CN111805439A - Coating system and coating method - Google Patents
Coating system and coating method Download PDFInfo
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- CN111805439A CN111805439A CN202010654423.0A CN202010654423A CN111805439A CN 111805439 A CN111805439 A CN 111805439A CN 202010654423 A CN202010654423 A CN 202010654423A CN 111805439 A CN111805439 A CN 111805439A
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- coating
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- controlling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
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- 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
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- 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
- B05B13/0431—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 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a coating system which comprises a coating robot, a moving mechanism and a centralized control console. The coating robot is used for spraying the sprayed object; the moving mechanism is arranged in the coating workshop, and the coating robot is arranged on the moving mechanism so as to be capable of moving in a plurality of preset directions in the coating workshop; the centralized control console is used for controlling the coating robot to move in a plurality of preset directions in the coating workshop and controlling the coating robot to spray. The coating system provided by the invention has the advantages that the existing coating workshop is upgraded and reformed on the basis of fully utilizing the existing resources and reducing the investment cost, and the intelligent coating workshop is constructed by arranging the coating robot, the moving mechanism and the centralized control platform, so that the coating robot can move in the coating workshop along a plurality of preset directions to perform coating operation, and thus, the manual spraying operation is replaced by the coating system, the sand blasting and paint spraying efficiency of a sprayed object is greatly improved, and the stable quality of sand blasting and paint spraying is ensured.
Description
Technical Field
The invention relates to the technical field of coating, in particular to a coating system and a coating method.
Background
In the application technical field, at present, the site operation mainly still relies on the manual work to carry out the spraying operation, and especially the sandblast of component surface sprays paint the operation, often needs high altitude construction, has inefficiency, and the construction environment is poor, and is not environmental protection, and the personnel that drop into are many, sets up a large amount of scaffolds as construction platform, problem such as manual work quality unstability.
Disclosure of Invention
The invention aims to provide a coating system and a coating method on the basis of fully utilizing the existing resources and reducing the input cost by combining the layout of an original coating workshop of a shipbuilding.
An embodiment of the present invention provides a coating system, including:
the coating robot is used for spraying the sprayed object;
the coating robot is arranged on the moving mechanism so as to be capable of moving in a plurality of preset directions in the coating workshop; and
and the centralized control console is used for controlling the coating robot to move in the coating workshop along a plurality of preset directions and controlling the coating robot to carry out spraying.
In one embodiment, the coating system further comprises a fixing mechanism for supporting the moving mechanism;
the fixing mechanism comprises at least two stand columns, and the at least two stand columns are respectively arranged at different positions of the coating workshop and are fixed with the side wall of the coating workshop.
In one embodiment, the moving mechanism includes a first rail and a second rail, the first rail is disposed at the top end of the upright and extends along a first predetermined direction, the second rail is disposed on the first rail and extends along a second predetermined direction, and the first direction is different from the second direction; the coating robots comprise at least two coating robots, and at least one coating robot is movably arranged on the second track;
the centralized control console is in communication connection with the painting robots and is used for controlling at least one painting robot arranged on the second track to move along the second direction; and/or
The second rail is movably arranged on the first rail, and when the second rail moves along the first rail, at least one painting robot arranged on the second rail moves along the first direction.
In one embodiment, at least one painting robot is movably disposed on the first rail, and the console is in communication with the painting robot and is configured to control the at least one painting robot disposed on the first rail to move along the first direction.
In one embodiment, the painting robot comprises a top robot, and the top robot is movably arranged on the second rail.
In one embodiment, the moving mechanism further includes a third rail, one end of the third rail is disposed on the second rail and extends along a preset third direction, and the third direction is different from both the first direction and the second direction; the coating robot further comprises a vertical face robot, and the vertical face robot is movably arranged on the third track;
the facade robot is in communication connection with the centralized control console, and the centralized control console is used for controlling the facade robot to move on the third track along the third direction; and/or
The third rail is movably arranged on the second rail, and when the third rail moves along the second rail, the facade robot arranged on the third rail moves along the second direction.
In one embodiment, the moving mechanism further comprises a moving chassis, and the moving chassis is arranged on the bottom wall of the coating workshop and extends along the second direction; the coating robot further comprises a bottom robot, the bottom robot is arranged on the moving chassis and is in communication connection with the centralized control console, and the centralized control console is used for controlling the bottom robot to move on the moving chassis along the second direction and/or controlling the bottom robot to rotate in situ;
the moving mechanism further comprises a fourth rail, the fourth rail is arranged on the bottom wall of the coating workshop and extends along the first direction, the moving chassis is movably arranged on the fourth rail, and the centralized control platform is further used for controlling the bottom robot and the moving chassis to move along the first direction together.
