CN114345602B - Intelligent PLC-controlled U-shaped piece spraying robot and spraying method thereof - Google Patents
Intelligent PLC-controlled U-shaped piece spraying robot and spraying method thereof Download PDFInfo
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- CN114345602B CN114345602B CN202210156605.4A CN202210156605A CN114345602B CN 114345602 B CN114345602 B CN 114345602B CN 202210156605 A CN202210156605 A CN 202210156605A CN 114345602 B CN114345602 B CN 114345602B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to an intelligent PLC (programmable logic controller) controlled U-shaped piece spraying robot and a spraying method thereof. The working assembly comprises a displacement mechanism which is fixedly connected with the conveying unit in an axially extending mode and a spraying assembly which is electrically and fixedly connected with the PLC, and the spraying assemblies are symmetrically and fixedly connected with two ends of the displacement mechanism in a radial direction to form a two-way spraying area; effectively improving the spraying efficiency. The PLC controller is fixedly connected with the displacement mechanism in the radial direction, the spraying assembly controls the working path of the spraying assembly through the PLC controller, the U-shaped lug structure lines are converted into the working path, and the spraying assembly controls the whole spraying range through the telescopic baffle and the compensation element, so that the coating coverage rate is improved.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to an intelligent PLC (programmable logic controller) controlled U-shaped piece spraying robot and a spraying method thereof.
Background
The spraying of metal parts is one of the important processing means for corrosion prevention, for metal parts with preset angles, such as U-shaped lugs and the like, the middle transition connection position needs to be continuously changed in the spraying process, the processing size of the U-shaped lug can be changed according to the requirements of customers, the change angle is too complex, the spraying range of the traditional high-pressure spray head which is fixedly extended is limited, the centering requirement of the spray head relative to the U-shaped lug is high, otherwise, the phenomenon that the spray head is sprayed to the periphery of parts or is not uniformly sprayed is easily caused, and the middle of the U-shaped lug is hollow when the spray head is sprayed, so that the coating is wasted.
Disclosure of Invention
The purpose of the invention is as follows: the lifting type pipeline welding device based on the robot and the welding method thereof are provided, so that the problems in the prior art are solved.
The technical scheme is as follows: an intelligent PLC controlled U-shaped piece spraying robot, comprising:
a work table;
the feeding assembly comprises a plurality of groups of displacement mechanisms which extend and are fixedly connected with the workbench in the axial direction, a conveying unit which extends and is fixedly connected with the workbench in the circumferential direction, and a clamping mechanism which is horizontally and fixedly connected with the workbench, wherein the displacement mechanisms are mutually vertical in the circumferential direction of the clamping mechanism;
the working assembly is fixedly connected with the end part of one of the displacement mechanisms, comprises a displacement mechanism which is fixedly connected with the conveying unit in an axially extending manner, and spraying assemblies which are fixedly connected with the displacement mechanism in the axial direction, and the spraying assemblies are symmetrically and fixedly connected with the two ends of the displacement mechanism in the radial direction to form a two-way spraying area;
and (c) a second step of,
and the PLC is fixedly connected with the displacement mechanism in the radial direction and is used for sending an action signal to the feeding assembly and the working assembly.
The PLC controller sets up predetermined route according to U-shaped ear overall dimension to with relevant action signal transmission to spraying subassembly and displacement mechanism, effectively improve the controllability of spraying position, the spraying subassembly sets up the both ends at displacement mechanism with the predetermined distance symmetry according to U-shaped ear overall dimension, corresponding with U-shaped ear both ends spraying position, effectively avoid the waste of middle part coating, displacement mechanism controls the linear motion of spraying subassembly, change the relative position between spraying subassembly and the U-shaped ear, accomplish effective spraying work and improve the spraying quality. The relative spraying subassembly that sets up is synchronous to the work of U-shaped ear both ends surface, effectively improves spraying efficiency, and the PLC controller changes the relative spraying angle with U-shaped ear surface of spraying subassembly simultaneously to spraying subassembly's spraying angle scope when adjusting relative spraying, thereby with the interior outer wall spraying of adaptation and U-shaped ear curved surface corner, guarantee spraying surface quality.
