CN211247084U - Spraying robot - Google Patents
Spraying robot Download PDFInfo
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- CN211247084U CN211247084U CN201921956679.6U CN201921956679U CN211247084U CN 211247084 U CN211247084 U CN 211247084U CN 201921956679 U CN201921956679 U CN 201921956679U CN 211247084 U CN211247084 U CN 211247084U
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Abstract
The utility model discloses a spraying robot, include: the device comprises a gantry frame, a moving platform and a plurality of first spraying molds; the gantry comprises a gantry frame, a base, a motion platform, a spraying connecting plate and a spraying connecting plate, wherein the gantry frame is fixed on the base, the base is provided with a guide rail, the motion platform is used for bearing the whole automobile and is arranged on the base through the guide rail, the motion platform can realize translation along the guide rail on the base, and the gantry frame comprises two vertical driving mechanisms, horizontal movable rods arranged on the two vertical driving mechanisms and the spraying connecting plate arranged on the horizontal movable rods; the first spraying module is detachably connected to the spraying connecting plate, and the vertical driving mechanism and the first spraying module are electrically connected with the controller. Spraying robot have better flexibility good, the precision, easily make, convenient control realizes the modularization easily, the flexibility degree is high, can increase and decrease the spraying module as required, can carry out the spraying operation to different whole cars.
Description
Technical Field
The utility model relates to a technical field that sprays paint, more specifically says, the utility model relates to a spraying robot.
Background
The robot has very extensive application in the automated production field, but is used a little in the automated paint spraying field, still adopts manual operation or adopts triaxial numerical control equipment to process mostly, and the limitation is big, and is big to the human body harm, and shortcomings such as product uniformity is poor have restricted production efficiency and product quality.
Chinese patent application No. 201621247413.0 discloses an automated painting robot. The automatic spraying robot comprises a working platform, a gantry and a multi-joint robot, wherein the gantry is arranged above the working platform, the multi-joint robot is arranged on the gantry and corresponds to the working platform, the multi-joint robot comprises robot arms, robot joints and nozzles, the robot arms are connected through the robot joints, and the nozzles are arranged at the end parts of the robot arms. The utility model discloses an automatic spraying robot can carry out three-dimensional spraying processing in all-round no dead angle, effectively solves the harm that produces the human body in the course of working, increases substantially production efficiency.
In the automatic spraying robot, a multi-joint robot is arranged on the gantry, and the production efficiency of the robot needs to be further improved. Therefore, there is a need for a painting robot that at least partially solves the problems of the prior art.
SUMMERY OF THE UTILITY MODEL
In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.
For at least partly solving above-mentioned problem, the utility model provides a spraying robot, include:
the device comprises a gantry frame, a motion platform and a plurality of first spraying modules;
the gantry comprises a gantry frame, a base, a motion platform, a spraying connecting plate and a spraying connecting plate, wherein the gantry frame is fixed on the base, the base is provided with a guide rail, the motion platform is used for bearing the whole automobile and is arranged on the base through the guide rail, the motion platform can realize translation along the guide rail on the base, and the gantry frame comprises two vertical driving mechanisms, horizontal movable rods arranged on the two vertical driving mechanisms and the spraying connecting plate arranged on the horizontal movable rods;
the first spraying module is detachably connected to the spraying connecting plate, and the vertical driving mechanism and the first spraying module are electrically connected with the controller.
Preferably, the vertical driving mechanism comprises a base, a vertical groove rod vertically arranged on the base, two vertical guide rods arranged in the vertical groove rod and a vertical screw rod, the lower end of the vertical screw rod is connected with a driving motor electrically connected with the controller, the upper end of the vertical groove rod is provided with a baffle, the vertical guide rods are fixedly connected with the baffle, and the vertical screw rod is rotatably connected with the baffle;
the end part of the horizontal movable rod is provided with a protruding plate, the protruding plate extends into the vertical groove rod, and a guide sleeve corresponding to the vertical guide rod and a screw nut corresponding to the vertical screw rod are arranged on the protruding plate.
Preferably, the first spraying module comprises a multi-axis mechanical arm and a spray gun, and the spray gun is arranged at the free end of the multi-axis mechanical arm;
the spraying connecting plate is in an arc shape which is bent upwards, and the lower surface of the spraying connecting plate is provided with a mounting rack connected with the fixed end of the multi-shaft mechanical arm.
