CN205762471U - Car body cleans robot automatically - Google Patents

Abstract

The utility model discloses a kind of car body and automatically clean robot, including fill formula or additional walking axial machines people, it is fixedly attached on robot end's axle as the sword brush cleaning actuator, and the solution supply control system to described sword brush supplying clean agent.This utility model uses sword brush and robot to be integrated into and cleans robot, replace Ostriches hair wiping system, the outer surface of workpieces such as vehicle body are cleaned, remove dust, fiber and the moisture on vehicle body outside surface, reduce the spraying defects such as the issuable granule of follow-up spraying coating process, fiber to greatest extent.Clean the sword brush of robot in cleaning operation process, use cleaning agent to add wet brushing, improve and clean quality, and remove bodywork surface electrostatic charge, for auto spray painting technology high-voltage electrostatic gun equipment, adhesive rate and the utilization rate of paint can be improved, reduce the paint pollution to paint spray booth's environment.

Description

Car body cleans robot automatically

Technical field

This utility model applies to the intelligent new technique in painting dressing automobiles field, particularly relates to a kind of coating process Car body cleans robot automatically, according to the process planning of Painting Shop, automatically cleans technique before can be used for middle painting or before topcoating Section, manually cleans with replacement or Ostriches hair rub is clean.

Background technology

Along with market for automobiles competition increasingly sharpens, product quality, cost control and car load yield etc. have become as impact and combine Close the key factor of competitiveness.Application is an important process link of automobile making.Application primarily serve car surface antirust, Corrosion protection, mechanical protection, increase life-span and the effect such as attractive in appearance, coating quality is one of importance of product total quality.Product The quality of coating quality not only reflects product protection, decoration performance, and is to constitute the key factor that value of the product embodies.

Energy-conserving and environment-protective are the development trends of modern automobile industry, and the use cleaning robot also complies with this development trend. Painting Shop general technology flow process is: washing → defat → phosphatization → electrophoresis → drying → polishing → fluid sealant spraying → dry → Polishing → middle painting → drying → polishing → finish paint → drying → inspection refine → polishing etc..

And all clean step before finish paint spraying coating process section before middle painting process section, in prior art, typically use Artificial or Ostriches hair brushing machine.Ostriches hair brushing machine is generally by preionization station, top rollers station, oblique roller station, vertical wheel Stand and rear ionization station etc. forms, but in use must periodically clean the paint block on accessory and paint slag, prevents scratch and dirt Dye Ostriches hair, it is to avoid Ostriches hair fragment is bonded in surface of the work.And it is only applicable to the relatively simple workpiece of profile, need tight simultaneously The insert depth of Ostriches hair when lattice control to clean.For the workpiece that profile is complex, Ostriches hair embedded deeply, Ostriches hair and work Friction between part is exaggerated, and shortens the life-span of Ostriches hair, also easily leaves over Ostriches filoplume hair fragment at surface of the work simultaneously, impact The product quality of subsequent technique.

And between fluid sealant spraying and middle painting process section, use Ostriches hair brushing machine to clean, it is necessary to increase fluid sealant Stoving process section, to avoid the bonding between fluid sealant and Ostriches hair, causes the waste on time, space and the energy.

Utility model content

The purpose of this utility model is to clean present in technology technological deficiency for existing and use limitation, and proposes A kind of car body cleans robot automatically.

Be the technical scheme is that by realizing the purpose of this utility model

A kind of car body cleans robot automatically, including fill formula or additional walking axial machines people, be fixedly attached to machine As cleaning the sword brush of actuator on device robot end axle, and supply to the solution of described sword brush supplying clean agent and control system System.

The artificial 6 axle multi-joint all-purpose robots of described machine, or 7 axle robots of additional walking axle.

Described solution supply control system includes fluid reservoir, primary pump cabinet and the two stage pump cabinet comprising solution buffer tank, Primary pump cabinet in order to be delivered to the solution buffer tank within two stage pump cabinet by cleaning agent in fluid reservoir, and two stage pump cabinet is in order to by solution Cleaning agent in buffer tank is delivered to sword brush nebulizer, and cleaning agent humidifies sword brush after atomization processes.

Sword brush, in the end near its mounting flange, is respectively arranged with a cage revolving scraper in the both sides up and down of bristle, described Cage revolving scraper include the doctor blade holder of driven rotation, be arranged on the scraper on described doctor blade holder axially extendingly, described Doctor blade holder both sides be correspondingly provided with purging the compressed-air atomizer of described scraper and be communicated to suction through exhaust duct The exhaust outlet of filter.

