CN217774543U

CN217774543U - Equipment for automatically spraying large-sized super-long workpiece by spraying robot

Info

Publication number: CN217774543U
Application number: CN202221984997.5U
Authority: CN
Inventors: 刘君辉
Original assignee: Zhihua Robot Technology Jiangyin Co ltd
Current assignee: Zhihua Robot Technology Jiangyin Co ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2022-11-11
Anticipated expiration: 2032-07-29

Abstract

The utility model discloses a spraying robot carries out equipment of automatic spraying to large-scale overlength work piece, including the spraying station, the position of both sides is fixed a position respectively on the spraying station and is installed first heavy load RGV ground rail and second heavy load RGV ground rail, the work piece support is installed to the position location at spraying station upper end middle part, the activity is provided with first heavy load RGV on the first heavy load RGV ground rail, the activity is provided with second heavy load RGV on the second heavy load RGV ground rail, first two portal type robots are installed to bolt location on the first heavy load RGV. Spraying robot carry out the equipment of automatic spraying to large-scale overlength work piece, can realize the full coverage spraying to large-scale workpiece surface through the cooperation of X, Y, the three direction of Z, the project global design degree of difficulty is little, RGV, diaxon axle planer-type robot application scenario are more, the standardization level is higher, the cost is far less than large-scale triaxial planer-type robot.

Description

Equipment for automatically spraying large-sized super-long workpiece by spraying robot

Technical Field

The utility model relates to an automatic spraying field of robot, in particular to spraying robot carries out the equipment of automatic spraying to large-scale overlength work piece.

Background

The equipment that large-scale overlength work piece carries out automatic spraying is the support equipment that carries out large-scale overlength work piece surface automatic spraying, mainly carries out automatic spraying to large-scale overlength work piece such as wind-powered electricity generation blade (length can reach 80 m), because the accessibility problem of spraying robot at present, to the spraying of large-scale overlength work piece such as wind-powered electricity generation blade, the spraying robot need just can realize the full coverage spraying to wind-powered electricity generation blade with the help of outside axle (triaxial planer-type robot) usually, process flow: 1. manually feeding by means of large hoisting equipment and an auxiliary blade bracket; 2. after the feeding is finished, the spraying robot accurately positions the workpiece by means of 3D vision; 3. after the positioning is finished, one or more spraying robots start automatic spraying, in the spraying process, workpieces are kept still, the spraying robots need to move on a large scale by means of external shafts (three-axis gantry robots) to realize full-coverage spraying on the surfaces of the wind power blades except the accessible range of the spraying robots, the three-axis gantry robots can be designed in a whole set or in multiple sections, one or more spraying robots can be adopted, and the manufacturing process requirements of people on equipment for automatically spraying large-sized overlong workpieces are higher and higher along with the continuous development of science and technology.

The existing equipment for spraying large-scale overlong workpieces has certain defects in use, and the large-scale three-axis gantry robot has high technical difficulty, including design difficulty and field installation and debugging difficulty; the cost of a large three-axis gantry robot is too high, the span is large, the stroke is large, and the load is large, so that the cost of a set of three-axis gantry robot reaches the level of ten million; the later-stage equipment maintenance difficulty is high, certain adverse effect is brought to the use process of people, and therefore the equipment for automatically spraying the large-scale overlong workpiece by the spraying robot is provided.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a spraying robot carries out the equipment of automatic spraying to large-scale overlength work piece, can realize the full coverage spraying to large-scale workpiece surface through the cooperation of X, Y, the three direction of Z, the project global design degree of difficulty is little, RGV, diaxon axle planer-type robot application scenario are more, and the standardization level is higher, and the cost is far less than large-scale triaxial planer-type robot, can effectively solve the problem in the background art.

(II) technical scheme

In order to achieve the above purpose, the utility model adopts the technical proposal that: the equipment that spraying robot carries out automatic spraying to large-scale overlength work piece includes the spraying station, the position of both sides is fixed a position respectively and is installed first heavy-duty RGV ground rail and second heavy-duty RGV ground rail on the spraying station, the work piece support is installed to the position location at spraying station upper end middle part, the activity is provided with first heavy-duty RGV on the first heavy-duty RGV ground rail, the activity is provided with second heavy-duty RGV on the second heavy-duty RGV ground rail, first two-axis gantry type robot is installed in bolt location on the first heavy-duty RGV, bolt location installs second diaxon gantry type robot on the second heavy-duty RGV, diaxon gantry type robot Y axle is installed in the top position bolt location of first two-axis gantry type robot and second diaxon gantry type robot, the work piece support upper end is placed and is waited to spray the work piece.

