CN109821687A - Large complicated workpiece surface multirobot automatic spraying system - Google Patents
Large complicated workpiece surface multirobot automatic spraying system Download PDFInfo
- Publication number
- CN109821687A CN109821687A CN201910160874.6A CN201910160874A CN109821687A CN 109821687 A CN109821687 A CN 109821687A CN 201910160874 A CN201910160874 A CN 201910160874A CN 109821687 A CN109821687 A CN 109821687A
- Authority
- CN
- China
- Prior art keywords
- connector
- workpiece
- spray
- robot
- straight line
- 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.)
- Pending
Links
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of large complicated workpiece surface multirobot automatic spraying systems, it include: upper surface paint finishing, lower surface paint finishing and turret systems, wherein, upper surface paint finishing includes cross beam frame, first straight line mobile mechanism and the first spray robot, it drives the first spray robot mobile by first straight line mobile mechanism, sprays workpiece surface；Lower surface paint finishing includes at least two spray units, and spray unit is obliquely installed relative to the central axis of turret systems in set angle, each spray unit includes second straight line mobile mechanism and the second spray robot, it drives the second spray robot mobile by second straight line mobile mechanism, sprays the lower surface of workpiece；Turret systems pass through the position of turret systems adjustment workpiece for placing workpiece.The present invention is suitable for the spraying of large complicated workpiece surface, reduces cost of labor, improves spray efficiency and coating quality.
Description
Technical field
The present invention relates to robotic technology fields, and in particular, to a kind of large complicated workpiece surface multirobot is automatic
Paint finishing.
Background technique
In automobile manufacturing field, robot application has been more mature case in bodywork surface spraying.But for size
Huge, type face complex part (such as aircraft) surface spraying operation, general robot spraying system are no longer applicable in.
For the spraying operation of large complicated workpiece surface, most of enterprise still uses hand spray mode to carry out operation,
This kind of method spray efficiency is low, and coating quality is difficult to ensure, and toxic coating cloud seriously endangers human health, badly coating work
As environment, there are security risks.
Existing automatic spraying system mostly uses planer type structure to design, and Chinese utility model patent CN203155435U is public
A kind of planer-type all-round automatic coating machine has been opened, has been designed using planer type structure, and has been single robot spraying system, Zhi Nengjin
The spraying of row workpiece surface can not spray workpiece lower surface, and turntable portion can only carry out workpiece around central axis
Rotary motion can not carry out the translation adjustment of horizontal direction and vertical position.Large complicated workpiece surface is carried out
When spraying, need to carry out the crossbeam of planer-type (Three-coordinate type) mobile platform light-weight design, Static stiffness and dynamic stiffness compared with
Low, caused deformation and vibration will affect Control During Paint Spraying by Robot quality, and X, Y of planer type structure and Z-direction have movement needs,
The control of each axis is difficult under heavy load effect, and the vibration of generation will affect coating quality and efficiency.
Summary of the invention
In view of the foregoing, it is an object to provide a kind of large complicated automatic spray of workpiece surface multirobot
System, to solve the problems, such as existing robot spraying system sprays quality and inefficiency.
To achieve the goals above, the invention adopts the following technical scheme:
Large complicated workpiece surface multirobot automatic spraying system of the present invention, comprising: upper surface paint finishing, under
Surface paint finishing and turret systems, wherein the upper surface paint finishing include cross beam frame, first straight line mobile mechanism and
First spray robot, the cross beam frame include crossbeam and column, and the column is fixed on ground, support the crossbeam, institute
It states first straight line mobile mechanism to be mounted on the crossbeam, first spray robot is mounted on the first straight line moving machine
On structure, drives first spray robot mobile by the first straight line mobile mechanism, pass through first spraying robot
The upper surface of people's spraying workpiece；The lower surface paint finishing includes at least two spray units, and the spray unit is opposite
It is obliquely installed in the central axis of the turret systems in set angle, each spray unit includes second straight line mobile mechanism
With the second spray robot, second spray robot is mounted in the second straight line mobile mechanism, passes through described second
Linear moving mechanism drives second spray robot mobile, passes through the following table of the second coating robot coats workpiece
Face；The turret systems adjust the position of workpiece to be sprayed by the turret systems for placing workpiece to be sprayed.
Preferably, the first straight line mobile mechanism includes crossbeam sliding rail and multiple crossbeam slide trucks, the crossbeam sliding rail
It is mounted on the crossbeam, is mounted on the first spray robot in each crossbeam slide trucks, wherein the crossbeam sliding rail includes
First straight line guide rail and the first driving rack, the crossbeam slide trucks include the first driving motor, the first idler wheel, the first sliding stand
And multiple first sliding blocks, first driving motor are mounted on the back of first sliding stand, first driving motor
Output end connect with first idler wheel, first idler wheel is meshed with first driving rack, multiple first sliding blocks
It is separately mounted in orthogonal two planes in back of first sliding stand, for cooperating with the first straight line guide rail
Connection.
Preferably, the crossbeam slide trucks further include the second driving motor, screw pair, the second sliding stand and fixation
Platform, the screw pair are mounted on the face of first sliding stand, and the fixed station is fixed on first sliding stand
Face, second driving motor are mounted on the top of the fixed station, and first spray robot is mounted on described second
On sliding stand, drive second sliding stand relative to the fixation by second driving motor and the screw pair
Platform is mobile.
Preferably, the second straight line mobile mechanism includes base track and ground slide trucks, the ground slide trucks peace
On the base track, the base track includes that a pair of of girder frame body disposed in parallel, girder pedestal, second straight line are led
Rail and the second driving rack, the bottom surface of each girder frame body are mounted on multiple girder pedestals, each girder
The top surface of frame body is mounted on the second straight line guide rail and second driving rack, and the ground slide trucks pass through described the
Two linear guides and second driving rack are removable relative to the base track, and second spray robot is mounted on
In the ground slide trucks.
Preferably, the ground slide trucks include slide trucks frame body, robot mounting base and two groups of driving assemblies, the machine
Device people's mounting base is mounted on the front end of the slide trucks frame body, for second spray robot, two groups of drivings to be fixedly mounted
Component is located at the two sides of the slide trucks frame body, and every group of driving assembly includes third driving motor, motor mounting plate,
Second wheel and multiple second sliding blocks, the motor mounting plate are fixed on the side of the slide trucks frame body, the third driving electricity
Machine is mounted on the motor mounting plate, and the output end of the third driving motor is connect with second idler wheel, and described second
Idler wheel is meshed with second driving rack, and multiple second sliding blocks are mounted on the motor mounting plate, for described the
Two linear guides are cooperatively connected.
Preferably, first spray robot and second spray robot are seven freedom spray robot.
Preferably, the seven freedom spray robot includes: spray gun and spraying robot human body, the spraying robot
Human body include the first joint being sequentially connected in series, the first connector, the second connector, third connector, the 4th connector,
5th connector, the 6th connector and the 7th connector, wherein first connector is relative to first joint around described
The axis in the first joint can be rotated, and second connector includes second joint, and second connector is relative to described first
Connector can be rotated around the axis of the second joint, and the third connector includes third joint and the 4th joint, and described the
Axis of three connectors relative to second connector around the third joint can be rotated, and the 4th connector is relative to institute
Stating axis of the third connector around the 4th joint can be rotated, and the 5th connector includes the 5th joint and the 6th joint,
Axis of 5th connector relative to the 4th connector around the 5th joint can be rotated, the 6th connector phase
Axis for the 5th connector around the 6th joint can be rotated, and the 6th connector includes the 7th joint, described
7th connector is rotatable around the central axis of spraying robot human body relative to the 6th connector, the spray gun with it is described
The connection of 7th connector, is used for spraying operation.
