first driving source (330) is used for driving the first connecting arm (310) to rotate around the radial direction of the workpiece (100) to be processed;
the second driving source (340) is installed on the first connecting arm (310), the output end of the second driving source (340) is connected to the second connecting arm (320), and the second driving source (340) is used for driving the second connecting arm (320) to rotate around the radial direction of the workpiece (100) to be processed.
6. A gluing robot as claimed in claim 5, characterised in that the robotized arm mechanism (300) comprises a third drive source (350) connected to the output of the second drive source (340), the output of the third drive source (350) being connected to the second link arm (320), the third drive source (350) being intended to drive the second link arm (320) in rotation about the axial direction of the workpiece (100) to be machined.
7. Gluing robot according to claim 6, characterized in that the axis of the second connecting arm (320) is parallel to the axis of the workpiece to be machined (100) and the axis of rotation of the second connecting arm (320) is located in the centre of the workpiece to be machined (100).
8. Gluing robot according to claim 5, characterized in that the robotized arm mechanism (300) further comprises a base (360), the first drive source (330) being mounted on the base (360), the base (360) being slidingly connected to the traversing mechanism (200), the base (360) being able to slide in the radial direction of the workpiece to be machined (100).
9. A gluing method, using a gluing robot according to any one of claims 1 to 8, characterized by comprising the following steps:
s1, enabling the mechanical arm mechanism (300) to rotate around the radial direction of the workpiece (100) to be machined, enabling the transverse moving mechanism (200) to slide along the axial direction of the workpiece (100) to be machined, and at least partially sending the spray gun mechanism (400) into a region, to be sprayed, of the workpiece (100) to be machined;
s2, adjusting an included angle between the spray gun mechanism (400) and the mechanical arm mechanism (300) to enable the area to be sprayed to be located in a spraying range of the spray gun mechanism (400);
s3, the second connecting arm (320) rotates and drives the spray gun mechanism (400) to rotate around the axial direction of the workpiece (100) to be machined, and the spray gun mechanism (400) performs spraying work on the inner peripheral surface of the workpiece (100) to be machined.
10. Gluing method according to claim 9, characterised in that, when the gun means (400) spray the inner end wall of the piece to be worked (100):
the transverse moving mechanism (200) at least partially sends the spray gun mechanism (400) into a to-be-sprayed area of the to-be-processed workpiece (100), and an included angle between the spray gun mechanism (400) and the mechanical arm mechanism (300) is adjusted, so that the spray gun mechanism (400) faces the inner end wall, and the second connecting arm (320) drives the spray gun mechanism (400) to rotate and spray along the circumferential direction of the inner end wall;
sideslip mechanism (200) drive spray gun mechanism (400) are followed treat the endwall axial slip of processing work piece (100), adjust again spray gun mechanism (400) with contained angle between arm mechanism (300) is in with adjust spray gun mechanism (400) are in treat the radial position of processing work piece (100), second connecting arm (320) drive spray gun mechanism (400) are followed the circumferential direction spraying of inner wall, and the initial position coincidence of the last one round of final position of rotation path and next round, above-mentioned two steps of repeated execution are up to the work of spouting of inner wall ends.
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Cited By (1)
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|---|---|---|---|---|
| CN117798003A (en) * | 2024-03-01 | 2024-04-02 | 安徽机电职业技术学院 | Spraying robot for surface treatment of welding piece |
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| CN117798003B (en) * | 2024-03-01 | 2024-05-03 | 安徽机电职业技术学院 | Spraying robot for surface treatment of welding piece |
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| CN115400921B (en) | 2024-03-12 |
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