In a further embodiment, the spraying assembly comprises a first conveying pipeline, a rotating assembly fixedly connected to the circumferential end of the first conveying pipeline, first spray heads symmetrically and fixedly connected to the end of the first conveying pipeline, telescopic baffles extending at a preset angle in the circumferential direction of the first spray heads and fixedly connected to the first conveying pipeline, and a pushing assembly symmetrically and fixedly connected to the circumferential direction of the first conveying pipeline, wherein the first spray heads radially face to each other or move towards to each other along the first conveying pipeline. First transmission pipeline conveying pressure value collects to the coating with the coating pipeline conveying of one side to evenly spread coating through first shower nozzle, propelling movement subassembly and first transmission pipeline fixed connection, for propelling movement subassembly transmission operating power, telescopic baffle and first shower nozzle are through the spring fixed connection of predetermined elasticity shrinkage factor, form toper work area with first shower nozzle, propelling movement subassembly tip and telescopic baffle direct contact promote telescopic baffle along the radial concertina movement of first shower nozzle, thereby effectively change the diffusion range of coating. The expansion baffle plate radially extends along the first spray head, the end expansion size of the expansion baffle plate is matched with the shape size of the U-shaped lug, the controllability of the spraying range is improved, the spraying quality is further improved, and the pollution to the periphery caused by the spread of the coating is prevented. The rotating assembly is fixedly arranged at the circumferential position where the first spray head and the first conveying pipeline are connected by adopting a universal rotating module, so that the random rotation of the spraying angle is ensured.
In a further embodiment, the pushing assembly comprises a pressure relief switch fixedly connected along the circumferential direction of the first conveying pipeline, a conveying containing cavity fixedly connected along the circumferential direction of the pressure relief switch in an extending manner, and a pushing rod in transitional fit with the conveying containing cavity and vertically and telescopically displaced along the conveying containing cavity, and the pressure relief switch is fixedly connected along the horizontal upper end of the coating pipe section. Pressure release switch effectively utilizes residual pressure control propelling movement subassembly work, reduces extra energy resource consumption, and residual pressure promotes the propelling movement pole and changes the conveying and hold the intracavity portion volume, provides power for the propelling movement pole to effectively guarantee the displacement stability of telescopic baffle under the effect of reverse elasticity power. The end part of the pushing rod is inclined at a preset angle and is matched with the circumferential end face of the telescopic baffle, and the surface of the telescopic baffle extends tangentially relative to the end face of the pushing rod, so that the pushing efficiency and the pushing effect are effectively guaranteed. The pushing assembly is symmetrically arranged along the circumferential direction of the first conveying pipeline and moves synchronously, the centering performance of the work of the spraying assembly is guaranteed, and the spraying effect is further guaranteed. When pressure release switch and first transmission pipeline were closed, its circumference branch road extended to and other end pressure release switch-on each other, and when first shower nozzle rotated the slope along the runner assembly, its circumference telescopic baffle reversed promoted the push rod, and push rod reverse compression holds the chamber with pressure transfer to other end conveying to effectively guarantee telescopic baffle's relatively static, prevent that coating diffusion is uneven, influence spraying effect.
In a further embodiment, a compensation mechanism is fixedly connected to the middle of the spray assembly, and the compensation mechanism includes a second spray head fixedly connected to the middle of the displacement mechanism in an axially extending manner, a second delivery pipe fixedly connected to the end of the second spray head, and a delivery mechanism fixedly connected to the second spray head in a circumferential direction. The compensation mechanism is fixedly arranged in the middle of the spraying assembly, and when the outer wall of the U-shaped lug is sprayed, the spraying assembly stops working at intervals to adapt to the appearance profile of the U-shaped lug and improve the spraying efficiency. Meanwhile, when the spraying assembly works on the inner wall of the U-shaped lug, the compensation mechanism is opposite to the non-working surface of the U-shaped lug, the outside of the compensation mechanism is in the form of a high-pressure pump, coating is conveyed to the second spray head through the second conveying pipeline, an angle matched with the radius of the inner wall of the U-shaped lug is formed between the compensation mechanism and the first spray head, in the working process, the second conveying pipeline and the conveying mechanism move synchronously, the working heights of the first spray head and the second spray head are equal, a complete trapezoidal spraying area is further formed, and the omission of a spraying dead angle of the inner wall of the U-shaped lug is avoided.