Preferably, the Y-axis of the two-axis gantry robot is movably provided with a first two-axis gantry robot Z axis and a second two-axis gantry robot Z axis, the bottom of the first two-axis gantry robot Z axis is movably provided with a first spraying robot, the bottom of the first spraying robot is movably provided with a first robot spraying component, the bottom of the second two-axis gantry robot Z axis is movably provided with a second spraying robot, the bottom of the second spraying robot is movably provided with a second robot spraying component, a first rotary movable component is movably connected between the first two-axis gantry robot Z axis and the first spraying robot, and a second rotary movable component is movably connected between the second two-axis gantry robot Z axis and the second spraying robot.

Preferably, the first heavy-load RGV ground rail, the first two-axis gantry robot, the first heavy-load RGV, the second heavy-load RGV ground rail, the second two-axis gantry robot and the second heavy-load RGV are arranged oppositely, the bottom of the first two-axis gantry robot moves on the first heavy-load RGV ground rail through the first heavy-load RGV, and the bottom of the second two-axis gantry robot moves on the second heavy-load RGV ground rail through the second heavy-load RGV.

Preferably, the first two-axis gantry robot, the first heavy-load RGV and the two-axis gantry robot Y axis are positioned and installed through bolts, the second two-axis gantry robot, the second heavy-load RGV and the two-axis gantry robot Y axis are positioned and installed through bolts, and the workpiece to be sprayed is clamped and placed on the workpiece support.

Preferably, the second two-axis gantry robot Z axis and the first two-axis gantry robot Z axis move in a translational manner on the two-axis gantry robot Y axis.

Preferably, the first spraying robot rotates and moves at the bottom position of the Z axis of the first two-axis gantry robot through the first rotating and moving assembly, the first spraying robot and the first spraying assembly of the robot rotate and move, the second spraying robot rotates and moves at the bottom position of the Z axis of the second two-axis gantry robot through the second rotating and moving assembly, and the second spraying robot and the second spraying assembly of the robot rotate and move.

(III) advantageous effects

Compared with the prior art, the utility model provides a spraying robot carries out the equipment of automatic spraying to large-scale overlength work piece, possesses following beneficial effect: this spraying robot carries out the equipment of automatic spraying to large-scale overlength work piece, the project global design degree of difficulty is little, RGV, diaxon axle planer-type robot application scenario is more, the standardization level is higher, the cost is far less than large-scale triaxial planer-type robot, can compress the project cost by a wide margin, including the design cost, the material cost, equipment fixing and debugging cost and later stage equipment maintenance cost, the project global cost is by the steerable within a million level, and the holistic occupation space of equipment slightly is less than large-scale triaxial planer-type robot scheme, the whole equipment structure that large-scale overlength work piece carries out the automatic spraying is simple, and convenient for operation, the effect of use is better for traditional mode.

Drawings

Fig. 1 is the overall structure schematic diagram of the device for automatically spraying large-scale overlong workpieces by the spraying robot of the utility model.

Fig. 2 is the structure schematic diagram of two groups of spraying robots in the device for automatically spraying large-scale overlong workpieces by the spraying robot.

In the figure: 1. a spraying station; 2. spraying a workpiece; 3. a first heavy-duty RGV ground rail; 4. a first two-axis gantry robot; 5. a first reloaded RGV; 6. a workpiece holder; 7. a second heavy-duty RGV ground rail; 8. a second reload RGV; 9. a second two-axis gantry robot; 10. a second robotic spray assembly; 11. a second spraying robot; 12. a two-axis gantry robot Y-axis; 13. a second two-axis gantry robot Z axis; 14. a first two-axis gantry robot Z axis; 15. a first spray robot; 16. a first robotic spray assembly; 17. a first rotationally movable component; 18. a second rotationally movable component.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and detailed description, but those skilled in the art will understand that the following described embodiments are some, not all, of the embodiments of the present invention, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention. The examples, in which specific conditions are not specified, were carried out according to conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products available commercially.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 and 2, the device for automatically spraying a large-sized super-long workpiece by a spraying robot comprises a spraying station 1, a first heavy-load RGV ground rail 3 and a second heavy-load RGV ground rail 7 are respectively positioned and installed at the positions of two sides on the spraying station 1, a workpiece support 6 is positioned and installed at the position of the middle part of the upper end of the spraying station 1, a first heavy-load RGV5 is movably arranged on the first heavy-load RGV ground rail 3, a second heavy-load RGV8 is movably arranged on the second heavy-load RGV ground rail 7, a first two-axis gantry robot 4 is positioned and installed on the first heavy-load RGV5 by a bolt, a second two-axis gantry robot 9 is positioned and installed on the second heavy-load RGV8 by a bolt, a two-axis gantry robot Y axis 12 is positioned and installed at the top positions of the first two-axis gantry robot 4 and the second two-axis gantry robot 9 by a bolt, a workpiece 2 to be sprayed is placed at the upper end of the workpiece support 6, the method is characterized in that an X axis of an original three-axis gantry robot is replaced by two heavy-load RGVs, the movement of the RGVs in the ground track is used for replacing the movement of the three-axis gantry robot in the X axis direction, namely, a workpiece is kept still in the spraying process, the two spraying robots realize the full-coverage spraying on the blade surface through the large-range movement of the two-axis gantry robot dragged by the heavy-load RGVs and the RGVs, the accessibility of the spraying robots in the Y axis direction is ensured by the Y axis of the two-axis gantry robot, the accessibility of the spraying robots in the Z axis direction is ensured by the Z axis of the two-axis gantry robot, the accessibility of the spraying robots in the X axis direction is realized by the movement of the two heavy-load RGVs on the ground track, and the full-coverage spraying on the wind power blade surface can be realized through the matching of the X direction, the Y direction and the Z direction.

