WO2023284162A1 - 一种物联网用机器人手臂均匀喷涂装置及其喷涂方法 - Google Patents

一种物联网用机器人手臂均匀喷涂装置及其喷涂方法 Download PDF

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Publication number
WO2023284162A1
WO2023284162A1 PCT/CN2021/127276 CN2021127276W WO2023284162A1 WO 2023284162 A1 WO2023284162 A1 WO 2023284162A1 CN 2021127276 W CN2021127276 W CN 2021127276W WO 2023284162 A1 WO2023284162 A1 WO 2023284162A1
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WO
WIPO (PCT)
Prior art keywords
spraying
support plate
internet
base
robot arm
Prior art date
Application number
PCT/CN2021/127276
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English (en)
French (fr)
Inventor
赵伟
孙晓宁
曾国辉
刘�文
段希超
Original Assignee
南京蹑波物联网科技有限公司
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Publication of WO2023284162A1 publication Critical patent/WO2023284162A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0285—Stands for supporting individual articles to be sprayed, e.g. doors, vehicle body parts

Definitions

  • the invention relates to the technical field of robot arm spraying, in particular to a robot arm uniform spraying device for the Internet of Things and a spraying method thereof.
  • the robot arm is used to execute the action commands of the robot control system.
  • paint will be sprayed on the outside of the robot arm.
  • general spraying equipment does not have the ability to quickly adjust The function within the spraying range, so the paint will be wasted during the spraying process, which will lead to an increase in the spraying cost of the robotic arm. Therefore, a uniform spraying device and a spraying method for a robot arm for the Internet of Things are designed here to solve the above problems.
  • the object of the present invention is to provide a robot arm uniform spraying device for the Internet of Things and a spraying method thereof, so as to solve the problems raised in the above-mentioned background technology.
  • a robot arm uniform spraying device for the Internet of Things including a base, a support plate and a spraying mechanism, the bottom end of the support plate is fixedly installed with an inverted T-shaped slider, and the upper end surface of the base There is a guide chute that slides and engages with the inverted T-shaped slider.
  • the support plate can slide freely along the upper surface of the base by using the inverted T-shaped slider, so that the mechanical arm placed on the top of the support plate can pass the spraying mechanism. Carry out the spraying operation on the robotic arm.
  • the spraying mechanism includes two L-shaped columns, and a paint storage box is fixedly installed between the tops of the two L-shaped columns.
  • the inside of the paint storage box is provided with a storage cavity.
  • the guide tube connected inside the cavity is connected with the outlet of the device for pumping out the paint by using the guide tube, so that the paint can be pumped into the storage cavity in the form of high pressure.
  • the side walls on both sides of the paint storage box are slidably inserted with pull rods extending into the storage cavity.
  • the tip of the pull rod is fixedly installed with a rubber sealing plug that slides and fits with the internal side walls of the storage cavity.
  • the bottom end of the paint storage box There are several evenly distributed nozzle holes, and nozzles are installed at the openings of the nozzle holes. Slide the pull rod along the inside of the storage cavity to drive the rubber sealing plug to slide horizontally along the inside of the storage cavity, and store the paint in the cavity. It is pushed by two rubber sealing plugs to move in the storage cavity, and the gap between the two rubber sealing pads is adjusted to be close to the width of the mechanical arm.
  • the nozzle located between the two rubber sealing plugs can spray high-pressure paint, and the sprayed paint can be sprayed onto the robotic arm just right.
  • the tip of the spray head has a fan-shaped structure, and the spray head with the fan-shaped structure has a wider spray range.
  • the number of spray heads can be greatly reduced, which not only meets the spraying requirements, but also reduces the spraying cost.
  • a transmission cavity is provided inside the base, and the transmission cavity extends to the upper end surface of the base, rectangular grooves communicating with the interior of the transmission cavity are provided on both sides of the base, and the L-shaped column slides through the rectangular slot.
  • the groove extends to the inside of the transmission cavity, and the L-shaped column can slide horizontally along the inside of the rectangular groove, so that the paint storage box can be driven to adjust its position horizontally along the base, which can greatly improve the The spraying speed of the spraying mechanism.
  • a threaded sleeve located in the transmission cavity is fixedly connected between the bottom ends of the two L-shaped columns, and a threaded adjustment rod is inserted and rotated inside the threaded sleeve, and the axial ends of the threaded adjustment rod are connected to the drive
  • the side walls on both sides of the cavity are connected by rotation, and the front end of the base is fixedly equipped with a servo motor.
  • the power shaft of the servo motor extends to the inside of the transmission cavity and is fixedly connected with the axial end of the threaded adjustment rod.
  • the servo motor is used to drive the thread to adjust.
  • the rod rotates at a constant speed, and the threaded sleeve is adjusted along the axial direction of the threaded adjustment rod.
  • the two L-shaped columns follow the threaded sleeve and move synchronously and at a constant speed.
