CN2657877Y - Automatic spraying manipulator - Google Patents
Automatic spraying manipulator Download PDFInfo
- Publication number
- CN2657877Y CN2657877Y CN 03237851 CN03237851U CN2657877Y CN 2657877 Y CN2657877 Y CN 2657877Y CN 03237851 CN03237851 CN 03237851 CN 03237851 U CN03237851 U CN 03237851U CN 2657877 Y CN2657877 Y CN 2657877Y
- Authority
- CN
- China
- Prior art keywords
- spraying
- linear bearing
- control system
- spray gun
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model discloses an automatic spraying manipulator, which belongs to spraying equipments, and which mainly comprises a control system, a testing sensor, a space mechanism with multi-degree of freedom, a spraying gun, a liquid crystal displaying screen, a keyboard, and so on. The space mechanism with multi-degree of freedom comprises a track trolley, rails, a servo motor and a driving mechanism, a linear bearing box body, an active mounting seat, a cylinder, pneumatic-electric implementation components, and so on. This equipment adopts multi-shaft control, namely transmission in X axis, Y axis and Z axis three directions and rotation around Z axis, the mounting angle of the spraying gun can be adjusted, thus the willful angle spraying of the spraying gun can be realized; the even spraying is realized and the paint is fully and rationally utilized by the testing sensor and mutual co-operation with the control system; as long track is adopted in X direction, the driving force is provided by stepping motor or frequency conversion motor, precision ball screw transmission structure is adopted in Y direction, round track sliding block is changed into linear bearing rolling, the spraying area is made bigger, the movement of the equipment is more accurate, and service life longer.
Description
Technical field
The utility model relates to a kind of spraying equipment, particularly a kind of spray robot that the bigger specific shape face of area is sprayed.
Background technology
Various dissimilar spray robots are arranged in the market, the overwhelming majority is a spraying device special, seldom there is pair area to carry out equipment spraying than big and the special complexity of surface configuration (as container bottom surface, steamer surface of shell, aircraft surfaces etc.), be easy to generate the uneven phenomenon of coating during spraying, inconvenient operation.
Summary of the invention
It is a kind of simple in structure that the purpose of this utility model will provide exactly, and motion is steady, the repeatable accuracy height, and intelligence operation, spray area is big, can spray the uniform automatic spraying robot of coating to the special form face.
The purpose of this utility model is achieved in that a kind of automatic spraying robot, comprise multiple degrees of freedom space mechanism and control system, be provided with small rail car in the multiple degrees of freedom space mechanism, small rail car is installed on the long guideway 1, dolly chassis 3 bottoms are provided with active roller 15 and return idler 2, combination axle bed 4 is installed in the two ends of dolly chassis 3, and round guide 5 and ball-screw 6 are installed on the combination axle bed 4, and main motor 14 is connected with driving wheel 15 by gear, wheel shaft; Two linear bearing casings 21 are installed in respectively on the round guide 5, constitute movable platform with connecting plate 20, and motor 16 is connected with ball-screw 6; Upright guide rod 11, cylinder 12 and mount pad 17 are installed on the connecting plate 20, the piston rod of cylinder 12, rotary electric machine 10 and gunjet rack 8 are installed on the sliding seat 9, spray gun installing rack 8 is provided with spray gun 7, and sliding seat 9 is installed on the linear bearing casing 22, and linear bearing casing 22 is installed on the upright guide rod 11.Sensor 18 is installed on the chassis 3, and sensor 13,19 is installed on the connecting plate 20, and angular transducer 23 is installed on the sliding seat 9.Sensor 13,18,19,23 are connected with control system.
