CN207941645U - Intelligent paint-spray robot system - Google Patents
Intelligent paint-spray robot system Download PDFInfo
- Publication number
- CN207941645U CN207941645U CN201721894414.9U CN201721894414U CN207941645U CN 207941645 U CN207941645 U CN 207941645U CN 201721894414 U CN201721894414 U CN 201721894414U CN 207941645 U CN207941645 U CN 207941645U
- Authority
- CN
- China
- Prior art keywords
- spray
- robot
- mounting base
- shell
- paint
- 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.)
- Withdrawn - After Issue
Links
- 239000007921 spray Substances 0.000 title claims abstract description 23
- 238000007592 spray painting technique Methods 0.000 claims abstract description 38
- 241000196324 Embryophyta Species 0.000 claims abstract description 23
- 238000009434 installation Methods 0.000 claims abstract description 18
- 240000007643 Phytolacca americana Species 0.000 claims abstract description 9
- 125000006850 spacer group Chemical group 0.000 claims description 15
- 239000003973 paint Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 8
- 238000004880 explosion Methods 0.000 claims description 7
- 238000012423 maintenance Methods 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 6
- 239000004922 lacquer Substances 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract description 4
- 238000004134 energy conservation Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002203 pretreatment Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
Intelligent paint-spray robot system,There is pedestal in the lower end of robot,Robot connects with controller,Controller connects with processor,Processor connects with depth camera,Robot upper end is connected by ring flange with one end of the connecting shaft,Connecting shaft is another to be terminated with mounting base,The installation axle of spray-painting plant is inserted into inside mounting base in the slot hole of upper and lower directions setting,There is the first positioning bolt positioned to the installation axle of spray-painting plant in mounting base side,It is rotatablely connected by one end of axis pin and position limit arm in the other side of mounting base,The other end of position limit arm is connected with limit shaft,Limit shaft is supported at the installation axle of spray-painting plant,There is the second positioning bolt between the middle part and mounting base of position limit arm,The cylinder to connect with pneumatic device is fixedly mounted in mounting base,Connected with poke rod by connector with the external end head of the piston rod of cylinder matching,Poke rod matches with the trigger on spray-painting plant.With safe and reliable, time saving and energy saving, energy conservation and environmental protection, the advantages of generating cost is reduced.
Description
Technical field
The utility model is related to a kind of paint spraying apparatus, especially a kind of intelligent paint-spray robot system of vehicle body spray painting.
Background technology
There are mainly two types of the modes of vehicle body spray painting at present：1, traditional manual spray painting；2, robot auto spray painting.Traditional
Spray painting is mainly used for the maintenance industry of automobile, disadvantage manually：1, of high cost；2 efficiency are low；The health of 3 couples of operators has centainly
Harm.In vehicle production link multipurpose robot auto spray painting mode, robot auto spray painting mode is on auto production line
It is the most ripe, but it is unsuitable for the maintenance industry of automobile.
Invention content
The purpose of this utility model is to provide that a kind of structure is relatively easy, be suitable for automobile maintenance industry, be at low cost, manipulation
Property good, safe and reliable, the efficient intelligent paint-spray robot system of spray painting, painted needs with meeting automobile maintenance industry.
The intelligent paint-spray robot system of the utility model, including robot are equipped with pedestal, machine in the lower end of robot
People connects with controller, and controller connects with processor, and processor connects with depth camera, passes through flange in the upper end of robot
Disk connects with one end of connecting shaft, and the another of connecting shaft is terminated with mounting base, and the installation axle of spray-painting plant is inserted into the installation
In the slot hole of the internal upper and lower directions setting of seat, first positioned to the installation axle of spray-painting plant is equipped in the side of mounting base
Positioning bolt is rotatablely connected in the other side of mounting base by one end of axis pin and position limit arm, and the other end of position limit arm is connected with
Limit shaft, limit shaft are supported at the installation axle of spray-painting plant, and the second positioning is equipped between the middle part and mounting base of position limit arm
Bolt, the cylinder to connect with pneumatic device are fixedly mounted in mounting base, and the external end head of the piston rod to match with cylinder passes through company
Fitting connects with poke rod, and poke rod matches with the trigger on spray-painting plant；The artificial explosion prevention robot of the machine.