In a further embodiment, the conveying mechanism comprises a plurality of groups of telescopic blocks fixedly connected along the circumferential direction of the second conveying pipeline, driving elements fixedly connected with the circumferential direction of the second conveying pipeline in an extending manner, heat conducting plates fixedly connected with the inner walls of the telescopic blocks in an extending manner, and limit blocks fixedly connected with the inner walls of the driving elements in an intersecting manner, wherein the radial outer profiles of the telescopic blocks are in transition fit with the inner walls of the driving elements intermittently. The driving element controls the working path thereof through the PLC to drive the compensation mechanism to linearly displace. The flexible piece adopts the rubber material, external diameter is less than the whole external diameter of drive component, prevent to cause the interference to spraying subassembly operating condition, the flexible piece initial position circumference in top extends and the laminating of drive component inner wall, because second transfer pipe is connected with the high-pressure pump, make its inflation to flexible piece through guide predetermined pressure, heat-conducting plate transmission heat source simultaneously, improve flexible piece expanding speed, the heat-conducting plate adopts the metal material, it is spacing to carry out one end to flexible piece, thereby flexible piece extends gradually respectively, control flexible piece one end touches with the drive component respectively, improve compensation mechanism and drive component's compactedness, and guarantee drive component's working effect. When the telescopic block extends and expands, the limiting block and the telescopic block are staggered to form a locking effect, and the synchronism with the driving element is improved.
In a further embodiment, grooves are formed in the conveying mechanism along the radial direction of the spraying assembly in an equal-diameter extending mode for a preset distance, and the grooves and the conveying mechanism are distributed in the circumferential position of the compensating mechanism in a staggered mode. When the spraying U-shaped ear inner wall, the spraying subassembly agrees with the recess for overall structure is compacter, reduces overall structure size, effectively guarantees the validity of the small-size space work of inner wall. Meanwhile, the conveying mechanism and the spraying component form a staggered and mutually noninterference state, and the coverage rate of the working range combination of the first spray head and the second spray head relative to the surface of the U-shaped lug is ensured.
A spraying method of an intelligent PLC control U-shaped piece spraying robot comprises the following steps:
s1, the U-shaped lug is transferred to the relative position of a working assembly by a transfer unit to prepare for spraying work;
s2, the PLC drives the displacement mechanism to drive the spraying component to extend to a preset position according to the position of the U-shaped lug;
s3, starting the high-pressure pump to transmit working pressure to the pushing assembly, and pushing the telescopic baffle to a preset position by the pushing assembly to enable the diameter size of the telescopic baffle to be matched with the outline size of the U-shaped lug;
s4, simultaneously, lifting the compensation element to the middle of the spraying assembly and attaching the compensation element to the end part of the spraying assembly;
and S5, the PLC drives the displacement mechanism to drive the spraying component and the compensation mechanism to sequentially spray along the inner surface and the outer surface of the U-shaped lug according to a preset path route, so that spraying work is completed.
In a further embodiment, the predetermined path route includes the following steps:
s501, taking the central axis of the surface of the U-shaped lug as a path track of a first spray head, and enabling the spraying component to synchronously move from two ends of the U-shaped lug;
s502, moving the spraying assembly to the outer wall of the transition section of the U-shaped lug, and taking the arc curve of the transition section as a path;
s503, the end part of the spraying assembly is parallel to the inner wall of the U-shaped lug, the compensation mechanism is driven to synchronously move linearly at a preset interval and move to the transition broken inner wall of the U-shaped lug, and the compensation mechanism works.
Has the advantages that: the invention relates to an intelligent PLC (programmable logic controller) controlled U-shaped piece spraying robot and a spraying method thereof. And pass through runner assembly fixed connection with first shower nozzle and first conveying pipeline, realize the multidirectional multi-angle of first shower nozzle and rotate, second shower nozzle and first shower nozzle intermittent type work realize different spraying extension faces to adapt to the spraying of complete plane and hollow face simultaneously, improve the effective spraying to each surface of U-shaped ear. Simultaneously, the compensation element is matched with the spraying assembly for use, so that the spraying coverage rate of the inner surface and the outer surface of the U-shaped lug is effectively guaranteed, and the omission of the transition joint of the U-shaped lug is prevented.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a connection diagram of the working components of the present invention.
