CN220716368U - Spraying control system based on switching of multiple actuators of robot and spraying robot thereof - Google Patents
Spraying control system based on switching of multiple actuators of robot and spraying robot thereof Download PDFInfo
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- CN220716368U CN220716368U CN202322161973.0U CN202322161973U CN220716368U CN 220716368 U CN220716368 U CN 220716368U CN 202322161973 U CN202322161973 U CN 202322161973U CN 220716368 U CN220716368 U CN 220716368U
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- 238000005507 spraying Methods 0.000 title claims abstract description 151
- 239000003973 paint Substances 0.000 claims abstract description 73
- 238000004140 cleaning Methods 0.000 claims abstract description 23
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 239000007921 spray Substances 0.000 claims description 84
- 210000001503 joint Anatomy 0.000 claims description 49
- 230000008859 change Effects 0.000 claims description 16
- 239000013307 optical fiber Substances 0.000 claims description 15
- 239000002904 solvent Substances 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
- 238000010422 painting Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 239000004922 lacquer Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 238000012795 verification Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000007590 electrostatic spraying Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model discloses a spraying control system based on robot multi-actuator switching and a spraying robot thereof, wherein the system comprises: the device comprises a spraying robot, a paint supply device, a control device, a cleaning device, a spraying plate assembly and an actuator quick-change platform assembly; the spraying robot comprises a robot body, a spraying quick-change actuator and a robot base; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base, and the other end of the robot body is detachably connected with the spraying quick-change actuator; the spraying quick-change actuator comprises a quick-change robot end assembly and a quick-change tool end assembly; the quick-change tool end assembly is provided with a spraying actuator with corresponding specification; the quick-change robot end assembly is electrically connected with the robot body; the actuator quick-change platform assembly comprises a positioning platform for bearing a plurality of quick-change tool end assemblies, and the control device consists of a robot control cabinet and a system control cabinet. The utility model realizes the replacement of the spraying actuator and various spraying modes, and is convenient to operate.
Description
Technical Field
The utility model relates to the field of laboratory spraying devices, in particular to a spraying control system based on robot multi-actuator switching and a spraying robot thereof.
Background
The spraying reciprocator is spraying equipment which atomizes paint by utilizing the high-speed rotation of a rotary cup of an atomizer and sprays a workpiece coated object by adopting electrostatic high-pressure control. The painting robot is a kind of painting equipment that performs painting work by using a robot.
The existing spraying robot equipment mainly aims at the determined formula product to carry out production line spraying operation, lacks the spraying equipment for experimental verification, cannot adjust spraying parameters, spraying modes and the like according to different requirements, and lacks the wide applicability and flexibility of spraying.
The existing laboratory spraying reciprocator mainly aims at laboratory flat spraying, cannot meet the spraying verification requirements of various workpiece placement modes and curved surfaces, and cannot meet the requirements of more actuators matched at the same time.
Disclosure of Invention
The utility model provides a spraying control system based on switching of multiple actuators of a robot and a spraying robot thereof, so as to solve the problems.
In order to solve the technical problems, the utility model adopts a technical scheme that: provided is a robot multi-actuator switching-based spray control system, including: the device comprises a spraying robot, a paint supply device, a control device, a cleaning device and a spraying plate assembly; further comprises: an actuator quick-change assembly; the spraying robot comprises a robot body, a spraying quick-change actuator and a robot base; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the spraying quick-change actuator; the spraying quick-change actuator comprises a quick-change robot end assembly and a quick-change tool end assembly; the quick-change tool end assembly is provided with spraying executors with corresponding specifications; the quick-change robot end assembly is connected and installed with the robot body and is electrically connected; the actuator quick-change table assembly comprises a positioning table for bearing a plurality of quick-change tool end assemblies, and the control device consists of a robot control cabinet and a system control cabinet; the robot control cabinet is respectively connected with the robot body and the spraying quick-change actuator in a communication way; and the system control cabinet is respectively in communication connection with the robot control cabinet, the paint supply device, the cleaning device and the actuator quick-change platform assembly.
