CN206122020U - Shell concave curved surface of robot sectional type spraying device - Google Patents
Shell concave curved surface of robot sectional type spraying device Download PDFInfo
- Publication number
- CN206122020U CN206122020U CN201621141191.4U CN201621141191U CN206122020U CN 206122020 U CN206122020 U CN 206122020U CN 201621141191 U CN201621141191 U CN 201621141191U CN 206122020 U CN206122020 U CN 206122020U
- Authority
- CN
- China
- Prior art keywords
- mozzle
- nozzle
- pod apertures
- feeder sleeve
- deflector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a shell concave curved surface of robot sectional type spraying device, including the shower nozzle, the shower nozzle is installed on five degree of freedom mechanical hands, and the outside of shower nozzle is provided with the laser rangefinder sensor, the shower nozzle includes the first conical nozzle in the outside and the second toper nozzle that lies in the inside activity setting of first conical nozzle, first conical nozzle and second toper nozzle are connected with first feeder sleeve and second feeder sleeve respectively, second feeder sleeve inside is provided with first honeycomb duct, be connected through the cylinder between first honeycomb duct and the second toper nozzle, the flexible direction of cylinder is parallel to each other with the flow direction of coating, the bottom of first honeycomb duct lies in second toper nozzle, the internal surface of second toper nozzle is provided with spiral groove.
Description
Technical field
This utility model is related to surface spraying technical field, especially a kind of robot shells inner sunken face stagewise spraying
Device.
Background technology
With the development of automatic technology, many robots are configured with automatic assembly line carries out production operation, its effect
Rate is high, and stability is strong, serves liberation human resourcess, reduces effect of production cost.In order to ensure the service life of robot,
Its surface needs rust prevention by applying liquid material lacquer painting to be protected.Existing spraying equipment spray concave curved surface structure surface when, for painting
The uniformity control of layer spraying is not accurate enough.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of robot shells inner sunken face stagewise spray equipment,
The deficiencies in the prior art are can solve the problem that, is improve for uniformity control accuracy when concave curved surface structure is sprayed.
To solve above-mentioned technical problem, technical solution adopted in the utility model is as follows.
A kind of robot shells inner sunken face stagewise spray equipment, including shower nozzle, the shower nozzle are arranged on five degree of freedom
On robot arm, laser range sensor on the outside of shower nozzle, is provided with；Shower nozzle includes first conical nozzle in outside and is located at first
The second conical nozzle that conical nozzle internal activity is arranged, the first conical nozzle and the second conical nozzle are connected to the first confession
Expects pipe and the second feeder sleeve, the second feeder sleeve are wrapped on wheel disc, and wheel disc is connected with the servomotor for driving which to rotate, and second supplies
Expects pipe is internally provided with the first mozzle, is connected by cylinder between the first mozzle and the second conical nozzle, cylinder it is flexible
Direction is parallel to each other with the flow direction of coating, and the bottom of the first mozzle is located in the second conical nozzle, the second conical nozzle
Inner surface setting have helical groove；It is provided with first pressure sensor and first flow sensor in first feeder sleeve, second
Second pressure sensor and second flow sensor are provided with feeder sleeve；Also include controller and be connected on the first feeder sleeve
The first charging pump, the second charging pump being connected on the second feeder sleeve, the input of controller are sensed with laser ranging respectively
Device, first pressure sensor, first flow sensor, second pressure sensor are connected with second flow sensor, controller
Outfan respectively with five degree of freedom robot arm, servomotor and cylinders.
Preferably, the bottom symmetrical of the helical groove is provided with two the first pod apertures, the top of the first pod apertures
It is interconnected, between the top and helical groove bottom surface of the first pod apertures, is provided with the second pod apertures, the second pod apertures and spiral
The bottom surface of groove is mutually perpendicular to；The first deflector is provided with above first pod apertures and the interface of helical groove bottom surface, first leads
The bottom surface of stream plate is fixed on the bottom surface of helical groove, and the first deflector is inclined in the flow direction of helical groove towards coating and set
Put, the first deflector is 27 ° with the angle of helical groove, and the bottom surface of the first deflector is provided with curved flanges.
Preferably, first pod apertures are provided with the second mozzle, the second water conservancy diversion with the junction of the second pod apertures
The axis of pipe is overlapped with the axis of the second pod apertures, the second mozzle be hyperboloid of one sheet shape, the second water conservancy diversion tube side wall
Point midway be provided with first through hole, the inwall of first through hole is provided with several first spring bodies of annular arrangement, first
It is connected with several the first deflection plates at the top of spring body, the top surface of the first deflection plate is provided with arc groove, adjacent first
Deflection plate mutually slides overlap joint.