Fig. 3 is a schematic view of the overall structure of the spraying assembly and the pushing assembly according to the present invention.
Fig. 4 is a schematic view of the internal structure of the spraying assembly and the pushing assembly according to the present invention.
Fig. 5 is a structural sectional view of the compensating mechanism of the present invention.
The figures are numbered: the spraying device comprises a clamping mechanism 1, a workbench 2, a conveying unit 3, a working assembly 4, a spraying assembly 401, a first conveying pipeline 4011, a coating pipeline 4012, a rotating assembly 4013, a first spray head 4014, a telescopic baffle 4015, a displacement mechanism 402, a pressure relief switch 501, a push rod 502, a second conveying pipeline 601, a second spray head 602, a telescopic block 701, a heat conducting plate 702, a driving element 703 and a limiting block 704.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The invention is described in further detail below with reference to the attached drawing figures: the invention provides an intelligent PLC (programmable logic controller) controlled U-shaped piece spraying robot which comprises four parts, namely a workbench 2, a feeding assembly, a working assembly 4 fixedly connected along the end part of one of displacement mechanisms 402 and a PLC controller used for sending action signals to the feeding assembly and the working assembly.
The feeding assembly comprises a plurality of groups of displacement mechanisms 402 which extend and are fixedly connected with the axial direction of the workbench 2, a conveying unit 3 which extends and is fixedly connected with the circumferential direction of one of the displacement mechanisms 402, and a clamping mechanism 1 which is horizontally and fixedly connected with the workbench 2, wherein the displacement mechanisms 402 are mutually perpendicular to each other along the circumferential direction of the clamping mechanism 1. The working assembly 4 is fixedly connected with the end part of the displacement mechanism 402 along one of the displacement mechanisms, and comprises a displacement mechanism 402 which is fixedly connected with the conveying unit 3 in an axially extending manner, and a spraying assembly 401 which is fixedly connected with the axial direction of the displacement mechanism 402 along the axial direction, wherein the spraying assembly 401 is fixedly connected with the two ends of the displacement mechanism 402 in a symmetrical manner along the radial direction to form a two-way spraying area. And the PLC is fixedly connected with the displacement mechanism 402 in the radial direction and is used for sending action signals to the feeding assembly and the working assembly 4.
The displacement mechanism 402 controls the movement directions of the spraying component 401 and the conveying unit 3 respectively, the U-shaped lugs to be sprayed are conveyed to the upper side of the clamping mechanism 1 through the conveying unit 3, the clamping mechanism 1 effectively fixes the U-shaped lugs, the position of the working face of the U-shaped lugs is controlled, and the U-shaped lugs are overturned to complete spraying of the inner wall at the same time. The clamping mechanism 1 rotates along the workbench 2 to drive the workpiece to be sprayed to be approximately tangent to the axial position of the displacement mechanism 402, so that the spraying component 401 corresponds to the position of the workpiece to be sprayed, and subsequent spraying work is facilitated. The whole section of the clamping mechanism 1 is circular, the U-shaped lugs are driven to rotate in a turntable mode, multi-station conveying is achieved, the displacement mechanism 402 extends along the clamping mechanism 1 in the circumferential direction in a mutually perpendicular mode, conveying distance is reduced, and spraying efficiency is improved. The PLC controller sets up the predetermined route according to U-shaped ear overall dimension to with relevant action signal transmission to spraying subassembly 401 and displacement mechanism 402, effectively improve the controllability of spraying position, spraying subassembly 401 sets up the both ends at displacement mechanism 402 according to U-shaped ear overall dimension with the predetermined distance symmetry, corresponding with the spraying position at U-shaped ear both ends, effectively avoid the waste of middle part coating, displacement mechanism 402 controls the rectilinear motion of spraying subassembly 401, change the relative position between spraying subassembly 401 and the U-shaped ear, adjust the direction of height position of spraying subassembly 401 and U-shaped ear according to the spraying requirement, displacement mechanism 402 promotes spraying subassembly 401 along the rectilinear motion of U-shaped ear outer wall, accomplish effective spraying work and improve the spraying quality. Spraying subassembly 401 that sets up relatively works to U-shaped ear both ends surface in step, effectively improves spraying efficiency, and the PLC controller changes the relative spraying angle with U-shaped ear surface of spraying subassembly 401 simultaneously to spraying subassembly 401's spraying angle scope when adjusting relative spraying, thereby with the interior outer wall spraying of adaptation and U-shaped ear curved surface corner, guarantee spraying surface quality.