Vibrating diaphragm is set at described exhaust outlet to prevent the bonding deposition of the impurity such as dust granule.

Compared with prior art, the beneficial effects of the utility model are:

This utility model uses sword brush and robot to be integrated into and cleans robot, replaces Ostriches hair wiping system, to vehicle body It is cleaned Deng outer surface of workpiece, removes dust, fiber and the moisture on vehicle body outside surface, reduce follow-up spraying work to greatest extent The spraying defect such as the issuable granule of skill, fiber.Clean the sword brush of robot in cleaning operation process, use cleaning agent to add Wet brushing, improves and cleans quality, and remove bodywork surface electrostatic charge, for auto spray painting technology high-voltage electrostatic gun equipment, and can To improve adhesive rate and the utilization rate of paint, reduce the paint pollution to paint spray booth's environment.

Use is cleaned robot and is cleaned, motility based on robot adjustable attitude, can effectively evade fluid sealant coating Position, need not arrange fluid sealant stoving process section after fluid sealant sprays, can carry out cleaning operation.Equipment can be saved Basis, energy resource consumption, workshop area occupied and maintaining cost etc..

Accompanying drawing explanation

Fig. 1 show the structural representation of the car body wiping system of coating process of the present utility model；

Fig. 2 show and cleans car body surface structural representation；

Fig. 3 show one side clean robot car body clean processing route planning 1-6 step schematic diagram；

Fig. 4 show one side clean robot car body clean processing route planning 7-8 step schematic diagram；

Fig. 5 show one side clean robot car body clean processing route planning 9-15 step schematic diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing be embodied as example this utility model is described in further detail.Should be appreciated that herein Described specific embodiment, only in order to explain this utility model, is not used to limit this utility model.

As shown in Figure 1-2, the robot that cleans of the present utility model includes Di Zhuan formula robot or additional walking shaft type machine Device people 21, the cleaning dedusting static removal equipment sword brush 22 being arranged in the terminal shaft end flange of robot 21, and to described The solution supply control system of sword brush supplying clean agent.Wherein, Di Zhuan formula robot refers to robot base is fixed on spy On fixed ground base, additional walking axial machines people refers to install on ground base and parallel the fixing in machine fortune direction Line slideway 20, is installed on robot base on the slide block of line slideway, robot can on line slideway along with Machine fortune parallel direction moves back and forth, it is possible to the movement of real-time tracking workpiece, improves working performance.Clean robot at line slideway Upper movement also is able to ensure higher repetitive positioning accuracy.Can be so robot pose adjustment and control increase by one from By spending, i.e. increase an outside axle.Usually, the artificial 6 axle multi-joint all-purpose robots of described machine.

Wherein, described in clean the sword brush of robot be the cleannes ensureing self bristle, use wet rubbing technique, use atomization Device sprays compressed air-atomized cleaning agent on sword brush bristle, so can adhere to one layer of very thin antistatic on bristle Cleaning agent, it is possible to while effectively removing the impurity such as the most tiny dust granule and fiber, moreover it is possible to keep surface of the work to be dried State, the bristle after humidification also functions to eliminate the effect of frictional static.

Described solution supply control system includes fluid reservoir 30, primary pump cabinet and the two stage pump comprising solution buffer tank 31 Cabinet, primary pump cabinet is used in order to solution buffer tank cleaning agent in fluid reservoir being delivered to by solution in two stage pump cabinet, two stage pump cabinet So that the cleaning agent in solution buffer tank 31 is delivered to sword brush nebulizer by cleaning agent pipeline 32, cleaning agent processes through atomization Rear humidification sword brush.Open and make after detergent delivery special time bristle reach basic moisture state, clean robot and can open Begin to clean work；Wherein, specifically, described primary pump cabinet and the power source of two stage pump cabinet are air driven pump or electrodynamic pump. The mechanism form using two-stage (two-speed) pump cabinet can ensure that the seriality of sword brush detergent delivery.Operation principle is as follows: solution buffer tank It is provided with overflow checking sensor, normal level sensor and minimum liquid level detection sensor, if the inspection of overflow checking sensor Measure solution or minimum liquid level detection sensor detects do not have solution, system alarm, provide fault cues.If normal liquid Level sensor can't detect solution, and primary pump cabinet is started working, and carries solution to buffer tank, treats that normal level sensor is examined again When measuring solution, primary pump cabinet quits work.Need to be spaced the setting time between startup and the stopping of primary pump cabinet, i.e. pass through liquid level Sensing binding time difference controls avoid the frequent starting of primary pump cabinet and stopping and ensureing that liquid level is normal.If clear in fluid reservoir Clean dose depleted time, the solution service time in solution buffer tank can ensure that the fluid reservoir filling solution more renewed, protect The seriality that card sword dataller makees.

