CN204933814U - A kind of twin shaft gantry device of automatic coating - Google Patents

Abstract

The utility model relates to a dual-axis gantry device for automatic spraying, which comprises a frame, a heavy-duty rail, a driving end beam, a beam, a driving assembly, a robot arm, a spray head and a controller. The heavy-duty rails are two and arranged on the frame in parallel. , there are two driving end beams, one driving end beam is correspondingly arranged on a heavy-duty track, the cross beam is erected on the two driving end beams, the driving assembly is arranged on the cross beam, and the manipulator is arranged on the driving On the component, the nozzle is set on the robot hand, and the controller is respectively connected to the driving end beam, the driving component, the robot hand and the nozzle. The two driving end beams synchronously drive the beam to move on the heavy track, and the driving component drives the robot hand to Move on the beam. Compared with the prior art, the utility model has the advantages of high positioning precision, high spraying precision, cost saving, high safety, long service life and the like.

Description

A double-axis gantry device for automatic spraying

technical field

The utility model relates to a spraying device, in particular to a double-axis gantry device for automatic spraying.

Background technique

The traditional spraying work generally adopts artificial spraying, which is inefficient. Due to the volatilization of the solvent of the paint, the lighting, ventilation and other conditions in the spraying environment are very poor, which poses a hazard to the health of spraying operators. At the same time, the general manual spraying operation has the following defects, which cannot accurately control the thickness of the spray paint, and the paint usage rate is not high, resulting in waste of paint and greater environmental pollution.

The spraying machine is a special coating equipment that adopts spraying technology. The principle is to disperse the paint into mist and spray it on the surface of the object to be coated. At present, the painting work is gradually using mechanical equipment to replace manual coating operations. In the field of spraying, a large number of spraying machines and other equipment are used. The use of spraying robots can improve working conditions, ensure personal safety, improve the working environment, reduce labor intensity, and also improve product quality and output, increase labor productivity, and save raw material consumption. .

The double-axis gantry is mainly used in occasions with large spans and high load-bearing requirements, and the requirements for precision and protection are generally not high. At present, most of them are driven by ordinary motors, manually adjusted, with low precision and general protection, similar to ground driving.

Utility model content

The purpose of this utility model is to provide a dual-axis gantry device for automatic spraying in order to overcome the defects of the above-mentioned prior art, which has the advantages of high positioning accuracy, high spraying accuracy, cost saving, high safety, and long service life.

The purpose of this utility model can be achieved through the following technical solutions:

A double-axis gantry device for automatic spraying, including a frame, a heavy-duty track, a driving end beam, a beam, a driving assembly, a robot arm, a spray head and a controller, the heavy-duty track is two and arranged on the frame in parallel, the driving There are two end beams, one driving end beam is correspondingly arranged on a heavy-duty track, the cross beam is erected on the two driving end beams, the driving assembly is arranged on the cross beam, and the robot arm is arranged on the driving assembly. The nozzle is set on the robot hand, and the controller is respectively connected to the driving end beam, the driving assembly, the robot hand and the nozzle. The two driving end beams synchronously drive the beam to move on the heavy-duty track, and the driving assembly drives the robot hand to move on the beam.

The controller is a PLC controller.

The controller is connected with a touch screen.

The driving end beam includes a driving end seat and a first servo motor disposed in the driving end seat, a first guide rail and a first rack are arranged on the heavy-duty track, and the driving end seat is slidably connected with the first guide rail, The first servo motor is connected to the first rack through the first gear, the first reducer is arranged between the first servo motor and the first gear, the beam is arranged on the driving end seat, and the first servo The motor and the first reducer are respectively connected to the controller.

The drive assembly includes a slide plate and a second servo motor disposed inside the slide plate, a second guide rail and a second rack are provided on the beam, the slide plate is slidably connected with the second guide rail, and the second servo motor The motor is connected with the second rack through the second gear, a second speed reducer is arranged between the second servo motor and the second gear, the robot arm is arranged in the slide plate, the second servo motor and the second speed reducer The machines are connected to the controller respectively.

The manipulator is a six-axis manipulator.

An organ protective cover is arranged between the beam and the drive assembly.

The organ protective cover is connected with a dust collector.

The height of the heavy track from the ground is at least 3.5m.

The heavy rails and beams are each at least 7m in length.