Preferably, first mozzle includes the tapered portion and the cylindrical portion below tapered portion at top.
Preferably, the tapered portion is provided with flow guiding disc with the junction of cylindrical portion, on flow guiding disc, several are provided with
Second through hole, is connected with the 3rd mozzle below the second through hole, the bottom surface of the 3rd mozzle is concordant with the bottom surface of cylindrical portion, the
The side wall of three mozzles is provided with several third through-holes.
Preferably, the bottom of the cylindrical portion is provided with the second deflector, slit, slit on the second deflector, are provided with
Outside is provided with the second deflection plate.
A kind of spraying method of above-mentioned robot shells inner sunken face stagewise spray equipment, comprises the following steps：
A, controller detect concave surface central point by laser range sensor, and shower nozzle is moved by control five degree of freedom robot arm
To concave surface central point；
B, the first charging pump of unlatching, are preliminarily sprayed to concave surface using five degree of freedom machine hand control shower nozzle；
After C, the coating layer thickness of concave surface reach 3～5 μm, the second charging pump is opened, the flow for adjusting the first charging pump is first
The 70%～80% of beginning flow, the flow of the second charging pump are the 40%～50% of the first charging pump initial flow.
Preferably, in step C, in original state, the second conical nozzle bottom surface is located on the first conical nozzle bottom surface
At square 10mm～15mm, with the increase of coating layer thickness, the second conical nozzle is gradually to the outer side shifting of the first conical nozzle；Control
Device processed controls gas according to the requirement of the changes in flow rate in the first feeder sleeve for monitoring and the second conical nozzle injection rotation area
Cylinder drives the first mozzle to be adjusted.
Using the beneficial effect brought by above-mentioned technical proposal it is：This utility model passes through what is be socketed inside and outside design two
Nozzle, realizes the outside rotation sprinkling state of paint vehicle, itself and the first taper using the helical groove of the second conical nozzle inner surface
The paint vehicle that nozzle straight line sprays is mixed at shower nozzle, is changed the spraying state of paint vehicle, is realized the even application of paint vehicle.
When paint vehicle in helical groove flows through the first deflector, the first deflector serves guide functions to paint vehicle so that the first water conservancy diversion
Plate low-pressure area formed below.In the presence of pressure differential, paint vehicle is flowed into from the second pod apertures, is flowed out through the first pod apertures,
So that there is the trend of local circulation flowing in the paint vehicle in helical groove, so as to serve the work for expanding paint vehicle rotational flow scope
With.Curved flanges can reduce the paint vehicle that flows out from the first pod apertures for the second conical nozzle inside paint vehicle flow direction it is dry
Disturb.Second mozzle can improve the flowing velocity of paint vehicle inside the first pod apertures and the second pod apertures, so as to improve paint vehicle office
The scope of portion's flowing.The internal structure of the first mozzle can reduce the turbulent flow of paint vehicle flow process inside the first mozzle, from
And it is easy to helical groove to form the trend of rotational flow.Second deflector can reduce the linear flowing sprayed by cylindrical portion
The paint vehicle and paint vehicle of rotational flow influences each other in the second conical nozzle.Carried out by using two nozzles separate
Spray painting control, can effectively on adjusting shower nozzle diverse location paint vehicle abundance and spray angle, so as to improve for concave curved surface
Spraying degree of accuracy.
Description of the drawings
Fig. 1 is the structure chart of one specific embodiment of this utility model.
Fig. 2 is the structure chart of shower nozzle in one specific embodiment of this utility model.
Fig. 3 is the structure chart of helical groove in one specific embodiment of this utility model.
Fig. 4 is the structure chart of the first deflector in one specific embodiment of this utility model.
Fig. 5 is the structure chart in one specific embodiment of this utility model inside first through hole.
Fig. 6 is the structure chart of the first mozzle in one specific embodiment of this utility model.