In one embodiment, the moving mechanism includes a first rail, a second rail, a first sliding structure, and a second sliding structure; the first rail is arranged at the top end of the upright column and extends along a preset first direction, the second rail is arranged on the first rail and extends along a preset second direction, the first sliding structure is arranged on the first rail in a sliding mode and is in communication connection with the centralized control console, and the second sliding structure is arranged on the second rail in a sliding mode and is in communication connection with the centralized control console; the coating robots comprise at least two coating robots, and at least one coating robot is arranged on the second track and is fixedly connected with the second sliding structure;
the centralized control console is used for controlling the second sliding structure to move on the second track so as to drive at least one coating robot arranged on the second track to move along the second direction; and/or
The second rail is movably arranged on the first rail and is fixedly connected with the first sliding structure, and the centralized control console is used for controlling the first sliding structure to move on the first rail so as to drive the second rail and at least one coating robot arranged on the second rail to move along the first direction.
In one embodiment, the coating system further comprises a data acquisition mechanism, the data acquisition mechanism is used for acquiring working data during spraying operation and sending the working data to the centralized control console, and the centralized control console is further used for receiving and processing the working data.
The embodiment of the invention also provides a coating method, which is applied to the coating system in any one of the embodiments, and the method comprises the following steps:
controlling the coating robot to move along a preset sand blasting profiling track, and controlling the coating robot to perform sand blasting on a sprayed object;
and controlling the coating robot to move along a preset paint spraying profiling track, and controlling the coating robot to spray paint on the sprayed object.
The coating system in the embodiment of the invention upgrades and reforms the existing coating workshop on the basis of fully utilizing the existing resources and reducing the investment cost, and the intelligent coating workshop is constructed by arranging the coating robot, the moving mechanism and the centralized control table, so that the coating robot can move along a plurality of preset directions in the coating workshop to perform coating operation.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a coating system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a coating system according to another embodiment of the present invention;
FIG. 3 is a schematic structural view of a coating system according to yet another embodiment of the present invention;
fig. 4 is a schematic flow chart of a coating method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a coating method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
In the application technical field, at present, the site operation mainly still relies on the manual work to carry out the spraying operation, and especially the sandblast of component surface sprays paint the operation, often needs high altitude construction, has inefficiency, and the construction environment is poor, and is not environmental protection, and the personnel that drop into are many, sets up a large amount of scaffolds as construction platform, defects such as manual work quality unstability. For manufacturing enterprises, automated, digital and intelligent manufacturing becomes a key measure and means for high-quality development. With the development of intelligent manufacturing technology, various manufacturing enterprises accelerate the research of intelligent manufacturing, and some advanced manufacturing enterprises have already obtained practical promoting results, but the manufacturing enterprises often face the problem of high intelligent manufacturing input cost.
Referring to fig. 1, an embodiment of the invention provides a coating system 100, which includes a coating robot 10, a moving mechanism 20, and a centralized console 30.
The coating robot 10 is used to spray the object 200 to be sprayed. The moving mechanism 20 is provided in the paint shop 300, and the painting robot 10 is provided on the moving mechanism 20 so that the painting robot 10 can move in a plurality of predetermined directions in the paint shop 300. The console 30 is used to control the coating robot 10 to move in a plurality of preset directions in the coating shop 300, and to control the coating robot 10 to perform coating.
In the present embodiment, the coating system 100 is used for coating the coating target 200, and the coating target 200 includes a steel structural member, a shipbuilding member, and the like. In order to better understand the concept of the present invention, the object 200 to be painted of the present invention is described by taking a shipyard member 201 as an example. The paint system 100 is installed in a paint shop 300, as shown in fig. 1, the paint shop 300 including a bottom wall 301, side walls 302, and a top wall 303. When the object to be painted 200 is fed into the paint shop 300, the paint system 100 paints the object to be painted 200. When the coating operation is finished, the sprayed product is removed from the coating shop 300. The painting workshop 300 is an existing common painting workshop, the existing painting workshop is upgraded and modified on the basis of fully utilizing existing resources and reducing input cost, the intelligent painting workshop 300 is constructed, painting operation of the straight top surface, vertical surface and bottom of the shipyard member 201 is performed, and the painting robot 10 replaces manual operation, so that the construction efficiency and quality are improved.