Automatic spraying robot provided by the utility model, owing to adopted multiaxis control, promptly moving of three directions of X-axis Y-axis Z axle reaches around the rotation of Z axle, the spray gun setting angle is adjustable, makes spray gun can realize spraying at any angle; Owing to adopted detecting sensor and cooperatively interacted with equipment such as single-chip microcomputer in the control system, avoided blind area and the overlay region in the spraying process, realize evenly spraying, and coating is used adequately reasonably; Because directions X has adopted long track, active force is stepper motor or variable-frequency motor, and the Y direction has adopted the precision ball screw drive mechanism, and the round guide sliding shoe changes linear bearing into and rolls, and makes spray area bigger, and equipment moving is more accurate, and the life-span is longer.
Description of drawings
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the utility model workflow diagram.
Fig. 3 is the utility model sensor control block diagram.
The specific embodiment
The utility model adopts following structure: a kind of automatic spraying robot, comprise multiple degrees of freedom space mechanism and control system, be provided with small rail car in the multiple degrees of freedom space mechanism, small rail car is installed on the long guideway 1, dolly chassis 3 bottoms are provided with active roller 15 and return idler 2, combination axle bed 4 is installed in the two ends of dolly chassis 3, and round guide mark 5 and ball-screw 6 are installed on the combination axle bed 4, and main motor 14 is connected with driving wheel 15 by gear, wheel shaft; Two linear bearing casings 21 are installed in respectively on the round guide 5, constitute movable platform with connecting plate 20, and motor 16 is connected with ball-screw 6; Upright guide rod 11, cylinder 12 and mount pad 17 are installed on the connecting plate 20, the piston rod of cylinder 12, rotary electric machine 10 and gunjet rack 8 are installed on the sliding seat 9, spray gun installing rack 8 is provided with spray gun 7, sliding seat (9) is installed on the linear bearing casing (22), and linear bearing casing (22) is installed on the upright guide rod (11).Sensor 18 is installed on the chassis 3, and sensor 13,19 is installed on the connecting plate 20, and angular transducer 23 is installed on the sliding seat 9.Sensor 13,18,19,23 are connected with control system, and sensor can adopt optics or infrared sensor.
During the utility model work, main motor 14 can move small rail car by gear drive driving wheel 15 on long guideway 1, i.e. X side's motion; Motor 16 drives ball-screw 6 and rotates, and the ball-screw nut (not shown) drives the motion that the movable platform that is made of the linear bearing casing 21 on connecting plate 20, the round guide 5 realizes the Y direction; The piston rod of cylinder 12 is realized the motion of Z direction by the linear bearing casing 22 on the upright guide rod 11, sliding seat 9 and spray gun installing rack 8; Can control the rotation of spray gun installing rack 8 by rotary electric machine 10, thereby control the operative orientation of spray gun 7, the three-dimensional motion of realization spray gun 7 reaches the rotation around the Z axle.Detecting sensor 18 is installed on the chassis 3, detects the directions X motion, in order to determine the position of spray gun directions X; Detecting sensor 19 is installed on the connecting plate 20, detects the motion of Y direction, in order to determine the position of spray gun Y direction; Detecting sensor 13 is installed on the connecting plate 20, detects the motion of Z direction, in order to determine the position of spray gun Z direction; Angular transducer 23 is installed on the Z axle sliding seat 9, in order to measure the rotational angle of spray gun.The detected signal of each sensor passes to the single-chip microcomputer of control system, and single-chip microcomputer is by the programme-control course of work of finishing in advance.
Control system comprises detecting sensor, signals collecting amplifier, wave filter, memory, A/D conversion, single-chip microcomputer, I/O interface etc., be used to control dolly in the motion (moving of operation interval) of X-direction, spray gun in the spraying campaign of Y direction, lance head in the distance of Z-direction and form and lance head initial terminal position at each operation interval.Detecting sensor is used to detect the initial terminal position of each operation interval, and it in time is sent to control system with the signal of gathering, and is determined the initial sum terminal position of spray gun spraying again by control system, and the initial duty of control spray gun.Control system can also be determined the operating position of spray gun at any time, shows by LCDs.Detecting sensor by keyboard, can set up the various parameters of machine by the range finding of relative fixed target being determined the coordinate position of oneself on their own, operates spray robot and carries out work.Adopt compressed air as paint power during spraying.