Compared with the prior art, the utility model has the following advantages:

1) The manipulator can move in two directions on the heavy-duty track and beam, which can well meet the position requirements of spraying, and the controller is used to automatically control the driving end beam, driving components, manipulator and nozzle respectively, and the speed It is continuously adjustable, and the movement and positioning process of the robot arm can coordinate with the spraying of the nozzle to improve the efficiency of the entire spraying process and reduce labor costs.

2) Using heavy-duty rails instead of ordinary linear guides not only saves costs but also increases the safety of the entire structure.

3) PLC controller has precise control, fast processing speed and good compatibility. It is used in conjunction with the touch display screen, and the operation is more convenient and humanized.

4) The two-axis gantry axis and small axis of automatic spraying adopt servo motor and precision reducer, with high precision, and the walking speed can be freely programmed. Among them, two servo motors are used to drive synchronously on the heavy-duty track, so that the beam runs smoothly without stagnation, and the repeat positioning accuracy is high.

5) In terms of protection, the double protection method of organ shield and air pressure blowback is adopted to effectively prevent particles and dust and protect the service life of the beam.

6) High-position installation, install the heavy-duty rail at a height of at least 3.5m, and hang the robot hand upside down, so that the robot hand has a better posture and is conducive to forming a good spraying effect.

7) The length of the heavy-duty track and the crossbeam is at least 7m, so that the entire device can have a large span in the front, back and left and right, which meets the spraying requirements of large parts.

Description of drawings

Fig. 1 is a kind of overall structure schematic diagram of the biaxial gantry device of automatic spraying;

Fig. 2 is the structural representation of beam;

Fig. 3 is a structural schematic diagram of the drive assembly.

In the figure: 1. Frame, 2. Beam, 3. Rear drive end beam, 4. Rear heavy track, 5. Manipulator, 6. Front heavy track, 7. Front drive end beam, 8. Sliding plate, 9. The first Two guide rails, 10, the second rack, 11, the organ protective cover, 12, the second gear, 13, the second servo motor.

detailed description

The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the utility model, and the detailed implementation and specific operation process are given, but the protection scope of the utility model is not limited to the following examples.

As shown in Figure 1, a double-axis gantry device for automatic spraying includes a frame 1, a front heavy rail 6, a rear heavy rail 4, a front drive end beam 7, a rear drive end beam 3, a beam 2, a drive assembly, and a robot arm. 5. The nozzle and the controller, the front heavy rail 6 and the rear heavy rail 4 are arranged in parallel on the frame 1, the front driving end beam 7 is correspondingly arranged on the front heavy rail 6, and the rear driving end beam 3 is correspondingly arranged on the rear heavy rail 4 , the beam 2 is erected on the front drive end beam 7 and the rear drive end beam 3, the drive assembly is set on the beam 2, the manipulator 5 is set on the drive assembly, the nozzle is set on the manipulator 5, and the controller is respectively connected to the drive end beam , the drive assembly, the manipulator 5 and the nozzle, the two drive end beams synchronously drive the beam 2 to move on the heavy track, and the drive assembly drives the manipulator 5 to move on the beam 2. The height of the heavy track from the ground is at least 3.5m. Both the heavy track and the beam 2 have a length of at least 7m.

Among them, the controller adopts PLC controller and is connected with a touch display screen, which has precise control, fast processing speed and good compatibility. It is used in conjunction with the touch screen display, and the operation is more convenient and humanized.

The front drive end beam 7 and the rear drive end beam 3 all include the drive end base and the first servo motor located in the drive end base respectively, the heavy track is provided with the first guide rail and the first rack, the drive end base and the first The guide rail is slidingly connected, the first servo motor is connected with the first rack through the first gear, the first reducer is arranged between the first servo motor and the first gear, the beam 2 is arranged on the driving end seat, and the first servo motor and the first reducer are respectively connected to the controller. The synchronous servo drive control of the two driving end beams can effectively reduce the stagnation phenomenon, and the speed can be continuously adjusted, and can also cooperate with the control of the robot arm 5 to coordinate actions.

As shown in Figures 2 and 3, the driving assembly includes a slide plate 8 and a second servo motor 13 located in the slide plate 8, a second guide rail 9 and a second rack 10 are provided on the crossbeam 2, and the slide plate 8 and the first The two guide rails 9 are slidingly connected, the second servo motor 13 is connected with the second rack 10 through the second gear 12, a second speed reducer is arranged between the second servo motor 13 and the second gear 12, and the manipulator 5 is located on the slide. Inside the board 8, the second servo motor 13 and the second reducer are respectively connected to the controller.