Specifically, the coating robot 10 includes a head 11 and a robot arm 12. The head 11 is provided at one end of the robot arm 12, the other end of the robot arm 12 is attached to the moving mechanism 20, and the moving mechanism 20 is installed in the coating shop 300. In one embodiment, the console 30 is in communication connection with the painting robot 10, the painting robot 10 is movably disposed on the moving mechanism 20, and the console 30 is used for controlling the painting robot 10 to move along a plurality of directions preset in the painting workshop 300 under the guidance of the moving mechanism 20, so that the painting robot 10 can paint the object 200 to be painted in multiple angles or even in all directions. Since the types of the objects 200 to be sprayed are different and the spraying requirements are different, for example, the spraying areas are different, in this embodiment, different spraying directions are preset according to different objects 200 to be sprayed so as to meet different actual spraying requirements. As shown in fig. 1 and 2, the predetermined plurality of directions may be an X-axis direction, a Y-axis direction, a Z-axis direction, or the like shown in fig. 1 or 2, and may of course be other directions, such as any direction between the X-axis direction and the Y-axis direction, any direction between the Y-axis direction and the Z-axis direction, or the like. In another embodiment, the console 30 is connected to the moving mechanism 20 in a communication manner, and the console 30 is used for controlling the moving mechanism 20 to move, so as to drive the coating robot 10 to move along multiple directions preset in the coating workshop 300, so that the coating robot 10 can perform multi-angle or even omni-directional coating on the object 200 to be coated.
The coating system 100 in the embodiment of the invention upgrades and reforms the existing coating workshop on the basis of fully utilizing the existing resources and reducing the investment cost, and the intelligent coating workshop 300 is constructed by arranging the coating robot 10, the moving mechanism 20 and the centralized control platform 30, so that the coating robot 10 can move in a plurality of preset directions in the coating workshop 300 to perform coating operation, thus the manual spraying operation is replaced by the coating system 100, the sand blasting and paint spraying efficiency of the sprayed object 200 is greatly improved, and the stable quality of sand blasting and paint spraying is ensured.
Referring to fig. 1, in one embodiment, the coating system 100 further includes a fixing mechanism 40, and the fixing mechanism 40 is used for supporting the moving mechanism 20. The fixing mechanism 40 includes at least two columns 41, and the at least two columns 41 are respectively disposed at different positions of the paint shop 300 and fixed to the side walls 302 of the paint shop 300.
In the present embodiment, the provision of the fixing mechanism 40 ensures smooth operation of the moving mechanism 20 and the coating robot 10 during the coating operation. Specifically, at least two columns 41 are vertically installed in the paint shop 300 to serve as a main support structure for supporting the moving mechanism 20. Of course, at least two of the columns 41 may also support the moving mechanism 20 in the form of a triangular bracket.
In one embodiment, at least two vertical columns 41 are symmetrically distributed in the coating workshop 300, and the vertical columns 41 are firmly fixed with the bottom wall 301 and the two side walls 302 of the coating workshop 300 respectively. Referring to fig. 2, 6 columns 41 are provided on the left and right sides of the paint shop 300, respectively, and the moving mechanism 20 is provided at the top ends of the 12 columns 41.
In other embodiments, the moving mechanism 20 may also be fixedly disposed in the paint shop 300 through other fixing mechanisms 40, for example, the moving mechanism 20 is fixedly disposed on the side wall 302 of the paint shop 300 by welding, clamping, and the like, so as to ensure stability and reliability of the moving mechanism 20, which is not limited in this respect.
Referring to fig. 1 and 2, in one embodiment, the moving mechanism 20 includes a first rail 21 and a second rail 22, the first rail 21 is disposed at a top end of the upright 41 and extends along a predetermined first direction, the second rail 22 is disposed on the first rail 21 and extends along a predetermined second direction, and the first direction is different from the second direction. The painting robot 10 includes at least two, and at least one painting robot 10 is movably disposed on the second rail 22. The centralized control console 30 is in communication connection with the painting robot 10 and is used for controlling at least one painting robot 10 arranged on the second rail 22 to move in a second direction; and/or the second rail 22 is movably arranged on the first rail 21, and when the second rail 22 moves along the first rail 21, at least one painting robot 10 arranged on the second rail 22 moves along the first direction.
In this embodiment, the preset first direction is different from the preset second direction. As shown in fig. 2, the first direction is a Y-axis direction, which is a longitudinal direction of the coating booth 300 in fig. 2 when viewed from above, and may be a coating booth longitudinal direction, and the second direction is an X-axis direction, which is a transverse direction of the coating booth 300 in fig. 2 when viewed from above, and may be a coating booth width direction. It should be noted that the Y-axis direction and the X-axis direction are only schematic, and in other embodiments, the first direction and the second direction may be other directions of the paint shop 300, and are not limited herein.
The first rail 21 of the moving mechanism 20 is mounted on the top end of the upright 41 and is firmly fixed to the top end of the upright 41. The first rail 21 and the upright 41 form a basic support structure for carrying the second rail 22. The first rail 21 extends in a first direction and the second rail 22 extends in a second direction. In this embodiment, by providing the first rail 21 and the second rail 22, the coating robot 10 can move in the first direction and/or the second direction to perform coating of the object 200 at a specific angle.
