CN219150507U

CN219150507U - Workpiece spraying equipment

Info

Publication number: CN219150507U
Application number: CN202223608121.3U
Authority: CN
Inventors: 陈明智; 陈泽; 邓伯春; 刘玮; 吴浪
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-06-09
Anticipated expiration: 2032-12-29

Abstract

The application discloses work piece spraying equipment relates to spraying equipment field. The workpiece spraying equipment comprises a supporting table and a spraying robot; the support table is used for supporting a workpiece to be sprayed; the spraying robot comprises a movable base, a mounting frame, a spraying manipulator and a feeding module, wherein the movable base is arranged on the foundation and is positioned on one side of the supporting table, the mounting frame and the feeding module are both arranged on the movable base, the spraying manipulator is arranged on the mounting frame, the tail end of the spraying manipulator is provided with a spraying gun, and the spraying gun is connected with the feeding module; the movable base is used for driving the mounting frame to drive the spraying manipulator to move along the length direction of the workpiece, the feeding module is used for providing coating for spraying of the spraying gun, and the spraying manipulator drives the spraying gun to move around the circumference of the workpiece for spraying operation. Work piece spraying equipment of this application discloses provides work efficiency and spraying quality.

Description

Workpiece spraying equipment

Technical Field

The present application relates to the field of spray equipment, and in particular, to workpiece spray equipment.

Background

The application of lubricating grease on the suspension arm of the automobile crane is one of key procedures in the debugging process, and the stability of the extension and retraction of the suspension arm of the whole crane during the lifting operation is directly affected.

At present, the industry all adopts the climbing elevator to assist, and manual lubrication grease's mode is paintd to the manual work, however this kind of mode fat liquoring quality (thickness, homogeneity) can't guarantee, intensity of labour is big, the operating efficiency is low to there is the security risk.

Disclosure of Invention

An object of the present application is to provide a workpiece spraying device for solving the deficiencies existing in the prior art.

To achieve the above object, the present application provides a workpiece spraying apparatus comprising:

the support table is arranged on the foundation and used for supporting a workpiece to be sprayed; and

the spraying robot comprises a movable base, a mounting frame, a spraying manipulator and a feeding module, wherein the movable base is arranged on the foundation and is positioned on one side of the supporting table, the mounting frame and the feeding module are both arranged on the movable base, the spraying manipulator is arranged on the mounting frame, a spraying gun is arranged at the tail end of the spraying manipulator, and the spraying gun is connected with the feeding module;

the movable base is used for driving the mounting frame to drive the spraying manipulator to move along the length direction of the workpiece, the feeding module is used for providing paint for spraying for the spraying gun, and the spraying manipulator drives the spraying gun to move around the circumference of the workpiece for spraying operation.

As a further improvement of the above technical scheme:

in one possible embodiment, the end of the spraying robot is further provided with a measuring sensor for detecting the distance of the nozzle of the spraying gun from the surface of the workpiece.

In one possible embodiment, the mounting frame comprises a vertical frame, a lifting driving mechanism and a transverse frame;

the stand is arranged on the movable base;

the lifting driving mechanism is arranged on the vertical frame;

the transverse frame is arranged at the output end of the lifting driving mechanism, one end of the transverse frame extends to one side of the supporting table, and the spraying manipulator is arranged on the transverse frame;

the lifting driving mechanism is used for driving the transverse frame to drive the spraying manipulator to lift along the vertical direction.

In one possible embodiment, two spraying manipulators are provided, the two spraying manipulators are arranged opposite to each other, and a spraying area for accommodating the workpiece is formed between the two spraying manipulators.

In one possible implementation, the mobile base is provided with a travelling wheel and a travelling driving mechanism, and the travelling driving mechanism is used for driving the travelling wheel to travel on the foundation.

In one possible embodiment, a track for the travelling wheel to travel is laid on the foundation, and the extending direction of the track is consistent with the length direction of the workpiece.

In one possible embodiment, the feed module comprises a storage container, a feed pump and a control valve block;

the storage container is arranged on the movable base and is used for storing paint for spraying;

the inlet end of the feed pump is connected with the storage container, and the outlet end of the feed pump is sequentially connected with the control valve group and the gun valve of the spray gun through a high-pressure rubber tube.