  • the paint spraying box can also move at a uniform speed synchronously, so the paint sprayed from the nozzle is relatively uniform. Spray on the surface of the robotic arm.
  • the inner top of the transmission cavity is rotatably installed with several main transmission chainrings
  • the top of the outer wall of the threaded sleeve is fixedly installed with a tooth block meshing with the main transmission chainrings
  • the bottom end of the support plate is provided with a mounting
  • the inner top of the installation groove is fixedly equipped with a rack
  • the main transmission toothed plate meshes with the second transmission toothed plate, when the threaded sleeve is adjusted along the axial direction of the threaded adjustment rod, the gear block adjusts its position synchronously with the threaded barrel, and the toothed
  • the block can pass under several main transmission toothed plates in turn, and the tooth block can move the main transmission toothed plate to rotate.
  • the main transmission toothed plate is used as the transmission medium. Since the rack is fixed on the top of the installation groove, when the rotating transmission plate rotates , the rack can be moved horizontally, that is, the support plate can be moved horizontally along the upper end of the base.
  • the end of the pull rod away from the rubber sealing plug is vertically and fixedly installed with a T-shaped connecting rod, and the opposite side walls of the two T-shaped connecting rods are fixedly installed with crossbeams distributed in dislocation, and the other end of the crossbeam is connected to another T
  • the connecting rod is slidingly plugged in.
  • an adjustment mechanism is installed on the upper end of the paint storage box
  • the adjustment mechanism includes two mounting plates, which are fixedly installed in the middle of the upper end, front and rear sides of the paint storage box.
  • An adjusting rod is slidably inserted between the two mounting plates, and the outer wall of the adjusting rod is fixed on the two mounting plates.
  • the bottom end of the crossbeam is provided with tooth slots that mesh with the adjustment tooth plates. Adjust the adjustment tooth plates to the bottom of the two cross beams in turn, and at the same time ensure that the adjustment tooth plates are meshed with the tooth slots.
  • Turn the adjustment lever to It can drive the adjusting tooth plate to rotate, and the crossbeam can be slid horizontally to adjust the position through the tooth groove until the two rubber sealing plugs are adjusted to the required positions respectively.
  • an inverted T-shaped bracket is fixedly installed at the bottom of the base, and the inverted T-shaped bracket is used to support the base in the air.
  • the spraying method based on the above-mentioned a kind of Internet of Things robot arm uniform spraying device may further comprise the steps:
  • A1 Use the servo motor to provide power, and preset the rotation speed of the servo motor to drive the threaded adjustment rod to rotate at a constant speed. Since the threaded sleeve is fixed between the two L-shaped columns, the threaded sleeve can only be along the axis of the threaded adjustment rod Adjust in the direction, the two L-shaped columns move synchronously and uniformly with the threaded sleeve, and the paint spraying box can also move synchronously and uniformly, so the paint sprayed from the nozzle is relatively evenly sprayed on the surface of the mechanical arm;
  • A2 Set the main transmission tooth plate between the rack and the tooth block.
  • the main transmission tooth plate is transmitted between the rack and the tooth block to change the gear
  • the transmission direction of the bar can be adjusted by adjusting the support plate towards the other end of the threaded adjustment rod in the axial direction, and the relative adjustment between the support plate and the spraying mechanism.
  • the mechanical arm placed on the top of the support plate follows the support plate along the base to the rear
  • the spraying mechanism slides forward along the base, and the relative sliding adjustment can speed up the spraying efficiency.
  • the spraying mechanism can quickly adjust the spraying range according to the mechanical arms of different sizes and structures, which not only meets the spraying requirements of the mechanical arms, but also avoids the waste of paint.
  • Speed up the spraying operation of the spraying mechanism on the mechanical arm thereby improving the efficiency of spraying.
  • Fig. 1 is a schematic diagram of the main structure of the present invention
  • Fig. 2 is a sectional view of the structure of the base and the support plate of the present invention.
  • Fig. 3 is a side view structure cross-sectional view of the support plate, the main transmission chainring and several second transmission chainrings of the present invention
  • Fig. 4 is a sectional view of the paint storage box of the present invention.
  • Figure 5 is an enlarged view of the structure at A in Figure 1 of the present invention.
  • Fig. 6 is a partial sectional view of the adjustment mechanism of the present invention.
  • this embodiment provides a robot arm uniform spraying device for the Internet of Things and a spraying method thereof, including a base 2, a support plate 1 and a spraying mechanism 3, and an inverted T is fixedly installed at the bottom of the support plate 1 type slider 13, the upper end surface of the base 2 is provided with a guide chute that slides and engages with the inverted T-shaped slider 13, the upper end of the support plate 1 is used to support the mechanical arm, and the support plate 1 can be used along the inverted T-shaped slider 13
  • the upper end surface of the base 2 slides freely without causing the support plate 1 to slip off the base 2, so that the mechanical arm placed on the upper end of the support plate 1 passes through the spraying mechanism 3, and the spraying mechanism 3 sprays the mechanical arm.