Wherein, quick change robot end subassembly includes: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly; the quick-change tool end assembly comprises: the spraying actuator, the second gas circuit butt joint assembly, the quick-change female seat assembly, the second paint pipeline butt joint assembly, the second optical fiber butt joint assembly and the second high-pressure butt joint assembly; the robot control cabinet controls the robot body to adjust the quick-change robot end assembly through the rotation of six shafts of the robot body, so that the quick-change male disc assembly on the quick-change robot end assembly is inserted into the quick-change female seat assembly on the corresponding quick-change tool end assembly to be fixed, and meanwhile, the butt joint of the first high-voltage butt joint assembly and the second high-voltage butt joint assembly, the butt joint of the first air path butt joint assembly and the second air path butt joint assembly, the butt joint of the first paint pipeline butt joint assembly and the second paint pipeline butt joint assembly and the butt joint of the first optical fiber butt joint assembly and the second optical fiber butt joint assembly are completed.
Wherein, the executor quick change station subassembly still includes: an automatic shield assembly for protecting the quick change tool end assembly; the automatic shield assembly comprises: a protection plate and a cylinder; the protection plate is a movable protection cover and is used for covering and protecting the quick-change tool end assembly; the cylinder is used for responding to the driving of the control device and controlling the opening and closing states of the protection plates.
Wherein, supply lacquer device, install in on the robot body, include: a plurality of paint cans for depositing different paint, gear pump, be used for holding a plurality of the confession lacquer device cabinet body of paint can and gear pump.
The paint supply device comprises a plurality of paint supply devices, wherein each paint supply device works independently.
Wherein the control device further comprises a positive pressure explosion-proof system; the positive pressure explosion-proof system comprises a positive pressure explosion-proof control unit, a pressure sensor and an explosion-proof pressure relief valve.
Wherein, belt cleaning device includes liquid level display screen, stainless steel solvent jar and gear pump.
Wherein, the spray plate assembly includes: the device comprises a spray plate, an angle adjusting device, a position fool-proof device and a spray plate bracket; the position fool-proof device is arranged on the angle adjusting device and used for preventing the spray plate from accidentally moving or deviating from a preset position in the using process; the spray plate is arranged on the spray plate bracket through an angle adjusting device; the angle adjusting device allows adjustment of the rotation angle of the spray plate, thereby changing the posture of the spray plate.
The utility model adopts another technical scheme that: there is provided a painting robot with multi-actuator switching, comprising: a robot body and a robot base; further comprises: spraying a quick-change actuator; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the spraying quick-change actuator; the spraying quick-change actuator comprises: a quick change robot end assembly and a quick change tool end assembly; the quick-change tool end assembly is provided with spraying executors with corresponding specifications; the quick-change robot end assembly is connected and installed with the robot body and is electrically connected.
Wherein, quick change robot end subassembly includes: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly; the quick-change tool end assembly comprises: the spraying executor, the second gas circuit interfacing assembly, the quick change female seat assembly, the second paint pipeline interfacing assembly, the second optical fiber interfacing assembly and the second high-pressure interfacing assembly.
The beneficial effects of the embodiment of the utility model are as follows: compared with the prior art, the technical scheme disclosed by the embodiment of the utility model is characterized in that a spraying quick-change actuator of a spraying robot is designed into a quick-change robot end component and a quick-change tool end component in advance, wherein the quick-change tool end component can be detached and replaced according to the requirements of spraying processing; and additionally an actuator quick-change station assembly for carrying quick-change tool end assemblies configured with different spray actuators; the spraying robot can select a target quick-change actuator on the actuator quick-change table assembly through driving the motion of the six-axis robot body according to the spraying processing requirement, and can detach and replace the quick-change tool end assembly through adjusting the six-axis robot body, so that the requirement of various spraying modes is met, the spraying actuator is automatic in selection, high in flexibility and convenient to operate, and the increasing verification requirement of a laboratory is met.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a spraying control system based on switching of multiple actuators of a robot in an embodiment of the utility model;
FIG. 2 is a schematic view of the spray plate assembly of FIG. 1;
FIG. 3 is a schematic view of the actuator quick-change assembly of FIG. 1;
FIG. 4 is a schematic view of the spray quick-change actuator of FIG. 1;
FIG. 5 is a functional block diagram of the control device shown in FIG. 1;
FIG. 6 is a functional block diagram of the first control unit shown in FIG. 5;
fig. 7 is a functional block diagram of the second control unit shown in fig. 5.