In one possible embodiment, the control valve group includes an on-off valve, an air pressure regulating valve, and a pressure stabilizing valve.

In one possible implementation mode, the feeding module further comprises a heating rubber pipe and a heating controller, wherein the control valve group is connected with the gun valve through the heating rubber pipe, and the heating controller is electrically connected with the heating rubber pipe.

In one possible implementation manner, the workpiece spraying device further comprises a robot control cabinet arranged on the mobile base, wherein a controller and a wireless receiving module electrically connected with the controller are arranged in the robot control cabinet, and the wireless receiving module is used for receiving or sending out wireless signals.

Compared with the prior art, the beneficial effect of this application:

the application provides a work piece spraying equipment is when carrying out the spraying operation of work piece, places the work piece on the brace table earlier, then drives through the spraying manipulator the spray gun is around the circumference of work piece moves, and by the feed module to the coating that the spray gun provided the spraying usefulness, in order to carry out the spraying operation, the rethread removes the base cooperation, the drive the mounting bracket drives the spraying manipulator and follows the length direction of work piece removes, so that the surface homoenergetic of whole work piece obtains the spraying. From this, work piece spraying equipment that this application provided realizes the mechanical unmanned operation to the work piece spraying under the coordination cooperation of removal base, feed module and spraying manipulator and spray gun, has greatly reduced artifical intensity of labour, improves the efficiency of spraying operation, safe and reliable more. In addition, through the action of reasonable coordination control mobile base, feed module and spraying manipulator and spray gun, the thickness and the homogeneity of spraying are better to the quality of guarantee spraying.

Additional features and advantages of the present application will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate only some embodiments of the application and are therefore not to be considered limiting of its scope, for the purpose of providing additional related drawings from which the utility model may be practiced by those of ordinary skill in the art without the exercise of inventive faculty. In the drawings:

fig. 1 shows a schematic perspective view of a workpiece spraying apparatus according to an embodiment of the present application;

fig. 2 shows a schematic structural diagram of a feed module in a workpiece spraying apparatus according to an embodiment of the present application.

Reference numerals illustrate:

100. a support table;

200. a spraying robot; 210. a movable base; 220. a mounting frame; 221. a vertical frame; 222. a cross frame; 230. a spraying manipulator; 240. a feeding module; 241. a storage container; 242. a feed pump; 243. a control valve group; 2430. a switch valve; 2431. an air pressure regulating valve; 2432. a pressure stabilizing valve; 244. a high pressure hose; 245. heating the rubber tube; 246. a heating controller; 250. a spray gun; 251. a gun valve; 252. a nozzle; 260. a robot control cabinet;

300. a track.

Detailed Description

The following describes in detail the implementation of the embodiments of the present application with reference to the accompanying drawings. It should be understood that the detailed description is presented herein by way of illustration and explanation of the present application examples, and is not intended to limit the present application examples.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

In the embodiments of the present application, it should 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", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The present application will be described in detail below with reference to the attached drawings in conjunction with exemplary embodiments.

Examples

Referring to fig. 1 and 2, the present embodiment provides a workpiece spraying apparatus, which can perform a spraying operation on a surface of a workpiece, wherein the sprayed paint is a lubricating grease, a glue or a paint spraying operation. The sprayed workpiece is a tubular workpiece.

In this embodiment, the workpiece is selected as a boom, and the workpiece spraying apparatus is used to spray lubricating grease to the surface of the boom. The method comprises the following steps:

the workpiece spraying apparatus includes a support table 100 and a spraying robot 200. Wherein, the supporting table 100 is arranged on the foundation and is used for supporting the suspension arm to be smeared with lubricating grease; the painting robot 200 is disposed at one side of the support table 100, and the painting robot 200 is movable on the foundation. Thus, when the greasing operation is performed, the painting robot 200 can move along the length direction of the boom, and the painting range is wider, so that the lubricating grease can be painted on the whole boom. In addition, as the spraying robot 200 can move on the foundation and the coating range is large, the workpiece spraying equipment can coat the suspension arms with different lengths, and the practicability and the universality are good.