Specifically, in one embodiment, at least one painting robot 10 is movably disposed on the second track 22 and is communicatively coupled to the central console 30. During the coating operation, the console 30 directly controls the coating robot 10 to move in the second direction so that the coating robot 10 performs the coating operation on the object 200 to be coated in the second direction.
In the present embodiment, at least one painting robot 10 is movably disposed on the second rail 22. It is understood that the second rail 22 serves as a base rail on which the at least one painting robot 10 moves, and the painting robot 10 disposed on the second rail 22 can move in a second direction (X-axis direction shown in fig. 1) of the second rail 22 under the direct control of the central console 30. Thus, the object 200 to be sprayed can be flexibly coated at a specific angle.
In another embodiment, at least one painting robot 10 is disposed on the second rail 22 and the second rail 22 is movably disposed on the first rail 21. When the second rail 22 moves along the first rail 21, at least one painting robot 10 provided on the second rail 22 moves in the first direction.
In this embodiment, the second rail 22 is movably disposed on the first rail 21. It is understood that the first rail 21 and the pillar 41 form a basic support structure, and not only can carry the second rail 22, but also the first rail 21 can be used as a basic rail for the movement of the second rail 22, so that the second rail 22 moves along the first direction (the Y-axis direction shown in fig. 2) of the first rail 21, thereby enabling the painting robot 10 disposed on the second rail 22 to move along the first direction. In this way, the movement flexibility of the coating robot 10 is further improved, so that the object 200 to be coated can be coated at a specific angle flexibly.
In a further embodiment, the at least one painting robot 10 arranged on the second rail 22 can be moved not only in the second direction of the second rail 22, but also in the first direction in which the first rail 21 is located, while the second rail 22 is moved in the first direction of the first rail 21.
In the present embodiment, the coating robot 10 is movable in the second direction (the X-axis direction shown in fig. 1) of the paint shop 300 along the second rail 22, and is also movable in the first direction (the Y-axis direction shown in fig. 2) of the paint shop 300 along the first rail 21 together with the second rail 22. In this way, the coating robot 10 moves in the first direction and the second direction along the coating shop 300, and thereby the requirement of the intelligent coating operation trajectory operation at different positions on the top surface of the member 201 is satisfied.
In one embodiment, the first rail 21 is a longitudinal rail with a track, and the second rail 22 is a transverse rail with a track.
In one embodiment, at least one painting robot 10 is movably disposed on the first rail 21, and the console 30 is in communication with the painting robot 10 and is configured to control the at least one painting robot 10 disposed on the first rail 21 to move in a first direction.
In addition to the at least one painting robot 10 being able to be arranged on the second rail 22, the at least one painting robot 10 may also be movably arranged on the first rail 21. When performing a coating operation, the console 30 controls the coating robot 10 provided on the first rail 21 to move in a first direction (Y-axis direction shown in fig. 2) so that the coating robot 10 performs coating on the surface of the object 200 to be coated in the first direction.
When there are a plurality of coating robots 10, the plurality of coating robots 10 may be all provided on the first rail 21, all provided on the second rail 22, or part provided on the first rail 21 and part provided on the second rail 22. The console 30 may control the coating robot 10 disposed on the first rail 21 to spray the object 200 in the first direction, may control the coating robot 10 disposed on the second rail 22 to spray the object 200 in the second direction, and may control the coating robot 10 disposed on the first rail 21 and the coating robot 10 disposed on the second rail 22 to simultaneously spray the object 200 at different angles.
Referring to fig. 1, in one embodiment, the painting robot 10 includes a top robot 13, and the top robot 13 is movably disposed on a second rail 22.
In this embodiment, the top robot 13 is mounted on the second rail 22, and the top robot 13 is movable in the second direction (the X-axis direction shown in fig. 1) of the paint shop 300 along the second rail 22, and is also movable in the first direction (the Y-axis direction shown in fig. 2) of the paint shop 300 along the first rail 21 together with the second rail 22. As described above, the ceiling robot 13 moves in the first direction and the second direction along the paint shop 300, and thus the requirement of the intelligent painting operation trajectory operation at different positions on the top surface of the member 201 is satisfied.
Referring to fig. 1, in one embodiment, the moving mechanism 20 further includes a third rail 23, and one end of the third rail 23 is disposed on the second rail 22 and extends along a predetermined third direction, where the third direction is different from both the first direction and the second direction. The painting robot 10 further includes a facade robot 14, and the facade robot 14 is movably disposed on the third rail 23. The facade robot 14 is in communication connection with a centralized control console 30, and the centralized control console 30 is used for controlling the facade robot 14 to move on the third track 23 along a third direction; and/or the third track 23 is movably arranged on the second track 22, and when the third track 23 moves along the second track 22, the facade robot 14 arranged on the third track 23 moves along the second direction.
In this embodiment, the preset third direction is different from both the first direction and the second direction. As shown in fig. 1, the third direction is a Z-axis direction, which is a vertical height direction of the paint shop 300 in fig. 1, and is parallel to the arrangement direction of the pillar 41. Of course, the Z-axis direction is only an illustration, and in other embodiments, the third direction may be another direction of the paint shop 300, and is not limited herein.
One end of the third rail 23 is disposed on the second rail 22, and the third rail 23 is movable in the second direction of the second rail 22. The third rail 23 is mounted with the facade robot 14, and the facade robot 14 is movable in a third direction (the Z-axis direction shown in fig. 1) of the paint shop 300 along the third rail 23, and is also movable in a second direction (the X-axis direction shown in fig. 1) of the paint shop 300 along the second rail 22 together with the third rail 23. In this way, the vertical robot 14 moves in the third direction and the second direction along the paint shop 300, and thereby the requirement of the intelligent painting operation trajectory operation at different positions on the vertical surface of the member 201 is satisfied.
In one embodiment, the third rail 23 is a cantilever beam. One end of the cantilever beam is arranged on the second rail 22, the other end of the cantilever beam freely falls, the vertical face robot 14 is movably arranged on the cantilever beam, and the centralized control console 30 is used for controlling the vertical face robot 14 to move on the cantilever beam along the vertical direction of the coating workshop 300 or move along the second rail 22 and the third rail 23 along the second direction (the X-axis direction shown in figure 1) of the coating workshop 300.
In one embodiment, the number of the third rails 23 is plural, and one end of each of the plural third rails 23 is disposed on the second rail 22.
In this manner, the vertical surfaces of the member 201 are simultaneously painted at different locations.
Referring to fig. 1 and 2, in one embodiment, the moving mechanism 20 further includes a moving chassis 24, and the moving chassis 24 is disposed on a bottom wall 301 of the paint shop 300 and extends in the second direction. The painting robot 10 further includes a bottom robot 15, the bottom robot 15 is disposed on the moving chassis 24 and is communicatively connected to the console 30, and the console 30 is configured to control the bottom robot 15 to move in the second direction on the moving chassis 24 and/or control the bottom robot 15 to rotate in place.
In this embodiment, the bottom robot 15 is installed on the moving chassis 24, and the bottom robot 15 can move along the moving chassis 24 in the second direction (the X-axis direction shown in fig. 1) of the paint shop 300, and certainly, the bottom robot 15 on the moving chassis 24 can also rotate in place for 360 degrees, so as to meet the requirement of the intelligent painting operation track running at different positions in the bottom area of the component 201.
Referring to fig. 1 and 2, in one embodiment, the moving mechanism 20 further includes a fourth rail 25, the fourth rail 25 is disposed on a bottom wall 301 of the paint shop 300 and extends along the first direction, the moving chassis 24 is movably disposed on the fourth rail 25, and the console 30 is further configured to control the bottom robot 15 and the moving chassis 24 to move together along the first direction.
In this embodiment, the fourth rail 25 is installed on the bottom of the paint shop 300, and the moving chassis 24 is placed on the fourth rail 25, so that the moving chassis 24 can move in the Z-axis direction of the paint shop 300 along the fourth rail 25. In this way, the bottom robot 15 can move along the fourth rail 25 along the second direction (the X-axis direction shown in fig. 1) of the paint shop 300 along the moving chassis 24, and can also move along the second direction (the Z-axis direction shown in fig. 2) of the paint shop 300 along with the moving chassis 24, so as to meet the requirement of the intelligent painting operation track running at different positions of the bottom area of the component 201.
In one embodiment, the top robot 13, the bottom robot 15 and the vertical robot 14 are all in communication connection with a centralized control console 30 of the painting shop 300, and the centralized control console 30 is used for respectively controlling the top robot 13, the bottom robot 15 and the vertical robot 14 to paint the painted objects to replace the original manual gun-holding painting operation.
In one embodiment, the moving mechanism 20 includes a first rail 21, a second rail 22, a first sliding structure, and a second sliding structure. The first rail 21 is arranged at the top end of the upright 41 and extends along a preset first direction, the second rail 22 is arranged on the first rail 21 and extends along a preset second direction, the first sliding structure is arranged on the first rail 21 in a sliding mode and is in communication connection with the centralized control console 30, and the second sliding structure is arranged on the second rail 22 in a sliding mode and is in communication connection with the centralized control console 30. The painting robots 10 comprise at least two, at least one painting robot 10 being arranged on the second rail 22 and being fixedly connected to the second sliding structure. The centralized control console 30 is used for controlling the second sliding structure to move on the second rail 22 so as to drive the at least one coating robot 10 arranged on the second rail 22 to move along the second direction; and/or the second rail 22 is movably arranged on the first rail 21 and is fixedly connected with the first sliding structure, and the centralized control console 30 is used for controlling the first sliding structure to move on the first rail 21 so as to drive the second rail 22 and at least one coating robot 10 arranged on the second rail 22 to move along the first direction.
In this embodiment, the console 30 can also control the moving mechanism 20 to move so as to drive the coating robot 10 to move along a plurality of predetermined directions, so as to perform spraying at a plurality of angles. Specifically, the moving mechanism 20 includes a first rail 21, a second rail 22, a first sliding structure, and a second sliding structure.
It will be appreciated that the first slide structure is capable of moving on the first rail 21 to bring the second rail 22 disposed on the first rail 21 and the painting robot 10 (e.g., the top robot 13) disposed on the second rail 22 to move in a first direction. The second sliding structure is capable of moving on the second rail 22, thereby moving the painting robot 10 disposed on the second rail 22 in the second direction. The centralized control console 30 can control the first sliding structure to enable the top robot 13 to spray the object 200 to be sprayed along the first direction, can also control the second sliding structure to enable the top robot 13 to spray the object 200 to be sprayed along the second direction, and can also control the first sliding structure and the second sliding structure to enable the top robot 13 to simultaneously spray different surfaces of the object 200 to be sprayed.
In one embodiment, the first sliding structure and the second sliding structure comprise sliders.
In one embodiment, the coating system 100 further includes a data collecting mechanism for collecting the working data during the spraying operation and sending the working data to the console 30, and the console 30 is further configured to receive and process the working data.
In this embodiment, the data acquisition mechanism includes a sensor. The data acquisition mechanism transmits data such as related flow, pressure, temperature, humidity, operation time, component 201 information and the like to the centralized control console 30 in the automatic sand blasting and automatic paint spraying processes, data processing is carried out through data processing software, real-time display and monitoring are carried out, and intelligent coating operation of remote unified control, process data management and automatic machine operation of the centralized control console 30 is achieved.
Referring to fig. 4, an embodiment of the present invention further provides a coating method applied to the coating system 100 in any one of the above embodiments, where the method includes the following steps:
s10, controlling the coating robot 10 to move along a preset sand blasting profiling track, and controlling the coating robot 10 to sand blast the sprayed object 200;
and S20, controlling the coating robot 10 to move along a preset painting copying track, and controlling the coating robot 10 to paint the object 200 to be painted.
In this embodiment, the predetermined blasting copy trajectory and the predetermined blasting copy trajectory can be obtained before the coating operation. Specifically, the three-dimensional model of the object 200 (e.g., the member 201) to be painted, which requires the sand blasting and paint spraying operations, is imported into the offline programming program in advance, and the sand blasting and paint spraying trajectory is edited by the offline programming program, so as to generate the sand blasting and paint spraying profiling trajectory, which is stored in the centralized control console 30, thereby completing the trajectory editing.
Before the sandblasting operation, as shown in fig. 2, the bottom moving chassis 24 and the bottom robot 15 are moved to the position of the paint shop 300 close to the vertical wall 3021 in the shop side wall 302, as shown in fig. 3, and the component 201 is lifted by the transport vehicle 400 to be transported to the designated area of the sandblasting shop and placed on the buttress 26 prepared in advance, so that the component 201 to be sandblasted is transported to the position. During the sand blasting operation, the centralized control console 30 remotely starts the automatic sand blasting program, so as to control the coating robot 10 to run along the preset sand blasting profiling track, and respectively complete the sand blasting operation of the top, the bottom and the vertical surface of the component 201. After the sandblasting operation is finished, the coating robot 10 is reset by remote operation of the centralized control console 30, and the gun cleaning work is automatically completed. In one embodiment, the top robot 13, the bottom robot 15, and the facade robot 14 are controlled to move according to the preset sand blasting profiling tracks, so as to perform sand blasting operation on the top, the bottom, and the facade of the component 201. After the sand blasting operation is finished, the top robot 13, the bottom robot 15 and the vertical robot 14 are reset through remote operation of the centralized control console 30, and gun cleaning work is automatically finished.
After the blasting work is finished, the above transfer step is repeated, and the member 201 is transferred to a previously designated area of the painting shop and placed on the buttress 26. During the painting operation, the centralized control console 30 remotely starts the automatic painting process, so as to control the painting robot 10 to move along the preset painting profiling track, and respectively complete the painting operation on the top, the bottom and the vertical surface of the component 201. After the painting operation is finished, the painting robot 10 is reset by remote operation of the centralized control console 30, and the gun cleaning work is automatically completed. In one embodiment, the top robot 13, the bottom robot 15 and the facade robot 14 are controlled to run according to the preset painting profiling tracks respectively, so that the painting operation of the top, the bottom and the facade of the component 201 is finished respectively. After the painting operation is finished, the top robot 13, the bottom robot 15 and the vertical robot 14 are reset through remote operation of the centralized control console 30, and gun cleaning work is automatically finished.
The coating method in the embodiment of the invention upgrades and reforms the existing coating workshop on the basis of fully utilizing the existing resources and reducing the investment cost, and the intelligent coating workshop 300 is constructed by arranging the coating robot 10, the moving mechanism 20 and the centralized control platform 30, so that the coating robot 10 can move in a plurality of preset directions in the coating workshop 300 to perform coating operation, thus the coating method is implemented by the coating system 100 to replace manual spraying operation, the sand blasting and paint spraying efficiency of the sprayed object 200 is greatly improved, and the stable quality of sand blasting and paint spraying is ensured.
To better understand the coating system 100 and the coating method thereof of the present invention, an embodiment is provided, and please refer to fig. 5 to describe in detail how the coating system 100 of the present invention realizes intelligent coating through the following process flow:
(1) and (6) editing the track. The three-dimensional model of the component 201 needing sand blasting and paint spraying operation is imported into an offline programming program in advance, sand blasting and paint spraying tracks are edited through the offline programming program, sand blasting and paint spraying copying tracks are generated and stored in the centralized control console 30, and track editing is completed.
(2) The member 201 is in place. As shown in fig. 2, the bottom moving chassis 24 and the bottom robot 15 are moved to a position of the paint shop 300 close to the vertical wall 3021 in the shop side wall 302, and as shown in fig. 3, the component 201 is lifted by the transporting vehicle 400 to be transported to a designated area of the blasting shop and placed on the buttress 26 prepared in advance, and the component 201 to be blasted is transported to a position.
(3) And (5) sand blasting simulation. After the member 201 to be sandblasted is in place, on-site actual simulation operation is performed, a sandblasting profiling track edited in advance is called in the central control console 30, the robot systems such as the top robot 13, the bottom robot 15 and the facade robot 14 rapidly complete simulation operation on the member 201 according to a preset track, and if a worker finds that the trajectory deviates when checking on site, correction is performed in time.
(4) And (4) automatically blasting sand. Through the centralized control console 30, the automatic sand blasting program is remotely started, and the top robot 13, the bottom robot 15 and the facade robot 14 successively run according to preset tracks to respectively complete the sand blasting operation of the top, the bottom and the facade of the component 201. After the sand blasting operation is finished, the top robot 13, the bottom robot 15 and the vertical robot 14 are reset through remote operation of the centralized control console 30, and gun cleaning work is automatically finished.
(5) And finishing and transferring the sequence. The blasting work is finished, and the step (2) is repeated to transfer the member 201 to a pre-designated area of the painting shop and place it on the buttress 26.
(6) And (5) paint spraying simulation. Calling the painting copying track edited in advance at the centralized control console 30, quickly completing simulation operation on the component 201 by robot systems such as the top robot 13, the bottom robot 15 and the vertical robot 14 according to the preset track, and if a deviation track is found, timely adjusting and correcting.
(7) And (6) automatic paint spraying. The automatic paint spraying program is remotely started through the centralized control console 30, the top robot 13, the bottom robot 15 and the vertical robot 14 successively run according to preset tracks, and paint spraying operations of the top, the bottom and the vertical surface of the component 201 are respectively completed. After the painting operation is finished, the top robot 13, the bottom robot 15 and the vertical robot 14 are reset through remote operation of the centralized control console 30, and gun cleaning work is automatically finished.
(8) And (6) airing and checking. And (4) after each automatic paint spraying is finished, drying and checking the paint according to the process requirements, and repeating the step (7) if a plurality of paints need to be sprayed until the requirements are met.
(9) And (6) data acquisition. Through the sensor, will automatic sandblast and automatic spray paint in-process, data transmission such as relevant flow, pressure, temperature, humidity, activity duration, component 201 information to centralized control platform 30, carry out data processing through data processing software to real-time display control realizes the intelligent application operation of remote unified control, process data ization management, machine automatic operation of centralized control platform 30.
(10) And finishing the coating. And finishing automatic sand blasting and automatic paint spraying, and acquiring and displaying related data, and finishing the coating operation.
It can be understood that the coating system 100 and the coating method in the embodiment of the invention fully utilize the resources of the existing coating workshop, the upgrading and reconstruction method is simple, the implementation effect is good, the practicability and the universality are strong, the investment cost is low, the flat surface sand blasting and paint spraying efficiency of the component 201 is greatly improved, and the intelligent coating of centralized remote control of the centralized control console 30, automatic sand blasting and paint spraying of the coating robot 10 and data process monitoring is realized. The coating robot 10 is adopted to replace manual operation, the operation environment is improved, the sand blasting and paint spraying quality is stable, and the efficiency is high.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A coating system, comprising:
the coating robot is used for spraying the sprayed object;
the coating robot is arranged on the moving mechanism so as to be capable of moving in a plurality of preset directions in the coating workshop; and
and the centralized control console is used for controlling the coating robot to move in the coating workshop along a plurality of preset directions and controlling the coating robot to carry out spraying.
2. The coating system of claim 1, further comprising a securing mechanism for supporting the moving mechanism;
the fixing mechanism comprises at least two stand columns, and the at least two stand columns are respectively arranged at different positions of the coating workshop and are fixed with the side wall of the coating workshop.
3. The coating system of claim 2, wherein the moving mechanism includes a first rail disposed at a top end of the pillar and extending in a predetermined first direction, and a second rail disposed on the first rail and extending in a predetermined second direction, the first direction being different from the second direction; the coating robots comprise at least two coating robots, and at least one coating robot is movably arranged on the second track;
the centralized control console is in communication connection with the painting robots and is used for controlling at least one painting robot arranged on the second track to move along the second direction; and/or
The second rail is movably arranged on the first rail, and when the second rail moves along the first rail, at least one painting robot arranged on the second rail moves along the first direction.
4. The coating system of claim 3, wherein at least one of the coating robots is movably disposed on the first track, and the centralized console is in communication with the coating robot and configured to control the at least one coating robot disposed on the first track to move in the first direction.
5. The coating system of claim 3, wherein the coating robot comprises a top robot movably disposed on the second rail.
6. The coating system of claim 3, wherein the moving mechanism further comprises a third rail, one end of the third rail is disposed on the second rail and extends in a preset third direction, and the third direction is different from both the first direction and the second direction; the coating robot further comprises a vertical face robot, and the vertical face robot is movably arranged on the third track;
the facade robot is in communication connection with the centralized control console, and the centralized control console is used for controlling the facade robot to move on the third track along the third direction; and/or
The third rail is movably arranged on the second rail, and when the third rail moves along the second rail, the facade robot arranged on the third rail moves along the second direction.
7. The coating system of claim 3, wherein the movement mechanism further comprises a movement chassis disposed at a bottom wall of the coating shop and extending in the second direction; the coating robot further comprises a bottom robot, the bottom robot is arranged on the moving chassis and is in communication connection with the centralized control console, and the centralized control console is used for controlling the bottom robot to move on the moving chassis along the second direction and/or controlling the bottom robot to rotate in situ;
the moving mechanism further comprises a fourth rail, the fourth rail is arranged on the bottom wall of the coating workshop and extends along the first direction, the moving chassis is movably arranged on the fourth rail, and the centralized control platform is further used for controlling the bottom robot and the moving chassis to move along the first direction together.
8. The coating system of claim 2, wherein the movement mechanism comprises a first rail, a second rail, a first slide structure, and a second slide structure; the first rail is arranged at the top end of the upright column and extends along a preset first direction, the second rail is arranged on the first rail and extends along a preset second direction, the first sliding structure is arranged on the first rail in a sliding mode and is in communication connection with the centralized control console, and the second sliding structure is arranged on the second rail in a sliding mode and is in communication connection with the centralized control console; the coating robots comprise at least two coating robots, and at least one coating robot is arranged on the second track and is fixedly connected with the second sliding structure;
the centralized control console is used for controlling the second sliding structure to move on the second track so as to drive at least one coating robot arranged on the second track to move along the second direction; and/or
The second rail is movably arranged on the first rail and is fixedly connected with the first sliding structure, and the centralized control console is used for controlling the first sliding structure to move on the first rail so as to drive the second rail and at least one coating robot arranged on the second rail to move along the first direction.
9. The coating system of claim 1, further comprising a data collection mechanism for collecting and sending operational data during the spraying operation to the centralized control console, the centralized control console further configured to receive and process the operational data.
10. A coating method applied to the coating system according to any one of claims 1 to 9, the method comprising:
controlling the coating robot to move along a preset sand blasting profiling track, and controlling the coating robot to perform sand blasting on a sprayed object;
and controlling the coating robot to move along a preset paint spraying profiling track, and controlling the coating robot to spray paint on the sprayed object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010654423.0A CN111805439A (en) | 2020-07-08 | 2020-07-08 | Coating system and coating method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010654423.0A CN111805439A (en) | 2020-07-08 | 2020-07-08 | Coating system and coating method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114558707A (en) * | 2020-11-13 | 2022-05-31 | 山东贝格尔防护材料科技有限公司 | Electrophoresis production line portal type electrostatic powder automatic powder spraying device |
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| JP2000070799A (en) * | 1998-09-04 | 2000-03-07 | Yokogawa Electric Corp | Painting system |
| JP2005230767A (en) * | 2004-02-23 | 2005-09-02 | Kansai Paint Co Ltd | Automatic roller coating system |
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