Preferably, the turret systems include turntable and workpiece holder, wherein the workpiece holder includes support frame
Body and lifting device, support frame as described above body are installed on the turntable, and the lifting device is mounted on support frame as described above body, are led to
Cross the height that the lifting device adjusts workpiece to be sprayed.
Preferably, the lifting device includes at least one lifting column and lifting wheel, and the lifting column is mounted on the branch
On support body, workpiece to be sprayed is placed on the lifting column, and the side of each lifting column is mounted on a lifting wheel, is passed through
The lifting wheel adjusts the height of the lifting column.
Preferably, the turntable includes: turret base, rotating shaft base, traversing axle bed, vertical shift axle bed and turntable, wherein
The turret base is fixed on ground；The rotating shaft base is located in the turret base, and connect with the turret base, uses
In realization workpiece to be sprayed around the rotary motion of turntable central axis；The traversing axle bed is located on the rotating shaft base, and with
The rotating shaft base connection, for realizing the translational sideways movement of workpiece to be sprayed in the horizontal plane；The vertical shift axle bed is located at
It on the traversing axle bed, and is connect with the traversing axle bed, for realizing the longitudinal translation fortune of workpiece to be sprayed in the horizontal plane
It is dynamic；The turntable is located on the vertical shift axle bed, and connect with the vertical shift axle bed, for placing the workpiece holder.
Compared with prior art, the present invention has the following advantages and beneficial effects:
In the present invention, by upper surface paint finishing and lower surface paint finishing can upper surface to workpiece to be sprayed and
Lower surface is sprayed, also, upper surface paint finishing is designed using fixing type beam, and overall stiffness is compared with planer type structure
Height, control are easy, and coating quality easily ensures, difficulty of construction is low, and greatly reduces the quantity of planer-type support column, lower surface spray
The spray unit of painting system is in tilted layout at an angle, and robot motion is not easy to be blocked in spraying process, is conducive to spray
Observation of the operator in control room in the process, and processing flexibility is good.
Spray robot in the present invention uses seven freedom redundant robot, uses modularized design, flexible movements,
Job area is big, and slim-lined construction form makes outer diameter small, can better adapt to the spraying of large complicated workpiece surface
Operation.
In the present invention, turntable has multiple degrees of freedom, it can be achieved that transverse translation is mobile, longitudinal translation is mobile, around turntable center
The rotary motion of axis, convenient for the adjustment of the location of workpiece to be sprayed and posture, positioning accuracy with higher；And turntable size compared with
Greatly, it is suitable for the large-scale spraying workpiece such as aircraft；Workpiece holder is applied not only to the support of workpiece, and there is manual leveling device to set
Meter can be used for spraying workpiece in the adjustment of vertical position, improve positioning accuracy.
Detailed description of the invention
Fig. 1 a is the schematic front view of multirobot automatic spraying system of the present invention；
Fig. 1 b is the schematic top plan view of multirobot automatic spraying system of the present invention；
Fig. 2 a is the structural schematic diagram of middle cross beam frame of the present invention；
Fig. 2 b is the partial enlargement diagram of part A in Fig. 2 a；
Fig. 3 a is the schematic rear view of middle cross beam slide trucks of the present invention；
Fig. 3 b is the right side view of middle cross beam slide trucks of the present invention；
Fig. 4 a is the structural schematic diagram of base track in the present invention；
Fig. 4 b is the partial enlargement diagram of part B in Fig. 4 a；
Fig. 5 a is the schematic front view of ground slide trucks in the present invention；
Fig. 5 b is the left view schematic diagram of ground slide trucks in the present invention；
Fig. 6 is the structural schematic diagram of seven freedom spray robot in the present invention；
Fig. 7 is the structural schematic diagram of workpiece holder in the present invention；
Fig. 8 a is the explosive view of intermediate station of the present invention；
Fig. 8 b is the elevational schematic view of intermediate station of the present invention；
Fig. 8 c is the schematic front view of intermediate station of the present invention.
Description of symbols:
1- cross beam frame；11- column；12- crossbeam；13- first straight line guide rail；The first driving rack of 14-；The sliding of 2- crossbeam
Vehicle；The second driving motor of 21-；The first driving motor of 22-；The first sliding block of 23-；The first idler wheel of 24-；25- line slideway auxiliary；26-
Fixed station；The first sliding stand of 27-；The second sliding stand of 28-；3- base track；31- dust cover；32- girder pedestal；33- main girder frame
Body；34- protective plate；The second driving rack of 35-；36- second straight line guide rail；37- limiting device；38- hauling-chain frame；The sliding of the ground 4-
Vehicle；41- robot mounting base；42- slide trucks frame body；43- third driving motor；44- motor mounting plate；The second idler wheel of 45-；
The second sliding block of 46-；The first spray robot of 5-；The first joint 51-；The first connector of 52-；The second connector of 53-；54- third
Connector；The 4th connector of 55-；The 5th connector of 56-；The 6th connector of 57-；The 7th connector of 58-；59- spray gun；6- turns
Platform；61- melt pit edge；62- turntable；63- hanging ladder；64- vertical shift axle bed；The traversing axle bed of 65-；66- rotating shaft base；67- turntable bottom
Seat；7- workpiece holder；71- lifting column；72- lifting wheel；73- supporting frame；The second spray robot of 8-；9- spray unit.
Specific embodiment
Embodiment of the present invention described below with reference to the accompanying drawings.Those skilled in the art may recognize that
It arrives, it without departing from the spirit and scope of the present invention, can be with a variety of different modes or combinations thereof to described
Embodiment is modified.Therefore, attached drawing and description are regarded as illustrative in nature, rather than the protection for limiting claim
Range.In addition, in the present specification, attached drawing is drawn not in scale, and identical appended drawing reference indicates identical part.
For the spraying operation of large complicated workpiece, due to the bulky dimensions of workpiece to be sprayed, to realize to workpiece
Comprehensive covering of spraying, the crossbeam length needed are very long.The crossbeam of current planer-type mobile platform needs light-weight design, and
Its Static stiffness and dynamic stiffness are lower, and caused deformation and vibration will affect coating quality, so, common robot spraying system
The spraying of large complicated workpiece is no longer applicable in.Multirobot automatic spraying system of the invention, alternative hand spray are made
Industry not only reduces cost of labor, improves spray efficiency and coating quality, and can suitable for the spraying of large complicated workpiece surface
Direct contact toxicity coating when to avoid spraying workman operation reduces harm of the coating cloud to operator.
