CN117160734A - Spraying and paint mist recycling robot and system - Google Patents

Abstract

The application relates to a spraying and paint mist recycling robot and a system, comprising: the spray coating device comprises a control module, a first moving mechanism, a second moving mechanism, a third moving mechanism, a first rotating mechanism, a second rotating mechanism, a base, a spray head and a spray coating cover. The spraying and paint mist recycling robot is characterized in that the first moving mechanism is arranged at the position to be installed in actual use, then the spraying cover is driven to move to the position to be sprayed on the surface to be sprayed, the spraying cover is driven to rotate, so that the end face of the opening end of the spraying cover is parallel to the surface to be sprayed, the spray head is opened to spray paint on the surface to be sprayed, meanwhile, the first moving mechanism, the second moving mechanism and the third moving mechanism drive the spraying cover to move so as to realize automatic spraying on the surface to be sprayed, the first rotating mechanism and the second rotating mechanism drive the spraying cover to rotate, the end face of the opening end of the spraying cover is parallel to the surface to be sprayed in the moving process of the spraying cover, the spraying thickness is uniform, and the spraying quality is guaranteed.

Description

Spraying and paint mist recycling robot and system

Technical Field

The application relates to the technical field of spraying equipment and environment-friendly spraying, in particular to a spraying and paint mist recycling robot and a system.

Background

At present, when the common paint spraying equipment is used for spraying the surface of a workpiece, sprayed paint is in a vaporous diffusion and volatilization state, and paint particles and harmful gases are diffused in the whole working area. The ship sprays paint and relies on manual operation, and the spraying area is big and is outdoor high altitude construction, and a large amount of organic volatile compounds (VOC) and paint mist granule that spray paint produced are directly inhaled by operating personnel, harm human health. And the paint spraying operation is performed by a plurality of people at the same time, a large amount of harmful gas is generated in the dock, the harmful gas is difficult to collect, and is directly discharged at present, so that the environment is greatly polluted.

The existing paint spraying robot mainly covers the spray head by using a spray cover to prevent spray from escaping, the spray head is connected to the support through a plurality of rotating connecting rods, and the spray head is placed at a specific position through the rotating fit of the rotating connecting rods.

However, when the paint spraying robot sprays paint on the surface of the ship in a large area in the dock, the moving direction and distance of the paint spraying cover are inconvenient to control in real-time rotation and movement due to the complex environment and complex surface, so that the paint spraying process cannot be positioned in time, the distance between the paint spraying cover and the surface to be sprayed in the paint spraying process cannot be kept stable, and the paint spraying thickness of the surface of the ship is uneven.

Disclosure of Invention

Based on this, it is necessary to carry out the large tracts of land to the boats and ships face when spraying paint to current painting robot in dock, often can be because complex environment and complex surface, in real-time rotation and removal, direction and the inconvenient acquisition of distance that the shower nozzle moved, consequently can't in time fix a position the spraying process, lead to spraying in-process shower nozzle and wait to spray paint between the surface apart from unable stability, and then make the uneven problem of thin thickness of spraying paint on boats and ships surface, provide a spraying and paint mist recovery robot and system.

A spray and paint mist recycling robot, the spray and paint mist recycling robot comprising: the spraying device comprises a first moving mechanism, a second moving mechanism, a third moving mechanism, a first rotating mechanism, a second rotating mechanism, a base and a spraying assembly;

the second moving mechanism is arranged on the first moving mechanism, and the first moving mechanism can drive the second moving mechanism to move along the first direction; the third moving mechanism is arranged on the second moving mechanism, and the second moving mechanism can drive the third moving mechanism to move along a second direction; the base is arranged on the third moving mechanism, and the third moving mechanism can drive the base to move along a third direction; one end of the first rotating mechanism is connected with the base;

One end of the second rotating mechanism is connected with one end of the first rotating mechanism, which is far away from the base, and the first rotating mechanism can drive the second rotating mechanism to rotate around the axis of the third direction relative to the base; the other end of the second rotating mechanism is connected with the spraying assembly and can drive the spraying assembly to rotate around the axis in the second direction.

When the spraying and paint mist recycling robot is in actual use, the first moving mechanism is arranged at the position to be installed, then the spraying assembly is driven to move to the position to be sprayed on the surface to be sprayed through the first moving mechanism, the second moving mechanism and the third moving mechanism, then the spraying assembly is driven to rotate through the first rotating mechanism and the second rotating mechanism, so that the end face of the opening end of the spraying assembly is parallel to the surface to be sprayed, and the spraying direction is perpendicular to the surface to be sprayed. To waiting to spray paint on the surface, first moving mechanism, second moving mechanism, third moving mechanism drive spraying subassembly remove in order to realize waiting to spray paint on the surface voluntarily simultaneously, and first rotating mechanism, second rotating mechanism drive spraying subassembly rotate to guarantee that the terminal surface of the open end of spraying subassembly is on a parallel with waiting to spray paint on the surface in the spraying subassembly removal in-process, make the thickness of spraying paint even, and then guarantee the spraying quality.

In an embodiment, the spraying assembly comprises a spray head and a spraying cover, wherein the spray head penetrates through the top of the spraying cover, the outlet end of the spray head stretches into the spraying cover, and the spray head is used for spraying paint to the opening side of the spraying cover.