Preferably, wherein, the mounting bracket include with the first body of rod that the spraying connecting plate is connected, with the second body of rod that the first body of rod is connected, the stiff end of multiaxis arm be provided with the first mounting hole that the second body of rod corresponds, the second body of rod is pegged graft in the first mounting hole, is provided with the screw through-hole on the surface of this stiff end, be provided with on the second body of rod with the second mounting hole that the screw through-hole corresponds, this stiff end passes through the installation screw rod and connects the second body of rod, installation screw rod threaded connection the screw through-hole extends to in the second mounting hole.
Preferably, the second rod body is square, the number of the second mounting holes is four, the second mounting holes are respectively located on the square surface of the second rod body, and the number of the threaded through holes and the number of the mounting screws are four.
Preferably, the free end of the multi-axis mechanical arm is provided with a U-shaped clamping jaw, and an adjusting mechanism for clamping the spray gun is arranged on the U-shaped clamping jaw.
Preferably, the adjusting mechanism comprises a U-shaped clamping piece arranged in the U-shaped clamping jaw and an adjusting screw rod arranged at the end part of the U-shaped clamping jaw, an adjusting screw hole is formed in the end part of the U-shaped clamping jaw, one end of the adjusting screw rod penetrates through the adjusting screw hole and extends to abut against the U-shaped clamping piece, and an inner protruding part is arranged at the end part of the U-shaped clamping piece.
Preferably, the four corners of the base are provided with supports, and the supports are detachably provided with second spraying modules connected with the controller.
Compared with the prior art, the utility model discloses at least, including following beneficial effect:
1. spraying robot have better flexibility good, the precision, easily make, convenient control realizes the modularization easily, the flexibility degree is high, can increase and decrease the spraying module as required, can carry out the spraying operation to different whole cars.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of the spraying robot of the present invention.
Fig. 2 is a side view of the structure of the vertical driving mechanism in the painting robot of the present invention.
Fig. 3 is a partial structural plan view of the vertical driving mechanism in the painting robot according to the present invention.
Fig. 4 is a schematic view of a connection structure between a mounting frame and a multi-axis mechanical arm in a spraying robot according to the present invention.
Fig. 5 is a schematic structural diagram of an adjusting mechanism in the spraying robot of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-5, the utility model provides a spraying robot, include:
the device comprises a gantry frame 10, a moving platform 20 and a plurality of first spraying modules 30;
the gantry frame 10 is fixed on a base 11, the base 11 is provided with a guide rail 12, the moving platform 20 is used for bearing a whole automobile 21 and is arranged on the base 11 through the guide rail 12, the moving platform 20 can realize translation along the guide rail on the base 11, and the gantry frame 10 comprises two vertical driving mechanisms, a horizontal movable rod 13 arranged on the two vertical driving mechanisms and a spraying connecting plate 9 arranged on the horizontal movable rod 13;
the first spraying module 30 is detachably connected to the spraying connecting plate 9, the vertical driving mechanism and the first spraying module 30 are electrically connected with a controller, and the controller is an MAM-320 type controller.
The working principle of the technical scheme is as follows: an operator drives the gantry frame 10 by using a controller, and the vertical driving mechanism is used for adjusting the height of the horizontal movable rod 13 and adjusting the plurality of first spraying modules 30 to proper height; the whole automobile 21 is arranged on the motion platform 20, the motion platform 20 can translate along the guide rail 12 on the base 11, the whole automobile 21 is moved to the position below the gantry frame 10, the whole automobile 12 is positioned below the spraying of the plurality of first modules, and then an operator drives the first spraying modules 30 to spray the whole automobile 12 by using the controller; wherein, the first spraying module 30 is detachably connected to the spraying connecting plate 9, and the operator can increase or decrease the number of the first spraying modules 30 according to the actual situation.
The motion platform 20 can adopt the cylinder to realize the removal on base 11, and the cylinder is also controlled by the controller, the utility model discloses do not limit to this.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, the utility model provides a spraying robot, this spraying robot have better flexibility good, the precision, easily make, convenient control realizes the modularization easily, and flexible degree is high, can increase and decrease the spraying module as required, can carry out the spraying operation to different whole cars.