Detailed Description
In order that the above objects, features and advantages of the present utility model may be more clearly understood, a technical solution of an embodiment of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiment of the present utility model. In addition, embodiments of the present application and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, and the described embodiments are merely some, rather than all, embodiments of the present utility model. All other embodiments, based on the embodiments of the utility model, which a person of ordinary skill in the art would achieve without inventive faculty, are within the scope of the utility model.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
It is noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component or intervening components may also be present.
Fig. 1 is a schematic structural diagram of a spray control system based on switching of multiple actuators of a robot according to an embodiment of the utility model.
The spraying control system 1 adopts a robot with an atomizer or a spray gun structure to realize electrostatic spraying experiments of paint. Specifically, the spray control system 1 includes: the spray coating robot 10, the actuator quick-change station assembly 20, the paint supply device 30, the control device 40, the cleaning device 50 and the spray plate assembly 60. The spraying robot 10 comprises a robot body 11, a spraying quick-change actuator 12 and a robot base 13. The control device 40 is composed of a robot control cabinet 41 and a system control cabinet 42. The control device 40 is used for controlling the spraying robot 10 to drive the atomizer or the spray gun to move in the spraying area so as to drive the atomizer or the spray gun to spray paint on the spray board of the spray board assembly 60. The control device 40 is also used for controlling the paint supply device 30 to pump paint to the spraying actuator of the spraying robot 10 during spraying, and controlling the cleaning device 50 to pump cleaning solvent to the pipeline after spraying is completed.
Referring to fig. 2, a schematic structure of a spray plate assembly 60 according to an embodiment of the utility model is shown. The spray plate assembly 60 includes: a spray plate 61, an angle adjusting device 62, a position fool-proof device 63 and a spray plate bracket 64. The position fool-proof device 63 is provided on the angle adjusting device 62 to ensure the position stability of the shower plate 61. The position assurance device 63 may employ various mechanical or electronic means, such as springs, locking means, etc., to prevent the spray plate 61 from accidentally moving or deviating from a predetermined position during use. The spray plate 61 is mounted on a spray plate holder 64 by means of an angle adjusting device 62. The angle adjusting device 62 allows the rotation angle of the spray plate 61 to be adjusted, so that the posture of the spray plate 61 is changed, and through the adjustment of the rotation angle, the spray plate 61 can realize different spraying postures of flat spraying, vertical spraying, 45-degree spraying and the like, so that the spray plate assembly 60 can adapt to different spraying requirements, and can be applied to spraying operation with a profiling curved surface.
In this embodiment, the specification of the back plate of the spraying plate 61 is 800×800mm, so that spraying in three placement modes of flat spraying, vertical spraying and inclined angle can be realized, and 50 base tracks are preset.
Fig. 3 is a schematic structural diagram of a spray quick-change actuator according to an embodiment of the utility model. The spray quick-change actuator 12 includes a quick-change robot end assembly 121 and a quick-change tool end assembly 122. The quick-change tool end assembly 122 is designed to carry atomizers or spray guns of different gauges. The spray quick-change actuator 12 can realize the requirements of the spray robot 10 for quickly switching various atomizers or spray guns, and various butting parts adopt a modularized design, so that the spray robot can be quickly replaced and maintained. Specifically, the quick-change robot end assembly 121 includes: a first gas circuit docking assembly 1211, a quick change male disc assembly 1212, a first paint line docking assembly 1213, a first fiber optic docking assembly 1214, a first high pressure docking assembly 1215; the quick-change tool end assembly 122 includes: a spray actuator 1221, a second gas circuit docking assembly 1222, a quick change female mount assembly 1223, a second paint line docking assembly 1224, a second fiber optic docking assembly 1225, and a second high pressure docking assembly 1226. Further, the quick-change robot end assembly 121 is also connected and mounted with the robot body 11, and is electrically connected.