In this embodiment, the painting robot 200 includes a moving base 210, a mounting frame 220, a painting robot 230, and a supply module 240. The moving base 210 is disposed at the foundation and located at one side of the supporting table 100, and the moving base 210 can move on the foundation. The mounting frame 220 and the feeding module 240 are disposed on the moving base 210, and the mounting frame 220 and the feeding module 240 can move along with the moving base 210. The spraying manipulator 230 is arranged on the mounting frame 220, a spraying gun 250 is arranged at the tail end of the spraying manipulator 230, and the spraying gun 250 is connected with the feeding module 240.

Thus, during the greasing operation, the supply module 240 supplies the grease for spraying to the spraying gun 250, and the spraying robot 230 drives the spraying gun 250 to move around the circumference of the boom, and the nozzle 252 of the spraying gun 250 faces the surface of the boom. Further, the moving base 210 drives the mounting frame 220 to drive the spraying manipulator 230 to move along the length direction of the boom, so as to perform spraying operation.

It should be noted that, when performing the greasing operation, the whole spraying robot 200 is moved to the working origin position, and then the spraying gun 250 is driven to close to the boom by the spraying manipulator 230, and the nozzle 252 of the spraying gun 250 is aligned to the spraying origin position of the boom, and then spraying is started, so that the whole spraying robot 200 performs spraying according to the track set by the program.

In some embodiments, the end of the spray robot 230 is also provided with a measurement sensor for detecting the distance of the nozzle 252 of the spray gun 250 from the boom surface. Through the control of the measuring sensor to the spraying distance, the thickness and uniformity of the lubricating grease sprayed by the suspension arm can be ensured to be better, and the quality of the lubricating grease sprayed is further ensured. In addition, by measuring the distance by the measuring sensor, the nozzle 252 of the spray gun 250 is prevented from colliding with the surface of the boom.

Optionally, the measurement sensor is a laser sensor.

Further, the mounting frame 220 includes a stand 221, a lift driving mechanism, and a cross frame 222. The stand 221 is disposed on the moving base 210; the lifting driving mechanism is arranged on the vertical frame 221; the cross frame 222 is disposed at an output end of the lifting driving mechanism, and one end of the cross frame 222 extends to one side of the support stand 100, and the spraying robot 230 is disposed on the cross frame 222.

The lifting driving mechanism is used for driving the transverse frame 222 to drive the spraying manipulator 230 to lift along the vertical direction, so that the spraying manipulator 230 is adapted to the booms with different sizes.

In some embodiments, the mounting frame 220 is further provided with a horizontal driving mechanism, and the horizontal driving mechanism is disposed on the lifting driving mechanism and connected to the transverse frame 222, and the horizontal driving mechanism is used for driving the transverse frame 222 to extend or retract along a horizontal direction so as to adapt to workpieces with different width sizes.

Alternatively, the lifting driving mechanism can be selected from an air cylinder, an oil cylinder, an electric push rod, a linear motor, a screw motor and the like. It is to be understood that the foregoing is illustrative only and is not to be construed as limiting the scope of the present application.

In this embodiment, two spraying robots 230 are provided, the two spraying robots 230 are disposed opposite to each other, and a spraying area for accommodating a boom is formed between the two spraying robots 230. When spraying, two spraying manipulators 230 are respectively located at two sides of the boom, one spraying gun 250 is arranged at the tail end of each spraying manipulator 230, and the feeding module 240 can simultaneously supply lubricating grease to the two spraying guns 250. It can be appreciated that the two spraying manipulators 230 and the spraying gun 250 are adopted to simultaneously spray the two sides of the boom, so that the efficiency of spraying the lubricating grease can be greatly improved.

Optionally, the spraying manipulator 230 has multiple degrees of freedom such as horizontal movement, vertical movement, rotation and the like, so that the flexibility is good, and the nozzle 252 of the spraying gun 250 can be driven to perform dead-angle-free spraying operation on the surface of the boom.

The moving base 210 is provided with a travelling wheel and a travelling driving mechanism, and the travelling driving mechanism is used for driving the travelling wheel to travel on the foundation. The walking driving mechanism comprises a motor and a transmission mechanism, for example, the motor transmits power to the walking wheels through gear transmission, so that the walking wheels are driven to rotate.

In this embodiment, a track 300 for walking wheels to walk is laid on the foundation, and the extending direction of the track 300 is consistent with the length direction of the boom.