In an embodiment, the spraying and paint mist recycling robot further comprises a vacuum part, the spraying cover comprises an inner cover and an outer cover which is arranged outside the inner cover in a covering manner, at least one vacuum through hole is formed in the outer cover, and the vacuum through hole is positioned on the radial outer side of the inner cover;

the vacuum part is communicated with the vacuum through hole and is used for extracting gas between the inner cover and the outer cover;

the spray head penetrates through the top of the inner cover and the top of the outer cover and sprays paint to the opening side of the inner cover.

In an embodiment, the first moving mechanism comprises a first linear module and a second linear module which are parallel along a first direction and are spaced along a second direction;

one end of the second moving mechanism is connected with the moving part of the first linear module, and the other end of the second moving mechanism is connected with the moving part of the second linear module;

the moving part of the first linear module and the moving part of the second linear module drive the two ends of the second moving mechanism to synchronously move along the first direction.

In an embodiment, the first linear module comprises a first transmission rod and a first sliding block, and the second linear module comprises a second transmission rod and a second sliding block;

one end of the second moving mechanism is connected with the first sliding block, the other end of the second moving mechanism is connected with the second sliding block, the first transmission rod rotates to drive the first sliding block to move along the first direction, and the second transmission rod rotates to drive the second sliding block to move along the first direction.

In an embodiment, the first moving mechanism further comprises a first motor and a transmission mechanism, and the transmission mechanism is connected with the first transmission rod and the second transmission rod;

the first motor is used for driving the transmission mechanism to move so that the transmission mechanism drives the first transmission rod and the second transmission rod to synchronously rotate, and therefore the first sliding block and the second sliding block synchronously move to drive the two ends of the second moving mechanism to synchronously move along the first direction; or (b)

The first motor is used for driving the first transmission rod to move, so that the first transmission rod drives the transmission mechanism to rotate, and the transmission mechanism drives the second transmission rod to rotate, so that the transmission mechanism drives the first transmission rod and the second transmission rod to synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive two ends of the second moving mechanism to synchronously move along the first direction.

In an embodiment, the first movement mechanism further comprises: a first bevel gear and a second bevel gear;

the transmission mechanism comprises a rotating shaft, a first straight gear and a second straight gear which are respectively arranged at two ends of the rotating shaft, and the first bevel gear is arranged on the first transmission rod and synchronously rotates with the first transmission rod around the axis of the first transmission rod; the second bevel gear is arranged on the second transmission rod and synchronously rotates with the first transmission rod around the axis of the second transmission rod; the first straight gear is meshed with the first bevel gear, and the second straight gear is meshed with the second bevel gear;

the first motor is used for driving the rotating shaft to rotate around the axis direction of the rotating shaft, so that the first straight gear drives the first bevel gear to rotate, thereby driving the first transmission rod to rotate, the second straight gear drives the second bevel gear to rotate, thereby driving the second transmission rod to rotate, so that the first transmission rod and the second transmission rod synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive the two ends of the second moving mechanism to synchronously move along the first direction; or (b)

The first motor is used for driving the first transmission rod to move, so that the first bevel gear rotates and drives the first straight gear to rotate, the first straight gear drives the rotating shaft and the second straight gear to synchronously rotate, so that the second straight gear drives the second bevel gear to rotate, and the second bevel gear synchronously rotates with the second transmission rod, so that the first transmission rod and the second transmission rod synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive two ends of the second moving mechanism to synchronously move along the first direction.

In an embodiment, the first linear module further includes a first sliding rail, and the second linear module further includes a second sliding rail;

the first transmission rod and the second transmission rod are screw rods, and the first sliding block is in threaded fit with the first transmission rod and is in sliding fit with the first sliding rail, so that the first transmission rod rotates to drive the first sliding block to slide on the first sliding rail along the first direction;

the second sliding block is in threaded fit with the second transmission rod and is in sliding fit with the second sliding rail, so that the second transmission rod rotates to drive the second sliding block to slide on the second sliding rail along the first direction.

In an embodiment, the first moving mechanism further comprises a stabilizing part, wherein the stabilizing part comprises a stabilizing piece and a penetrating piece which are connected;

the stabilizing piece is far away from one end of wearing to establish the piece and wait to be fixed the department to be connected, wearing to establish the piece and following wear to establish the hole has been seted up to the second direction, the axis of rotation wear to locate wear to establish the hole, and with wear to establish the inner wall normal running fit in hole.

In an embodiment, the spraying and paint mist recycling robot further comprises a first fixing part and a second fixing part;

the second moving mechanism further comprises a third sliding block and a third transmission rod, and the third moving mechanism further comprises a fourth sliding block and a fourth transmission rod;

the second moving mechanism is fixedly connected with the first sliding block and the second sliding block through a first fixing part, the first rotating rod drives the first sliding block to move along the first direction, and the second transmission rod drives the second sliding block to move along the first direction, so that the first sliding block and the second sliding block drive the second moving structure to move along the first direction;

the third moving mechanism is fixedly connected with the third sliding block through a second fixing part, and the third rotating rod drives the third sliding block to move along the second direction, so that the third sliding block drives the third moving structure to move along the second direction;

The base is fixedly connected with the fourth sliding block, and the fourth rotating rod drives the fourth sliding block to move along the third direction, so that the fourth sliding block drives the base to move along the third direction.