In one embodiment, the vertical driving mechanism comprises a vertical driving mechanism base 14, a vertical groove rod 15 vertically arranged on the vertical driving mechanism base 14, two vertical guide rods 16 and a vertical screw rod 17 arranged in the vertical groove rod 15, the lower end of the vertical screw rod 17 is connected with a driving motor 18 electrically connected with the controller, the upper end of the vertical groove rod 15 is provided with a baffle plate 19, the vertical guide rods 16 are fixedly connected with the baffle plate 19, and the vertical screw rod 17 is rotatably connected with the baffle plate 19;
the end of the horizontal movable rod 13 is provided with a protruding plate 131, the protruding plate 131 extends into the vertical groove rod 15, and the protruding plate 131 is provided with a guide sleeve 132 corresponding to the vertical guide rod 16 and a screw nut 133 corresponding to the vertical screw 17.
The working principle of the technical scheme is as follows: an operator starts the driving motor 18 through the controller, the driving motor 18 rotates and drives the vertical screw rod 17 to rotate, the vertical screw rod 17 drives the screw nut 133 to move up and down, the protruding plate 131 is driven to move up and down in the vertical groove rod 15 along the vertical screw rod 17, the vertical guide rod 16 provides a guiding effect for the protruding plate 131, the horizontal movable rod 13 is driven to move up and down in two vertical driving mechanisms, the gantry frame 10 can be adjusted in height, and the height adjustment of the first spraying module is facilitated.
The beneficial effects of the above technical scheme are that: through the design of the structure, the embodiment provides a specific structure of the vertical driving mechanism, and the structure is simple; the vertical driving mechanism enables the gantry frame 10 to be adjustable in height, which facilitates the adjustment of the height of the first spraying module 30.
In one embodiment, the first spray module 30 includes a multi-axis robot 31 and a spray gun 32, the spray gun 32 being disposed at a free end of the multi-axis robot 31;
the spraying connecting plate 9 is in an arc shape which is bent upwards, and the lower surface of the spraying connecting plate 9 is provided with a mounting rack connected with the fixed end of the multi-axis mechanical arm 31.
The working principle of the technical scheme is as follows: the first spraying module 30 comprises a multi-axis mechanical arm 31 and a spray gun 32, the multi-axis mechanical arm 31 is a six-axis mechanical arm, and the six-axis mechanical arm is flexible in movement and suitable for spraying of the whole automobile; the multi-axis mechanical arm 31 is installed on the spraying connecting plate 9 through a mounting frame, the spraying connecting plate 9 is arranged in an upward-bent arc shape, so that the multi-axis mechanical arms 31 are just positioned above the whole automobile, and the distance from the whole automobile is approximately the same.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, provide the concrete structure of first spraying module in this embodiment, make things convenient for operating personnel to install and use first spraying module.
In one embodiment, the mounting bracket includes a first rod 91 connected to the spraying connection plate 9, and a second rod 92 connected to the first rod 91, the fixed end of the multi-axis robot 31 is provided with a first mounting hole 33 corresponding to the second rod 92, the second rod 92 is inserted into the first mounting hole 33, the fixed end is provided with a threaded through hole on an outer surface thereof, the second rod 92 is provided with a second mounting hole corresponding to the threaded through hole, the fixed end is connected to the second rod through a mounting screw 34, and the mounting screw 34 is threaded to the threaded through hole and extends into the second mounting hole.
The working principle of the technical scheme is as follows: the fixed end of multiaxis mechanical axis is provided with first mounting hole 33, aligns the second body of rod 92 of mounting bracket with the fixed end when installing the multiaxis arm for second body of rod 92 pegs graft in first mounting hole 33, then in precessing the screw through-hole with installation screw 34, and make installation screw 34 extend to in the second mounting hole, firmly install multiaxis arm 31 on the mounting bracket like this.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, this embodiment provides the structure of mounting bracket and the mounting structure of multiaxis arm, and the multiaxis arm is installed in the convenient operation.
In one embodiment, the second rod 92 is square, the number of the second mounting holes is four, and the number of the threaded through holes and the number of the mounting screws 34 are four, and the number of the second mounting holes is four, and the number of the threaded through holes is four, and the number of the mounting screws is four.