Fig. 1 a is the schematic front view of multirobot automatic spraying system of the present invention, and Fig. 1 b is multimachine of the present invention
The schematic top plan view of device people's automatic spraying system, as illustrated in figs. 1A and ib, multirobot automatic spraying system of the present invention
It include: upper surface paint finishing, lower surface paint finishing and turret systems, upper surface paint finishing is completed for table on workpiece
The spraying operation in face, lower surface paint finishing complete the spraying operation for workpiece lower surface, and turntable is realized for the location of workpiece
Adjustment.Wherein, the upper surface paint finishing includes cross beam frame 1, first straight line mobile mechanism and the first spray robot 5,
The cross beam frame 1 includes crossbeam 12 and column 11, and the column 11 is fixed on ground, supports the crossbeam 12, show in figure
Two columns 11 are located at the both ends of crossbeam 12, and crossbeam 12 uses fixed design, is welded and fixed with column 11, overall stiffness
It is higher, reduce the quantity of support post.The first straight line mobile mechanism is mounted on the crossbeam 12, first spraying
Robot 5 is mounted in the first straight line mobile mechanism, drives first spraying by the first straight line mobile mechanism
Robot 5 moves on crossbeam 12, and the upper surface of workpiece is sprayed by first spray robot 5.Lower surface paint finishing
Including at least two spray units, and the spray unit is tilted relative to the central axis of the turret systems in set angle
Setting, each spray unit includes second straight line mobile mechanism and the second spray robot 8, second spray robot 8
It is mounted in the second straight line mobile mechanism, second spray robot 8 is driven by the second straight line mobile mechanism
It is mobile, the lower surface of workpiece is sprayed by second spray robot 8；The turret systems are used to place workpiece to be sprayed,
And the position of workpiece to be sprayed is adjusted by the turret systems.
In the present invention, cross beam frame 1 using stationary structure design, compared with planer type structure, rigidity is higher, control compared with
It is easy, coating quality easily ensures, difficulty of construction is low, greatly reduces the quantity of planer-type support column.And multimachine of the present invention
The Work Space Range of device people's automatic spraying system is big, can sufficiently, completely cover entire workpiece surface, completes integral spray and makees
Industry.
According to the length of the size design crossbeam of workpiece, crossbeam 12 can be large-span steel beam, column 11 and crossbeam 12
It is welded and fixed, the vibration of spraying operation engineering middle cross beam 12 influences robot smaller.As shown in Figure 2 a, two columns 11 and cross
Beam 12 constitutes the U-shaped structure stood upside down, and column 11 is used to support crossbeam 12, and the present invention has no specific limit for the shape of column 11
System.
In an alternate embodiment of the present invention where, first straight line mobile mechanism includes crossbeam sliding rail and the sliding of multiple crossbeams
Vehicle 2, crossbeam sliding rail are mounted on crossbeam 12, the first spray robot 5 are mounted in each crossbeam slide trucks 2, to pass through
First straight line mobile mechanism realizes movement of first spray robot 5 relative to cross beam frame 1, adjusts 5 phase of the first spray robot
For the position of workpiece to be sprayed, multiple first spray robots 5 pass through the spraying operation shared out the work and helped one another and carry out workpiece surface.
Two the first spray robots 5 are illustrated only in Fig. 1 a, and the invention is not limited thereto.
Fig. 2 a is the structural schematic diagram of middle cross beam frame of the present invention, and Fig. 2 b is the partial enlargement diagram of part A in Fig. 2 a, such as
Shown in Fig. 2 a and 2b, crossbeam sliding rail includes first straight line guide rail 13 and the first driving rack 14, first straight line guide rail 13 and first
Driving rack 14 is mounted in parallel on crossbeam 12, and crossbeam slide trucks 2 are moved on crossbeam 12 by crossbeam sliding rail.Fig. 3 a is this
The schematic rear view of invention middle cross beam slide trucks, Fig. 3 b is the right side view of middle cross beam slide trucks of the present invention, such as Fig. 3 a and 3b
Shown, crossbeam slide trucks 2 include the first driving motor 22, the first idler wheel 24, the first sliding stand 27 and multiple first sliding blocks 23,
First driving motor 22 is mounted on the back (back refers to the one side backwards to workpiece to be sprayed) of the first sliding stand 27, and first drives
The output end of dynamic motor 22 is connect with the first idler wheel 24, and the first idler wheel 24 is meshed with the first driving rack 14, constitutes roller tooth
Motor is converted linear motion by item pair, so that crossbeam slide trucks 2 move on crossbeam 12, to realize that crossbeam slides
Vehicle 2 drives the movement (using the crossbeam direction in horizontal plane as X-direction) along the x axis of the first spray robot 5.Multiple first
Sliding block 23 is respectively and fixedly installed in orthogonal two planes in back of the first sliding stand 27 (as shown in Figure 3b, wherein one
A plane is parallel with 12 place plane of crossbeam, another plane is vertical with 12 place plane of crossbeam), the first sliding block 23 is used for and the
One linear guide 13 is cooperatively connected, for example, as shown in Figure 3b, the first sliding block 23 has U-shaped groove, and first straight line guide rail 13 is embedding
It closes in the U-shaped groove of the first sliding block 23, straight-line guide rail slide block pair is constituted with first straight line guide rail 13, as crossbeam slide trucks 2
Relative to the guiding device that crossbeam 12 moves in the X-axis direction, avoids crossbeam slide trucks 2 and be detached from crossbeam cunning during the motion
Rail, for example, can respectively install two in orthogonal two planes in the back of the first sliding stand 27 there are four the first sliding block 23
A first sliding block 23, wherein two first sliding blocks 23 coplanar with the first idler wheel 24 are located at the two sides of the first idler wheel 24.
It should be noted that the back that the first sliding block 23 not only may be mounted at the first sliding stand 27 is mutual in the present invention
In two vertical planes, it can also be installed only in one of plane, according to the installation site of first straight line guide rail 13
Set the installation site of the first sliding block 23.
In one embodiment of the present of invention, crossbeam slide trucks 2 can not only drive the first spray robot 5 relative to crossbeam
12 move along the x axis, the first spray robot 5 can also be promoted to move relative to crossbeam along Z-direction, wherein Z-direction
Refer to direction vertical with crossbeam 12 in vertical plane.Crossbeam slide trucks 2 further include the second driving motor 21, screw pair,
Second sliding stand 28 and fixed station 26, screw pair be mounted on the first sliding stand 27 face (face refer to towards to
Spray the one side of workpiece), fixed station 26 is fixed on the face of the first sliding stand 27, and the second driving motor 21 is mounted on fixed station 26
Top, the first spray robot 5 is mounted on the second sliding stand 28, passes through second driving motor 21 and screw pair
Linear motion is converted by motor, the second sliding stand 28 of driving is mobile relative to fixed station 26, to drive the first spraying
The movement of robot 5 adjusts spraying position.It should be understood that crossbeam slide trucks 2 do not move at this time, only the first spray
Apply movement of the robot 5 relative to crossbeam slide trucks 2.The second sliding stand 28 shown in Fig. 3 b includes vertical portion and rake, the
One spray robot 5 is mounted on rake, drives the second sliding stand 28 relative to fixed station 26 by the second driving motor 21
It is mobile, to realize the movement that crossbeam slide trucks 2 drive the first spray robot 5 along Z-direction.Preferably, crossbeam slide trucks 2
On be also equipped with line slideway auxiliary 25, line slideway auxiliary 25 is mounted on fixed station 26, be used as the second sliding stand 28 along Z-direction
Guiding device when mobile avoids de-orbiting when the second sliding stand 28 is mobile, also, with the mobile class of the first sliding stand 27
Seemingly, line slideway auxiliary 25 may include sliding block and guide rail, wherein the back side of the second sliding stand 28 is arranged in sliding block and guide rail cooperates
Connection forms guiding device.