For ease of impurity such as the particle dust of attachment on removing bristle, sword brush bristle has self-cleaning function.Concrete next Saying, sword brush, in the end near its mounting flange, is respectively arranged with a cage revolving scraper, described cage in the both sides up and down of bristle Revolving scraper includes the doctor blade holder of driven rotation, axially extending ground and rounded be disposed in an evenly spaced relation on described doctor blade holder Multiple, such as three scrapers, that described doctor blade holder both sides are correspondingly provided with being connected by compressed air line 40 with source of the gas and In order to purge the compressed-air atomizer of described scraper and to be communicated to the exhaust outlet of suction strainer 42 through exhaust duct 41.Wherein, Cage revolving scraper rotates rotating contrary direction relative to sword brush bristle under the drive of round belt, scraping of cage revolving scraper Cutter scrapes bristle relative to bristle horizontally set the impurity that will be attached on bristle, and the impurity being scraped is in compressed-air actuated effect Under depart from scraper and be blown to the exhaust outlet of sword brush, i.e. use cage construction, three scrapers first rotated successively with bristle Impurity is also struck off by cutting type contact, is scraped by impurity or sticks on scraper, meanwhile, doctor blade holder forms purging air-flow, The impurity that will be disengaged from the impurity that contacts with bristle and scraper blows off and collects, it is achieved circulating automatically cleaning effect.

For effectively blowing to the contaminant filters such as the particle dust of sword brush exhaust outlet and collect, sword brush is provided with oneself's air draft merit Energy.Vibrating diaphragm is set at the exhaust outlet of sword brush end, effectively prevents the bonding deposition of the impurity such as particle dust, viscous for having The impurity particle of property can play anti-accumulation cementation equally.The impurity such as the particle dust being blown to the exhaust outlet of sword brush, Under the effect of suction strainer 42, entering suction strainer along exhaust duct 41, suction strainer is provided with device for filtering impurities, Filter out the impurity such as particle dust, and air draft is to outside chamber body.

Clean after machine manually makees the regular hour, sword brush body and be arranged on the cable on sword brush, communication module With the electronic devices and components such as joint, can the impurity such as deposited particles dust, clean the self-dedusting function of robot sword brush body Solve this problem.Clean robot and use cyclone nozzle, be arranged on the precalculated position cleaning station, rely on compressed air, can determine Phase remove be attached on the parts such as sword this support structure of brush, object-line cable joint, communication module and sensor attachment The impurity such as grain dust.Sword brush is provided with bristle pressure buffer air bag, crash sensor and velocity sensor simultaneously.Pressure buffer gas Capsule is for offsetting the lower pressure resistance of sword brush bristle, and crash sensor detects potential risk of collision in real time, and velocity sensor is used for examining Survey the velocity of rotation of sword brush bristle.

The step-by-step movement car body wiping system of the coating process in this utility model includes car body mechanical transport equipment, such as car body Transportation rolling-bed or chain etc.；Controller, be separately positioned on described car body mechanical transport equipment both sides clean robot, It is provided with pneumatic position limiting structure on described car body mechanical transport equipment.Meanwhile, for improving its practicality, also include being arranged on institute The identification card on car body stated, and can read described identification card the body being connected with described controller communication Part reading mechanism.Controller can be according to identity information Direct Recognition vehicle, and according to the vehicle identified, execution and vehicle adapt Clean program.

Car body wiping system of the present utility model, it is possible to automatically identify different automobile types, performs to clean program, and energy accordingly Enough adaptation cleans the vehicle that surface configuration is complicated, it is achieved intelligent and Flexible Production.Cleaning agent has function of eliminating static concurrently simultaneously, Compared with Ostriches hair brushing machine, it is not required to arrange and individually ionizes station.It is coated with in Painting Shop uses and cleans robot, because this reality Robot is cleaned, it is possible to sword brush is cleaned path and cleans attitude and carry out controlling flexibly accurately, car can be evaded with novel The gluing position of body, compared with Ostriches hair brushing machine, it is not necessary to design gluing section and middle painting spray paint between drying oven section, saving sets Standby cost, relatively skinny device floor space and energy resource consumption etc..Use finish paint to clean robot, hand labor can be saved, improve and make Industry efficiency, it is ensured that the stability of product quality and concordance.