Further, as shown in fig. 1, the spraying robot 10 is a six-axis robot, one end of the robot body 11 is fixed on the robot base 13 by bolts, and the other end is detachably connected with the spraying quick-change actuator 12; the spray quick-change actuator 12 includes a quick-change tool end assembly 122 (see specifically fig. 3 and corresponding text) of a variety of different atomizers/spray guns. The control device 40 controls the robot body 11 to move in an accessible movement area through six-axis rotation according to a preset track, so as to drive the spraying quick-change actuator 12 to move in a spraying area, and drive the spraying actuator 1221 to spray paint on the spraying plate 61.
Fig. 4 is a schematic structural diagram of an actuator quick-change module according to an embodiment of the utility model. The actuator quick-change station assembly 20 includes: a positioning table 21 for carrying a plurality of quick change tool end assemblies 122, and an automatic shield assembly 22 for shielding the quick change tool end assemblies 122. The positioning table 21 carries and positions a plurality of quick-change tool end assemblies 122, providing a stable platform that enables the quick-change tool end assemblies 122 to be precisely mounted and positioned in a designated location. The automatic shield assembly 22 includes: a guard plate 221 and a cylinder 222; the shield 221 is a removable protective cover for covering and protecting the quick-change tool end assembly 122. The cylinder 222 is configured to control the opening and closing states of the shielding plate 221 in response to the driving of the control device 40: when the quick-change tool end assembly 122 needs to be operated or replaced, the control device 40 controls the air cylinder 222 to open the protection plate 221, so that the spraying robot or an operator can conveniently access the quick-change tool end assembly 122; when operation is not required, the control device 40 controls the cylinder 222 to close the protection plate 221, thereby providing protection functions of dust prevention, smashing prevention, etc. of the quick-change tool end assembly 122.
In use, an operator places the quick-change tool end assembly 122 with atomizers or spray guns of different specifications onto the positioning table 21 of the actuator quick-change table assembly 20 in advance, and then adjusts the quick-change robot end assembly 121 through six-axis rotation of the robot body 11, so that the quick-change male disc assembly 1212 on the quick-change robot end assembly 121 is inserted into the quick-change female seat assembly 1223 on the target quick-change tool end assembly 122 to complete fixation, and simultaneously, the first high-pressure docking assembly 1215 and the second high-pressure docking assembly 1226, the first air path docking assembly 1211 and the second air path docking assembly 1222, the first paint path docking assembly 1213 and the second paint path docking assembly 1224, and the first optical fiber docking assembly 1214 and the second optical fiber docking assembly 1225 are completed.
The paint supply device 30 includes: a tank, a gear pump and a cabinet of a paint supply device; wherein different paint cans are used to store different paints, and the gear pump is used to pump paint from the paint cans to the spray actuator 1221 during the spraying process.
In this embodiment, the control system 10 includes a plurality of paint supply devices 30, each paint supply device 30 operating independently. Each equipment adopts a structure of paint supply by a plurality of groups of independent servo motors and gear pumps, each group of paint supply devices 30 can completely and independently supply the execution ends of each spraying executor 1221, and water and oil can be switched; the paint supply meets the spraying requirements of various paint processes of the paint (special process with a Tric-coat pearlescence layer); the gear pump adopts inlet equipment, and the flow control precision error is less than or equal to 2 percent.