When paint finishing includes multiple crossbeam slide trucks 2 and the first spray robot 5 when upper surface, pass through crossbeam slide trucks
2 the first spray robots 5 of adjustment are along the x axis or multiple first spray robots 5 are transported to not by the movement of Z-direction respectively
Same designated position, so that multiple first spray robots 5 are shared out the work and helped one another, the common upper surface for carrying out large-scale workpiece, which sprays, to be made
Industry.
Currently, lower surface paint finishing generally includes two spray units, and two spray units are arranged in parallel, although making
It is regular to obtain plant and equipment arrangement, but robot motion is easily blocked in spraying process, staff observes tired in control room
It is difficult.In the present invention, as shown in Figure 1 b, lower surface paint finishing include at least two spray units 9, and spray unit 9 relative to
The axis of turret systems is obliquely installed in set angle, is conducive to observation of the personnel in control room in spraying process, and process
It is flexible.For set angle therein, the specific requirements that can be arranged according to plant and equipment are determined, to ensure in the second spraying
Equipment arrangement is regular while robot 8 spray to the lower surface of workpiece complete and comprehensively.Two are illustrated only in Fig. 1 b
Spray unit 9, and two spray units 9 are tilted at an angle relative to the axis of turret systems and are symmetrical arranged, but invention is not
It is limited to this, multiple spray units 9 can also be uniformly arranged along 6 axis of turntable, is divided the work by multiple second spray robots 8 and assisted
Make, the common lower surface spraying operation for carrying out large-scale workpiece.
In the paint finishing of lower surface, second straight line mobile mechanism is used to drive the movement of the second spray robot 8, preferably
Ground, second straight line mobile mechanism include base track 3 and ground slide trucks 4, and base track 3 is layed in facility floor, ground
Slide trucks 4 are mounted on base track 3, can be moved along base track 3, and the second spray robot 8 is mounted on ground slide trucks 4
On, it is mobile relative to base track 3 to follow ground slide trucks 4, so that the second spray robot 8 is transported to designated position, into
The spraying operation of row large-scale workpiece lower surface.Fig. 4 a is the structural schematic diagram of base track in the present invention, and Fig. 4 b is the portion B in Fig. 4 a
The partial enlargement diagram divided, as shown in figures 4 a and 4b, base track 3 include a pair of of 33 (example of girder frame body disposed in parallel
Such as, can be welding steel structure structure), girder pedestal 32, second straight line guide rail 36 and the second driving rack 35, each main girder frame
The bottom surface of body 33 is mounted on multiple girder pedestals 32, and the top surface of each girder frame body 33 is mounted on 36 He of second straight line guide rail
Second driving rack 35, ground slide trucks 4 can relative to base track 3 by second straight line guide rail 36 and the second driving rack 35
It is mobile.Wherein, multiple girder pedestals 32 are evenly arranged in the bottom surface of girder frame body 33, are fixed on ground, are sprayed for entire lower surface
Painting system provides support.
In an alternative embodiment of the invention, base track 3 further includes protective plate 34, dust cover 31 and limiting device
37, protective plate 34 is mounted on the both ends of girder frame body 33, and dust cover 31 is mounted on protective plate 34, protective plate 34 and dust cover 31
For the protection of second straight line guide rail 36 and the second driving rack 35, limiting device 37 is mounted on the both ends of girder frame body 33, uses
It is moved to the position at 33 both ends of girder frame body in limitation ground slide trucks 4, and main girder frame can be moved to avoid ground slide trucks 4
The end of body 33 is touched with 34 phase of protective plate.
Preferably, it is fixed with hauling-chain frame 38 in the side of one or two girder frame body 33, for placing drag chain.
Fig. 5 a is the schematic front view of ground slide trucks in the present invention, and Fig. 5 b is that the left view of ground slide trucks in the present invention is shown
It is intended to, as shown in figure 5 a and 5b, ground slide trucks 4 include slide trucks frame body 42 (for example, it may be welding steel member), machine
People's mounting base 41 and two groups of driving assemblies, robot mounting base 41 is mounted on the front end of slide trucks frame body 42, and (front end refers to sliding
The one end of motor-car frame body towards turret systems), for the second spray robot 8 to be fixedly mounted, two groups of driving assemblies are located at
The two sides of slide trucks frame body 42, the distance between the distance between two groups of driving assemblies and a pair of of girder frame body 33 are adapted, with
It is mounted on base track 3 convenient for ground slide trucks 4 and is moved along base track 3.Every group of driving assembly includes third driving
Motor 43, motor mounting plate 44, the second idler wheel 45 and multiple second sliding blocks 46, motor mounting plate 44 are fixed on slide trucks frame body 42
Side, third driving motor 43 is mounted on motor mounting plate 44, as the driving device of ground slide trucks 3, third driving
The output end of motor 43 is connect with the second idler wheel 45, and the second idler wheel 45 is meshed with the second driving rack 35, constitutes idler wheel rack gear
Pair converts linear motion for motor as the transmission device of ground slide trucks 4.Multiple second sliding blocks 46 are installed respectively
On motor mounting plate 44, for example, being mounted on the lower surface and side of motor mounting plate 44, the second sliding block 46 is used for second directly
Line guide rail 36 is cooperatively connected, and the second sliding block 46 constitutes linear motion pair with second straight line guide rail 36, as leading for ground slide trucks 4
To device, avoid being detached from base track 3 when ground slide trucks 4 are mobile.When ground slide trucks 4 are mobile, two driving motors 43 are same
Step driving, drives the rotation of two the second idler wheels 45, two the second idler wheels 45 respectively be located on two girder frame bodies 33 second
Driving rack 35 engages, and converts linear motion for motor rotation output, the driving method of bi-motor double rollers transports translation
It is dynamic more stable.
In the present invention, the spraying operation of workpiece surface is carried out by spray robot, instead of hand spray, be can be used and is appointed
The spray robot of meaning form, it is preferable that the first spray robot and the second spray robot are seven freedom spraying robot
People.Seven freedom spray robot has redundant degree of freedom, and flexible movements, job area is big, can better adapt to large-scale multiple
The spraying operation of miscellaneous workpiece surface.