The traditional high-pressure pump conveys the coating to the first spray nozzle 4014 through the first conveying pipeline 4011, and then the coating is carried out, and the spreading angle of the coating opening directly influences the spreading area of the coating and the thickness of the coating. Spraying subassembly 401 includes first transmission pipeline 4011, follows first transmission pipeline 4011 circumference end fixed connection's runner assembly 4013, follows first shower nozzle 4014 of first transmission pipeline 4011 tip symmetry fixed connection follows first shower nozzle 4014 circumference predetermined angle extends and fixed connection's flexible baffle 4015, and follows transmission pipeline circumference symmetry fixed connection's propelling movement subassembly, first shower nozzle 4014 is followed first transmission pipeline 4011 is radial relative or motion in opposite directions. First transmission pipeline 4011 conveys the paint collection of pressure value to the paint pipeline 4012 conveying with one side, and evenly spread coating through first shower nozzle 4014, propelling movement subassembly and first transmission pipeline 4011 fixed connection, for propelling movement subassembly transmission operating power, telescopic baffle 4015 and first shower nozzle 4014 are through the spring fixed connection of predetermined elasticity shrinkage factor, form toper work area with first shower nozzle 4014, propelling movement subassembly tip and telescopic baffle 4015 direct contact promote telescopic baffle 4015 along the radial concertina movement of first shower nozzle 4014, propelling movement subassembly tip and the outer tip preset position elevating movement of telescopic baffle 4015, change the pretightning force of telescopic baffle 4015 for the spring, thereby effectively change the diffusion range of coating. The telescopic baffle 4015 radially extends along the first sprayer 4014, the end external expansion size of the telescopic baffle is matched with the external size of the U-shaped lug, the outer diameter range of spraying is matched with the spraying area of the U-shaped lug, so that the complete coverage of the coating is ensured, the controllability of the spraying range is improved, the spraying quality is further improved, and the coating diffusion is prevented from polluting the periphery. The rotating assembly 4013 adopts a universal rotating module to be fixedly arranged at the circumferential position where the first spray head 4014 and the first transmission pipeline 4011 are connected, so that the arbitrary rotation of the spraying angle is ensured.
Propelling movement subassembly working stroke is according to spraying U-shaped ear overall dimension decision, is carrying out the propelling movement in-process, and propelling movement subassembly work precision is corresponding with U-shaped ear size change, and with the spring compression work of telescopic baffle 4015 department, traditional propelling movement mechanism needs extra power and its work precision is limited, can't effectively carry out the micro-regulation, the propelling movement subassembly includes the edge pressure release switch 501 of first transmission pipeline 4011 circumference fixed connection follows pressure release switch 501 circumference extension fixed connection's conveying holds the chamber, and with conveying holds chamber transition cooperation and follows the propelling movement pole 502 that the chamber was held in the perpendicular flexible displacement of conveying, pressure release switch 501 follows coating pipeline section level upper end fixed connection. Pressure release switch 501 and first transfer pipeline 4011 fixed connection and lie in the horizontal upper end of coating pipeline 4012, pressure release switch 501 adopts the relief valve by control system control switch, when high-pressure pump conveys pressure through first transfer pipeline 4011 to merge with coating pipeline 4012, convey predetermined pressure to the conveying appearance intracavity through pressure release switch 501 earlier, promote catch bar elevating movement simultaneously, flexible baffle 4015 with catch bar tip cooperation laminating moves relatively in opposite directions, thereby realize the regulation of coating diffusion scope, pressure release switch 501 effectively utilizes residual pressure to control the work of propelling movement subassembly, reduce extra energy consumption, residual pressure promotes propelling movement pole 502 and changes conveying appearance intracavity volume, provide power for propelling movement pole 502, and effectively guarantee flexible baffle 4015's displacement stability under the effect of reverse elasticity power. The tip of push rod 502 inclines at a predetermined angle and agrees with the peripheral terminal surface of telescopic baffle 4015, and telescopic baffle 4015 surface is tangent to extend relative to push rod 502 terminal surface to effectively guarantee propelling movement efficiency and propelling movement effect. The propelling movement subassembly is along first transmission pipeline 4011 circumference symmetry setting and synchronous motion, guarantees the centering nature of spraying subassembly 401 work, further guarantees the spraying effect. When pressure release switch 501 and first transmission pipeline 4011 were closed, its circumference branch road extended to and other end pressure release switch 501 switch-on each other, and when first shower nozzle 4014 rotated the slope along runner assembly 4013, its circumference telescopic baffle 4015 reverse promotion push rod 502, and push rod 502 reverse compression holds the chamber with pressure transfer to other end conveying to effectively guarantee telescopic baffle 4015's relative stillness, prevent that coating diffusion is uneven, influence the spraying effect.