In figure：1st, shower nozzle；2nd, five degree of freedom robot arm；3rd, laser range sensor；4th, the first conical nozzle；5th, the second cone
Shape nozzle；6th, the first feeder sleeve；7th, the second feeder sleeve；8th, wheel disc；9th, servomotor；10th, the first mozzle；11st, cylinder；12、
Helical groove；13rd, the first pod apertures；14th, the second pod apertures；15th, the first deflector；16th, curved flanges；17th, the second mozzle；
18th, first through hole；19th, the first spring body；20th, the first deflection plate；21st, tapered portion；22nd, cylindrical portion；23rd, flow guiding disc；24th, second
Through hole；25th, the 3rd mozzle；26th, third through-hole；27th, the second deflector；28th, slit；29th, the second deflection plate；30th, controller；
31st, first pressure sensor；32nd, first flow sensor；33rd, second pressure sensor；34th, second flow sensor；35th,
One ring baffle；36th, the second ring baffle；37th, fourth hole；38th, arc groove；39th, the first charging pump；40th, the second feed
Pump.
Specific embodiment
The standardized element arrived used in this utility model can commercially, and shaped piece is according to description and attached
The record of figure can carry out it is customized, the concrete connected mode of each part using bolt ripe in prior art, rivet,
The conventional meanses such as welding, stickup, will not be described in detail herein.
Reference picture 1-6, one specific embodiment of this utility model include shower nozzle 1, and the shower nozzle 1 is arranged on five degree of freedom
On robot arm 2, the outside of shower nozzle 1 is provided with laser range sensor 3；Shower nozzle 1 includes first conical nozzle 4 in outside and is located at
The second conical nozzle 5 that first conical nozzle, 4 internal activity is arranged, the first conical nozzle 4 and the second conical nozzle 5 connect respectively
There are the first feeder sleeve 6 and the second feeder sleeve 7, the second feeder sleeve 7 is wrapped on wheel disc 8, wheel disc 8 is connected with and drives watching for its rotation
Motor 9 is taken, the second feeder sleeve 7 is internally provided with the first mozzle 10, passes through between the first mozzle 10 and the second conical nozzle 5
Cylinder 11 connects, and the telescopic direction of cylinder 11 is parallel to each other with the flow direction of coating, and the bottom of the first mozzle 10 is located at the
In two conical nozzles 5, the inner surface setting of the second conical nozzle 5 has helical groove 12；The first pressure is provided with first feeder sleeve 6
Force transducer 31 and first flow sensor 32, are provided with second pressure sensor 33 in the second feeder sleeve 7 and second flow is passed
Sensor 34；Also include controller 30 and the first charging pump 39 being connected on the first feeder sleeve 6, be connected on the second feeder sleeve 7
The second charging pump 40, the input of controller 30 respectively with laser range sensor 3, first pressure sensor 31, first-class
Quantity sensor 32, second pressure sensor 33 are connected with second flow sensor 34, and the outfan of controller 30 is respectively with five certainly
It is connected with cylinder 11 by degree robot arm 2, servomotor 9.The bottom symmetrical of helical groove 12 is provided with two the first pod apertures 13,
The top of the first pod apertures 13 is interconnected, and is provided with second and leads between 12 bottom surface of top and helical groove of the first pod apertures 13
Discharge orifice 14, the second pod apertures 14 are mutually perpendicular to the bottom surface of helical groove 12；First pod apertures 13 and 12 bottom surface of helical groove
The first deflector 15 is provided with above interface, the bottom surface of the first deflector 15 is fixed on the bottom surface of helical groove 12, and first leads
Stream plate 15 is obliquely installed towards coating in the flow direction of helical groove 12, and the first deflector 15 with the angle of helical groove 12 is
27 °, the bottom surface of the first deflector 15 is provided with curved flanges 16.The junction of the first pod apertures 13 and the second pod apertures 14 is arranged
There is the second mozzle 17, the axis of the second mozzle 17 is overlapped with the axis of the second pod apertures 14, the second mozzle 17 is
Hyperboloid of one sheet shape, the point midway of 17 side wall of the second mozzle are provided with first through hole 18, and the inwall of first through hole 18 sets
Several first spring bodies 19 of annular arrangement are equipped with, the top of the first spring body 19 is connected with several the first deflection plates 20,
The top surface of the first deflection plate 20 is provided with arc groove 38, and the first adjacent deflection plate 20 mutually slides and overlaps.First mozzle
10 tapered portion 21 and the cylindrical portion 22 below tapered portion 21 for including top.Tapered portion 21 is set with the junction of cylindrical portion 22
Flow guiding disc 23 is equipped with, several the second through holes 24 on flow guiding disc 23, are provided with, the lower section of the second through hole 24 is connected with the 3rd water conservancy diversion
Pipe 25, the bottom surface of the 3rd mozzle 25 are concordant with the bottom surface of cylindrical portion 22, the side wall of the 3rd mozzle 25 be provided with several
Three through holes 26.The bottom of cylindrical portion 22 is provided with the second deflector 27, is provided with slit 28, outside slit 28 on the second deflector 27
Side is provided with the second deflection plate 29.