The course of work of this device is as follows: small rail car is installed on the long track 1, electric control system, and program control system, paint channel, the Compressed Gas pipeline, various cable installation in position, preparation is ready, can carry out spraying work.
Operating personnel at first determine the initial position of spraying, it is the initial position of spray gun 7, adjust spray gun 7 after the distance and attitude on the Z-direction, spray gun 7 beginnings are in the motion of Y direction, spraying object (as the container body bottom) is sprayed, when spray gun 7 moves to the other end of Y-axis, be installed in the terminal point of the detecting sensor decision Y direction up stroke in the robot, the feedback information that sensor has been reached home spray gun is given the robot central control system, so robot commander's spray gun is had a break at end of travel, rotate 90 degree around the Z axle, the angle, boundary towards facing to spraying target (container base) of shower nozzle sprays, and can evenly spray with the vertical plane that guarantees intersection, returns along Y-axis then, spray gun sprays this workspace once more simultaneously, until the starting point of getting back to this workspace.Next step dolly moves on to next operation interval with robot along directions X, the distance (by the decision of spraying width) between 260-350mm that dolly moves at directions X at every turn, and spray gun begins the spraying work of doing in new workspace, carries out the circulation of next round.By control system, robot just can repeat this working procedure at any time.(X, Y Z), are measured by acquisition sensor 18,19,13 respectively, and can show on LCDs immediately spray coating robot spray gun 7 position coordinate values.
Spray gun 7 can determine according to the spraying target (as Container Dimensions) of different model in advance that at the initial position of each operation interval the effect of detecting sensor is a motion accumulated error of eliminating robot, guarantees the correct attitude of positional precision and shower nozzle.
Claims (3)
1, a kind of automatic spraying robot, comprise multiple degrees of freedom space mechanism and control system, it is characterized in that: be provided with small rail car in the multiple degrees of freedom space mechanism, small rail car is installed on the long guideway (1), dolly chassis (3) bottom is provided with active roller (15) and return idler (2), combination axle bed (4) is installed in the two ends of dolly chassis (3), and round guide (5) and ball-screw (6) are installed on the combination axle bed (4), and main motor (14) is connected with driving wheel (15) by gear, wheel shaft; Two linear bearing casings (21) are installed in respectively on the round guide (5), constitute movable platform with connecting plate (20); Motor (16) is connected with ball-screw (6); Upright guide rod (11), cylinder (12) and mount pad (17) are installed on the connecting plate (20), the piston rod of cylinder (12), rotary electric machine (10), gunjet rack (8) are installed on the sliding seat (9), spray gun installing rack (8) is provided with spray gun (7), sliding seat (9) is installed on the linear bearing casing (22), and linear bearing casing (22) is installed on the upright guide rod (11).
2, automatic spraying robot according to claim 1, its feature in: sensor (18) is installed on the chassis (3), and sensor (13,19) is installed on the connecting plate (20), and angular transducer (23) is installed on the sliding seat (9).