Fig. 6 is the structural schematic diagram of seven freedom spray robot in the present invention, as shown in fig. 6, seven freedom flush coater
Device people includes: spray gun 59 and spraying robot human body, and the spraying robot human body includes that first be sequentially connected in series is closed
The 51, first connector 52, the second connector 53, third connector 54, the 4th connector 55, the 5th connector the 56, the 6th is saved to connect
Fitting 57 and the 7th connector 58, wherein seven freedom spray robot passes through the first joint 51 and first straight line mobile mechanism
Or the connection of second straight line mobile mechanism, axis of first connector 52 relative to the first joint 51 around the first joint can be rotated, real
Now rotary motion in the horizontal plane, the second connector 53 include second joint, and the second connector 53 is relative to the first connector
52 can be rotated around the axis of second joint, realize pitching movement in vertical plane, third connector 54 include third joint and
4th joint, axis of the third connector 54 relative to the second connector 53 around third joint can be rotated, realize in vertical plane
Pitching movement, the 4th connector 55 relative to third connector 54 around the 4th joint axis can be rotated, realize in horizontal plane
Interior rotary motion, the 5th connector 56 include the 5th joint and the 6th joint, and the 5th connector 56 is relative to the 4th connector
55 axis around the 5th joint can be rotated, and realize the pitching movement in vertical plane, the 6th connector 57 is relative to the 5th connection
Axis of the part 56 around the 6th joint can be rotated, and realize rotary motion in the horizontal plane, and the 6th connector 57 includes the 7th joint,
7th connector 58 is rotatable around the central axis of spraying robot human body relative to the 6th connector 57, and spray gun 59 and the 7th connects
Fitting 58 connects, and is used for spraying operation.
First joint is mounted on driving device into the 7th joint, and the fortune of corresponding connector is driven by driving device
It is dynamic.It include yoke structure in first connector 52, the second connector 53, the 4th connector 55 and the 6th connector 57, as
Linking arm between two adjacent connections, when connection, by each joint in corresponding yoke structure, and can be relative to
The rotation of yoke structure.It is different with the direction of corresponding joints axes according to yoke structure, realize the rotation of different directions.
It is illustrated by taking the first joint as an example, the first joint includes pedestal, and spray robot is mounted on phase by pedestal
In the external component (for example, crossbeam slide trucks) answered, the first joint further includes the driving dress of the compositions such as motor, retarder and bearing
It sets, the input terminal of retarder is connected to motor, and output end is connect with the first connector, and motor passes through retarder reality as driving
Existing rotation of first connector relative to the first joint.First joint is in the yoke structure of the first connector, bearing installation
Between the pedestal in the first joint and the bottom surface of yoke structure, for the radial support to the first joint.The structure in other joints
This is no longer going to repeat them.
Since coating cloud is inflammable and explosive, all motors and other electric elements are taken anti-in seven freedom spray robot
Quick-fried treatment measures guarantee that spraying process is safe and reliable.Seven freedom spray robot has seven freedom, is set using slim-lined construction
Meter, arm length, working range is big, and radial dimension is small, flexibility ratio is high, improves the spraying operation for large complicated workpiece surface
Quality and efficiency.
It should be noted that Fig. 6 illustrates only a kind of structure type of seven freedom spray robot, but the present invention is not
It is limited to this, also can have a variety of structures form composition, realizes the different angle of robot linking arm or the deflection in direction, adjust machine
The flexibility of spraying operation is improved in relative position between device people and workpiece.
Turret systems include turntable 6 and workpiece holder 7, wherein workpiece holder 7 includes supporting frame 73 and lifting dress
It sets, supporting frame 73 is mounted on turntable 6, and lifting device is mounted on supporting frame 73, is adjusted by lifting device to be sprayed
The height of workpiece.Turntable 6 can carry out just successive step to the position of workpiece to be sprayed, and then be treated by workpiece holder 7
The position for spraying workpiece carries out further adjustment.
Preferably, lifting device includes at least one lifting column 71 and lifting wheel 72, and lifting column 71 is mounted on supporting frame
On 73, workpiece to be sprayed is placed on lifting column 71, and the side of each lifting column 71 is mounted on a lifting wheel 72, passes through liter
The height of 72 adjustment lifting columns 71 of drop wheel is, it can be achieved that manual leveling to workpiece.For example, lifting column 71 includes sleeve and lifting
Bar, sleeve and supporting frame 73 are fixed, and lifting wheel 72 is mounted on sleeve, and elevating lever is located at the inside of sleeve, are risen by rotation
Drop wheel is so that elevating lever is mobile relative to sleeve, to drive the movement for the workpiece to be sprayed being located at the top of elevating lever, adjustment to
Spray the position of workpiece in the vertical direction.Three lifting devices are shown in Fig. 7, are triangularly arranged, by rising three
Lifting column 71 in falling unit is adjusted to different height, and the workpiece to be sprayed on workpiece holder 7 can be made to show difference
The inclination of angle is more conducive to the integrality of spraying operation.
Fig. 8 a is the explosive view of intermediate station of the present invention, and Fig. 8 b is the elevational schematic view of intermediate station of the present invention, and Fig. 8 c is this
The schematic front view of invention intermediate station, as shown by figures 8 a-8 c, turntable 6 are designed using stacked structure, are successively wrapped from bottom to top
Include: turret base 67 (for example, it may be welding steel structure structure), rotating shaft base 66 and turntable 62 are (for example, it may be welding steel structure
Structure), turret base 67 is fixed on ground, can install multiple pedestal support plates in the lower section of turret base 67, pass through pedestal
Support plate fixes on the ground, supports entire turntable 6.Rotating shaft base 66 is located in turret base 67, and connects with turret base 67
It connects, for realizing workpiece to be sprayed around the rotary motion of turntable central axis.For example, revolution can be installed in turret base 67
Bearing, rotating shaft base 66 is installed in turret base 67 by pivoting support, so that rotating shaft base 66 is relative to turret base 67
It is rotatable.Turntable 62 is located on rotating shaft base 66, and turntable 62 is relatively large in diameter, and can be laid with decorative pattern in the upper surface of turntable 62
Plate, turntable 62 meet the placement and support of large-scale workpiece for placing workpiece holder.Turntable 6 further includes melt pit edge 61, is turned
Platform 6 is placed in melt pit by melt pit edge 61.Melt pit edge 61 is located at 62 periphery of turntable and is laid on the edge of melt pit, rotation
First driving mechanism and the first transmission mechanism are installed on axle bed 66, by the first driving mechanism and the first transmission mechanism realize to
Workpiece is sprayed around the rotation of turntable system centre axis.Wherein, the first driving mechanism includes the 4th driving motor, the first driver
Structure includes intermeshing idler wheel and gear ring, constitutes idler wheel gear ring pair, and the output end of the 4th driving motor is connect with idler wheel, gear ring
Be mounted in turret base 67, the 4th driving motor driven idler wheel rotation, by being meshed for idler wheel and gear ring, realize workpiece around
The rotation of turret systems central axis adjusts the angle of workpiece, completes the spraying of different erect-positions.
In an alternative embodiment of the invention, turntable 6 further includes traversing axle bed 65, and traversing axle bed 65 is located at rotating shaft base
It on 66, is mounted between rotating shaft base 66 and turntable 62, and is connect with rotating shaft base 66, for realizing workpiece to be sprayed in level
Translational sideways movement in face.For example, can be fixed on rotating shaft base 66 by connectors such as bolts, pacify on traversing axle bed 65
Equipped with the second driving mechanism and the second transmission mechanism, realize that workpiece to be sprayed is horizontal by the second driving mechanism and the second transmission mechanism
To translational movement.Wherein, the second driving mechanism includes the 5th driving motor, and the second transmission mechanism includes feed screw nut auxiliary driving dress
It sets and the cross of workpiece is realized by the transmission of the 5th driving motor driving screw pair with straight-line guide rail slide block pair guiding device
To translational movement, the position of workpiece is adjusted, and mobile offset track is prevented by the guiding of line slideway auxiliary.Screw pair passes
Details are not described herein for the structure of dynamic device and straight-line guide rail slide block pair guiding device.