Further, a first heavy-load RGV ground rail 3, a first two-axis gantry type robot 4, a first heavy-load RGV5 and a second heavy-load RGV ground rail 7, a second two-axis gantry type robot 9 and a second heavy-load RGV8 are arranged oppositely, the bottom of the first two-axis gantry type robot 4 moves on the first heavy-load RGV ground rail 3 through the first heavy-load RGV5, the bottom of the second two-axis gantry type robot 9 moves on the second heavy-load RGV ground rail 7 through the second heavy-load RGV8, the first two-axis gantry type robot 4, the first RGV5 and the two-axis gantry type robot Y shaft 12 are positioned and installed through bolts, the second two-axis gantry type robot 9, the second heavy-load RGV8 and the two-axis gantry type robot Y shaft 12 are positioned and installed through bolts, and the workpiece 2 to be sprayed is clamped and placed on the workpiece support 6.

Further, a first two-axis gantry type robot Z-axis 14 and a second two-axis gantry type robot Z-axis 13 are movably arranged on a two-axis gantry type robot Y-axis 12, a first spraying robot 15 is movably arranged at the bottom of the first two-axis gantry type robot Z-axis 14, a first robot spraying component 16 is movably arranged at the bottom of the first spraying robot 15, a second spraying robot 11 is movably arranged at the bottom of the second two-axis gantry type robot Z-axis 13, a second robot spraying component 10 is movably arranged at the bottom of the second spraying robot 11, a first rotating movable component 17 is movably connected between the first two-axis gantry type robot Z-axis 14 and the first spraying robot 15, a second rotating movable component 18 is movably connected between the second gantry type robot Z-axis 13 and the second spraying robot 11, a second rotating movable component 18 is movably connected between the second two-axis gantry type robot Z-axis 13 and the first two-axis gantry type robot Z-axis 14 and the two-axis robot Y-axis 12, the first spraying robot Z-axis 14 and the second spraying robot move on the two-axis gantry type robot Y-axis 12 in a translational motion, the first two-axis gantry type robot movable component 15 is movably connected between the first two-axis gantry type robot Y-axis 13 and the second spraying robot, the second robot Z-axis gantry type robot movable component 14 and the second spraying robot 11, and the second gantry type robot rotate movable component 16, and the second gantry type robot rotate movable component 14, and the second gantry type robot rotate spraying robot are connected between the first two-axis gantry type robot, and the second gantry type robot 15, and the second gantry type robot.

The working principle is as follows: the utility model comprises a spraying station 1, a workpiece 2 to be sprayed, a first heavy-load RGV ground rail 3, a first two-axis gantry robot 4, a first heavy-load RGV5, a workpiece support 6, a second heavy-load RGV ground rail 7, a second heavy-load RGV8, a second two-axis gantry robot 9, a second robot spraying component 10, a second spraying robot 11, a two-axis gantry robot Y-axis 12, a second two-axis gantry robot Z-axis 13, a first two-axis gantry robot Z-axis 14, a first spraying robot 15, a first robot spraying component 16, a first rotary movable component 17 and a second rotary movable component 18, wherein in the spraying process of the robot, the X-axis of the original three-axis gantry robot is replaced by two heavy-load RGVs, the movement of the RGV in the ground track replaces the movement of the three-axis gantry robot in the X-axis direction, namely, the workpiece is kept still in the spraying process, the two spraying robots realize full-coverage spraying on the blade surface through the large-scale movement of a two-axis gantry robot dragged by heavy-load RGVs and RGVs, the spraying robots guarantee accessibility in the Y-axis direction by the Y-axis of the two-axis gantry robot, guarantee accessibility in the Z-axis direction by the Z-axis of the two-axis gantry robot, realize accessibility of the spraying robots in the X-axis direction by the movement of the two heavy-load RGVs on a ground track, and realize full-coverage spraying on the wind power blade surface through the matching of the X direction, the Y direction and the Z direction, the whole design difficulty of a project is small, the RGVs and the two-axis gantry robots are applied more, the standardization degree is higher, the cost is far lower than that of a large three-axis gantry robot, the project cost can be greatly reduced, and the project cost comprises the design cost, the material cost, the equipment installation and debugging cost and the later-stage equipment maintenance cost, the whole cost of the project can be controlled within million by ten million, and the whole occupied space of the equipment is slightly smaller than that of a large three-axis gantry robot scheme.