As in figure 2 it is shown, the surface segmentation to be cleaned of car body is become protecgulum 51, wing 52, Qianmen 53, back door 54, side Enclose 55, roof 56, bonnet 57, A post 58, B post 59, C post 60 etc., car body zoning makes to clean efficiency is high, clean effect Well, clean route simply, certainly, for different vehicles, according to the complex situations of car body surface, be suitably increased or decreased and clean The region of technique divides.

Specifically, the step-by-step movement car body wiping system described in employing clean method, comprise the following steps,

1) car body to be cleaned after polishing is directly entered under car body mechanical transport equipment carries and cleans station, pneumatic spacing Car body is limited to precalculated position by mechanism,

2) car body on the left of is cleaned robot and is first started, successively to car body protecgulum left part, left side A post, a roof left side Side part, rear hd top face left part, and whole bonnet trailing flank, left side C post, left side C post gusset, left front beater or beat-up, a left side Qianmen, left B post, left back door are cleaned,

3) car body on right side is cleaned robot and is cleaned startup after robot starts special time at left side car body, and the most right Car body protecgulum right part, right side A post, roof right part, rear hd top face right part, right side C post, right side C post gusset, the right side Wing, right front door, right B post, right-rear-door are cleaned；

Wherein, during cleaning, the bristle of sword brush keeps vertical with treating clean area field surface.Clean region can not weigh Work is cleaned in multiple execution, and according to cleaning the flat conditions on surface, sword brush bristle need to control setting cleaning surface depression depths Within the scope of.

There is the situation of groove curve for car body protecgulum, the wiping process of car body protecgulum and A post includes following sub-step；

A) sword brush is wiped to car body front from front window,

B) then sword brush pose adjustment, to paralleling direction with the groove of engine front cover, from-inner-to-outer, then will from front Groove concave curved part is cleaned；That is, the most once clean after using certainly in the middle part of the car body inside groove curve, i.e. protecgulum, right Part in trench recess curve and outside thereof uses from-inner-to-outer to clean, the curved surface characteristic of car bonnet before adapting to so further, The especially curved design of car body protecgulum both sides, it is ensured that clean effect.

C) A post is cleaned after car body protecgulum is cleaned from bottom to top to clean roof further.

For certain sedans, it is assumed that it is S that this vehicle cleans the gross area.

Left side is cleaned robot and is cleaned path and time planning, as shown in Figures 3 to 5,

(1) protecgulum

Left side car body cleans mechanism's protecgulum operation needs a1, wherein adjusts attitude time a11, cleans working time a12.By In the impact of the groove of protecgulum both sides, left side car body is cleaned mechanism's wiping protecgulum and is divided into 3 steps.First wipe before hood from windscreen Portion, is back to groove direction, clean track along from groove curve to protecgulum side.Groove clean path it is generally required to path 2 and 3 liang of path step complete.

(2) A post

Wiping protecgulum, on the left of adjustment, car body cleans mechanism to suitable attitude, and start to perform A post cleans operation.A post road Footpath is simple, and surface area is less, uses in the middle part of sword brush, and one time path 4 can complete.Cleaning required time is a2, wherein adjusts appearance State time a21, cleans working time a22.

(3) roof

After wiping A post, simple adjust that attitude can carry out roof clean operation.One time path 5 can complete, required Time is a3, wherein adjusts attitude time a31, cleans working time a32.

(4) bonnet

Cleaning of bonnet includes two parts, the end face of bonnet and side.In order to avoid the interference when wiping front cover, left side It is the startup time prior to right side robot that car body cleans the startup time of mechanism, so when wiping bonnet, left side car body is cleaned Mechanism has the time to complete more action, can perform more bonnet and clean action.Cleaning of bonnet divides according to sequencing For path 6, path 7 and path 8, required time is a4, wherein adjusts attitude time a41, cleans working time a42.