Manipulator 5 is a six-axis manipulator, which can realize precise positioning on six axes, and cooperate with the spraying of the nozzle to achieve different spraying effects.

An organ protective cover 11 is arranged between the beam 2 and the driving assembly. The organ protective cover 11 is connected with a dust collector, and air pressure is applied to the organ protective cover 11 to blow back, effectively preventing particles and dust.

In this embodiment, the space size of the entire double-axis gantry device is 10×10×4.5m, the height of the frame 1 from the ground is 4m, the robot arm 5 is installed at a high position, and the posture is better and superior. The front heavy rail 6 and the rear heavy rail 4 are on the The walking stroke is 4m, and the walking stroke on the beam 22 is 7m.

work process:

The front drive end beam 7 and the rear drive end beam 3 synchronously adopt rack and pinion transmission to drive the beam 2 to walk on the front heavy track 6 and the rear heavy track 4 . The driving assembly adopts rack and pinion transmission to drive the manipulator 5 to slide freely on the second guide rail 9 . In addition, the front drive end beam 7, the rear drive end beam 3 and the drive components all adopt the flexible backlash elimination method to eliminate the gap between the rack and pinion and ensure the repeated positioning accuracy required by the spraying of the robot arm 5. The large span of 10m in front, back and left and right meets the requirements of large-scale spraying.

Claims (10)

1. A double-axis gantry device for automatic spraying, comprising frame (1), is characterized in that, also comprises heavy-duty track, driving end beam, crossbeam (2), drive assembly, manipulator (5), shower head and controller, There are two heavy-duty rails and they are arranged in parallel on the frame (1), there are two driving end beams, one driving end beam is correspondingly arranged on a heavy-duty rail, and the crossbeam (2) is erected on the two driving ends On the beam, the driving assembly is arranged on the beam (2), the robot arm (5) is arranged on the driving assembly, the nozzle is arranged on the robot arm (5), and the controller is respectively connected to the driving end beam, The driving assembly, the manipulator (5) and the nozzle, the two driving end beams synchronously drive the beam (2) to move on the heavy track, and the driving assembly drives the manipulator (5) to move on the beam (2). 2. A kind of double-axis gantry device for automatic spraying according to claim 1, characterized in that, the controller is a PLC controller. 3. A double-axis gantry device for automatic spraying according to claim 2, wherein the controller is connected with a touch screen. 4. A double-axis gantry device for automatic spraying according to claim 1, wherein the driving end beam includes a driving end seat and a first servo motor disposed in the driving end seat, and the heavy-duty rail A first guide rail and a first rack are provided, the driving end seat is slidably connected to the first guide rail, the first servo motor is connected to the first rack through a first gear, and the connection between the first servo motor and the first gear A first reducer is arranged between them, the beam (2) is arranged on the drive end seat, and the first servo motor and the first reducer are respectively connected to the controller. 5. A kind of double-axis gantry device for automatic spraying according to claim 1, characterized in that, the drive assembly includes a slide plate and a second servo motor (13) arranged in the slide plate, and the crossbeam (2 ) is provided with a second guide rail (9) and a second rack (10), the slide plate is slidingly connected with the second guide rail (9), and the second servo motor (13) is connected with the second gear (12) The second rack (10) is connected, a second speed reducer is arranged between the second servo motor (13) and the second gear (12), the manipulator (5) is arranged in the slide plate, and the second The servo motor (13) and the second speed reducer are respectively connected to the controller. 6. A double-axis gantry device for automatic spraying according to claim 1, characterized in that the robot (5) is a six-axis robot. 7. The double-axis gantry device for automatic spraying according to claim 1, characterized in that, an organ protective cover (11) is provided between the beam (2) and the driving assembly. 8. A double-axis gantry device for automatic spraying according to claim 7, characterized in that, the organ protective cover (11) is connected with a dust collector. 9. A double-axis gantry device for automatic spraying according to claim 1, wherein the height of the heavy rail from the ground is at least 3.5m. 10. A kind of double-axis gantry device for automatic spraying according to claim 1, characterized in that, the lengths of the heavy-duty track and the beam (2) are at least 7m.