3, automatic spraying robot according to claim 1 and 2 is characterized in that: sensor (13,18,19,23) is connected with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03237851 CN2657877Y (en) | 2003-09-30 | 2003-09-30 | Automatic spraying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03237851 CN2657877Y (en) | 2003-09-30 | 2003-09-30 | Automatic spraying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2657877Y true CN2657877Y (en) | 2004-11-24 |
Family
ID=34326643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03237851 Expired - Fee Related CN2657877Y (en) | 2003-09-30 | 2003-09-30 | Automatic spraying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2657877Y (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081978A (en) * | 2009-11-27 | 2011-06-01 | 上海核工程研究设计院 | Fuel rod positioning trolley |
| CN102205290A (en) * | 2011-05-30 | 2011-10-05 | 交通运输部天津水运工程科学研究所 | Intelligent spray gun for accurately controlling spraying range |
| CN102424228A (en) * | 2011-08-11 | 2012-04-25 | 上海雅朴网络科技有限公司 | Universal cargo counting device based on radio frequency identification (RFID) technology |
| CN102513256A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot driving device |
| CN102527563A (en) * | 2012-01-10 | 2012-07-04 | 江苏长虹汽车装备集团有限公司 | Travel driving device for spraying robot |
| CN102950338A (en) * | 2012-11-12 | 2013-03-06 | 安东石油技术（集团）有限公司 | Perforated pipe burr removing machine |
| CN104631800A (en) * | 2015-02-28 | 2015-05-20 | 许博 | Use method of architectural coating spraying robot |
| CN104668131A (en) * | 2015-02-10 | 2015-06-03 | 徐州工业职业技术学院 | Guide post type sucking disc wall-climbing spraying robot |
| CN105182831A (en) * | 2015-10-09 | 2015-12-23 | 中国石油天然气集团公司 | Spraying control system |
| CN105235387A (en) * | 2015-10-12 | 2016-01-13 | 上海世龙运输设备部件有限公司 | Container label manufacturing process, container label and container |
| CN105936051A (en) * | 2016-06-23 | 2016-09-14 | 何程 | Clicking device for water surface environment monitoring cruising robot |
| CN106515903A (en) * | 2016-12-12 | 2017-03-22 | 上海汇聚自动化科技有限公司 | Omni-directional mobile vehicle capable of adjusting goods postures accurately |
| CN108097504A (en) * | 2018-01-03 | 2018-06-01 | 江苏苏力机械股份有限公司 | A kind of intelligence spraying equipment |
| CN108193161A (en) * | 2017-12-20 | 2018-06-22 | 北京化工大学 | A kind of device prepared suitable for the spraying of large-area planar metal coating |
| CN108274471A (en) * | 2017-12-30 | 2018-07-13 | 江苏密斯欧智能科技有限公司 | A kind of wax spray robot control device and method |
| CN108372052A (en) * | 2018-04-24 | 2018-08-07 | 北京东方昊为机器人系统有限公司 | Automatic sand blasting paint finishing and sandblasting spraying method inside box body |
| CN108594809A (en) * | 2018-04-04 | 2018-09-28 | 合肥工业大学 | A kind of high-accuracy mechanical positioning and clearance device for AGV |
| CN108621128A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly |
| CN108789358A (en) * | 2018-06-05 | 2018-11-13 | 清华大学 | A kind of mobile series-parallel connection machining robot based on Three Degree Of Freedom power control parallel module |
| CN108891431A (en) * | 2018-07-20 | 2018-11-27 | 中国船舶重工集团公司第七〇九研究所 | One kind having multivariant mobile trolley device |
| CN108906389A (en) * | 2018-09-10 | 2018-11-30 | 晋江明珠船用装备科技有限公司 | A kind of hull spraying operation automatic device and method |
| CN109958263A (en) * | 2019-05-09 | 2019-07-02 | 广东博智林机器人有限公司 | Spray robot |
| CN110523567A (en) * | 2019-09-05 | 2019-12-03 | 北京特种机械研究所 | A kind of motor driven robot spraying system |
| CN110721873A (en) * | 2019-11-08 | 2020-01-24 | 义乌哒林船舶有限公司 | Local smooth touch-up paint device of boats and ships outer wall |