The working principle of the technical scheme is as follows: the second body of rod 92 sets up squarely, and when installing the stiff end of multiaxis arm on the second body of rod like this, the rotation of circumference can not take place for second body of rod 92 grafting in first mounting hole 33, and operating personnel installs four installation screw rods 34 in screw thread through-hole and second mounting hole again can.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, operating personnel can avoid taking place circumferential direction with the mounting bracket when the installation multiaxis arm.
In one embodiment, the free end of the multi-axis robot arm 31 is provided with a U-shaped jaw 35, and the U-shaped jaw 35 is provided with an adjusting mechanism for clamping the spray gun 32.
The working principle of the technical scheme is as follows: the free end of the multi-axis mechanical arm 31 is provided with a U-shaped clamping jaw 35, and an adjusting mechanism is arranged in the U-shaped clamping jaw 35 and used for installing the spray gun 32.
The beneficial effects of the above technical scheme are that: by the above-described structural design, the upper lance 32 of the multi-axis robot 31 is provided with an adjusting mechanism in the present embodiment, and is suitable for mounting different lances 32.
In one embodiment, the adjusting mechanism includes a U-shaped clamping piece 36 disposed in the U-shaped clamping jaw 35 and an adjusting screw 37 disposed at an end of the U-shaped clamping jaw 35, an adjusting screw hole is disposed at the end of the U-shaped clamping jaw 35, one end of the adjusting screw 37 passes through the adjusting screw hole and extends to abut against the U-shaped clamping piece 36, and an inner protrusion 38 is disposed at an end of the U-shaped clamping piece 36.
The working principle of the technical scheme is as follows: the adjusting screw rod 37 is rotated outwards by an operator, the U-shaped clamping piece 3 is opened outwards, so that the spray gun can be installed between the U-shaped clamping pieces 36 by the operator, then the adjusting screw rod 37 is rotated inwards, one end of the adjusting screw rod 37 abuts against the U-shaped clamping piece 36, the U-shaped clamping piece 36 is contracted inwards to hold the spray gun 32, an inner protruding portion 38 is arranged at the end portion of the U-shaped clamping piece 36, and the inner protruding portion 38 plays a role in supporting the spray gun 32.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, provide adjustment mechanism's concrete structure in this embodiment, this simple structure makes things convenient for the operator to install the spray gun 32 of equidimension not fast, is suitable for multiple spraying demand.
In one embodiment, the four corners of the base 11 are provided with a support, and the support is detachably provided with a second spraying module connected with the controller.
The working principle of the technical scheme is as follows: the utility model discloses well longmen frame 10 sets up the middle part at base 11, just in time make a plurality of first spraying module 30 on the longmen frame 10 be located the top of the whole car of car, first spraying module 30 is to carrying out the spraying to the whole car of car like this, at the four corners department erection support of base 11, detachably installs second spraying module on the support, second spraying module can carry out the spraying to four diagonal departments of the whole car of car, and second spraying module is the same with the structure of first spraying module, also make things convenient for the unified installation of enterprise to use like this.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, set the second spraying module in this embodiment, can carry out the spraying to four diagonal departments of whole car 21, with the cooperation work of first spraying module 30, improve spraying efficiency.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application suitable for this invention, and further modifications may be readily made by those skilled in the art, and the invention is therefore not limited to the specific details shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (8)
1. A painting robot, comprising:
the device comprises a gantry frame (10), a moving platform (20) and a plurality of first spraying modules (30);
the gantry frame (10) is fixed on a base (11), a guide rail (12) is arranged on the base (11), the moving platform (20) is used for bearing an automobile whole vehicle (21) and is arranged on the base (11) through the guide rail (12), the moving platform (20) can translate along the guide rail on the base (11), the gantry frame (10) comprises two vertical driving mechanisms, a horizontal movable rod (13) arranged on the two vertical driving mechanisms and a spraying connecting plate (9) arranged on the horizontal movable rod (13);
the first spraying module (30) is detachably connected to the spraying connecting plate (9), and the vertical driving mechanism and the first spraying module (30) are electrically connected with the controller.