The feed module 240 includes a storage vessel 241, a feed pump 242, and a control valve block 243. The storage container 241 is provided to the moving base 210, and the storage container 241 is used for storing lubricating grease. An inlet end of the feed pump 242 is connected with the storage container 241, and an outlet end of the feed pump 242 is sequentially connected with the control valve group 243 and the gun valve 251 of the spray gun 250 through the high-pressure rubber tube 244.

Further, considering that the two spray guns 250 are supplied with the lubricating grease, the control valve groups 243 are provided with two groups, the outlet ends of the feed pumps 242 are respectively connected with the corresponding control valve groups 243 through two high-pressure rubber pipes 244, and then each control valve group 243 is connected with the gun valve 251 of the corresponding spray gun 250.

The control valve group 243 includes an on-off valve 2430, an air pressure regulating valve 2431, and a pressure stabilizing valve 2432 provided on the high-pressure hose 244. Wherein, lubricating grease is pumped out from the storage container 241 through the feed pump 242, and reaches the air pressure regulating valve 2431 and the pressure stabilizing valve 2432 after passing through the high-pressure rubber pipe 244; the lubricating grease is pressure-regulated and stabilized and then sprayed from the nozzle 252 of the spray gun 250. Optionally, the nozzle 252 of the spray gun 250 is a helical nozzle 252.

In some embodiments, the fluidity of the lubricating grease is reduced in view of operation in low temperature environments. Accordingly, the supply module 240 further includes a heating hose 245 and a heating controller 246, the control valve group 243 is connected to the gun valve 251 through the heating hose 245, and the heating controller 246 is electrically connected to the heating hose 245. Thus, the temperature of the grease can be controlled by the heating controller 246 at a low temperature, ensuring that the grease can be smoothly ejected from the nozzle 252 of the spray gun 250.

Further, in this embodiment, the workpiece spraying apparatus further includes a robot control cabinet 260 disposed on the moving base 210, and a controller and a wireless receiving module electrically connected to the controller are disposed in the robot control cabinet 260, where the wireless receiving module is configured to receive or send out a wireless signal.

Therefore, an operator can send out a wireless signal through the intelligent remote controller or the terminal to control the work of the whole workpiece spraying equipment, so that remote control is realized, and the safety of operation is improved.

The embodiment also provides a method for applying the lubricating grease to the workpiece spraying equipment, which comprises the following steps:

s1: before the operation starts, the suspension arm is placed on the supporting table 100, and the spraying robot 200 automatically moves to the origin of suspension arm spraying;

s2: the spraying manipulator 230 is lowered to the starting point position outside the suspension arm through the intelligent remote controller, and the measurement data are measured through the laser sensor and stored in the control system; performing simulated spraying according to a pre-designed track;

s3: the spraying robot 200 sequentially passes through the spraying positions of each section of suspension arm, and automatically stores the position data information; controlling the spraying robot 200 to return to the boom oil spraying origin;

s4: and starting the spraying operation, and automatically spraying by the spraying manipulator 230 according to the previous simulation track, so that the whole boom oiling operation is completed.

Compared with the prior art, the workpiece spraying equipment provided by the embodiment has the following advantages:

1. the workpiece spraying equipment changes the current situation of manual painting of operators in the industry, and automatically walks to the designated position of each section of arm for automatic painting according to the characteristics of the product boom, so that the labor intensity of the operators is greatly reduced.

2. In the oiling operation process, workpiece spraying equipment is adopted for automatic smearing, the smearing thickness is uniform, the smearing thickness is ensured to be controlled to be between 0.1 and 0.2mm, and the oiling quality of the suspension arm is greatly improved; the amount of the lubricating grease can be controlled and regulated according to different boom products, and the oil output is automatically controlled by the feeding module 240 according to the required lubricating grease smearing areas of different booms.

3. The lifting driving mechanism and the horizontal driving mechanism can control the spraying manipulator 230 to automatically adjust to the corresponding positions, so that the coating effect is not affected when the section of the suspension arm changes; the spraying manipulator 230 has multiple degrees of freedom, and can realize multi-angle and multi-directional flexible spraying.

4. The workpiece spraying equipment is carried out indoors, is not influenced by climatic factors such as rainwater, ice and snow, high temperature and the like, and greatly improves the boom oiling efficiency.