Further, the control device 40 comprises a positive pressure explosion-proof system, and the positive pressure explosion-proof system comprises a positive pressure explosion-proof control unit, a pressure sensor and an explosion-proof pressure relief valve. The paint supply device 30 is installed on the robot body 11, shortens the paint pipeline, and saves verification paint. The charged components are isolated by the positive pressure explosion-proof system, so that paint is prevented from entering the system to generate explosion. When the pressure in the explosion-proof cabinet body is larger than the pressure of the explosion-proof relief valve, the explosion-proof relief valve is opened; and the positive pressure explosion-proof control unit is used for supplementing compressed air when the pressure sensor detects that the pressure in the explosion-proof cabinet body is smaller than the set pressure, and maintaining the pressure stable.
The cleaning device 50 includes a liquid level display, a stainless steel solvent tank for storing a cleaning solvent, and a gear pump for pumping the cleaning solvent in the solvent tank to a pipeline after the spraying is completed. The cleaning and color changing are quick and convenient, two paths of independent cleaning systems are built in, two different cleaning solvents are provided for different paint types, and a one-key quick waste liquid discharging function is set.
The following describes in detail the operation principle of a spray control system based on switching of multiple actuators of a robot according to an embodiment of the present utility model with reference to fig. 5 to 7.
Fig. 5 is a schematic functional block diagram of a control device according to an embodiment of the utility model. The robot control cabinet 41 is internally provided with a first control unit 410 (not shown). The first control unit 410 establishes communication connection with the robot body 11 and the spraying quick-change actuator 12 respectively. The first control unit 410 is configured to control the robot body 11 to drive the quick-change spraying actuator 12 to move on the spraying area, and drive the spraying actuator 1221 to spray paint on the spraying board 61.
The system control cabinet 42 is internally provided with a second control unit 420 (not shown), and a touch screen 421, a keyboard 422 and a control switch 423 respectively connected to the second control unit 420. The second control unit 420 establishes communication connection with the robotic control cabinet 41, the paint supply device 30, the cleaning device 50, and the actuator quick-change assembly 20, respectively. The second control unit 420 is configured to control the paint supply device 30 to pump paint to the quick-change spray actuator 12 during spraying, so that the spray actuator 1221 sprays paint on the spray plate 61, and control the cleaning device 50 to pump cleaning solvent to the pipeline after spraying is completed. In this embodiment, the system control cabinet 42 is provided with a totally enclosed protection room, and a sliding door is provided on the front surface, so that the operation is convenient and safe, and the light display is performed in a working state.
Referring to fig. 6 and 7, the first control unit 410 includes: the robot control module 4101, the spray quick change control module 4102, and the spray control module 4103.
The second control unit 420 includes: a spray program setting module 4201, a spray mode switching module 4202, a paint spraying module 4203, and a device cleaning module 4204.
The spraying program setting module 4201 is configured to drive the touch screen 421 to display a program setting interface, and generate a spraying program according to spraying control information sent by the touch screen 421, the keyboard 422, or the control switch 423 and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture. The spraying formula comprises a paint can number and a corresponding volume; the spraying mode comprises horizontal spraying, vertical spraying and triangular movement spraying; the spraying parameters comprise atomizer/spray gun selection, jump grid degree, working range, X-axis speed, Y-axis speed, spraying distance, rotating cup rotating speed, forming air, electrostatic high pressure, paint flow and continuous spraying selection; the spraying gesture comprises flat spraying, vertical spraying, angular spraying and profiling spraying.
The spraying mode switching module 4202 is configured to select a set of spraying control information in the spraying program according to the input of the touch screen 421 or the keyboard 422 or the control switch 423, and send the selected set of spraying control information to the first control unit 410.
The spray quick-change control module 4102 of the first control unit 410 is configured to determine a corresponding target atomizer/spray gun according to the spray control information, and control the robot body 11 to move to the position of the target quick-change tool end assembly 122 on the actuator quick-change table assembly 20 in a reachable movement area, and control the quick-change robot end assembly 121 to fixedly butt against the target quick-change tool end assembly 122.