| CN111139420A (en) * | 2019-12-31 | 2020-05-12 | 镇江蓝舶科技股份有限公司 | Intelligent thermal spraying device |
| CN111905955A (en) * | 2020-07-08 | 2020-11-10 | 李家行 | Industrial automation robot that sprays paint |
-
2003
- 2003-09-30 CN CN 03237851 patent/CN2657877Y/en not_active Expired - Fee Related
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081978A (en) * | 2009-11-27 | 2011-06-01 | 上海核工程研究设计院 | Fuel rod positioning trolley |
| CN102205290A (en) * | 2011-05-30 | 2011-10-05 | 交通运输部天津水运工程科学研究所 | Intelligent spray gun for accurately controlling spraying range |
| CN102205290B (en) * | 2011-05-30 | 2012-09-19 | 交通运输部天津水运工程科学研究所 | Intelligent spray gun for accurately controlling spraying range |
| CN102424228B (en) * | 2011-08-11 | 2014-04-02 | 上海雅朴网络科技有限公司 | Universal cargo counting device based on radio frequency identification (RFID) technology |
| CN102424228A (en) * | 2011-08-11 | 2012-04-25 | 上海雅朴网络科技有限公司 | Universal cargo counting device based on radio frequency identification (RFID) technology |
| CN102513256A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot driving device |
| CN102527563A (en) * | 2012-01-10 | 2012-07-04 | 江苏长虹汽车装备集团有限公司 | Travel driving device for spraying robot |
| CN102950338B (en) * | 2012-11-12 | 2014-11-19 | 安东石油技术（集团）有限公司 | Perforated pipe burr removing machine |
| CN102950338A (en) * | 2012-11-12 | 2013-03-06 | 安东石油技术（集团）有限公司 | Perforated pipe burr removing machine |
| CN104668131A (en) * | 2015-02-10 | 2015-06-03 | 徐州工业职业技术学院 | Guide post type sucking disc wall-climbing spraying robot |
| CN104668131B (en) * | 2015-02-10 | 2017-04-12 | 徐州工业职业技术学院 | Guide post type sucking disc wall-climbing spraying robot |
| CN104631800A (en) * | 2015-02-28 | 2015-05-20 | 许博 | Use method of architectural coating spraying robot |
| CN104631800B (en) * | 2015-02-28 | 2017-05-17 | 中建科技（北京）有限公司 | Use method of architectural coating spraying robot |
| CN105182831A (en) * | 2015-10-09 | 2015-12-23 | 中国石油天然气集团公司 | Spraying control system |
| CN105235387A (en) * | 2015-10-12 | 2016-01-13 | 上海世龙运输设备部件有限公司 | Container label manufacturing process, container label and container |
| CN105936051A (en) * | 2016-06-23 | 2016-09-14 | 何程 | Clicking device for water surface environment monitoring cruising robot |
| CN106515903A (en) * | 2016-12-12 | 2017-03-22 | 上海汇聚自动化科技有限公司 | Omni-directional mobile vehicle capable of adjusting goods postures accurately |
| CN108193161A (en) * | 2017-12-20 | 2018-06-22 | 北京化工大学 | A kind of device prepared suitable for the spraying of large-area planar metal coating |
| CN108193161B (en) * | 2017-12-20 | 2019-12-13 | 北京化工大学 | Device suitable for spraying preparation of large-area planar metal coating |
| CN108274471A (en) * | 2017-12-30 | 2018-07-13 | 江苏密斯欧智能科技有限公司 | A kind of wax spray robot control device and method |
| CN108097504A (en) * | 2018-01-03 | 2018-06-01 | 江苏苏力机械股份有限公司 | A kind of intelligence spraying equipment |
| CN108594809A (en) * | 2018-04-04 | 2018-09-28 | 合肥工业大学 | A kind of high-accuracy mechanical positioning and clearance device for AGV |
| CN108594809B (en) * | 2018-04-04 | 2021-04-09 | 合肥工业大学 | High-precision mechanical positioning and releasing device for AGV |
| CN108621128B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Mobile machining robot capable of achieving large-range positioning and flexible posture adjustment |
| CN108621128A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly |
| CN108372052A (en) * | 2018-04-24 | 2018-08-07 | 北京东方昊为机器人系统有限公司 | Automatic sand blasting paint finishing and sandblasting spraying method inside box body |