5. The workpiece spraying equipment does not need to ascend the height any more when oiling, so that potential safety hazards of falling of operators from high positions are avoided.

The foregoing details of the optional implementation manner of the embodiment of the present application have been described in detail with reference to the accompanying drawings, but the embodiment of the present application is not limited to the specific details of the foregoing implementation manner, and various simple modifications may be made to the technical solution of the embodiment of the present application within the scope of the technical concept of the embodiment of the present application, and these simple modifications all belong to the protection scope of the embodiment of the present application.

In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described in detail in this application.

Moreover, any combination of the various embodiments of the present application may be made, so long as it does not deviate from the idea of the embodiment of the present application, and it should also be regarded as the disclosure of the embodiment of the present application.

Claims

1. A workpiece spraying apparatus, comprising:

a support table (100) arranged on the foundation for supporting a workpiece to be sprayed; and

the spraying robot (200) comprises a movable base (210), a mounting frame (220), a spraying manipulator (230) and a feeding module (240), wherein the movable base (210) is arranged on the foundation and is positioned on one side of the supporting table (100), the mounting frame (220) and the feeding module (240) are both arranged on the movable base (210), the spraying manipulator (230) is arranged on the mounting frame (220), a spraying gun (250) is arranged at the tail end of the spraying manipulator (230), and the spraying gun (250) is connected with the feeding module (240);

the movable base (210) is used for driving the mounting frame (220) to drive the spraying manipulator (230) to move along the length direction of the workpiece, the feeding module (240) is used for providing paint for spraying for the spraying gun (250), and the spraying manipulator (230) is used for driving the spraying gun (250) to move around the circumference of the workpiece so as to perform spraying operation.

2. The workpiece spraying device according to claim 1, characterized in that the end of the spraying robot (230) is further provided with a measuring sensor for detecting the distance of the nozzle (252) of the spraying gun (250) to the workpiece surface.

3. The workpiece spraying apparatus according to claim 1, characterized in that the mounting frame (220) comprises a stand (221), a lifting drive mechanism and a cross frame (222);

the stand (221) is arranged on the movable base (210);

the lifting driving mechanism is arranged on the vertical frame (221);

the transverse frame (222) is arranged at the output end of the lifting driving mechanism, one end of the transverse frame (222) extends to one side of the supporting table (100), and the spraying manipulator (230) is arranged on the transverse frame (222);

the lifting driving mechanism is used for driving the transverse frame (222) to drive the spraying manipulator (230) to lift along the vertical direction.

4. The workpiece spraying device according to claim 1, characterized in that two spraying robots (230) are provided, the two spraying robots (230) being arranged opposite each other, a spraying area being formed between the two spraying robots (230) for receiving the workpiece.

5. The workpiece spraying device according to claim 1, characterized in that the mobile base (210) is provided with travelling wheels and a travelling drive mechanism for driving the travelling wheels to travel on the foundation.

6. The workpiece spraying device according to claim 5, characterized in that a rail (300) for the traveling wheels to travel is laid on the foundation, and the extending direction of the rail (300) is consistent with the length direction of the workpiece.

7. The workpiece spraying device according to claim 1, characterized in that the feed module (240) comprises a storage container (241), a feed pump (242) and a control valve block (243);

the storage container (241) is arranged on the movable base (210) and is used for storing paint for spraying;

the inlet end of the feed pump (242) is connected with the storage container (241), and the outlet end of the feed pump is sequentially connected with the control valve group (243) and the gun valve (251) of the spray gun (250) through a high-pressure rubber pipe (244).

8. The workpiece spraying device according to claim 7, characterized in that the control valve group (243) comprises an on-off valve (2430), an air pressure regulating valve (2431) and a pressure stabilizing valve (2432).

9. The workpiece spraying device according to claim 7, characterized in that the feed module (240) further comprises a heating hose (245) and a heating controller (246), the control valve group (243) to the gun valve (251) being connected by the heating hose (245), the heating controller (246) being electrically connected to the heating hose (245).

10. The workpiece spraying device according to any of claims 1-9, further comprising a robotic control cabinet (260) arranged on the mobile base (210), wherein a controller and a wireless receiving module electrically connected with the controller are arranged in the robotic control cabinet (260), and the wireless receiving module is used for receiving or sending out wireless signals.