When the spraying U-shaped ear inside and outside wall, the interval between the spraying subassembly 401 differs great, and when the spraying subassembly 401 formed predetermined angle and along the inner wall spraying, traditional shower nozzle circumference was set for and has been protected the casing, and there was the clearance between it when the spraying subassembly 401 amalgamated to the U-shaped ear inside to form the phenomenon of scribbling at U-shaped ear inner wall curved surface and miss, influence the spraying effect. The middle part of the spraying component 401 is fixedly connected with a compensation mechanism, the compensation mechanism comprises a second spray head 602 which is fixedly connected along the axial extension of the middle part of the displacement mechanism 402, a second delivery pipeline 601 which is fixedly connected with the end part of the second spray head 602, and a delivery mechanism which is fixedly connected along the circumferential direction of the second spray head 602. The compensating mechanism is fixedly arranged in the middle of the spraying component 401, and when the outer wall of the U-shaped lug is sprayed, the spraying component 401 stops working at intervals to adapt to the outline of the U-shaped lug and improve the spraying efficiency. Meanwhile, when the spraying component 401 works on the inner wall of the U-shaped lug, the compensation mechanism transfers the coating to the second spray head 602 through the second transfer pipeline 601 in the form of a high-pressure pump from the outside relative to the non-working surface of the U-shaped lug, an angle matched with the radius of the inner wall of the U-shaped lug is formed between the compensation mechanism and the first spray head 4014, the second transfer pipeline 601 and the transfer mechanism move synchronously in the working process, the working heights of the first spray head 4014 and the second spray head 602 are equal, a complete trapezoidal spraying area is further formed, and the omission of the spraying dead angle of the inner wall of the U-shaped lug is avoided. The conveying mechanism comprises a plurality of groups of telescopic blocks 701 fixedly connected along the circumferential direction of the second conveying pipeline 601, driving elements 703 fixedly connected with the circumferential direction of the second conveying pipeline 601 in an extending mode, heat conducting plates 702 fixedly connected with the inner wall of each telescopic block 701, and limiting blocks 704 fixedly connected with the inner wall of each driving element 703 in a staggered mode, wherein the radial outer contour of each telescopic block 701 is intermittently in transition fit with the inner wall of each driving element 703. The driving element 703 controls the working path thereof through the PLC, and drives the compensation mechanism to linearly displace. The telescopic block 701 is made of rubber, the outer diameter size is smaller than the whole outer diameter size of the driving element 703, interference to the working state of the spraying assembly 401 is prevented, the initial position of the top telescopic block 701 extends circumferentially to be attached to the inner wall of the driving element 703, the second conveying pipeline 601 is connected with a high-pressure pump, the telescopic block 701 is expanded by guiding preset pressure, meanwhile, the heat conducting plate 702 transmits a heat source, the expansion speed of the telescopic block 701 is increased, the heat conducting plate 702 is made of metal, one end of the telescopic block 701 is limited, the telescopic block 701 extends gradually and is controlled to touch the driving element 703, the compactness of the compensation mechanism and the driving element 703 is improved, and the working effect of the driving element 703 is ensured. When the telescopic block 701 extends and expands, the limiting block 704 and the telescopic block 701 are staggered to form a locking effect, so that the synchronism with the driving element 703 is improved.