  • the bottom end of the base 2 is fixedly installed with an inverted T-shaped bracket 23, and the inverted T-shaped bracket 23 is used to support the base 2 in the air.
  • the spraying mechanism 3 includes two L-shaped columns 31, and a paint storage box 32 is fixedly installed between the tops of the two L-shaped columns 31.
  • the two L-shaped columns 31 can be used to erect the paint storage box 32, and the support plate 1 There is a space for spraying between the upper end faces, so as to place the robot arm to be sprayed.
  • Paint storage box 32 inside is provided with storage cavity 39, and storage cavity 39 is used as the space for storing paint, and the middle position of side wall of one side of paint storage box 32 is connected with the guide tube 33 that is communicated with storage cavity 39 inside, utilizes guide
  • the flow pipe 33 is connected to the outlet of the device for pumping out the paint in order to pump the paint under high pressure into the interior of the storage cavity 39 .
  • the side walls on both sides of the paint storage box 32 are slidably inserted with a pull rod 34 extending to the inside of the storage cavity 39 , and the tip of the pull rod 34 is fixedly mounted with a rubber sealing plug 37 that is slidably fitted to the inner side wall of the storage cavity 39 .
  • the size of the spraying range that is, slide the pull rod 34 along the inside of the storage cavity 39, and drive the rubber sealing plug 37 to slide horizontally along the inside of the storage cavity 39, and the paint in the storage cavity 39 is covered by two
  • a rubber sealing plug 37 promotes to move in the storage cavity 39
  • the bottom end of the paint storage box 32 is provided with several evenly distributed spray holes, and a nozzle 38 is installed at the opening of the spray holes, and the two rubber seals 37
  • the size of the gap between is adjusted to the width close to the mechanical arm, and the spray nozzle 38 between the two rubber sealing plugs 37 can spray high-pressure paint, and the sprayed paint can be sprayed onto the mechanical arm just in time.
  • the way to adjust the size of the spraying range is mostly electronic numerical control to adjust the spraying range, that is, a solenoid valve is installed at the nozzle 38, and the circuit controls the opening and closing of the solenoid valve to control whether the nozzle 38 is sprayed. paint, but this process is highly intelligent.
  • the cost of spraying is high.
  • the maintenance cost is relatively high.
  • the spraying range can be quickly adjusted, and on the other hand, the spraying position can be controlled, which not only satisfies the precise adjustment of the spraying range, but also reduces the cost of spraying and maintenance.
  • the motionless mode can greatly increase the spraying speed of the spraying mechanism 3 .
  • a threaded sleeve 25 located in the transmission cavity 27 is fixedly connected between the bottom ends of the two L-shaped columns 31, and the threaded sleeve 25 is internally rotated and inserted with a threaded adjustment rod 24, and the axial ends of the threaded adjustment rod 24 are connected to the transmission cavity.
  • the side walls on both sides of the cavity 27 are rotationally connected, and the front end of the base 2 is fixedly equipped with a servo motor 21.
  • the power shaft of the servo motor 21 rotates and extends to the inside of the transmission cavity 27 and is fixedly connected with the axial end of the threaded adjustment rod 24.
  • the servo motor 21 is used to provide power, and the rotation speed of the servo motor 21 is preset to drive the threaded adjustment rod 24 to rotate at a constant speed. Since the threaded sleeve 25 is fixed between the two L-shaped columns 31, Therefore, the threaded sleeve 25 can only be adjusted along the axial direction of the threaded adjustment rod 24, and the two L-shaped columns 31 follow the threaded sleeve 25 to move synchronously at a constant speed, and the paint spraying box 32 can also move synchronously at a constant speed. The paint is evenly sprayed on the surface of the mechanical arm.
  • the inner top of the transmission cavity 27 is rotatably installed with several main transmission toothed discs 28, the top of the outer wall of the threaded sleeve 25 is fixedly installed with a tooth block 26 meshing with the main transmission toothed discs 28, and the bottom end of the support plate 1 is provided with a mounting groove. 11.
  • a rack 12 is fixedly installed on the inner top of the installation groove 11, and the main transmission rack 28 meshes with the rack 12.
  • the tooth block 26 follows the threaded barrel 25 Adjust the position synchronously, the gear block 26 can pass through the below of several main transmission toothed discs 28 successively, the tooth block 26 can stir the main transmission toothed disc 28 to rotate, the main transmission toothed disc 28 is used as the transmission medium, because the rack 12 is fixed on the installation The inner top of the groove 11, so when the rotating transmission disc 28 rotates, the rack 12 can be moved horizontally, that is, the support plate 1 can be moved horizontally along the upper end of the base 2 .