A kind of spraying method of above-mentioned robot shells inner sunken face stagewise spray equipment, comprises the following steps：
A, controller 30 detect concave surface central point by laser range sensor 3, control five degree of freedom robot arm 2 by shower nozzle
1 is moved to concave surface central point；
B, the first charging pump 39 of unlatching, are preliminarily sprayed to concave surface using the control shower nozzle 1 of five degree of freedom robot arm 2；
After C, the coating layer thickness of concave surface reach 3～5 μm, the second charging pump 40 is opened, adjust the flow of the first charging pump 39
For the 75% of initial flow, the flow of the second charging pump 40 is the 50% of 39 initial flow of the first charging pump.
In step C, in original state, 5 bottom surface of the second conical nozzle be located at 4 bottom surface of the first conical nozzle above 10mm～
At 15mm, with the increase of coating layer thickness, the second conical nozzle 5 is gradually to the outer side shifting of the first conical nozzle 4；Controller 30
According to the requirement of the changes in flow rate in the first feeder sleeve 6 for monitoring and the injection rotation area of the second conical nozzle 5, cylinder is controlled
11 the first mozzles 10 of drive are adjusted.
In spraying process, the spraying flow and spraying pressure of 30 pairs of the first conical nozzles 4 of controller and the second conical nozzle 5
Power carries out monitor in real time, and the transmission function that controls of flow is：
Wherein,。
The transmission function that controls of pressure is：
Wherein。
k1～k8For proportionality coefficient, h is film thickness, and real-time pressures of the P for target nozzle, F are the real-time streams of target nozzle
Amount.The design parameter of control transmission function is carried out testing according to operating mode and then is determined.Wherein for k1And k6Optimization, Ke Yiyou
Effect improves the relatively stable of nozzle flow and pressure.
In addition, in order to further reduce when shower nozzle is adjusted for the impact of flow and pressure, in the first conical nozzle 4
Wall is provided with first annular baffle plate 35, and the outer wall of the second conical nozzle 5 is provided with the second ring baffle 36, first annular baffle plate 35
And second the angle between plane residing for ring baffle 36 be 35 °, first annular baffle plate 35 is located at the upper of the second ring baffle 36
Side, is provided with several fourth holes 37 on the second ring baffle 36.When the second conical nozzle 5 is to the outer of the first conical nozzle 4
During side shifting, the spray painting flow channel space of the first conical nozzle 4 is gradually reduced by compression, at the same time first annular baffle plate 35 for
On second ring baffle 36, the stop area of fourth hole 37 is gradually reduced, so as to the spray painting runner to the first conical nozzle 4 is empty
Between reduced into row buffering by compression.
This utility model can effectively improve the uniformity of concave curved surface spraying.
Ultimate principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description
Simply illustrate principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed this utility model.This utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (6)
1. a kind of robot shells inner sunken face stagewise spray equipment, including shower nozzle（1）, it is characterised in that：The shower nozzle（1）
Installed in five degree of freedom robot arm（2）On, shower nozzle（1）Outside be provided with laser range sensor（3）；Shower nozzle（1）Including outer
First conical nozzle of side（4）With positioned at the first conical nozzle（4）The second conical nozzle that internal activity is arranged（5）, the first cone
Shape nozzle（4）With the second conical nozzle（5）It is connected to the first feeder sleeve（6）With the second feeder sleeve（7）, the second feeder sleeve
（7）It is wrapped in wheel disc（8）On, wheel disc（8）It is connected with the servomotor for driving which to rotate（9）, the second feeder sleeve（7）It is internal to arrange
There is the first mozzle（10）, the first mozzle（10）With the second conical nozzle（5）Between pass through cylinder（11）Connection, cylinder（11）
Telescopic direction be parallel to each other with the flow direction of coating, the first mozzle（10）Bottom be located at the second conical nozzle（5）It is interior,
Second conical nozzle（5）Inner surface setting have helical groove（12）；First feeder sleeve（6）First pressure sensor is provided with inside
（31）With first flow sensor（32）, the second feeder sleeve（7）Second pressure sensor is provided with inside（33）Pass with second flow
Sensor（34）；Also include controller（30）Be connected to the first feeder sleeve（6）On the first charging pump（39）, it is connected to the second confession
Expects pipe（7）On the second charging pump（40）, controller（30）Input respectively with laser range sensor（3）, first pressure
Sensor（31）, first flow sensor（32）, second pressure sensor（33）With second flow sensor（34）It is connected, control
Device（30）Outfan respectively with five degree of freedom robot arm（2）, servomotor（9）And cylinder（11）It is connected.