Specifically, the spray quick-change control module 4102 is configured to:
analyzing the spray control information to determine a corresponding target atomizer/spray gun;
driving the robot body 11 to rotate through six axes thereof in an accessible movement area, so as to drive the quick-change robot end assembly 121 to move to a first station where a quick-change tool end assembly 122 corresponding to the target atomizer/spray gun on the actuator quick-change station assembly 20 is located; wherein the actuator quick-change table assembly 20 carries a plurality of quick-change tool end assemblies 122, and the point coordinates of the robot body 11 corresponding to the quick-change tool end assemblies 122 corresponding to each atomizer/spray gun are preset and stored; and
the six-axis rotation of the robot body 11 is controlled to adjust the quick-change male disc assembly 1212 of the quick-change robot end assembly 121 to be inserted into the quick-change female seat assembly 1223 corresponding to the target atomizer/spray gun to complete fixation, and the butt joint of the high-voltage assembly, the air path assembly, the paint pipeline assembly and the optical fiber assembly is completed.
After the first control unit 410 completes the selection and installation of the target atomizer/spray gun, the paint spraying module 4203 of the second control unit 420 is configured to control the robot body 11 to move in the spraying area according to the spraying formulation, the spraying manner and the spraying parameter value, and control the paint supply device 30 to select a corresponding paint can, and supply paint to the spraying actuator 1221 through a pipeline, so as to spray paint on the spraying board 61 according to the corresponding spraying manner and the spraying parameter.
The equipment cleaning module 4204 is configured to control the cleaning device 50 to pump cleaning solvent to the pipeline after the paint supply device 30 finishes spraying.
The touch screen 421 is further configured to display spraying information of the current spraying action in response to the display driving command sent by the second control unit 420. The spraying information comprises the current spraying position, the actual spraying speed, the setting error, the operation error, the alarm information and the self-diagnosis information.
The beneficial effects of the embodiment of the utility model are as follows: different from the prior art, the spraying quick-change actuator of the spraying robot is designed into a quick-change robot end component and a quick-change tool end component in advance, wherein the quick-change tool end component can be detached and replaced according to the requirement of spraying processing; and additionally an actuator quick-change station assembly for carrying quick-change tool end assemblies configured with different spray actuators; the spraying robot can select a target quick-change actuator on the actuator quick-change table assembly through driving the motion of the six-axis robot body according to the spraying processing requirement, and can detach and replace the quick-change tool end assembly through adjusting the six-axis robot body, so that the requirement of various spraying modes is met, the spraying actuator is automatic in selection, high in flexibility and convenient to operate, and the increasing verification requirement of a laboratory is met.
The foregoing disclosure is illustrative of the preferred embodiments of the present utility model, and is not to be construed as limiting the scope of the utility model, as it is understood by those skilled in the art that all or part of the above-described embodiments may be practiced with equivalents thereof, which fall within the scope of the utility model as defined by the appended claims.
Claims (10)
1. A robot multi-actuator switching based spray control system, comprising: the device comprises a spraying robot, a paint supply device, a control device, a cleaning device and a spraying plate assembly; characterized by further comprising: an actuator quick-change assembly;
the spraying robot comprises a robot body, a spraying quick-change actuator and a robot base; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the spraying quick-change actuator;
the spraying quick-change actuator comprises a quick-change robot end assembly and a quick-change tool end assembly; the quick-change tool end assembly is provided with spraying executors with corresponding specifications; the quick-change robot end assembly is connected and installed with the robot body and is electrically connected;
the actuator quick-change table assembly comprises a positioning table for bearing a plurality of quick-change tool end assemblies,
the control device consists of a robot control cabinet and a system control cabinet;
the robot control cabinet is respectively connected with the robot body and the spraying quick-change actuator in a communication way;
and the system control cabinet is respectively in communication connection with the robot control cabinet, the paint supply device, the cleaning device and the actuator quick-change platform assembly.