  • the reason why the main transmission chainring 28 is set between the rack 12 and the tooth block 26 is that when the tooth block 26 is adjusted to one end along the axial direction of the threaded adjustment rod 24, the main transmission toothing plate 28 is connected between the tooth rack 12 and the tooth Transmission between blocks 26, changing the transmission direction of the rack 12, the support plate 1 can be adjusted towards the other end of the axial direction of the threaded adjustment rod 24, and the relative adjustment between the support plate 1 and the spraying mechanism 3, when the support plate 1 When the mechanical arm placed on the upper end slides to the rear side along the base 2 following the support plate 1, the spraying mechanism 3 slides to the front side along the base 2, and the relative sliding adjustment can speed up the efficiency of spraying.
  • the spraying mechanism 3 is controlled to slide and adjust, and the fixed mechanical arm is sprayed, or the spraying mechanism 3 is controlled to be fixed, and the support plate 1 is used to slide horizontally through the
  • the spraying mechanism 3 can also realize the spraying operation, and the transmission in one direction to perform the spraying operation will result in low spraying efficiency.
  • the tip of the nozzle 38 is fan-shaped, and the fan-shaped nozzle 38 has a wider spray range. Within the same spray range, the number of nozzles 38 can be greatly reduced, which not only meets the spraying requirements, but also reduces the spraying cost.
  • One end of the pull rod 34 away from the rubber sealing plug 37 is vertically fixed with a T-shaped connecting rod 35, and the opposite side walls of the two T-shaped connecting rods 35 are fixedly installed with a crossbeam 36 in a dislocation distribution, and the other end of the crossbeam 36 is connected to another T-shaped
  • the connecting rod 35 is slidably inserted, and by pulling the beam 36, the T-shaped connecting rod 35 is used to drive the pull rod 34 to slide horizontally along the inside of the storage cavity 39. Through the relative sliding of the two beams 36, the two beams 36 can be quickly adjusted.
  • the rubber sealing plug 37 is located at a specific position in the storage cavity 39 to improve the efficiency of adjustment.