In an embodiment, the first fixing portion includes a first fixing member and a second fixing member;

one end of the second moving mechanism is fixedly connected with the first sliding block through a first fixing piece, the other end of the second moving mechanism is fixedly connected with the second sliding block through a second fixing piece, the first rotating rod drives the first sliding block to move along the first direction, and the second transmission rod drives the second sliding block to move along the first direction, so that the first sliding block and the second sliding block drive the second moving structure to slide along the first direction and the first moving module.

In an embodiment, the second moving mechanism further comprises a second motor and a third sliding rail, the third moving mechanism further comprises a third motor and a fourth sliding rail, and the third transmission rod and the fourth transmission rod are screw rods;

the third sliding block is in threaded fit with the third transmission rod and is in sliding fit with the third sliding rail, and the second motor is used for driving the third transmission rod to rotate so as to drive the third sliding block to slide on the third sliding rail along the second direction, so that the third sliding block drives the third moving mechanism to move along the second direction;

The fourth sliding block is in threaded fit with the fourth transmission rod and is in sliding fit with the fourth sliding rail, the third motor is used for driving the fourth transmission rod to rotate so as to drive the fourth sliding block to slide on the fourth sliding rail along the third direction, and therefore the fourth sliding block drives the base to move along the third direction; the fourth slider is in threaded fit with the fourth transmission rod and in sliding fit with the fourth sliding rail, so that the fourth transmission rod rotates to drive the fourth slider to slide on the fourth sliding rail along the third direction.

The application also provides a spraying and paint mist recycling system, which comprises: the control module and the spraying and paint mist recycling robot;

the first moving mechanism, the second moving mechanism, the third moving mechanism, the first rotating mechanism, the second rotating mechanism and the spray head are electrically connected with the control module at the same time;

the control module is used for controlling the transmission of the first moving mechanism, the second moving mechanism and the third moving mechanism;

the control module is used for controlling the rotation of the first rotating mechanism and the second rotating mechanism;

The control module is used for controlling the spray nozzle to spray paint.

According to the spraying and paint mist recycling system, in the actual use process, the first moving mechanism is arranged at the position to be installed, then the first moving mechanism, the second moving mechanism and the third moving mechanism are controlled by the control module to drive the spraying cover to move to the position to be sprayed on the surface to be sprayed, and then the control module is used for controlling the first rotating mechanism and the second rotating mechanism to drive the spraying cover to rotate, so that the end face of the opening end of the spraying cover is parallel to the surface to be sprayed, namely the spraying direction of the spray head is perpendicular to the surface to be sprayed. The over-control module controls the spray head to spray paint on the surface to be sprayed, meanwhile, the first moving mechanism, the second moving mechanism and the third moving mechanism drive the spray cover to move so as to realize automatic spray painting on the surface to be sprayed, and the first rotating mechanism and the second rotating mechanism drive the spray cover to rotate so as to ensure that the end face of the opening end of the spray cover is parallel to the surface to be sprayed in the moving process of the spray cover, so that the spray paint thickness is uniform, and the spray quality is further ensured.

Drawings

Fig. 1 is a schematic structural view of a spraying and paint mist recycling robot according to an embodiment.

Fig. 2 is a schematic structural diagram of another view of fig. 1.

Fig. 3 is a schematic structural view of the stabilizing section in fig. 1.

Reference numerals:

100-spraying and paint mist recycling robots;

110-a first movement mechanism; 111-a first linear module; 112-a second linear module; 113-a first motor; 114-a transmission mechanism; 115-a stabilizing section; 116-a stabilizer; 117-penetrating member; 118-perforating holes;

120-a second movement mechanism; 121-a second motor;

130-a third movement mechanism; 131-a third motor;

140-a first rotation mechanism;

150-a second rotation mechanism;

160-a base;

170-spraying cover; 171-spray head; 172-an inner cover; 173-an outer cover; 174-vacuum through holes;

180-a first fixing portion; 181-first fixing member; 182-first securing member;

190-a second fixing portion;

OX-first direction; OY-second direction; OZ-third direction.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If 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, if any, are for descriptive purposes only and do not represent a unique embodiment.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a spraying and paint mist recycling robot 100 according to an embodiment of the present application, and the spraying and paint mist recycling robot 100 according to an embodiment of the present application includes: the first moving mechanism 110, the second moving mechanism 120, the third moving mechanism 130, the first rotating mechanism 140, the second rotating mechanism 150, the base 160, and the spray assembly.

The painting and paint mist recycling robot 100 of the present application requires that the first moving mechanism 110 be disposed at a place to be installed (not shown), and paint the surface to be painted by the painting assembly.

The second moving mechanism 120 of the spraying and paint mist recycling robot 100 is disposed on the first moving mechanism 110, and the first moving mechanism 110 can drive the second moving mechanism 120 to move along the first direction OX. The third moving mechanism 130 is disposed on the second moving mechanism 120, and the second moving mechanism 120 is capable of driving the third moving mechanism 130 to move in the second direction OY. The base 160 is disposed on the third moving mechanism 130, and the third moving mechanism 130 can drive the base 160 to move along the third direction OZ, and one end of the first rotating mechanism 140 is connected to the base 160. One end of the second rotating mechanism 150 is connected to one end of the first rotating mechanism 140 away from the base 160, and the first rotating mechanism 140 can drive the second rotating mechanism 150 to rotate around the axis of the third direction OZ relative to the base 160. The other end of the second rotation mechanism 150 is coupled to the spray assembly and is capable of driving the spray assembly to rotate about the axis of the second direction OY.