2. The painting robot according to claim 1, characterized in that the vertical driving mechanism comprises a vertical driving mechanism base (14), a vertical groove rod (15) vertically arranged on the vertical driving mechanism base (14), two vertical guide rods (16) and a vertical screw rod (17) arranged in the vertical groove rod (15), a driving motor (18) electrically connected with the controller is connected to the lower end of the vertical screw rod (17), a baffle (19) is arranged at the upper end of the vertical groove rod (15), the vertical guide rods (16) are fixedly connected with the baffle (19), and the vertical screw rod (17) is rotatably connected with the baffle (19);
the end part of the horizontal movable rod (13) is provided with a protruding plate (131), the protruding plate (131) extends into the vertical groove rod (15), and a guide sleeve (132) corresponding to the vertical guide rod (16) and a screw nut (133) corresponding to the vertical screw rod (17) are arranged on the protruding plate (131).
3. A painting robot according to claim 1, characterized in that the first painting module (30) comprises a multi-axis robot arm (31) and a spray gun (32), the spray gun (32) being arranged at a free end of the multi-axis robot arm (31);
the spraying connecting plate (9) is in an arc shape which is bent upwards, and a mounting frame connected with the fixed end of the multi-axis mechanical arm (31) is arranged on the lower surface of the spraying connecting plate (9).
4. The painting robot according to claim 3, wherein the mounting bracket comprises a first rod (91) connected to the painting connection plate (9) and a second rod (92) connected to the first rod (91), a first mounting hole (33) corresponding to the second rod (92) is formed in a fixed end of the multi-axis robot arm (31), the second rod (92) is inserted into the first mounting hole (33), a threaded through hole is formed in an outer surface of the fixed end, a second mounting hole corresponding to the threaded through hole is formed in the second rod (92), the fixed end is connected to the second rod through a mounting screw (34), and the mounting screw (34) is in threaded connection with the threaded through hole and extends into the second mounting hole.
5. A painting robot according to claim 4, characterized in that said second rod (92) is square, said second mounting holes are provided in four, respectively on the square surface of said second rod (92), said threaded through holes, said mounting screws (34) are provided in four.
6. A painting robot according to claim 3, characterized in that the free end of the multi-axis robot arm (31) is provided with a U-shaped jaw (35), and the U-shaped jaw (35) is provided with an adjusting mechanism for clamping the spray gun (32).
7. The painting robot according to claim 6, characterized in that the adjusting mechanism comprises a U-shaped clamping piece (36) arranged in the U-shaped clamping jaw (35) and an adjusting screw (37) arranged at the end of the U-shaped clamping jaw (35), an adjusting screw hole is arranged at the end of the U-shaped clamping jaw (35), one end of the adjusting screw (37) passes through the adjusting screw hole and extends to abut against the U-shaped clamping piece (36), and an inner protrusion (38) is arranged at the end of the U-shaped clamping piece (36).
8. The painting robot of claim 1, wherein a support is disposed at each of four corners of the base, and a second painting module connected to the controller is detachably disposed on the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921956679.6U CN211247084U (en) | 2019-11-13 | 2019-11-13 | Spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921956679.6U CN211247084U (en) | 2019-11-13 | 2019-11-13 | Spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211247084U true CN211247084U (en) | 2020-08-14 |
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ID=71964928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921956679.6U Active CN211247084U (en) | 2019-11-13 | 2019-11-13 | Spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211247084U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407516A (en) * | 2022-01-24 | 2022-04-29 | 江苏长江窗饰集团有限公司 | Spraying production line for patterns of louver window |
-
2019
- 2019-11-13 CN CN201921956679.6U patent/CN211247084U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407516A (en) * | 2022-01-24 | 2022-04-29 | 江苏长江窗饰集团有限公司 | Spraying production line for patterns of louver window |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
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| CP03 | Change of name, title or address |
Address after: 224007 room 602-2, building 4, No. 5, South hope Avenue, Yancheng Economic and Technological Development Zone, Jiangsu Province Patentee after: Jiangsu yingkai coating equipment Co.,Ltd. Address before: 224000 room 602-2, building 4, No. 5, South hope Avenue, Yancheng Economic and Technological Development Zone, Jiangsu Province Patentee before: Yancheng yingkai coating equipment Co.,Ltd. |
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| CP03 | Change of name, title or address |