  • the upper end of the paint storage box 32 is equipped with an adjustment mechanism 4, the adjustment mechanism 4 includes two mounting plates 41, and the two mounting plates 41 are fixedly installed in the middle positions of the upper end, front and rear sides of the paint storage box 32, and slide between the two mounting plates 41 An adjustment rod 43 is plugged in, and the outer wall of the adjustment rod 43 is fixed with an adjustment tooth disc 42 located between the two mounting plates 41.
  • the bottom end of the beam 36 is provided with a tooth groove meshing with the adjustment tooth disc 42, and the adjustment rod 43 is pulled by hand.
  • the adjustment rod 43 drives the adjustment tooth plate 42 to adjust the position between the two mounting plates 41, first adjust the adjustment tooth plate 42 to the bottom of one of the beams 36, and at the same time ensure that the adjustment tooth plate 42 is meshed with the tooth groove, and turn the adjustment lever 43 can drive the adjustment tooth plate 42 to rotate, and the crossbeam 36 can be horizontally slid to adjust the position through the tooth groove until one of the rubber sealing plugs 37 is adjusted to the desired position.

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  • Spray Control Apparatus (AREA)

Abstract

本发明公开了一种物联网用机器人手臂均匀喷涂装置及其喷涂方法，涉及机器人手臂喷涂技术领域，包括底座、支撑板和喷涂机构，支撑板滑动安装在底座的上端面，喷涂机构包括两个L型立柱，两个L型立柱的顶部之间固定安装有油漆存储盒，油漆存储盒的两侧侧壁均滑动插接有延伸至存储空腔内部的抽拉杆，抽拉杆尖端固定安装有与存储空腔内部侧壁滑动贴合的橡胶密封塞，油漆存储盒的底端开设有若干个均匀分布的喷孔，且喷孔的开口处安装有喷头。本发明中喷涂机构能够根据不同尺寸结构的机械臂快速调整喷涂范围，满足对机械臂的喷涂需求，另外，喷涂过程中，通过支撑板与喷涂机构的相对运动，加快喷涂机构对机械臂的喷涂操作，从而提高喷涂的效率。

Description

一种物联网用机器人手臂均匀喷涂装置及其喷涂方法 技术领域
本发明涉及机器人手臂喷涂技术领域，具体为一种物联网用机器人手臂均匀喷涂装置及其喷涂方法。
 背景技术
机器人手臂用于执行机器人控制系统的动作命令，为了增强机器人手臂的耐腐蚀性能，会在机器人手臂的外部喷涂油漆，但是由于不同的机械臂尺寸规格不一样，因此一般的喷涂设备不具有快速调节喷涂范围内的功能，因此喷涂过程中会造成油漆的浪费，导致机械臂的喷涂成本提高，所以这里设计了一种物联网用机器人手臂均匀喷涂装置及其喷涂方法，以便于解决上述问题。
 技术问题
本发明的目的在于提供一种物联网用机器人手臂均匀喷涂装置及其喷涂方法，以解决上述背景技术中提出的问题。
 技术解决方案
为实现上述目的，本发明提供如下技术方案：一种物联网用机器人手臂均匀喷涂装置，包括底座、支撑板和喷涂机构，支撑板的底端固定安装有倒立T型滑块，底座的上端面开设有与倒立T型滑块滑动卡接的导向滑槽，支撑板利用倒立T型滑块可沿着底座的上端面自由滑动，便于将放置在支撑板上端的机械臂经过喷涂机构，喷涂机构对机械臂进行喷涂操作。
喷涂机构包括两个L型立柱，两个L型立柱的顶部之间固定安装有油漆存储盒，油漆存储盒内部设有储存空腔，油漆存储盒的一侧侧壁中段位置连接有与存储空腔内部连通的导流管，利用导流管与用于泵出油漆的装置出口连接，以便于将油漆以高压的形式泵入存储空腔内部。
油漆存储盒的两侧侧壁均滑动插接有延伸至存储空腔内部的抽拉杆，抽拉杆尖端固定安装有与存储空腔内部侧壁滑动贴合的橡胶密封塞，油漆存储盒的底端开设有若干个均匀分布的喷孔，且喷孔的开口处安装有喷头，沿着存储空腔内部滑动抽拉杆，可带动橡胶密封塞沿着存储空腔内部水平滑动，存储空腔内的油漆被两个橡胶密封塞推动着在存储空腔内移动，将两个橡胶密封垫之间的间隙大小调整至接近机械臂的宽度，位于两个橡胶密封塞之间的喷头，可喷出高压的油漆，并且喷出的油漆能够恰好喷到机械臂上。