In an alternative embodiment of the invention, turntable 6 further includes vertical shift axle bed 64, and vertical shift axle bed 64 is located at traversing axle bed
It on 65, is mounted between traversing axle bed 65 and turntable 62, and is connect with traversing axle bed 65, for realizing workpiece to be sprayed in level
Longitudinal translational movement in face, at this point, turntable 62 is located on vertical shift axle bed 64, and connect with vertical shift axle bed 64.For example, turntable 62
It can be bolted and be installed on vertical shift axle bed 64, third driving mechanism and third driver are installed on vertical shift axle bed 64
Structure realizes that the longitudinal translation of workpiece to be sprayed in the horizontal plane is mobile by third driving mechanism and third transmission mechanism.Wherein,
Third driving mechanism includes the 6th driving motor, and third transmission mechanism is similar with the structure of the second transmission mechanism, including lead screw spiral shell
Female auxiliary transmission and line slideway auxiliary guiding device, and the 6th driving mechanism, third transmission mechanism respectively with the 5th driving machine
Structure and the second transmission mechanism are vertical, and the transmission of screw pair is driven by the 6th driving motor, realize workpiece in the horizontal plane
Longitudinal translation it is mobile, and prevent from moving offset track by the guiding of line slideway auxiliary.
In above-mentioned each embodiment, the first driving mechanism and the first transmission mechanism, the second driving mechanism and the second transmission
The structure type of mechanism, third driving mechanism and third transmission mechanism is not limited to above description, if the first driving mechanism and
Rotation of the workpiece around turntable center, the second driving mechanism and the second transmission mechanism may be implemented in the interaction of first transmission mechanism
Interaction and the interaction of third driving mechanism and third transmission mechanism realize the transverse shifting of workpiece and vertical respectively
To movement.
It should be noted that in the present invention, can be arranged in turntable 6 according to the actual demand of Workpiece painting operation
Rotating shaft base 66, traversing axle bed 65 and vertical shift axle bed 64 it is one or more, correspondingly to meet workpiece angle adjustment, laterally move
Dynamic or longitudinal movement requirement, completes the spraying of different erect-positions, for example, rotating shaft base 66 can only be arranged and indulge in turntable
Axle bed 64 is moved, to meet workpiece angle adjustment and by the requirement of longitudinal movement adjustment workplace vertical height.Turntable 6 is preferably provided with
For from bottom to top successively including turret base 67, rotating shaft base 66, traversing axle bed 65, vertical shift axle bed 64 and turntable 62.
Preferably, a hanging ladder 63 is respectively installed in the two sides of turntable 62, for staff by the row of plane of rotor disc to melt pit
Walk channel.
The present invention is by adjusting the opposite position between the first spray robot and the second spray robot and workpiece to be sprayed
It sets, and adjusts the placement location and angle of workpiece by turret systems, realize in spraying operation for the tune of complex part
Whole, so that spraying operation covers entire workpiece surface, Work Space Range is big.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of large complicated workpiece surface multirobot automatic spraying system characterized by comprising upper surface spray
System, lower surface paint finishing and turret systems,
Wherein, the upper surface paint finishing includes cross beam frame, first straight line mobile mechanism and the first spray robot, the cross
Roof beam structure includes crossbeam and column, and the column is fixed on ground, supports the crossbeam, the first straight line mobile mechanism installation
On the crossbeam, first spray robot is mounted in the first straight line mobile mechanism, passes through the first straight line
Mobile mechanism drives first spray robot mobile, passes through the upper surface of the first coating robot coats workpiece；
The lower surface paint finishing includes at least two spray units, and the spray unit is relative to the turret systems
Central axis is obliquely installed in set angle, and each spray unit includes second straight line mobile mechanism and the second spraying robot
People, second spray robot are mounted in the second straight line mobile mechanism, pass through second straight line mobile mechanism band
It is mobile to move second spray robot, passes through the lower surface of the second coating robot coats workpiece；
The turret systems adjust the position of workpiece to be sprayed by the turret systems for placing workpiece to be sprayed.
2. large complicated workpiece surface multirobot automatic spraying system according to claim 1, which is characterized in that described
First straight line mobile mechanism includes crossbeam sliding rail and multiple crossbeam slide trucks, and the crossbeam sliding rail is mounted on the crossbeam, often
The first spray robot is mounted in a crossbeam slide trucks, wherein the crossbeam sliding rail includes first straight line guide rail and first
Driving rack, the crossbeam slide trucks include the first driving motor, the first idler wheel, the first sliding stand and multiple first sliding blocks,
First driving motor is mounted on the back of first sliding stand, the output end of first driving motor and described first
Idler wheel connection, first idler wheel are meshed with first driving rack, and multiple first sliding blocks are separately mounted to described first
In orthogonal two planes in the back of sliding stand, for being cooperatively connected with the first straight line guide rail.
3. large complicated workpiece surface multirobot automatic spraying system according to claim 2, which is characterized in that described
Crossbeam slide trucks further include the second driving motor, screw pair, the second sliding stand and fixed station, the screw pair peace
Mounted in the face of first sliding stand, the fixed station is fixed on the face of first sliding stand, the second driving electricity
Machine is mounted on the top of the fixed station, and first spray robot is mounted on second sliding stand, passes through described
Two driving motors and the screw pair drive second sliding stand mobile relative to the fixed station.
4. large complicated workpiece surface multirobot automatic spraying system according to claim 1, which is characterized in that described
Second straight line mobile mechanism includes base track and ground slide trucks, and the ground slide trucks are mounted on the base track,
The base track includes a pair of of girder frame body, girder pedestal, second straight line guide rail and the second driving rack disposed in parallel, often
The bottom surface of a girder frame body is mounted on multiple girder pedestals, and the top surface of each girder frame body is respectively mounted
Second straight line guide rail and second driving rack are stated, the ground slide trucks pass through the second straight line guide rail and described second
Driving rack is removable relative to the base track, and second spray robot is mounted in the ground slide trucks.
5. large complicated workpiece surface multirobot automatic spraying system according to claim 4, which is characterized in that described
Ground slide trucks include slide trucks frame body, robot mounting base and two groups of driving assemblies, and the robot mounting base is mounted on institute
The front end for stating slide trucks frame body, for second spray robot to be fixedly mounted, two groups of driving assemblies are located at the cunning
The two sides of motor-car frame body, every group of driving assembly include third driving motor, motor mounting plate, the second idler wheel and multiple second cunnings
Block, the motor mounting plate are fixed on the side of the slide trucks frame body, and the third driving motor is mounted on the motor peace
In loading board, the output end of the third driving motor is connect with second idler wheel, second idler wheel and second transmission
Rack gear is meshed, and multiple second sliding blocks are mounted on the motor mounting plate, for being cooperatively connected with the second straight line guide rail.
6. large complicated workpiece surface multirobot automatic spraying system according to claim 1, which is characterized in that described
First spray robot and second spray robot are seven freedom spray robot.