It is noted that, herein, relational terms such as first and second (a, b, etc.) and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims

1. Spraying robot carries out automatic spraying's equipment to large-scale overlength work piece, including spraying station (1), its characterized in that: the utility model discloses a spraying station, including spraying station (1), spray station, work piece support, bolt location, first heavily loaded RGV ground rail (3) and second heavily loaded RGV ground rail (7), the position location of both sides is installed respectively on spraying station (1) upper end middle part installs work piece support (6), the activity is provided with first heavily loaded RGV (5) on first heavily loaded RGV ground rail (3), the activity is provided with second heavily loaded RGV (8) on second heavily loaded RGV ground rail (7), first two-axis planer type robot (4) are installed in bolt location on first heavily loaded RGV (5), bolt location is installed second two-axis planer type robot (9) on second heavily loaded RGV (8), two-axis planer type robot Y axle (12) are installed with the top position bolt location of second two-axis planer type robot (9) in first two-axis planer type robot (4), work piece support (6) upper end is placed and is waited to spray work piece (2).

2. The automated painting equipment for large-sized super-long workpieces by the painting robot according to claim 1, characterized in that: the movable type robot spraying system is characterized in that a first two-axis gantry type robot Z shaft (14) and a second two-axis gantry type robot Z shaft (13) are movably arranged on a Y shaft (12) of the two-axis gantry type robot, a first spraying robot (15) is movably arranged at the bottom of the first two-axis gantry type robot Z shaft (14), a first robot spraying component (16) is movably arranged at the bottom of the first spraying robot (15), a second spraying robot (11) is movably arranged at the bottom of the second two-axis gantry type robot Z shaft (13), a second robot spraying component (10) is movably arranged at the bottom of the second spraying robot (11), a first rotary movable component (17) is movably connected between the first two-axis gantry type robot Z shaft (14) and the first spraying robot (15), and a second rotary movable component (18) is movably connected between the second two-axis gantry type robot Z shaft (13) and the second spraying robot (11).

3. The automated painting equipment for large-sized super-long workpieces by the painting robot according to claim 1, characterized in that: the first heavy-load RGV ground rail (3), the first two-axis gantry type robot (4), the first heavy-load RGV (5), the second heavy-load RGV ground rail (7), the second two-axis gantry type robot (9) and the second heavy-load RGV (8) are arranged oppositely, the bottom of the first two-axis gantry type robot (4) moves on the first heavy-load RGV ground rail (3) through the first heavy-load RGV (5), and the bottom of the second two-axis gantry type robot (9) moves on the second heavy-load RGV ground rail (7) through the second heavy-load RGV (8).

4. The automated painting equipment of the painting robot for large-scale lengthy work piece according to claim 1, characterized in that: the spraying device is characterized in that the first two-axis gantry type robot (4) is installed with the first heavy-load RGV (5) and the two-axis gantry type robot Y axis (12) in a positioning mode through bolts, the second two-axis gantry type robot (9) is installed with the second heavy-load RGV (8) and the two-axis gantry type robot Y axis (12) in a positioning mode through bolts, and the workpiece to be sprayed (2) is clamped and placed on the workpiece support (6).

5. The automated painting equipment of the painting robot for large-scale lengthy work piece according to claim 2, characterized in that: and the second two-axis gantry robot Z axis (13) and the first two-axis gantry robot Z axis (14) move in a translation manner on the two-axis gantry robot Y axis (12).

6. The automated painting equipment of the painting robot for large-scale lengthy work piece according to claim 2, characterized in that: first spraying robot (15) are through first rotatory movable subassembly (17) in the bottom position rotation activity of first two axis planer-type robot Z axle (14), rotation activity between first spraying robot (15) and first robot spraying subassembly (16), second spraying robot (11) are through second rotatory movable subassembly (18) in the bottom position rotation activity of second two axis planer-type robot Z axle (13), rotation activity between second spraying robot (11) and second robot spraying subassembly (10).