在进一步的实施例中，喷头的尖端为扇形结构，扇形结构的喷头的喷射范围较广，同等喷涂范围内，能够大大减少喷头的数量，既满足喷涂需求，又能够降低喷涂成本。
在进一步的实施例中，底座内部设有传动空腔，且传动空腔延伸至底座的上端面，底座的两侧均开设有与传动空腔内部相互连通的矩形槽，L型立柱滑动贯穿矩形槽且延伸至传动空腔内部，L型立柱能够沿着矩形槽内部水平滑动，这样就可以带动油漆存储盒沿着底座水平调整位置，相比于油漆存储盒固定不动的方式，能够大大提高喷涂机构的喷涂速度。
在进一步的实施例中，两个L型立柱底端之间固定连接有位于传动空腔内的螺纹套筒，螺纹套筒内部转动插接有螺纹调节杆，螺纹调节杆轴向两端与传动空腔内部两侧侧壁转动连接，底座的前端面固定安装有伺服电机，伺服电机的动力轴转动延伸至传动空腔内部且与螺纹调节杆的轴向一端固定连接，利用伺服电机带动螺纹调节杆匀速转动，螺纹套筒沿着螺纹调节杆轴向方向调整，两个L型立柱跟随螺纹套筒同步匀速移动，油漆喷涂盒也能够同步匀速移动，那么从喷头内喷出的油漆比较均匀的喷涂在机械臂的表面。
在进一步的实施例中，传动空腔的内部顶部转动安装有若干个主传动齿盘，螺纹套筒的外壁顶端固定安装有与主传动齿盘啮合的齿块，支撑板的底端开设有安装槽，安装槽的内部顶端固定安装有齿条，主传动齿盘与第二传动齿盘啮合，螺纹套筒沿着螺纹调节杆轴向方向调整时，齿块跟随螺纹筒体同步调整位置，齿块能够依次经过若干个主传动齿盘的下方，齿块能够拨动主传动齿盘转动，主传动齿盘作为传动介质，由于齿条是固定在安装槽内部顶端的，所以转动传动盘转动时，可拨动齿条水平移动，即拨动支撑板沿着底座的上端水平移动。
在进一步的实施例中，抽拉杆远离橡胶密封塞的一端垂直固定安装有T型连杆，两个T型连杆相对侧壁均固定安装有错位分布的横梁，横梁的另一端与另一个T型连杆滑动插接，通过抽拉横梁，利用T型连杆传动，可带动抽拉杆沿着存储空腔内部水平滑动，通过两个横梁的相对滑动，可快速调整两个橡胶密封塞位于存储空腔内的具体位置，提高调节的效率。
在进一步的实施例中，油漆存储盒的上端安装有调节机构；
调节机构包括两个安装板，两个安装板固定安装在油漆存储盒的上端前后两侧中段位置，两个安装板之间滑动插接有调节杆，调节杆的外壁固定有位于两个安装板之间的调节齿盘，横梁的底端开设有与调节齿盘啮合的齿槽，分别将调节齿盘依次调整至两个横梁的下方，同时保证调节齿盘与齿槽啮合，转动调节杆即可带动调节齿盘转动，可通过齿槽将横梁水平滑动调整位置，直至两个橡胶密封塞分别调整到所需位置。
在进一步的实施例中，底座的底端固定安装有倒立T型支架，利用倒立T型支架，将底座腾空支撑。
优选的，基于上述的一种物联网用机器人手臂均匀喷涂装置的喷涂方法，包括如下步骤：
A1、利用伺服电机提供动力，并预设伺服电机的转动速度，带动螺纹调节杆匀速转动，由于螺纹套筒固定在两个L型立柱之间，所以螺纹套筒只能沿着螺纹调节杆轴向方向调整，两个L型立柱跟随螺纹套筒同步匀速移动，油漆喷涂盒也能够同步匀速移动，那么从喷头内喷出的油漆比较均匀的喷涂在机械臂的表面；
A2、在齿条和齿块之间设置主传动齿盘，当齿块沿着螺纹调节杆的轴向方向向一端调整时，通过主传动齿盘在齿条和齿块之间传动，改变齿条的传动方向，可将支撑板朝着螺纹调节杆的轴向方向另一端调整，将支撑板与喷涂机构之间相对调整，当支撑板上端放置的机械臂跟随支撑板沿着底座向后侧滑动时，喷涂机构沿着底座向前侧滑动，相对滑动调整，可加快喷涂的效率。
 有益效果
本发明中喷涂机构能够根据不同尺寸结构的机械臂快速调整喷涂范围，既满足对机械臂的喷涂需求，又能够避免油漆的浪费，另外，喷涂过程中，通过支撑板与喷涂机构的相对运动，加快喷涂机构对机械臂的喷涂操作，从而提高喷涂的效率。
 附图说明
图1为本发明主体结构示意图；
图2为本发明的底座、支撑板结构剖视图；
图3为本发明的支撑板、主传动齿盘和若干个第二传动齿盘侧视结构剖视图；
图4为本发明的油漆存储盒剖视图；
图5为本发明的图1中A处结构放大图；
图6为本发明的调节机构局部剖视图。
图中：1、支撑板；11、安装槽；12、第二传动齿盘；2、底座；21、伺服电机；22、矩形槽；23、倒立T型支架；24、螺纹调节杆；25、螺纹套筒；26、齿块；27、传动空腔；28、齿条；3、喷涂机构；31、L型立柱；32、油漆存储盒；33、导流管；34、抽拉杆；35、T型连杆；36、横梁；37、橡胶密封塞；38、喷头；39、存储空腔；4、调节机构；41、安装板；42、调节齿盘；43、调节杆。
 本发明的实施方式
下面将结合本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一
请参阅图1-6，本实施例提供了一种物联网用机器人手臂均匀喷涂装置及其喷涂方法，包括底座2、支撑板1和喷涂机构3，支撑板1的底端固定安装有倒立T型滑块13，底座2的上端面开设有与倒立T型滑块13滑动卡接的导向滑槽，支撑板1上端用于支撑机械臂，支撑板1利用倒立T型滑块13可沿着底座2的上端面自由滑动，且不会造成支撑板1从底座2上滑落的现象，从而便于将放置在支撑板1上端的机械臂经过喷涂机构3，喷涂机构3对机械臂进行喷涂操作。
底座2的底端固定安装有倒立T型支架23，利用倒立T型支架23，将底座2腾空支撑。
喷涂机构3包括两个L型立柱31，两个L型立柱31的顶部之间固定安装有油漆存储盒32，利用两个L型立柱31可将油漆存储盒32腾空架起，与支撑板1上端面之间留有喷涂的空间，以便于放置待喷涂的机械臂。