7. large complicated workpiece surface multirobot automatic spraying system according to claim 6, which is characterized in that described
Seven freedom spray robot includes: spray gun and spraying robot human body, and the spraying robot human body includes being sequentially connected in series
First joint of connection, the first connector, the second connector, third connector, the 4th connector, the 5th connector, the 6th company
Fitting and the 7th connector, wherein axis of first connector relative to first joint around first joint can
Rotation, second connector includes second joint, and second connector is relative to first connector around described second
The axis in joint can be rotated, and the third connector includes third joint and the 4th joint, and the third connector is relative to institute
Stating axis of second connector around the third joint can be rotated, and the 4th connector is relative to the third connector around institute
The axis for stating the 4th joint can be rotated, and the 5th connector includes the 5th joint and the 6th joint, the 5th connector phase
Axis for the 4th connector around the 5th joint can be rotated, and the 6th connector is relative to the 5th connection
Part around the 6th joint axis can be rotated, the 6th connector include the 7th joint, the 7th connector relative to
6th connector is rotatable around the central axis of spraying robot human body, and the spray gun is connect with the 7th connector,
For spraying operation.
8. large complicated workpiece surface multirobot automatic spraying system according to claim 1, which is characterized in that described
Turret systems include turntable and workpiece holder, wherein the workpiece holder includes supporting frame and lifting device, the branch
Support body is installed on the turntable, and the lifting device is mounted on support frame as described above body, is adjusted by the lifting device
The height of workpiece to be sprayed.
9. large complicated workpiece surface multirobot automatic spraying system according to claim 8, which is characterized in that described
Lifting device includes at least one lifting column and lifting wheel, and the lifting column is mounted on support frame as described above body, workpiece to be sprayed
It is placed on the lifting column, the side of each lifting column is mounted on a lifting wheel, by described in lifting wheel adjustment
The height of lifting column.
10. large complicated workpiece surface multirobot automatic spraying system according to claim 8, which is characterized in that institute
Stating turntable includes: turret base, rotating shaft base, traversing axle bed, vertical shift axle bed and turntable, wherein the turret base is fixed
In ground；The rotating shaft base is located in the turret base, and connect with the turret base, for realizing workpiece to be sprayed
Around the rotary motion of turntable central axis；The traversing axle bed is located on the rotating shaft base, and connect with the rotating shaft base,
For realizing the translational sideways movement of workpiece to be sprayed in the horizontal plane；The vertical shift axle bed is located on the traversing axle bed, and
It is connect with the traversing axle bed, for realizing the longitudinal translational movement of workpiece to be sprayed in the horizontal plane；The turntable is located at institute
It states on vertical shift axle bed, and is connect with the vertical shift axle bed, for placing the workpiece holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160874.6A CN109821687A (en) | 2019-03-04 | 2019-03-04 | Large complicated workpiece surface multirobot automatic spraying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160874.6A CN109821687A (en) | 2019-03-04 | 2019-03-04 | Large complicated workpiece surface multirobot automatic spraying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109821687A true CN109821687A (en) | 2019-05-31 |
Family
ID=66865192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910160874.6A Pending CN109821687A (en) | 2019-03-04 | 2019-03-04 | Large complicated workpiece surface multirobot automatic spraying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109821687A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110433995A (en) * | 2019-07-17 | 2019-11-12 | 江西省富煌钢构有限公司 | A kind of steel member spray equipment easily fixed on site |
| CN110496718A (en) * | 2019-08-30 | 2019-11-26 | 南京中车浦镇城轨车辆有限责任公司 | A kind of electrostatic spraying device suitable for different locomotive car door sizes |
| CN110538749A (en) * | 2019-08-29 | 2019-12-06 | 佛山市锦泽致盛智能科技有限公司 | Artificial intelligence spouts fine system |
| CN110548623A (en) * | 2019-09-27 | 2019-12-10 | 葛岳良 | Small paint spraying device |
| CN111974596A (en) * | 2020-09-07 | 2020-11-24 | 上海良时智能科技股份有限公司 | System device for automatically cleaning and spraying mounting holes of large flange parts |
| CN112058547A (en) * | 2020-09-09 | 2020-12-11 | 湖州拓高机械有限公司 | Automobile processing paint spraying apparatus with control paint spraying range merit |
| CN112495648A (en) * | 2020-12-14 | 2021-03-16 | 泰州祥福工程装备有限公司 | Large-scale steel coating device of mill |
| CN112691821A (en) * | 2020-12-21 | 2021-04-23 | 苏州阿甘机器人有限公司 | Robot for spraying product and working method thereof |
| CN112974017A (en) * | 2021-03-21 | 2021-06-18 | 重庆峰聂机械有限公司 | Wear-resistant material spraying device for inner shell of turbine engine |
| CN112974080A (en) * | 2021-02-03 | 2021-06-18 | 北京东方昊为工业装备有限公司 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
| CN112974079A (en) * | 2021-02-03 | 2021-06-18 | 北京东方昊为工业装备有限公司 | Automatic sand blasting spraying equipment for steel bridge |
| CN114210491A (en) * | 2021-12-29 | 2022-03-22 | 臻越自动化技术（上海）有限公司 | Integrated bracket for glue spraying |
| CN114345578A (en) * | 2021-12-07 | 2022-04-15 | 广东创智智能装备有限公司 | Robot spraying workstation and workpiece spraying control method |
| EP4015091A1 (en) * | 2020-12-09 | 2022-06-22 | Kabushiki Kaisha Yaskawa Denki | Robot system |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1296897A (en) * | 1999-11-23 | 2001-05-30 | 视觉伊斯特公司 | Computerized method and device for hull trimming and coating with paint |
| CN1476970A (en) * | 2003-06-12 | 2004-02-25 | 上海交通大学 | Spray-coating machine for external surface of tire |
| CN101524675A (en) * | 2002-10-23 | 2009-09-09 | 美国发那科机器人有限公司 | A robot spray apparatus |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| CN203791140U (en) * | 2014-04-28 | 2014-08-27 | 上海航天设备制造总厂 | Automatic thermal spraying device for large complex curved surface |
| WO2014180552A1 (en) * | 2013-05-07 | 2014-11-13 | Rossen Britta | Coating apparatus for thermal coating |
| CN105149148A (en) * | 2014-08-12 | 2015-12-16 | 清华大学 | Multi-robot automatic spraying system for large complex workpiece surface |