2. The robotic multi-actuator switching-based spray control system of claim 1, wherein the quick-change robotic end assembly comprises: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly;
the quick-change tool end assembly comprises: the spraying actuator, the second gas circuit butt joint assembly, the quick-change female seat assembly, the second paint pipeline butt joint assembly, the second optical fiber butt joint assembly and the second high-pressure butt joint assembly;
the robot control cabinet controls the robot body to adjust the quick-change robot end assembly through the rotation of six shafts of the robot body, so that the quick-change male disc assembly on the quick-change robot end assembly is inserted into the quick-change female seat assembly on the corresponding quick-change tool end assembly to be fixed, and meanwhile, the butt joint of the first high-voltage butt joint assembly and the second high-voltage butt joint assembly, the butt joint of the first air path butt joint assembly and the second air path butt joint assembly, the butt joint of the first paint pipeline butt joint assembly and the second paint pipeline butt joint assembly and the butt joint of the first optical fiber butt joint assembly and the second optical fiber butt joint assembly are completed.
3. The robotic multi-actuator switching-based spray control system of claim 2, wherein the actuator quick-change station assembly further comprises: an automatic shield assembly for protecting the quick change tool end assembly;
the automatic shield assembly comprises: a protection plate and a cylinder; the protection plate is a movable protection cover and is used for covering and protecting the quick-change tool end assembly; the cylinder is used for responding to the driving of the control device and controlling the opening and closing states of the protection plates.
4. The robot multi-actuator switching based spray control system of claim 1, wherein the paint supply device is mounted on the robot body, comprising: a plurality of paint cans for depositing different paint, gear pump, be used for holding a plurality of the confession lacquer device cabinet body of paint can and gear pump.
5. The robotic multi-actuator switching based spray control system of claim 4, further comprising a plurality of paint supplies, each of the paint supplies operating independently.
6. The robotic multi-actuator switching-based spray control system of claim 1, wherein the control device further comprises a positive pressure explosion-proof system;
the positive pressure explosion-proof system comprises a positive pressure explosion-proof control unit, a pressure sensor and an explosion-proof pressure relief valve.
7. The robotic multi-actuator switching-based spray control system of claim 1, wherein the cleaning device comprises a liquid level display screen, a stainless steel solvent tank, and a gear pump.
8. The robotic multi-actuator switching-based spray control system of claim 1, wherein the spray plate assembly comprises: the device comprises a spray plate, an angle adjusting device, a position fool-proof device and a spray plate bracket;
the position fool-proof device is arranged on the angle adjusting device and used for preventing the spray plate from accidentally moving or deviating from a preset position in the using process;
the spray plate is arranged on the spray plate bracket through an angle adjusting device;
the angle adjusting device allows adjustment of the rotation angle of the spray plate, thereby changing the posture of the spray plate.
9. A painting robot with multi-actuator switching, comprising: a robot body and a robot base; characterized by further comprising: spraying a quick-change actuator; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the spraying quick-change actuator;
the spraying quick-change actuator comprises: a quick change robot end assembly and a quick change tool end assembly; the quick-change tool end assembly is provided with spraying executors with corresponding specifications; the quick-change robot end assembly is connected and installed with the robot body and is electrically connected.
10. The painting robot with multi-actuator switching of claim 9, wherein the quick-change robot end assembly comprises: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly;
the quick-change tool end assembly comprises: the spraying executor, the second gas circuit interfacing assembly, the quick change female seat assembly, the second paint pipeline interfacing assembly, the second optical fiber interfacing assembly and the second high-pressure interfacing assembly.
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| CN202322161973.0U CN220716368U (en) | 2023-08-11 | 2023-08-11 | Spraying control system based on switching of multiple actuators of robot and spraying robot thereof |
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| CN202322161973.0U CN220716368U (en) | 2023-08-11 | 2023-08-11 | Spraying control system based on switching of multiple actuators of robot and spraying robot thereof |
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