油漆存储盒32内部设有储存空腔39，储存空腔39作为存储油漆的空间，油漆存储盒32的一侧侧壁中段位置连接有与存储空腔39内部连通的导流管33，利用导流管33与用于泵出油漆的装置出口连接，以便于将油漆以高压的形式泵入存储空腔39内部。
油漆存储盒32的两侧侧壁均滑动插接有延伸至存储空腔39内部的抽拉杆34，抽拉杆34尖端固定安装有与存储空腔39内部侧壁滑动贴合的橡胶密封塞37，根据机械臂的尺寸大小，调整喷涂范围大小，即沿着存储空腔39内部滑动抽拉杆34，可带动橡胶密封塞37沿着存储空腔39内部水平滑动，存储空腔39内的油漆被两个橡胶密封塞37推动着在存储空腔39内移动，油漆存储盒32的底端开设有若干个均匀分布的喷孔，且喷孔的开口处安装有喷头38，将两个橡胶密封垫37之间的间隙大小调整至接近机械臂的宽度，位于两个橡胶密封塞37之间的喷头38，可喷出高压的油漆，并且喷出的油漆能够恰好喷到机械臂上。
现有技术中调节喷涂范围大小的方式，多为电子数控的方式来调整喷涂的范围，也就是在喷头38处安装电磁阀，通过电路控制电磁阀的开和闭实现控制该喷头38是否喷出油漆，但是该过程高度智能化，一方面喷涂成本高，另一方面一旦有喷头38被堵塞或者损坏，维修成本较高，通过采用两个橡胶密封塞37沿着存储空腔39内部滑动调整的方式，一方面能够快速调整喷涂范围，另一方面，可控制喷涂的位置，既满足对喷涂范围的精确调整，又能降低喷涂的成本，还能降低维修的成本。
底座2内部设有传动空腔27，且传动空腔27延伸至底座2的上端面，底座2的两侧均开设有与传动空腔27内部相互连通的矩形槽22，L型立柱31滑动贯穿矩形槽22且延伸至传动空腔27内部，L型立柱31能够沿着矩形槽22内部水平滑动，这样就可以带动油漆存储盒32沿着底座2水平调整位置，相比于油漆存储盒32固定不动的方式，能够大大提高喷涂机构3的喷涂速度。 
两个L型立柱31底端之间固定连接有位于传动空腔27内的螺纹套筒25，螺纹套筒25内部转动插接有螺纹调节杆24，螺纹调节杆24轴向两端与传动空腔27内部两侧侧壁转动连接，底座2的前端面固定安装有伺服电机21，伺服电机21的动力轴转动延伸至传动空腔27内部且与螺纹调节杆24的轴向一端固定连接，喷涂过程中，为了确保油漆喷涂均匀，利用伺服电机21提供动力，并预设伺服电机21的转动速度，带动螺纹调节杆24匀速转动，由于螺纹套筒25固定在两个L型立柱31之间，所以螺纹套筒25只能沿着螺纹调节杆24轴向方向调整，两个L型立柱31跟随螺纹套筒25同步匀速移动，油漆喷涂盒32也能够同步匀速移动，那么从喷头38内喷出的油漆比较均匀的喷涂在机械臂的表面。
传动空腔27的内部顶部转动安装有若干个主传动齿盘28，螺纹套筒25的外壁顶端固定安装有与主传动齿盘28啮合的齿块26，支撑板1的底端开设有安装槽11，安装槽11的内部顶端固定安装有齿条12，主传动齿盘28与齿条12啮合，螺纹套筒25沿着螺纹调节杆24轴向方向调整时，齿块26跟随螺纹筒体25同步调整位置，齿块26能够依次经过若干个主传动齿盘28的下方，齿块26能够拨动主传动齿盘28转动，主传动齿盘28作为传动介质，由于齿条12是固定在安装槽11内部顶端的，所以转动传动盘28转动时，可拨动齿条12水平移动，即拨动支撑板1沿着底座2的上端水平移动。
之所以在齿条12和齿块26之间设置主传动齿盘28，当齿块26沿着螺纹调节杆24的轴向方向向一端调整时，通过主传动齿盘28在齿条12和齿块26之间传动，改变齿条12的传动方向，可将支撑板1朝着螺纹调节杆24的轴向方向另一端调整，将支撑板1与喷涂机构3之间相对调整，当支撑板1上端放置的机械臂跟随支撑板1沿着底座2向后侧滑动时，喷涂机构3沿着底座2向前侧滑动，相对滑动调整，可加快喷涂的效率。
现有技术中无论何种喷涂设备，在喷涂过程中，要么控制喷涂机构3滑动调整，对固定不动的机械臂进行喷涂操作，要么控制喷涂机构3固定不动，利用支撑板1水平滑动经过喷涂机构3也能够实现喷涂操作，单方向的传动进行喷涂操作，会导致喷涂的效率低。
实施例二
请参阅图1-6，在实施例1的基础上做了进一步改进：
喷头38的尖端为扇形结构，扇形结构的喷头38的喷射范围较广，同等喷涂范围内，能够大大减少喷头38的数量，既满足喷涂需求，又能够降低喷涂成本。
抽拉杆34远离橡胶密封塞37的一端垂直固定安装有T型连杆35，两个T型连杆35相对侧壁均固定安装有错位分布的横梁36，横梁36的另一端与另一个T型连杆35滑动插接，通过抽拉横梁36，利用T型连杆35传动，可带动抽拉杆34沿着存储空腔39内部水平滑动，通过两个横梁36的相对滑动，可快速调整两个橡胶密封塞37位于存储空腔39内的具体位置，提高调节的效率。
油漆存储盒32的上端安装有调节机构4，调节机构4包括两个安装板41，两个安装板41固定安装在油漆存储盒32的上端前后两侧中段位置，两个安装板41之间滑动插接有调节杆43，调节杆43的外壁固定有位于两个安装板41之间的调节齿盘42，横梁36的底端开设有与调节齿盘42啮合的齿槽，徒手拉动调节杆43，使得调节杆43带动调节齿盘42在两个安装板41之间调整位置，先将调节齿盘42调整至其中一个横梁36的下方，同时保证调节齿盘42与齿槽啮合，转动调节杆43即可带动调节齿盘42转动，可通过齿槽将横梁36水平滑动调整位置，直至其中一个橡胶密封塞37调整到所需位置。