The first moving mechanism 110 is disposed perpendicular to the surface to be sprayed, i.e., the first direction OX is perpendicular to the surface to be sprayed, and the second moving mechanism 120 can drive the second moving mechanism 120 to move along the first direction OX, the second moving mechanism 120 can drive the third moving mechanism 130 to move along the second direction OY, and the third moving mechanism 130 can drive the base 160 to move along the third direction OZ, so that the first moving mechanism 110, the second moving mechanism 120, and the third moving mechanism 130 can drive the base 160 to approach or separate from the surface to be sprayed and move along the surface to be sprayed. The first rotating mechanism 140 can drive the second moving mechanism 120 to rotate around the axis of the third direction OZ relative to the base 160, and the second rotating mechanism 150 can drive the spraying assembly to rotate around the axis of the second direction OY, so that three degrees of freedom of movement and two degrees of freedom of rotation of the spraying assembly are realized.

In practical use, the spraying and paint mist recycling robot 100 sets the first moving mechanism 110 at the to-be-installed position, then drives the spraying assembly to move to the to-be-sprayed position of the to-be-sprayed surface through the first moving mechanism 110, the second moving mechanism 120 and the third moving mechanism 130, and then drives the spraying assembly to rotate through the first rotating mechanism 140 and the second rotating mechanism 150, so that the end face of the opening end of the spraying assembly is parallel to the to-be-sprayed surface, i.e. the spraying direction is perpendicular to the to-be-sprayed surface. The spraying of paint to the surface to be sprayed is realized by driving the spraying components to move by the first moving mechanism 110, the second moving mechanism 120 and the third moving mechanism 130, and the first rotating mechanism 140 and the second rotating mechanism 150 drive the spraying components to rotate so as to ensure that the end face of the opening end of the spraying component is parallel to the surface to be sprayed in the moving process of the spraying components, so that the spraying thickness is uniform, and the spraying quality is further ensured.

In one embodiment, the spray assembly includes a spray cap 170 and a spray head 171, the spray head 171 being disposed through the top of the spray cap 170, the outlet end of the spray head 171 extending into the spray cap 170, the spray head 171 being configured to spray paint toward the open side of the spray cap 170.

In an embodiment, the spraying and paint mist recycling robot 100 further includes a vacuum part (not shown), the spraying cover 170 includes an inner cover 172 and an outer cover 173 covering the inner cover 172, the openings of the inner cover 172 and the outer cover 173 face in the same direction, the nozzle 171 is disposed on the top of the inner cover 172 and the top of the outer cover 173, and sprays paint to the opening side of the inner cover 172, the outer cover 173 is provided with at least one vacuum through hole 174, the vacuum through hole 174 is located at the radial outer side of the inner cover 172, and the vacuum part is communicated with the vacuum through hole 174 for extracting gas between the inner cover 172 and the outer cover 173. Therefore, in the process of spraying paint, when the spray head 171 sprays paint mist and paint liquid on the surface to be sprayed in the space of the inner cover 172, the vacuum part extracts gas between the inner cover 172 and the outer cover 173, so that paint liquid which is not sprayed on the surface to be sprayed, and paint mist can be extracted by the vacuum part due to negative pressure, so that the paint mist cannot escape into the environment, and the environment-friendly spraying is realized.

Specifically, the vacuum unit is an instrument such as a vacuum pump that can draw out gas in a space.

Specifically, the inner cover 172 and the outer cover 173 are coaxially arranged, the spray head 171 and the spray cover 170 are coaxial, so that the spraying paint liquid and the spraying paint mist sprayed in the spraying process are consistent with the inner side space of the inner cover 172, the spray head 171 is prevented from being installed and offset, the inner wall of the inner cover 172, which is close to the spray head 171, is prevented from colliding with the spraying paint and the spraying paint, the inner wall of the inner cover 172, which is far away from the spray head 171, is free from the unrestricted effect on the spraying paint and the spraying paint, the effective spraying paint area is smaller than the area of the end face of the open end of the inner cover 172, the spraying quality is improved, and meanwhile, an operator can know the spraying paint thickness of the spraying area according to the position of the spray cover 170, so that the moving distance and the rotating angle of the spray cover 170 can be controlled conveniently.

Preferably, the number of the vacuum through holes 174 is plural, and the plurality of vacuum through holes 174 are uniformly arranged along the circumferential direction of the spraying cover 170, so that the pressure generated by the vacuum part to the space extraction gas between the inner cover 172 and the outer cover 173 is more uniform, and paint mist and paint liquid which are not sprayed on the surface to be sprayed can be better extracted by the vacuum part, thereby improving the environmental protection efficiency.

Preferably, the cover opening end of the inner cover 172 is located inside the outer cover 173, so that it can be ensured that paint liquid and paint mist sprayed onto the surface to be sprayed can adhere to the surface to be sprayed, and the unattached paint liquid and paint mist are further away from the surface to be sprayed along the first direction OX relative to the outer cover 173 due to the open end of the inner cover 172, so that the effect of vacuumizing the vacuum part can be generated in the space between the open end of the inner cover 172 and the open end of the outer cover 173, and the paint liquid and paint mist unattached to the surface to be sprayed can be better extracted by the vacuum part.

In an embodiment, the first moving mechanism 110 includes a first linear module 111 and a second linear module 112 that are parallel along the first direction OX and spaced apart along the second direction OY, one end of the second moving mechanism 120 is connected to a moving portion (not shown) of the first linear module 111, and the other end of the second moving mechanism 120 is connected to a moving portion (not shown) of the second linear module 112. The moving part of the first linear module 111 and the moving part of the second linear module 112 drive the two ends of the second moving mechanism 120 to synchronously move along the first direction OX. Therefore, the two ends of the second moving mechanism 120 are respectively in sliding fit with the first linear module 111 and the second linear module 112, so that the movement of the second moving mechanism 120 relative to the first moving mechanism 110 can be more stable.

Specifically, the first linear module 111 includes a first transmission rod (not shown) and a first slider (not shown), and the second linear module 112 includes a second transmission rod and a second slider. One end of the second moving mechanism 120 is connected to the first slider, and the other end of the second moving mechanism 120 is connected to the second slider, that is, the moving portion of the first linear module 111 is the first slider, and the moving portion of the second linear module 112 is the second slider. The first transmission rod rotates to drive the first sliding block to move along the first direction OX, the first sliding block drives one end of the first linear module 111 to move along the first direction OX, the second transmission rod rotates to drive the second sliding block to move along the first direction OX, and the first sliding block and the second sliding block drive the two ends of the second moving mechanism 120 to synchronously move along the first direction OX. Therefore, the two ends of the second moving mechanism 120 are respectively in sliding fit with the first linear module 111 and the second linear module 112, so that the movement of the second moving mechanism 120 relative to the first moving mechanism 110 can be more stable.

In an embodiment, the first moving mechanism 110 further includes a first motor 113 and a transmission mechanism 114, where the transmission mechanism 114 is connected to the first transmission rod and connected to the second transmission rod, and the first motor 113 is used to drive the transmission mechanism 114 to move, so that the transmission mechanism 114 drives the first transmission rod and the second transmission rod to rotate synchronously, and thus the first slider and the second slider move synchronously to drive two ends of the second moving mechanism 120 to move synchronously along the first direction OX. Therefore, the two ends of the first moving mechanism 110 can synchronously move along the first direction OX by additionally arranging the transmission mechanism 114, and the first motor 113 drives the transmission mechanism 114 to move, so that only the transmission mechanism 114 simultaneously transmits the first transmission rod and the second transmission rod in a step-by-step transmission manner, and the transmission efficiency is higher.

In another embodiment, the first moving mechanism 110 further includes a first motor 113 and a transmission mechanism 114, the transmission mechanism 114 is connected with a first transmission rod and is connected with a second transmission rod, the first motor 113 is used for driving the first transmission rod to move so that the first transmission rod drives the transmission mechanism 114 to rotate, and the transmission mechanism 114 drives the second transmission rod to rotate so that the transmission mechanism 114 drives the first transmission rod and the second transmission rod to synchronously rotate, so that the first sliding block and the second sliding block synchronously move to synchronously move two ends of the second moving mechanism 120 along the first direction OX. So that both ends of the first moving mechanism 110 can move synchronously in the first direction OX by adding the transmission mechanism 114.

In one embodiment, the first moving mechanism 110 further comprises: a first bevel gear (not shown) and a second bevel gear (not shown). The transmission mechanism 114 includes a rotating shaft (not shown), a first spur gear (not shown) and a second spur gear (not shown) respectively disposed at two ends of the rotating shaft, and the first bevel gear is disposed on the first transmission rod and rotates synchronously with the first transmission rod around the axis of the first transmission rod. The second bevel gear is arranged on the second transmission rod and synchronously rotates with the first transmission rod around the axis of the second transmission rod. The first spur gear is engaged with the first bevel gear, and the second spur gear is engaged with the second bevel gear. The first motor 113 is used for driving the rotating shaft to rotate around the axis direction of the rotating shaft, so that the first spur gear drives the first bevel gear to rotate, thereby driving the first transmission rod to rotate, the second spur gear drives the second bevel gear to rotate, thereby driving the second transmission rod to rotate, so that the first transmission rod and the second transmission rod synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive the two ends of the second moving mechanism 120 to synchronously move along the first direction OX. Therefore, through the structure that the bevel gear and the spur gear are meshed and rotated, the two ends of the first moving mechanism 110 can synchronously move along the first direction OX, and the first motor 113 drives the rotating shaft to move, so that only the rotating shaft drives the first transmission rod and the second transmission rod step by step, and the transmission efficiency is higher.

In another embodiment. The first moving mechanism 110 further includes: a first bevel gear and a second bevel gear. The transmission mechanism 114 includes a rotating shaft, and a first spur gear and a second spur gear respectively disposed at two ends of the rotating shaft, where the first bevel gear is disposed on the first transmission rod and rotates synchronously with the first transmission rod around the axis of the first transmission rod.

The second bevel gear is arranged on the second transmission rod and synchronously rotates with the first transmission rod around the axis of the second transmission rod. The first spur gear is engaged with the first bevel gear, and the second spur gear is engaged with the second bevel gear. The first motor 113 is used for driving the first transmission rod to move, so that the first bevel gear rotates and drives the first spur gear to rotate, the first spur gear drives the rotating shaft to rotate synchronously with the second spur gear, so that the second spur gear drives the second bevel gear to rotate, and the second bevel gear rotates synchronously with the second transmission rod, so that the first transmission rod and the second transmission rod rotate synchronously, and the first sliding block and the second sliding block move synchronously to drive two ends of the second moving mechanism 120 to move synchronously along the first direction OX. So that both ends of the first moving mechanism 110 can move synchronously in the first direction OX by the structure that the bevel gear and the spur gear are engaged to rotate.

In an embodiment, the first linear module 111 further includes a first sliding rail (not shown), and the second linear module 112 further includes a second sliding rail (not shown). The first transmission rod and the second transmission rod are screw rods, so that the first transmission rod rotates to drive the first slider to slide on the first slide rail along the first direction OX through threaded fit of the first slider and the first transmission rod and sliding fit of the first slider and the first slide rail. The second sliding block is in threaded fit with the second transmission rod and is in sliding fit with the second sliding rail, so that the second transmission rod rotates to drive the second sliding block to slide on the second sliding rail along the first direction OX. Wherein the screw is a ball screw, and reference is specifically made to the prior art.

In other embodiments, the first linear module 111 and the second linear module 112 may be synchronous belt type linear modules, which are not described in detail with reference to the prior art.

In an embodiment, the first moving mechanism 110 further includes a stabilizing portion 115, and the stabilizing portion 115 includes a stabilizing member 116 and a penetrating member 117 connected to each other. One end of the stabilizing piece 116, which is far away from the penetrating piece 117, is connected with the position to be fixed, the penetrating piece 117 is provided with a penetrating hole 118 along the second direction OY, and the rotating shaft is penetrated in the penetrating hole 118 and is in running fit with the inner wall of the penetrating hole 118, so that the rotating shaft can stably rotate in the penetrating hole 118, and abnormal transmission of the rotating shaft caused by micro bending in the middle of the rotating shaft is avoided.

Preferably, the stabilizer 116 is disposed at a midpoint of the length of the rotational axis.

Preferably, the number of stabilizers 116 is plural, and the plurality of stabilizers 116 are uniformly distributed along the length of the axis of rotation.

In one embodiment, the paint and paint mist recycling robot further includes a first fixture 180 and a second fixture 190.

The second moving mechanism 120 further includes a third slider (not shown) and a third transmission rod (not shown), and the third moving mechanism 130 further includes a fourth slider (not shown) and a fourth transmission rod (not shown). The second moving mechanism 120 is fixedly connected with the first slider and the second slider through the first fixing portion 180, the first rotating rod drives the first slider to move along the first direction OX, and the second driving rod drives the second slider to move along the first direction OX, so that the first slider and the second slider drive the second moving structure to move along the first direction OX. The third moving mechanism 130 is fixedly connected with the third slider through the second fixing portion 190, and the third rotating rod drives the third slider to move along the second direction OY, so that the third slider drives the third moving structure to move along the second direction OY. The base 160 is fixedly connected with the fourth slider, and the fourth rotating rod drives the fourth slider to move along the third direction OZ, so that the fourth slider drives the base 160 to move along the third direction OZ. Therefore, through the connection of the first fixing part 180 and the first sliding block and the second sliding block, a gap is reserved between the second moving mechanism 120 and the first moving part, through the connection of the second fixing part 190 and the third sliding block, a gap is reserved between the second moving mechanism 120 and the third moving mechanism 130, the stand is connected with the fourth sliding block, a gap is reserved between the first rotating mechanism 140 and the third moving mechanism 130, collision is prevented, and the movement and rotation of the spraying cover 170 are facilitated.

In one embodiment, the first fixing portion 180 includes a first fixing piece 182 and a second fixing piece.

One end of the second moving mechanism 120 is fixedly connected with the first sliding block through the first fixing piece 182, the other end of the second moving mechanism 120 is fixedly connected with the second sliding block through the second fixing piece, the first rotating rod drives the first sliding block to move along the first direction OX, and the second driving rod drives the second sliding block to move along the first direction OX, so that the first sliding block and the second sliding block drive the second moving structure to slide and match with the first moving module along the first direction OX, the first fixing piece 182 is connected with the first sliding block, and the second fixing piece is connected with the second sliding block, so that the sliding and matching between the second moving mechanism 120 and the first moving mechanism 110 are more stable.

In an embodiment, the second moving mechanism 120 further includes a second motor 121 and a third sliding rail, the third moving mechanism 130 further includes a third motor 131 and a fourth sliding rail, and the third transmission rod and the fourth transmission rod are all screw rods.

The third slider is in threaded fit with the third transmission rod and is in sliding fit with the third sliding rail, and the second motor 121 is used for driving the third transmission rod to rotate so as to drive the third slider to slide on the third sliding rail along the second direction OY, so that the third slider drives the third moving mechanism 130 to move along the second direction OY.

Through the threaded engagement of the fourth slider and the fourth transmission rod and the sliding engagement of the fourth slider and the fourth sliding rail, the third motor 131 is configured to drive the fourth transmission rod to rotate to drive the fourth slider to slide on the fourth sliding rail along the third direction OZ, so that the fourth slider drives the base 160 to move along the third direction OZ. The fourth slider is in threaded fit with the fourth transmission rod and is in sliding fit with the fourth sliding rail, so that the fourth transmission rod rotates to drive the fourth slider to slide on the fourth sliding rail along the third direction OZ. Wherein the third transmission rod and the fourth transmission rod are ball screws, and the prior art can be referred to for specific purposes.

Specifically, the first rotating mechanism 140 and the second rotating mechanism 150 include a power member that drives the first rotating mechanism 140 and the second rotating mechanism 150 to rotate, wherein the power member may be a motor or the like.

The application also provides a spraying and paint mist recycling system, which comprises: a control module (not shown) and a spray and paint mist recovery robot 100.

The first moving mechanism 110, the second moving mechanism 120, the third moving mechanism 130, the first rotating mechanism 140, the second rotating mechanism 150, and the head 171 are electrically connected to the control module at the same time.

The control module is used for controlling the transmission of the first moving mechanism 110, the second moving mechanism 120 and the third moving mechanism 130.

The control module is used for controlling the rotation of the first rotating mechanism 140 and the second rotating mechanism 150.

The control module is used for controlling the spray head 171 to spray paint.

In the practical use process of the spraying and paint mist recycling system, the first moving mechanism 110 is disposed at the to-be-installed position, then the first moving mechanism 110, the second moving mechanism 120 and the third moving mechanism 130 are controlled by the control module to drive the spraying cover 170 to move to the to-be-sprayed position on the to-be-sprayed surface, and then the first rotating mechanism 140 and the second rotating mechanism 150 are controlled by the control module to drive the spraying cover 170 to rotate, so that the end face of the opening end of the spraying cover 170 is parallel to the to-be-sprayed surface, that is, the spraying direction of the spray head 171 is perpendicular to the to-be-sprayed surface. The over-control module controls the spray head 171 to spray paint on the surface to be sprayed, meanwhile, the first moving mechanism 110, the second moving mechanism 120 and the third moving mechanism 130 drive the spray cover 170 to move so as to realize automatic spray painting on the surface to be sprayed, and the first rotating mechanism 140 and the second rotating mechanism 150 drive the spray cover 170 to rotate so as to ensure that the end face of the opening end of the spray cover 170 is parallel to the surface to be sprayed in the moving process of the spray cover 170, so that the spray paint thickness is uniform, and the spray quality is further ensured.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (13)

1. A spray and paint mist recycling robot, comprising: the spraying device comprises a first moving mechanism, a second moving mechanism, a third moving mechanism, a first rotating mechanism, a second rotating mechanism, a base and a spraying assembly;

the second moving mechanism is arranged on the first moving mechanism, and the first moving mechanism can drive the second moving mechanism to move along the first direction; the third moving mechanism is arranged on the second moving mechanism, and the second moving mechanism can drive the third moving mechanism to move along a second direction; the base is arranged on the third moving mechanism, and the third moving mechanism can drive the base to move along a third direction; one end of the first rotating mechanism is connected with the base;

One end of the second rotating mechanism is connected with one end of the first rotating mechanism, which is far away from the base, and the first rotating mechanism can drive the second rotating mechanism to rotate around the axis of the third direction relative to the base; the other end of the second rotating mechanism is connected with the spraying assembly and can drive the spraying assembly to rotate around the axis in the second direction.

2. The spray and paint mist recycling robot of claim 1 wherein the spray assembly includes a spray head and a spray cap, the spray head being disposed through the top of the spray cap, the outlet end of the spray head extending into the spray cap, the spray head being adapted to spray paint to the open side of the spray cap.

3. The spraying and paint mist recycling robot according to claim 2, wherein the spraying cover comprises an inner cover and an outer cover covered outside the inner cover, the outer cover is provided with at least one vacuum through hole, and the vacuum through hole is positioned on the radial outer side of the inner cover;

the vacuum part is communicated with the vacuum through hole and is used for extracting gas between the inner cover and the outer cover;

the spray head penetrates through the top of the inner cover and the top of the outer cover and sprays paint to the opening side of the inner cover.

4. The spray and paint mist recycling robot of claim 1 wherein the first moving mechanism comprises a first linear module and a second linear module parallel in a first direction and spaced apart in a second direction;

one end of the second moving mechanism is connected with the moving part of the first linear module, and the other end of the second moving mechanism is connected with the moving part of the second linear module;

the moving part of the first linear module and the moving part of the second linear module drive the two ends of the second moving mechanism to synchronously move along the first direction.

5. The spray and paint mist recycling robot of claim 4 wherein the first linear module comprises a first drive rod and a first slide, and the second linear module comprises a second drive rod and a second slide;

one end of the second moving mechanism is connected with the first sliding block, the other end of the second moving mechanism is connected with the second sliding block, the first transmission rod rotates to drive the first sliding block to move along the first direction, and the second transmission rod rotates to drive the second sliding block to move along the first direction.

6. The spray and paint mist recycling robot of claim 5 wherein the first movement mechanism further comprises a first motor and a transmission mechanism, the transmission mechanism being connected to the first transmission rod and to the second transmission rod;

The first motor is used for driving the transmission mechanism to move so that the transmission mechanism drives the first transmission rod and the second transmission rod to synchronously rotate, and therefore the first sliding block and the second sliding block synchronously move to drive the two ends of the second moving mechanism to synchronously move along the first direction; or (b)

The first motor is used for driving the first transmission rod to move, so that the first transmission rod drives the transmission mechanism to rotate, and the transmission mechanism drives the second transmission rod to rotate, so that the transmission mechanism drives the first transmission rod and the second transmission rod to synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive two ends of the second moving mechanism to synchronously move along the first direction.