The processor obtains the three-dimensional point cloud model of automotive lacquer maintenance area by depth camera first, to three-dimensional
Point cloud data carries out the pretreatments such as denoising, smooth, then extracts three dimensional point cloud characteristic point, Jin Erji by a whole set of algorithm
Calculate the spray painting movement locus of paint-spray robot.Meanwhile it is opposite with paint-spray robot coordinate system to demarcate depth camera coordinate system
Position relationship finally controls paint-spray robot and is moved along the movement locus planned automatically and complete to paint.
The artificial newest intelligent modularized robot at present of the machine.
It includes internally positioned motor and deceleration that the explosion prevention robot, which has explosion-proof joint, the explosion-proof joint,
Device, there is a shell on the outside of motor and retarder, and the shell includes the first shell, second housing and third shell, and first
The port of shell is fixedly connected with the first spacer flanger, and the first sealing ring is equipped between the first shell and the first spacer flanger；
First spacer flanger outer sheath is equipped with dustband, and the end of dustband is fixedly connected with the side of the second spacer flanger, in second
Between the other side of flange be fixedly connected with one end of second housing, be equipped between the second spacer flanger and second housing second close
The other end of seal, second housing is fixedly connected with third shell, and third sealing ring is equipped between second housing and third shell.
The intelligent paint-spray robot system of the utility model disclosure satisfy that auto repair spray painting requires, and reach manual spray
Effect is painted, painting quality is ensure that, improves work efficiency, is such as used for the shops 4s, the shops 4s integrity service level, drop can be obviously improved
The low labor intensity of operating personnel, makes operating personnel far from coating cloud region, ensure that the physical and mental health of operating personnel, safely may be used
It leans on, it is time saving and energy saving, it is energy saving, it reduces and generates cost.
Description of the drawings
Fig. 1 is the structural schematic diagram of specific embodiment of the present invention.
Fig. 2 is the portions A shown in FIG. 1 enlarged diagram.
Fig. 3 is explosion prevention robot joint structure schematic diagram in the utility model.
Specific implementation mode
As shown in Figure 1, 2：The intelligent paint-spray robot system of the utility model, including robot 1, robot 1 select mould
The 5th generation robot of blockization.It is equipped with pedestal 2 in the lower end of robot 1, by pedestal 2 and foundation bolt by robot 1 when installation
On the basis of being fixedly installed in.
Robot 1 connects with controller 4, and controller 4 connects with processor 8, and processor 8 connects with depth camera 3.
Connected with one end of connecting shaft 9 by ring flange 7 in the upper end of robot 1, the other end of connecting shaft 9 is fixedly connected
There is mounting base 6.
The installation axle for being connected to the spray-painting plant 18 of storage paint cylinder 5 is inserted into the slot hole of 6 inside upper and lower directions setting of mounting base,
The side of mounting base 6 is equipped with the first positioning bolt 10 positioned to the installation axle of spray-painting plant 18, the first positioning bolt 10
It is threadedly coupled with mounting base 6, the inner termination of the first positioning bolt 10 heads into the pit in the installation axle of spray-painting plant 18, makes spray
The installation axle of paint device 18 can be rotated relative to mounting base 6.Pass through axis pin 19 and the one of position limit arm 15 in the other side of mounting base 6
End rotation connection, the other end of position limit arm 15 are connected with limit shaft 20, and limit shaft 20 is supported at the installation axle of spray-painting plant 18,
It is supported for the installation axle to spray-painting plant 18, that is, supports entire spray-painting plant 18.In the middle part of position limit arm 15 and peace
It is equipped with the second positioning bolt 16 between dress seat 6,16 inner termination of the second positioning bolt acts against in the groove on 6 side of mounting base,
So that position limit arm 15 is relatively fixed relative to mounting base 6, resetting spring can be set on the second positioning bolt 16, pulls outward
When two positioning bolts 16, the elastic force of resetting spring is overcome, the inner termination of the second positioning bolt 16 is made to leave on 6 side of mounting base
Groove, when release, 16 inner termination of the second positioning bolt acts against the groove on 6 side of mounting base automatically under action of reset spring
Interior, position limit arm 15 can be supported spray-painting plant 18 by limit shaft 20, when pulling open the second positioning bolt 16, can release to spray
The support of device 18 is painted, spray-painting plant 18 can be swung relative to mounting base 6.
The cylinder 17 to connect with pneumatic device is fixedly mounted in mounting base 6, outside the piston rod 11 to match with cylinder 17
End is connected by connector 12 with poke rod 13, and poke rod 13 matches with the trigger 21 on spray-painting plant 18, and cylinder 17 drives
When piston rod 13 bounces back, trigger 21 can be pushed by poke rod 13,18 self-spraying paint mouth 14 of spray-painting plant is made to paint.Wherein spray painting dress
18 are set as common manual spray-painting plant.Robot 1 is current newest intelligent modularized robot.Robot 1 is explosion -proof machine
People when robot 1 works, can be passed through air to each joint, explosion-proof when ensureing to run.
As shown in Figure 3：It includes internally positioned 34 He of motor that the explosion prevention robot, which has explosion-proof joint, explosion-proof joint,
Retarder 35 and third flange 36, electric control element 33.In motor 34 and retarder 35 and third flange 36, electric control element 33
Outside have a shell, shell includes the first shell 22, second housing 29 and third shell 31, the port and first of the first shell 22
Spacer flanger 24 is fixedly connected, and the first sealing ring 23 is equipped between the first shell 22 and the first spacer flanger 24；Among first
24 outer sheath of flange is equipped with dustband 25, and the end of dustband 25 is fixedly connected with the side of the second spacer flanger 27, in second
Between the other side of flange 27 be fixedly connected with one end of second housing 29, set between the second spacer flanger 27 and second housing 29
There are the second sealing ring 28, the other end of second housing 29 to be fixedly connected with third shell 31, second housing 29 and third shell 31
Between be equipped with third sealing ring 30.The positive pressure air admission hole 32 in explosion-proof joint is equipped on third shell 31, and venthole 37 is located at first
On shell 22.
The course of work：Depth camera is mounted at paint-spray robot chassis by the present invention.Processor 8 passes through depth phase first
Machine 3 obtains the three-dimensional point cloud model of automotive lacquer maintenance area, carries out the pretreatments such as denoising, smooth to three dimensional point cloud, so
Three dimensional point cloud characteristic point is extracted by a whole set of algorithm afterwards, and then calculates the spray painting movement locus of paint-spray robot and demarcates
The relative position relation of depth camera coordinate system and 1 coordinate system of paint-spray robot（That is unified coordinate system）, finally control paint spraying machine
Device people carries out uniform motion along the movement locus planned automatically and controls pneumatic device by controller 4, drives cylinder 17, plate
Machine 21 acts, and completes spray painting.With safe and reliable, time saving and energy saving, energy conservation and environmental protection, the advantages of generating cost is reduced.
Claims (4)
1. a kind of intelligence paint-spray robot system, it is characterised in that：Including robot（1）, in robot（1）Lower end be equipped with bottom
Seat（2）, robot（1）With controller（4）Connect, controller（4）With processor（8）Connect, processor（8）With depth camera
（3）Connect, in robot（1）Upper end pass through ring flange（7）With connecting shaft（9）One end connect, connecting shaft（9）The other end
It is connected to mounting base（6）, spray-painting plant（18）Installation axle be inserted into the mounting base（6）The slot hole of internal upper and lower directions setting
It is interior, in mounting base（6）Side be equipped with to spray-painting plant（18）The first positioning bolt for being positioned of installation axle（10）, pacifying
Fill seat（6）The other side pass through axis pin（19）With position limit arm（15）One end rotation connection, position limit arm（15）The other end connection
There is limit shaft（20）, limit shaft（20）It is supported on spray-painting plant（18）Installation axle at, in position limit arm（15）Middle part and installation
Seat（6）Between be equipped with the second positioning bolt（16）, the cylinder that connects with pneumatic device（17）It is fixedly mounted on mounting base（6）On,
With cylinder（17）The piston rod of matching（11）External end head pass through connector（12）With poke rod（13）Connect, poke rod（13）With
Spray-painting plant（18）On trigger（21）Match；The robot（1）For explosion prevention robot.
2. intelligence paint-spray robot system according to claim 1, it is characterised in that：The processor（8）It is logical first
Cross depth camera（3）The three-dimensional point cloud model for obtaining automotive lacquer maintenance area carries out denoising, smooth pre- to three dimensional point cloud
Then processing extracts three dimensional point cloud characteristic point by a whole set of algorithm, and then calculates the spray painting campaign rail of paint-spray robot
Mark；Meanwhile depth camera need to be demarcated（3）The relative position relation of coordinate system and paint-spray robot coordinate system, finally control spray painting
Robot is moved along the movement locus planned automatically and completes to paint.
3. intelligence paint-spray robot system according to claim 1 or 2, it is characterised in that：The robot（1）For mesh
Preceding newest intelligent modularized robot.
4. intelligence paint-spray robot system according to claim 1 or 2, it is characterised in that：The explosion prevention robot（1）
With explosion-proof joint, the explosion-proof joint includes internally positioned motor（34）And retarder（35）, in motor（34）With subtract
Fast device（35）Outside have a shell, the shell includes the first shell（22）, second housing（29）With third shell（31）, the
One shell（22）Port and the first spacer flanger（24）It is fixedly connected, in the first shell（22）With the first spacer flanger（24）It
Between be equipped with the first sealing ring（23）；First spacer flanger（24）Outer sheath is equipped with dustband（25）, dustband（25）End with
Second spacer flanger（27）Side be fixedly connected, the second spacer flanger（27）The other side and second housing（29）One end it is solid
Fixed connection, in the second spacer flanger（27）And second housing（29）Between be equipped with the second sealing ring（28）, second housing（29）'s
The other end is fixedly connected with third shell（31）, second housing（29）With third shell（31）Between be equipped with third sealing ring
（30）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721894414.9U CN207941645U (en) | 2017-12-29 | 2017-12-29 | Intelligent paint-spray robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721894414.9U CN207941645U (en) | 2017-12-29 | 2017-12-29 | Intelligent paint-spray robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207941645U true CN207941645U (en) | 2018-10-09 |
Family
ID=63701085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721894414.9U Withdrawn - After Issue CN207941645U (en) | 2017-12-29 | 2017-12-29 | Intelligent paint-spray robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207941645U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108126850A (en) * | 2017-12-29 | 2018-06-08 | 大连纳思达汽车设备有限公司 | Intelligent paint-spray robot system |
-
2017
- 2017-12-29 CN CN201721894414.9U patent/CN207941645U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108126850A (en) * | 2017-12-29 | 2018-06-08 | 大连纳思达汽车设备有限公司 | Intelligent paint-spray robot system |
| WO2019128315A1 (en) * | 2017-12-29 | 2019-07-04 | 大连纳思达汽车设备有限公司 | Intelligent painting robot system |
| CN108126850B (en) * | 2017-12-29 | 2024-05-31 | 大连纳思达汽车设备有限公司 | Intelligent paint spraying robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181009 Effective date of abandoning: 20240531 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181009 Effective date of abandoning: 20240531 |