然后再调节齿盘42调整至另外一个横梁36的下方，保证调节齿盘42与齿槽啮合，转动调节杆43即可带动调节齿盘42转动，可通过齿槽将横梁36水平滑动调整位置，直至另一个橡胶密封塞37调整到所需位置，利用一个调节齿盘42可快速调整两个橡胶密封塞37的位置，既满足调整需求，又能够降低成本。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (9)

  1. 一种物联网用机器人手臂均匀喷涂装置，包括底座（2）、支撑板（1）和喷涂机构（3），其特征在于：所述支撑板（1）的底端固定安装有倒立T型滑块（13），所述底座（2）的上端面开设有与倒立T型滑块（13）滑动卡接的导向滑槽；
    所述喷涂机构（3）包括两个L型立柱（31），两个L型立柱（31）的顶部之间固定安装有油漆存储盒（32），所述油漆存储盒（32）内部设有储存空腔（39），所述油漆存储盒（32）的一侧侧壁中段位置连接有与存储空腔（39）内部连通的导流管（33），所述油漆存储盒（32）的两侧侧壁均滑动插接有延伸至存储空腔（39）内部的抽拉杆（34），所述抽拉杆（34）尖端固定安装有与存储空腔（39）内部侧壁滑动贴合的橡胶密封塞（37），所述油漆存储盒（32）的底端开设有若干个均匀分布的喷孔，且喷孔的开口处安装有喷头（38）。
  2. 根据权利要求1所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述喷头（38）的尖端为扇形结构。
  3. 根据权利要求1所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述底座（2）内部设有传动空腔（27），且传动空腔（27）延伸至底座（2）的上端面，所述底座（2）的两侧均开设有与传动空腔（27）内部相互连通的矩形槽（22），所述L型立柱（31）滑动贯穿矩形槽（22）且延伸至传动空腔（27）内部，两个L型立柱（31）底端之间固定连接有位于传动空腔（27）内的螺纹套筒（25）。
  4. 根据权利要求3所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述螺纹套筒（25）内部转动插接有螺纹调节杆（24），所述螺纹调节杆（24）轴向两端与传动空腔（27）内部两侧侧壁转动连接，所述底座（2）的前端面固定安装有伺服电机（21），所述伺服电机（21）的动力轴转动延伸至传动空腔（27）内部且与螺纹调节杆（24）的轴向一端固定连接。
  5. 根据权利要求4所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述传动空腔（27）的内部顶部转动安装有若干个主传动齿盘（28），所述螺纹套筒（25）的外壁顶端固定安装有与主传动齿盘（28）啮合的齿块（26），所述支撑板（1）的底端开设有安装槽（11），所述安装槽（11）的内部顶端固定安装有齿条（12），所述主传动齿盘（28）与第二传动齿盘（12）啮合。
  6. 根据权利要求1所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述抽拉杆（34）远离橡胶密封塞（37）的一端垂直固定安装有T型连杆（35），两个T型连杆（35）相对侧壁均固定安装有错位分布的横梁（36），所述横梁（36）的另一端与另一个T型连杆（35）滑动插接。
  7. 根据权利要求6所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述油漆存储盒（32）的上端安装有调节机构（4）；
    所述调节机构（4）包括两个安装板（41），两个安装板（41）固定安装在油漆存储盒（32）的上端前后两侧中段位置，两个安装板（41）之间滑动插接有调节杆（43），所述调节杆（43）的外壁固定有位于两个安装板（41）之间的调节齿盘（42），所述横梁（36）的底端开设有与调节齿盘（42）啮合的齿槽。
  8. 根据权利要求1所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于：所述底座（2）的底端固定安装有倒立T型支架（23）。
  9. 一种物联网用机器人手臂均匀喷涂装置的喷涂方法，根据采用权利要求8所述的一种物联网用机器人手臂均匀喷涂装置，其特征在于，包括如下步骤：
    A1、利用伺服电机（21）提供动力，并预设伺服电机（21）的转动速度，带动螺纹调节杆（24）匀速转动，由于螺纹套筒（25）固定在两个L型立柱（31）之间，所以螺纹套筒（25）只能沿着螺纹调节杆（24）轴向方向调整，两个L型立柱（31）跟随螺纹套筒（25）同步匀速移动，油漆喷涂盒（32）也能够同步匀速移动，那么从喷头（38）内喷出的油漆比较均匀的喷涂在机械臂的表面；
    A2、在齿条（12）和齿块（26）之间设置主传动齿盘（28），当齿块（26）沿着螺纹调节杆（24）的轴向方向向一端调整时，通过主传动齿盘（28）在齿条（12）和齿块（26）之间传动，改变齿条（12）的传动方向，可将支撑板（1）朝着螺纹调节杆（24）的轴向方向另一端调整，将支撑板（1）与喷涂机构（3）之间相对调整，当支撑板（1）上端放置的机械臂跟随支撑板（1）沿着底座（2）向后侧滑动时，喷涂机构（3）沿着底座（2）向前侧滑动，相对滑动调整，可加快喷涂的效率。
PCT/CN2021/127276 2021-07-13 2021-10-29 一种物联网用机器人手臂均匀喷涂装置及其喷涂方法 WO2023284162A1 (zh)

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