2. robot shells inner sunken face stagewise spray equipment according to claim 1, it is characterised in that：The spiral
Groove（12）Bottom symmetrical be provided with two the first pod apertures（13）, the first pod apertures（13）Top be interconnected, first
Pod apertures（13）Top and helical groove（12）The second pod apertures are provided between bottom surface（14）, the second pod apertures（14）With spiral shell
Rotation groove（12）Bottom surface be mutually perpendicular to；First pod apertures（13）With helical groove（12）First is provided with above the interface of bottom surface
Deflector（15）, the first deflector（15）Bottom surface be fixed on helical groove（12）Bottom surface on, the first deflector（15）Direction
Coating is in helical groove（12）Flow direction be obliquely installed, the first deflector（15）With helical groove（12）Angle be 27 °,
First deflector（15）Bottom surface be provided with curved flanges（16）.
3. robot shells inner sunken face stagewise spray equipment according to claim 2, it is characterised in that：Described first
Pod apertures（13）With the second pod apertures（14）Junction be provided with the second mozzle（17）, the second mozzle（17）Axis with
Second pod apertures（14）Axis overlap, the second mozzle（17）For hyperboloid of one sheet shape, the second mozzle（17）Side
The point midway of wall is provided with first through hole（18）, first through hole（18）Inwall be provided with several first bullets of annular arrangement
Spring body（19）, the first spring body（19）Top be connected with several the first deflection plates（20）, the first deflection plate（20）Top surface
It is provided with arc groove（38）, adjacent the first deflection plate（20）Mutually slide overlap joint.
4. robot shells inner sunken face stagewise spray equipment according to claim 3, it is characterised in that：Described first
Mozzle（10）Including the tapered portion at top（21）With positioned at tapered portion（21）The cylindrical portion of lower section（22）.
5. robot shells inner sunken face stagewise spray equipment according to claim 4, it is characterised in that：The taper
Portion（21）With cylindrical portion（22）Junction be provided with flow guiding disc（23）, flow guiding disc（23）On be provided with several the second through holes
（24）, the second through hole（24）Lower section be connected with the 3rd mozzle（25）, the 3rd mozzle（25）Bottom surface and cylindrical portion（22）
Bottom surface it is concordant, the 3rd mozzle（25）Side wall be provided with several third through-holes（26）.
6. robot shells inner sunken face stagewise spray equipment according to claim 4, it is characterised in that：The cylindricality
Portion（22）Bottom be provided with the second deflector（27）, the second deflector（27）On be provided with slit（28）, slit（28）Outside
It is provided with the second deflection plate（29）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141191.4U CN206122020U (en) | 2016-10-20 | 2016-10-20 | Shell concave curved surface of robot sectional type spraying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141191.4U CN206122020U (en) | 2016-10-20 | 2016-10-20 | Shell concave curved surface of robot sectional type spraying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206122020U true CN206122020U (en) | 2017-04-26 |
Family
ID=58572985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621141191.4U Expired - Fee Related CN206122020U (en) | 2016-10-20 | 2016-10-20 | Shell concave curved surface of robot sectional type spraying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206122020U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106311532A (en) * | 2016-10-20 | 2017-01-11 | 刘辉 | Sectional spraying device for inward-concave curved surface of robot shell and spraying method of sectional spraying device |
| US11892564B2 (en) | 2020-09-30 | 2024-02-06 | Ford Global Technologies, Llc | Sensor apparatus with cleaning |
-
2016
- 2016-10-20 CN CN201621141191.4U patent/CN206122020U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106311532A (en) * | 2016-10-20 | 2017-01-11 | 刘辉 | Sectional spraying device for inward-concave curved surface of robot shell and spraying method of sectional spraying device |
| CN106311532B (en) * | 2016-10-20 | 2018-09-25 | 佳马机械涂覆(海安)有限公司 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
| US11892564B2 (en) | 2020-09-30 | 2024-02-06 | Ford Global Technologies, Llc | Sensor apparatus with cleaning |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170426 Termination date: 20181020 |