(5) C post

The cleaning path 9 and can complete of C post, required time is a5, wherein adjusts attitude time a51, cleans the working time a52。

(6) C post gusset, i.e. gusset 55

Cleaning of C post gusset is completed by path 10 and path 11, and required time is a6, wherein adjusts attitude time a61, wipes Clean working time a62.

(7) left front beater or beat-up

Being transitioned into wing from C post gusset, left side car body cleans robot the process of attitude upset, sword brush from The rear flank side of car body is transitioned into front, side.Cleaning of wing is completed by path 12 and path 13, and required time is a7, wherein Adjust attitude time a71, clean working time a72.

(8) Qianmen, back door

Wipe wing, i.e. erasable Qianmen, back door.Qianmen, cleaning of back door are completed by path 13 and path 14, required Time is a8, wherein adjusts attitude time a81, cleans working time a82.

Cleaning mechanism for left side car body, wiping bonnet, to transit to adjustment time of C post attitude longer, and this is due to left side Robot performs that bonnet is most cleans action, including a part of horizontal surface and whole rear side surfaces of bonnet, When wiping bonnet side surface, the position of robot the 7th axle relative to right side robot closer to the rear side of car body, so adjusting Needing to consume more time to the attitude of C post, there is not interference possibility in the sword brush of both sides after this step, and now fills Divide and make use of its advanced startup time, perform more bonnet and clean action, establish for final synchronously completing of both sides robot Basis.

Right side robot cleans path planning

In order to avoid the risk of collision of left and right sides robot when wiping protecgulum, robot is cleaned than left side brushing machine in right side Device people postpones the startup of specific time.Compared with cleaning path with process of cleaning and cleaning robot with left side, only it is the absence of bonnet Trailing flank part, does not repeats them here.Due to right side robot delayed startup, robot is cleaned in left side just has time enough to hold Carry on a shoulder pole more bonnet and clean operation, to keep left and right sides robot to clean the synchronization of end-of-job time.

The stepping introduced at the present embodiment is cleaned under pattern, and right side is cleaned robot and cleaned robot than left side and terminate to move Making the time the most delayed, basic guarantee synchronously completes.Clean robot opposing left delay start b1 based on right side, clean operation Wastage in bulk or weight time a=a1+a2+a3 ...+a8, end time delayed b2, so the total time of cleaning of this vehicle bicycle is T=b1 +a+b2.The proportionality coefficient cleaning the time and clean area is T/S.This cleans proportionality coefficient can calculate wiping for given vehicle Net time provides reference, and this proportionality coefficient can clean surface area according to vehicle and surface complexity suitably adjusts.Improve and wipe Net efficiency also answers re-optimization difference to clean the motion track of robot between region, reduces the time adjusting attitude.

The above is only preferred implementation of the present utility model, it is noted that general for the art For logical technical staff, on the premise of without departing from this utility model principle, it is also possible to make some improvements and modifications, these change Enter and retouch and also should be regarded as protection domain of the present utility model.

Claims (5)

1. a car body cleans robot automatically, it is characterised in that fill formula or additional walking axial machines people with including, fixing It is connected on robot end's axle as the sword brush cleaning actuator, and supplies to the solution of described sword brush supplying clean agent To control system.

2. car body as claimed in claim 1 cleans robot automatically, it is characterised in that the artificial 6 axle multi-joints of described machine All-purpose robot, or 7 axle robots of additional walking axle.

3. car body as claimed in claim 1 cleans robot automatically, it is characterised in that described solution supply control system bag Including fluid reservoir, primary pump cabinet and the two stage pump cabinet comprising solution buffer tank, primary pump cabinet is in order to carry cleaning agent in fluid reservoir To the solution buffer tank within two stage pump cabinet, two stage pump cabinet in order to be delivered to the atomization of sword brush by the cleaning agent in solution buffer tank Device, cleaning agent humidifies sword brush after atomization processes.

4. car body as claimed in claim 1 cleans robot automatically, it is characterised in that sword brush is in the end near its mounting flange End, is respectively arranged with a cage revolving scraper in the both sides up and down of bristle, and described cage revolving scraper includes the scraper of driven rotation Frame, is arranged on the scraper on described doctor blade holder axially extendingly, and described doctor blade holder both sides are correspondingly provided with purging The compressed-air atomizer of described scraper and be communicated to the exhaust outlet of suction strainer through exhaust duct.

5. car body as claimed in claim 4 cleans robot automatically, it is characterised in that arrange vibration at described exhaust outlet Diaphragm is to prevent the bonding deposition of impurity.