| CN108372052B (en) * | 2018-04-24 | 2023-09-22 | 北京东方昊为工业装备有限公司 | Automatic sandblasting and spraying system and sandblasting and spraying method for inside of box-shaped body |
| CN108789358A (en) * | 2018-06-05 | 2018-11-13 | 清华大学 | A kind of mobile series-parallel connection machining robot based on Three Degree Of Freedom power control parallel module |
| CN108891431A (en) * | 2018-07-20 | 2018-11-27 | 中国船舶重工集团公司第七〇九研究所 | One kind having multivariant mobile trolley device |
| CN108906389A (en) * | 2018-09-10 | 2018-11-30 | 晋江明珠船用装备科技有限公司 | A kind of hull spraying operation automatic device and method |
| CN109958263A (en) * | 2019-05-09 | 2019-07-02 | 广东博智林机器人有限公司 | Spray robot |
| CN110523567A (en) * | 2019-09-05 | 2019-12-03 | 北京特种机械研究所 | A kind of motor driven robot spraying system |
| CN110721873A (en) * | 2019-11-08 | 2020-01-24 | 义乌哒林船舶有限公司 | Local smooth touch-up paint device of boats and ships outer wall |
| CN111139420A (en) * | 2019-12-31 | 2020-05-12 | 镇江蓝舶科技股份有限公司 | Intelligent thermal spraying device |
| CN111905955A (en) * | 2020-07-08 | 2020-11-10 | 李家行 | Industrial automation robot that sprays paint |
| CN111905955B (en) * | 2020-07-08 | 2021-08-06 | 威海英博特精密机械有限公司 | Industrial automation robot that sprays paint |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2657877Y (en) | Automatic spraying manipulator | |
| CN107081787B (en) | Kinetic characteristic detection method based on industrial robot built-in sensors signal | |
| CN108436343B (en) | Multifunctional industrial robot for intelligent manufacturing automatic production line | |
| CN111644942B (en) | Grinding method of automatic grinding robot for straight weld steel pipe end weld | |
| CN205701313U (en) | A kind of three-shaft linkage positioning dispensing mechanism | |
| CN110068286B (en) | Three-dimensional full-outline measurement system and method based on large gantry inverted-hanging cooperative mechanical arm | |
| CN209631457U (en) | A kind of Omni-mobile formula robot spraying system | |
| CN105651192A (en) | Detection method and system of surface thickness and planeness of rotary target | |
| CN102778895B (en) | Method for accurate positioning control system under overweight environment | |
| CN103008152A (en) | Modular spray coating device | |
| CN109499799A (en) | A kind of Omni-mobile formula robot spraying system | |
| CN110052349A (en) | Truck vehicle automatic pasting system and glue spreading method | |
| CN109403605A (en) | A kind of house ornamentation robot based on uniaxial lifting device | |
| CN111644943B (en) | Automatic grinding robot for weld joints at pipe ends of straight weld steel pipes | |
| CN101829999A (en) | Reachable domain detection device for astronaut spatial activities | |
| JP2983941B2 (en) | Measurement error correction method for 3D automatic measurement device | |
| CN215429807U (en) | Intelligent spraying robot for automobile | |
| CN111872946A (en) | Interior decoration robot | |
| CN216076171U (en) | Intelligent tile paving and pasting robot | |
| CN116465899B (en) | Automatic detection device and detection method for weld joint surface defects of large structural part | |
| CN108620840B (en) | Aircraft cabin door intelligent installation method based on AGV intelligent parallel robot | |
| CN201901704U (en) | Special laser micro-cladding equipment | |
| CN109129427B (en) | Plane parallel mechanism device driven by double five-rod mechanism and control method | |
| CN106826805B (en) | A kind of robot arm that multi-angle accurately controls | |
| CN113021382B (en) | Full-automatic intelligent spraying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |