CN203791105U - Automatic paint spraying robot for shipbuilding coating - Google Patents
Automatic paint spraying robot for shipbuilding coating Download PDFInfo
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- CN203791105U CN203791105U CN201420137741.XU CN201420137741U CN203791105U CN 203791105 U CN203791105 U CN 203791105U CN 201420137741 U CN201420137741 U CN 201420137741U CN 203791105 U CN203791105 U CN 203791105U
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Abstract
The utility model discloses an automatic paint spraying robot for shipbuilding coating. The automatic paint spraying robot comprises a paint spraying movement mechanism, a PLC (programmable logic controller) and a spraying gun. The paint spraying movement mechanism comprises a side-to-side movement mechanism, a seesaw movement mechanism and a rotation movement mechanism. The side-to-side movement mechanism comprises a first shell, a slider and a first motor, wherein the first motor drives the slider to move side to side, the spraying gun is fixedly arranged on the slider, and the first shell is provided with a distance measuring sensor. The seesaw movement mechanism comprises a second shell, an inner shell and a second motor, wherein the inner shell moves in the second shell in a seesaw manner. The rotation movement mechanism comprises a support plate, a third motor and a fixed gear. The side-to-side movement mechanism and the support plate are connected with the inner shell through a bearing, the third motor drives the side-to-side movement mechanism to rotate around the bearing, and the distance measuring sensor, the first motor, the second motor and the third motor are electrically connected with the PLC respectively. By the aid of the automatic paint spraying robot, operation efficiency is improved, labor cost is saved, construction period is shortened, uniformity of paint coatings is good, and quality of the paint coatings is improved.
Description
Technical field
The utility model relates to a kind of shipbuilding application auto spray painting machine people.
Background technology
Paint-spray robot, as the one of industrial robot, is very important a kind of painting equipment in current production, and the paint-spray robot of being controlled by computer was just brought into use as far back as 1975.It has avoided contacting of human body and poisonous and harmful substance, has improved production efficiency, has saved economic benefit, has improved coating quality.Work under rugged environment because robot can replace the mankind, therefore the application of paint-spray robot is more and more extensive.Along with the research to robot, paint-spray robot is able to use in various occasions, as auto industry field decoration industry etc.
But in shipbuilding industry, paint-spray robot uses seldom.The existing paint-spray robot of having developed, is applicable in narrow and small cavity mostly, and mostly in development, actual come into operation little.
Because hull surface has, area is large, curved surface is complicated, therefore, now sprays paint for the large plane of hull surface, and basic employing is manually sprayed paint.Thus, there is following technical problem: the workman's that 1, sprays paint working strength is large, inefficiency; 2, spray paint workman due to for a long time in poisonous and hazardous adverse circumstances, easily produce occupational health problem; 3, only depend on sensation to determine coating thickness owing to manually spraying paint, therefore, have the inhomogeneous shortcoming of spraying.
Utility model content
The technical problems to be solved in the utility model is inefficiency and the inhomogeneous defect of coating thickness existing in order to overcome existing hand spray, and a kind of shipbuilding application auto spray painting machine people is provided.
The utility model is to solve above-mentioned technical problem by following technical proposals:
A kind of shipbuilding application auto spray painting machine people, its feature is, it comprises the motion that sprays paint, a programmable logic controller (PLC) and a spray gun; The described motion that sprays paint comprises a side-to-side movement mechanism, seesaw mechanism and a rotational motion mechanism; Described side-to-side movement mechanism comprises one first shell, a slide block and one first motor, described slide block is positioned at described the first shell, described the first motor is fixedly arranged on described the first shell, and described the first motor drives described slide block side-to-side movement, and described spray gun is fixedly arranged on described slide block; Described the first shell is provided with a distance measuring sensor; The described mechanism that seesaws comprises a second housing, an inner casing and one second motor, and described inner casing moves forward and backward in the inside of described second housing under described the second motor drives; Described rotational motion mechanism comprises a gripper shoe, one the 3rd motor and a fixed gear, described fixed gear is fixed on the upper surface of described inner casing, described the 3rd motor is fixed in described gripper shoe, described gripper shoe and described the first shell are affixed, and the end of described the 3rd motor is provided with a swing pinion being meshed with described fixed gear; Described side-to-side movement mechanism is connected with described inner casing by a bearing with described gripper shoe, and described the 3rd motor is the rotation along described fixed gear by driven rotary gear, drives described side-to-side movement mechanism and described gripper shoe to rotate around described bearing; Described distance measuring sensor, described the first motor, described the second motor and described the 3rd motor are electrically connected with described programmable logic controller (PLC) respectively.
Distance measuring sensor and programmable logic controller (PLC) (PLC) are existing conventional equipment, just repeat no more at this.When use, the position signalling detecting is fed back to PLC by distance measuring sensor, PLC basis setting value in advance, and transmission of signal is given the first motor, the second motor and the 3rd motor respectively.According to the signal of PLC, control the second motor, the inner casing of the mechanism that makes to seesaw moves forward or backward.Because side-to-side movement mechanism and gripper shoe are connected in inner casing by bearing, therefore, along with the movement of inner casing, side-to-side movement mechanism and gripper shoe also move forward or backward thereupon.Like this, by the movement of inner casing, control moving forwards, backwards or backward of spray gun.According to the signal of PLC, control the 3rd motor, swing pinion is meshed with fixed gear.Because fixed gear is fixed on inner casing, therefore, fixed gear itself does not rotate with swing pinion.Thus, the rotation of swing pinion, drives the 3rd motor, gripper shoe and side-to-side movement mechanism, rotates around bearing.Like this, realized the rotation adjusting of the operating angle to spray gun.According to the signal of PLC, control the first motor, band movable slider horizontally slips in the first shell.Like this, spray gun can move left and right along with slide block.By above control, regulate position and the angle of spray gun, make spray gun reach most suitable operating position.Afterwards, the spraying continuing by controlling spray gun, just can complete whole spraying work.
Preferably, described shipbuilding application auto spray painting machine people also comprises a movable base and a support component, described support component is fixedly arranged on described movable base, and described support component is provided with an elevating mechanism, described in the motion that sprays paint be fixedly arranged on described elevating mechanism.When use, can first the utility model shipbuilding application auto spray painting machine people be drawn to by the large flat section of hull by tractor, adjust afterwards movable base, make robot move to suitable position.Operation elevating mechanism, the motion that makes to spray paint rises or drops to suitable height.Elevating mechanism is existing conventional equipment, just repeats no more at this.
Preferably, described side-to-side movement mechanism also comprises two fixed pulleys and a steel wire rope coordinating with described fixed pulley, described in two, fixed pulley is individually fixed in the both sides in described the first shell, and described slide block is fixed on described steel wire rope, and described the first motor drives described steel wire rope.Because spray gun is fixed on slide block, therefore, under the driving of the first motor, spray gun can side-to-side movement.
Preferably, described side-to-side movement mechanism also comprises a guide rail, and described guide rail is fixedly arranged on described the first enclosure, and described guide rail matches with described slide block, and described slide block is along described guide rail side-to-side movement.Like this, the movement of slide block is more stable, more smooth, and whole mechanism is more stable.
Preferably, one end relative with described inner casing of described second housing is fixed on described support component.Like this, one end of second housing moves forward and backward for inner casing, and the other end is fixing for spray paint motion and support component.
Preferably, described support component is a truss.Truss has advantages of sound construction, materials province, can manufacture according to actual needs the truss of corresponding height.
Preferably, between described second housing and described inner casing, be provided with multiple rollers, described roller is fixed on the bottom of described inner casing.Like this, roller has reduced the resistance between inner casing and second housing, makes inner casing in second housing, move more smoothly.
Preferably, the quantity of described slide block is more than two, and the quantity of described spray gun is more than two.Like this, can, according to the needs of actual production, adjust the quantity of slide block and spray gun.The rear end of spray gun can connect the high-voltage tube spraying paint.
Positive progressive effect of the present utility model is: 1, use the utility model shipbuilding application auto spray painting machine people, the horizontal workman's of simulation high-tech skill operation, accomplishes to reduce labour's input, has also saved cost of labor when raising the efficiency; 2, can operation in continuous 24 hours, overcome the situation of artificial receptors power restriction, thereby can shorten the cycle of valuable construction; 3, use Control During Paint Spraying by Robot, the good uniformity of coating, Repeat accuracy is far away higher than manually, the product quality defect of having avoided hand spray personnel to cause because of factors such as technology, mood, muscle power, make Workpiece painting quality have the guarantee of essence, the waste in the manpower man-hour that has reduced that the follow-up operation of doing over again brings; 4, by setting suitable parameter, accomplish surface coating of setting uniform film thickness to be sprayed, avoided the super thick phenomenon of coating, lower paint consumption coefficient, save paint.
Brief description of the drawings
Fig. 1 is the front view of the utility model preferred embodiment.
Fig. 2 is the side view of the utility model preferred embodiment.
Fig. 3 is the structural representation of the motion that sprays paint of the utility model preferred embodiment.
Fig. 4 is the side-to-side movement mechanism of the utility model preferred embodiment and the structural representation of rotational motion mechanism.
Fig. 5 is the structural representation of the rotational motion mechanism of the utility model preferred embodiment and the mechanism that seesaws.
Fig. 6 is A part enlarged drawing in Fig. 5.
Detailed description of the invention
Lift a preferred embodiment below, and carry out by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of shipbuilding application auto spray painting machine people, it comprises that a movable base 1, is fixedly arranged on support component on movable base 12, spray paint motion 3, a programmable logic controller (PLC) (not marking on figure) and a spray gun 4, support component 2 is provided with an elevating mechanism, and the motion 3 that sprays paint is fixedly arranged on elevating mechanism; The motion 3 that sprays paint comprises a side-to-side movement mechanism 31, seesaw mechanism 32 and a rotational motion mechanism 33; Side-to-side movement mechanism 31 comprises one first shell 311, a slide block 312 and one first motor 313, slide block 312 is positioned at the first shell 311, the first motor 313 is fixedly arranged on the first shell 311, the first motors 313 and drives slide block 312 side-to-side movements, and spray gun 4 is fixedly arranged on slide block 312; The first shell 311 is provided with distance measuring sensor (not marking on figure); The mechanism 32 that seesaws comprises a second housing 321, an inner casing 322 and one second motor 323, and inner casing 322 moves forward and backward in the inside of second housing 321 under the second motor 323 drives; Rotational motion mechanism 33 comprises a gripper shoe 331, one the 3rd motor 332 and a fixed gear 333, fixed gear 333 is fixed on the surface of inner casing 322, the 3rd motor 332 is fixed in gripper shoe 331, gripper shoe 331 and the first shell 311 are affixed, and the end of the 3rd motor 332 is provided with a swing pinion 334 being meshed with fixed gear 333; Side-to-side movement mechanism 31 is connected with inner casing 322 by a bearing 335 with gripper shoe 331, and the rotation along fixed gear 333 by driven rotary gear 334 of the 3rd motor 332, drives side-to-side movement mechanism 31 and gripper shoe 331 to rotate around bearing 335; Distance measuring sensor, the first motor 313, the second motor 323 and the 3rd motor 332 are electrically connected with programmable logic controller (PLC) (PLC) respectively.
When use, can first the utility model shipbuilding application auto spray painting machine people be drawn to by the large flat section of hull by tractor, adjust afterwards movable base, make robot move to suitable position.Operation elevating mechanism, the motion that makes to spray paint rises or drops to suitable height.Elevating mechanism is existing conventional equipment, just repeats no more at this.
The position signalling detecting is fed back to PLC by distance measuring sensor, PLC basis setting value in advance, and transmission of signal is given the first motor, the second motor and the 3rd motor respectively.According to the signal of PLC, control the second motor, the inner casing of the mechanism that makes to seesaw moves forward or backward.Because side-to-side movement mechanism and gripper shoe are connected in inner casing by bearing, therefore, along with the movement of inner casing, side-to-side movement mechanism and gripper shoe also move forward or backward thereupon.Like this, by the movement of inner casing, control moving forwards, backwards or backward of spray gun.
According to the signal of PLC, control the 3rd motor, swing pinion is meshed with fixed gear.Because fixed gear is fixed on inner casing, therefore, fixed gear itself does not rotate with swing pinion.Thus, the rotation of swing pinion, drives the 3rd motor, gripper shoe and side-to-side movement mechanism, rotates around bearing.Like this, realized the rotation adjusting of the operating angle to spray gun.
According to the signal of PLC, control the first motor, band movable slider horizontally slips in the first shell.Like this, spray gun can move left and right along with slide block.
By above control, regulate position and the angle of spray gun, make spray gun reach most suitable operating position.Afterwards, the spraying continuing by controlling spray gun, just can complete whole spraying work.
Like this, replace the horizontal workman's of high-tech skill operation with machine operation, accomplish to reduce labour's input, when raising the efficiency, also saved cost of labor; Use the robot can operation in continuous 24 hours, overcome the situation of artificial receptors power restriction, thereby can shorten the cycle of valuable construction; Use Control During Paint Spraying by Robot, the good uniformity of coating, Repeat accuracy is far away higher than manually, the product quality defect of having avoided hand spray personnel to cause because of factors such as technology, mood, muscle power, make Workpiece painting quality have the guarantee of essence, the waste in the manpower man-hour that has reduced that the follow-up operation of doing over again brings; In addition use auto spray painting machine people to carry out spraying operation, by setting suitable parameter, accomplish surface coating of setting uniform film thickness to be sprayed, avoided the super thick phenomenon of coating, lower paint consumption coefficient, save paint.
As shown in Figure 3 and Figure 4, side-to-side movement mechanism 31 also comprises two fixed pulleys 314 and a steel wire rope 315 coordinating with fixed pulley 314, two fixed pulleys 314 are individually fixed in the both sides in the first shell 311, and slide block 312 is fixed on steel wire rope 315, the first motors 313 and drives steel wire rope 315.Because spray gun is fixed on slide block, therefore, under the driving of the first motor, spray gun can side-to-side movement.
Side-to-side movement mechanism 31 also comprises a guide rail 316, and guide rail 316 is fixedly arranged on the first shell 311 inside, and guide rail 316 matches with slide block 312, and slide block 312 is along guide rail 316 side-to-side movements.Like this, the movement of slide block is more stable, more smooth, and whole mechanism is more stable.
One end relative with described inner casing of second housing 321 is fixed on support component 2.Like this, one end of second housing moves forward and backward for inner casing, and the other end is fixing for spray paint motion and support component.
Support component 2 is a truss.Truss has advantages of sound construction, materials province, can manufacture according to actual needs the truss of corresponding height.
Between second housing 321 and inner casing 322, be provided with multiple rollers, roller is fixed on the bottom of inner casing 322.Like this, roller has reduced the resistance between inner casing and second housing, makes inner casing in second housing, move more smoothly.
The quantity of slide block 312 is more than two, and the quantity of spray gun 4 is more than two.Like this, can, according to the needs of actual production, adjust the quantity of slide block and spray gun.The rear end of spray gun can connect the high-voltage tube spraying paint.
Although more than described detailed description of the invention of the present utility model, it will be understood by those of skill in the art that this only illustrates, protection domain of the present utility model is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these changes and amendment all fall into protection domain of the present utility model.
Claims (8)
1. a shipbuilding application auto spray painting machine people, is characterized in that, it comprises the motion that sprays paint, a programmable logic controller (PLC) and a spray gun; The described motion that sprays paint comprises a side-to-side movement mechanism, seesaw mechanism and a rotational motion mechanism;
Described side-to-side movement mechanism comprises one first shell, a slide block and one first motor, described slide block is positioned at described the first shell, described the first motor is fixedly arranged on described the first shell, and described the first motor drives described slide block side-to-side movement, and described spray gun is fixedly arranged on described slide block; Described the first shell is provided with a distance measuring sensor;
The described mechanism that seesaws comprises a second housing, an inner casing and one second motor, and described inner casing moves forward and backward in the inside of described second housing under described the second motor drives;
Described rotational motion mechanism comprises a gripper shoe, one the 3rd motor and a fixed gear, described fixed gear is fixed on the upper surface of described inner casing, described the 3rd motor is fixed in described gripper shoe, described gripper shoe and described the first shell are affixed, and the end of described the 3rd motor is provided with a swing pinion being meshed with described fixed gear;
Described side-to-side movement mechanism is connected with described inner casing by a bearing with described gripper shoe, and described the 3rd motor is the rotation along described fixed gear by driven rotary gear, drives described side-to-side movement mechanism and described gripper shoe to rotate around described bearing; Described distance measuring sensor, described the first motor, described the second motor and described the 3rd motor are electrically connected with described programmable logic controller (PLC) respectively.
2. shipbuilding application auto spray painting machine people as claimed in claim 1, it is characterized in that, described shipbuilding application auto spray painting machine people also comprises a movable base and a support component, described support component is fixedly arranged on described movable base, described support component is provided with an elevating mechanism, described in the motion that sprays paint be fixedly arranged on described elevating mechanism.
3. shipbuilding application auto spray painting machine people as claimed in claim 1, it is characterized in that, described side-to-side movement mechanism also comprises two fixed pulleys and a steel wire rope coordinating with described fixed pulley, described in two, fixed pulley is individually fixed in the both sides in described the first shell, described slide block is fixed on described steel wire rope, and described the first motor drives described steel wire rope.
4. shipbuilding application auto spray painting machine people as claimed in claim 3, it is characterized in that, described side-to-side movement mechanism also comprises a guide rail, and described guide rail is fixedly arranged on described the first enclosure, described guide rail matches with described slide block, and described slide block is along described guide rail side-to-side movement.
5. shipbuilding application auto spray painting machine people as claimed in claim 2, is characterized in that, one end relative with described inner casing of described second housing is fixed on described support component.
6. shipbuilding application auto spray painting machine people as claimed in claim 2, is characterized in that, described support component is a truss.
7. shipbuilding application auto spray painting machine people as claimed in claim 1, is characterized in that, between described second housing and described inner casing, be provided with multiple rollers, described roller is fixed on the bottom of described inner casing.
8. shipbuilding application auto spray painting machine people as claimed in claim 1, is characterized in that, the quantity of described slide block is more than two, and the quantity of described spray gun is more than two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420137741.XU CN203791105U (en) | 2014-03-25 | 2014-03-25 | Automatic paint spraying robot for shipbuilding coating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420137741.XU CN203791105U (en) | 2014-03-25 | 2014-03-25 | Automatic paint spraying robot for shipbuilding coating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203791105U true CN203791105U (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420137741.XU Expired - Fee Related CN203791105U (en) | 2014-03-25 | 2014-03-25 | Automatic paint spraying robot for shipbuilding coating |
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| Country | Link |
|---|---|
| CN (1) | CN203791105U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104941850A (en) * | 2014-03-25 | 2015-09-30 | 上海外高桥造船有限公司 | Automatic painting robot for shipbuilding coating |
| CN105344516A (en) * | 2015-10-23 | 2016-02-24 | 舟山欣臻船舶设计有限公司 | Painting device of 8200T chemical product oil tanker |
-
2014
- 2014-03-25 CN CN201420137741.XU patent/CN203791105U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104941850A (en) * | 2014-03-25 | 2015-09-30 | 上海外高桥造船有限公司 | Automatic painting robot for shipbuilding coating |
| CN104941850B (en) * | 2014-03-25 | 2017-06-16 | 上海外高桥造船有限公司 | Shipbuilding application auto spray painting machine people |
| CN105344516A (en) * | 2015-10-23 | 2016-02-24 | 舟山欣臻船舶设计有限公司 | Painting device of 8200T chemical product oil tanker |
| CN105344516B (en) * | 2015-10-23 | 2018-05-22 | 舟山欣臻船舶设计有限公司 | A kind of device for painting of 8200T chemistry product carrier |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20160325 |
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| CF01 | Termination of patent right due to non-payment of annual fee |