7. The spray and paint mist recycling robot of claim 6 wherein the first moving mechanism further comprises: a first bevel gear and a second bevel gear;

the transmission mechanism comprises a rotating shaft, a first straight gear and a second straight gear which are respectively arranged at two ends of the rotating shaft, and the first bevel gear is arranged on the first transmission rod and synchronously rotates with the first transmission rod around the axis of the first transmission rod; the second bevel gear is arranged on the second transmission rod and synchronously rotates with the first transmission rod around the axis of the second transmission rod; the first straight gear is meshed with the first bevel gear, and the second straight gear is meshed with the second bevel gear;

The first motor is used for driving the rotating shaft to rotate around the axis direction of the rotating shaft, so that the first straight gear drives the first bevel gear to rotate, thereby driving the first transmission rod to rotate, the second straight gear drives the second bevel gear to rotate, thereby driving the second transmission rod to rotate, so that the first transmission rod and the second transmission rod synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive the two ends of the second moving mechanism to synchronously move along the first direction; or (b)

The first motor is used for driving the first transmission rod to move, so that the first bevel gear rotates and drives the first straight gear to rotate, the first straight gear drives the rotating shaft and the second straight gear to synchronously rotate, so that the second straight gear drives the second bevel gear to rotate, and the second bevel gear synchronously rotates with the second transmission rod, so that the first transmission rod and the second transmission rod synchronously rotate, and the first sliding block and the second sliding block synchronously move to drive two ends of the second moving mechanism to synchronously move along the first direction.

8. The spray and paint mist recycling robot of claim 5 wherein the first linear module further comprises a first slide rail and the second linear module further comprises a second slide rail;

The first transmission rod and the second transmission rod are screw rods, and the first sliding block is in threaded fit with the first transmission rod and is in sliding fit with the first sliding rail, so that the first transmission rod rotates to drive the first sliding block to slide on the first sliding rail along the first direction;

the second sliding block is in threaded fit with the second transmission rod and is in sliding fit with the second sliding rail, so that the second transmission rod rotates to drive the second sliding block to slide on the second sliding rail along the first direction.

9. The spray and paint mist recycling robot of claim 7 wherein the first movement mechanism further comprises a stabilizing portion comprising a stabilizing member and a penetrating member connected;

the stabilizing piece is far away from one end of wearing to establish the piece and wait to be fixed the department to be connected, wearing to establish the piece and following wear to establish the hole has been seted up to the second direction, the axis of rotation wear to locate wear to establish the hole, and with wear to establish the inner wall normal running fit in hole.

10. The spray and paint mist recycling robot of claim 5 further comprising a first fixture and a second fixture;

The second moving mechanism further comprises a third sliding block and a third transmission rod, and the third moving mechanism further comprises a fourth sliding block and a fourth transmission rod;

the second moving mechanism is fixedly connected with the first sliding block and the second sliding block through a first fixing part, the first rotating rod drives the first sliding block to move along the first direction, and the second transmission rod drives the second sliding block to move along the first direction, so that the first sliding block and the second sliding block drive the second moving structure to move along the first direction;

the third moving mechanism is fixedly connected with the third sliding block through a second fixing part, and the third rotating rod drives the third sliding block to move along the second direction, so that the third sliding block drives the third moving structure to move along the second direction;

the base is fixedly connected with the fourth sliding block, and the fourth rotating rod drives the fourth sliding block to move along the third direction, so that the fourth sliding block drives the base to move along the third direction.

11. The spray and paint mist recycling robot of claim 10 wherein the first fixture comprises a first fixture and a second fixture;

One end of the second moving mechanism is fixedly connected with the first sliding block through a first fixing piece, the other end of the second moving mechanism is fixedly connected with the second sliding block through a second fixing piece, the first rotating rod drives the first sliding block to move along the first direction, and the second transmission rod drives the second sliding block to move along the first direction, so that the first sliding block and the second sliding block drive the second moving structure to slide along the first direction and the first moving module.

12. The spraying and paint mist recycling robot according to claim 1, wherein the second moving mechanism further comprises a second motor and a third sliding rail, the third moving mechanism further comprises a third motor and a fourth sliding rail, and the third transmission rod and the fourth transmission rod are screw rods;

the third sliding block is in threaded fit with the third transmission rod and is in sliding fit with the third sliding rail, and the second motor is used for driving the third transmission rod to rotate so as to drive the third sliding block to slide on the third sliding rail along the second direction, so that the third sliding block drives the third moving mechanism to move along the second direction;

The fourth sliding block is in threaded fit with the fourth transmission rod and is in sliding fit with the fourth sliding rail, the third motor is used for driving the fourth transmission rod to rotate so as to drive the fourth sliding block to slide on the fourth sliding rail along the third direction, and therefore the fourth sliding block drives the base to move along the third direction; the fourth slider is in threaded fit with the fourth transmission rod and in sliding fit with the fourth sliding rail, so that the fourth transmission rod rotates to drive the fourth slider to slide on the fourth sliding rail along the third direction.

13. A spray and paint mist recovery system mounted to a carrying cart, the spray and paint mist recovery system comprising: a control module and a spray and paint mist recycling robot according to any one of claims 1-12;

the first moving mechanism, the second moving mechanism, the third moving mechanism, the first rotating mechanism, the second rotating mechanism and the spray head are electrically connected with the control module at the same time;

the control module is used for controlling the transmission of the first moving mechanism, the second moving mechanism and the third moving mechanism;

the control module is used for controlling the rotation of the first rotating mechanism and the second rotating mechanism;

The control module is used for controlling the spray nozzle to spray paint.