| CN205588296U (en) * | 2016-05-04 | 2016-09-21 | 深圳先进技术研究院 | Automatic painting machine) ware people of large -scale complicated component |
| CN108160354A (en) * | 2018-01-03 | 2018-06-15 | 江苏苏力机械股份有限公司 | A kind of fully-automatic coating device |
| CN208261096U (en) * | 2018-03-26 | 2018-12-21 | 郭建华 | A kind of automatic coating device |
| CN109365172A (en) * | 2018-11-22 | 2019-02-22 | 苏州奥曼恩自动化科技有限公司 | A kind of part spray equipment |
| CN208529104U (en) * | 2018-05-09 | 2019-02-22 | 清研同创机器人（天津）有限公司 | It is a kind of for spraying the spray robot of large-size workpiece |
| CN109365179A (en) * | 2018-12-25 | 2019-02-22 | 重庆精高金属结构制造有限公司 | A kind of auto parts and components spraying frock |
-
2019
- 2019-03-04 CN CN201910160874.6A patent/CN109821687A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1296897A (en) * | 1999-11-23 | 2001-05-30 | 视觉伊斯特公司 | Computerized method and device for hull trimming and coating with paint |
| CN101524675A (en) * | 2002-10-23 | 2009-09-09 | 美国发那科机器人有限公司 | A robot spray apparatus |
| CN1476970A (en) * | 2003-06-12 | 2004-02-25 | 上海交通大学 | Spray-coating machine for external surface of tire |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| WO2014180552A1 (en) * | 2013-05-07 | 2014-11-13 | Rossen Britta | Coating apparatus for thermal coating |
| CN203791140U (en) * | 2014-04-28 | 2014-08-27 | 上海航天设备制造总厂 | Automatic thermal spraying device for large complex curved surface |
| CN105149148A (en) * | 2014-08-12 | 2015-12-16 | 清华大学 | Multi-robot automatic spraying system for large complex workpiece surface |
| CN205588296U (en) * | 2016-05-04 | 2016-09-21 | 深圳先进技术研究院 | Automatic painting machine) ware people of large -scale complicated component |
| CN108160354A (en) * | 2018-01-03 | 2018-06-15 | 江苏苏力机械股份有限公司 | A kind of fully-automatic coating device |
| CN208261096U (en) * | 2018-03-26 | 2018-12-21 | 郭建华 | A kind of automatic coating device |
| CN208529104U (en) * | 2018-05-09 | 2019-02-22 | 清研同创机器人（天津）有限公司 | It is a kind of for spraying the spray robot of large-size workpiece |
| CN109365172A (en) * | 2018-11-22 | 2019-02-22 | 苏州奥曼恩自动化科技有限公司 | A kind of part spray equipment |
| CN109365179A (en) * | 2018-12-25 | 2019-02-22 | 重庆精高金属结构制造有限公司 | A kind of auto parts and components spraying frock |
Non-Patent Citations (2)
| Title |
|---|
| 《职业技能鉴定教材》、《职业技能鉴定指导》编审委员会: "《模样工 初级、中级、高级》", 31 March 1998, 中国劳动出版社 * |
| 曹玉满: "第2.3节 自动喷涂机机械结构介绍", 《中国优秀硕士论文学位全文数据库 工程科技II辑（月刊）》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110433995A (en) * | 2019-07-17 | 2019-11-12 | 江西省富煌钢构有限公司 | A kind of steel member spray equipment easily fixed on site |
| CN110538749B (en) * | 2019-08-29 | 2024-04-26 | 佛山市锦泽致盛智能科技有限公司 | Artificial intelligence spouts fine system |
| CN110538749A (en) * | 2019-08-29 | 2019-12-06 | 佛山市锦泽致盛智能科技有限公司 | Artificial intelligence spouts fine system |
| CN110496718A (en) * | 2019-08-30 | 2019-11-26 | 南京中车浦镇城轨车辆有限责任公司 | A kind of electrostatic spraying device suitable for different locomotive car door sizes |
| CN110548623A (en) * | 2019-09-27 | 2019-12-10 | 葛岳良 | Small paint spraying device |
| CN111974596A (en) * | 2020-09-07 | 2020-11-24 | 上海良时智能科技股份有限公司 | System device for automatically cleaning and spraying mounting holes of large flange parts |
| CN112058547A (en) * | 2020-09-09 | 2020-12-11 | 湖州拓高机械有限公司 | Automobile processing paint spraying apparatus with control paint spraying range merit |
| EP4015091A1 (en) * | 2020-12-09 | 2022-06-22 | Kabushiki Kaisha Yaskawa Denki | Robot system |
| US11872686B2 (en) | 2020-12-09 | 2024-01-16 | Kabushiki Kaisha Yaskawa Denki | Robot system |
| CN112495648A (en) * | 2020-12-14 | 2021-03-16 | 泰州祥福工程装备有限公司 | Large-scale steel coating device of mill |
| CN112691821A (en) * | 2020-12-21 | 2021-04-23 | 苏州阿甘机器人有限公司 | Robot for spraying product and working method thereof |
| CN112974079A (en) * | 2021-02-03 | 2021-06-18 | 北京东方昊为工业装备有限公司 | Automatic sand blasting spraying equipment for steel bridge |
| CN112974080A (en) * | 2021-02-03 | 2021-06-18 | 北京东方昊为工业装备有限公司 | Large-scale bridge combination formula is sand blasting spraying device in coordination |
| CN112974017A (en) * | 2021-03-21 | 2021-06-18 | 重庆峰聂机械有限公司 | Wear-resistant material spraying device for inner shell of turbine engine |
| CN114345578B (en) * | 2021-12-07 | 2023-05-05 | 广东创智智能装备有限公司 | Robot spraying workstation and workpiece spraying control method |
| CN114345578A (en) * | 2021-12-07 | 2022-04-15 | 广东创智智能装备有限公司 | Robot spraying workstation and workpiece spraying control method |
| CN114210491A (en) * | 2021-12-29 | 2022-03-22 | 臻越自动化技术（上海）有限公司 | Integrated bracket for glue spraying |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109821687A (en) | Large complicated workpiece surface multirobot automatic spraying system | |
| CN111266776B (en) | Pipeline intersecting line welding system | |
| CN108406806A (en) | A kind of spray robot for spraying large-size workpiece | |
| CN103252614B (en) | Double-gantry lifting type turnover machine | |
| US8434657B2 (en) | Gantry-based welding system and method | |
| CN112756959B (en) | Flexible multi-degree-of-freedom butt joint posture adjusting mechanism | |
| US8210418B1 (en) | Multi-station, gantry-based automated welding system | |
| US7055240B2 (en) | Positioning apparatus for precisely locating a part or other article | |
| CN208529104U (en) | It is a kind of for spraying the spray robot of large-size workpiece | |
| CN106238995B (en) | Utilize the welding method of shot-blasting machine case weld machine people's assembly | |
| CN104549849A (en) | Automatic spraying robot device | |
| CN101549493A (en) | Double-arm glass substrate carrying robot | |
| CN206029097U (en) | Shot -blasting machine casing welding robot assembly | |
| CN217620590U (en) | Full-automatic gantry manipulator | |
| CN103344420A (en) | Multi-shaft bolt tightening test bed | |
| CN106238980A (en) | Shot-blasting machine case weld aid system assembly | |
| CN104816293B (en) | A kind of mobile mechanical arm of eight degrees of freedom | |
| CN206407165U (en) | A kind of undercarriage erecting device | |
| CN106238994A (en) | Shot-blasting machine case weld machine people's assembly | |
| CN212239548U (en) | Sliding type intelligent automatic welding workstation for new energy bus body structure | |
| CN108689172A (en) | A kind of automatic loading/unloading processing unit (plant) of glass panel | |
| CN110711983B (en) | Robot welding work unit and operation process thereof | |
| CN203266020U (en) | Double portal lifting type upender | |
| CN111745260A (en) | A sliding intelligent automatic weld workstation for new forms of energy passenger train body structure | |
| CN208700050U (en) | A kind of automatic loading/unloading processing unit (plant) of glass panel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190531 |