The spraying assembly 401 radially and equidistantly extends for a preset distance to form grooves in the conveying mechanism, and the grooves and the conveying mechanism are distributed at the circumferential position of the compensating mechanism in a staggered mode. When the spraying U-shaped ear inner wall, spraying subassembly 401 agrees with the recess for overall structure is compacter, reduces overall structure size, effectively guarantees the validity of the small-size space work of inner wall. Meanwhile, the conveying mechanism and the spraying component 401 form a staggered and non-interfering state, so that the coverage rate of the working range combination of the first spray head 4014 and the second spray head 602 relative to the surface of the U-shaped lug is ensured.
Based on the technical scheme, the invention provides a spraying method for controlling a U-shaped piece spraying robot by an intelligent PLC, which comprises the following specific working steps: the conveying unit 3 transmits the U-shaped lug to the clamping mechanism 1, the clamping mechanism 1 automatically fixes the U-shaped lug, the clamping mechanism 1 rotates along the middle shaft, the U-shaped lug is driven to move circumferentially to the position opposite to the working component 4, and the position is tangent to the radial direction of the displacement mechanism 402, and the displacement mechanism 402 drives the spraying component 401 to move linearly along the radial position of the clamping mechanism 1 until the spraying component 401 is located at the corresponding position above the U-shaped lug. At this time, the conveying unit 3 continues to work, and the next U-shaped lug to be sprayed is placed on the other clamping station in the clamping mechanism 1 to be prepared. The system inputs relevant size data of the U-shaped lug to prepare spraying work, a PLC controller drives a displacement mechanism 402 to drive a spraying component 401 to extend to a preset position according to the position of the U-shaped lug and a path obtained by the data, a high-pressure pump and a paint pipeline 4012 work, the high-pressure pump firstly transmits preset working pressure to a pushing component, a pressure relief switch 501 opens the transmission pressure to push a pushing rod 502 to move up and down, a telescopic baffle 4015 is further pushed to move to the preset position along a first sprayer 4014 in the radial direction, the diameter size of the telescopic baffle is matched with the outline size of the U-shaped lug, the paint pipeline 4012 sprays paint from the first sprayer 4014 through the pressure of the high-pressure pump, meanwhile, the second transmission and a second sprayer 602 realize spraying in the same working mode, and a heat conduction plate 702 and a telescopic block 701 which are fixed in the circumferential direction are pushed to be attached to the inner wall of a driving component 703 in a micro-pushing mode, the drive element 703 is driven by the PLC controller to do the whole lifting motion, the compensation element is lifted to the radial preset position of the spraying component 401, namely, the compensation element is attached to the end part of the spraying component 401, the PLC controller drives the displacement mechanism 402 to drive the spraying component 401 and the compensation mechanism to perform spraying work sequentially along the inner surface and the outer surface of the U-shaped lug, the central axis of the surface of the U-shaped lug is taken as a first sprayer 4014 running path, the spraying component 401 moves synchronously from two ends of the U-shaped lug, the spraying component 401 moves to the outer wall of the transition section of the U-shaped lug, the arc curve of the transition section is taken as a path, when the inner wall of the U-shaped lug is sprayed, the first sprayer 4014 rotates to be parallel to the inner wall of the U-shaped lug, the compensation mechanism and the compensation mechanism are driven synchronously to perform linear motion at a preset interval, the compensation mechanism moves to the transition and the inner wall of the U-shaped lug, and the compensation mechanism starts to work to complete the whole spraying work.
Meanwhile, when the coating pipeline 4012 is closed, the compensation mechanism controls the working range of the spraying component 401, meanwhile, the compensation mechanism transmits circulating air through the second transmission pipeline 601, the circulating air is transmitted to the sprayed surface through the second spray head 602, rapid drying is realized, the quality of the sprayed surface is ensured, meanwhile, part of processing heat is transmitted into the heat conduction plate 702, when the circulating air and the hot plate have temperature difference, temperature compensation is realized, the temperature stability of the internal circulating air direction is improved, and the adhesion quality of the coating and the surface of the U-shaped lug is ensured. The synchronous lifting motion of the second conveying pipeline 601 and the second spray head 602 is realized through the conveying mechanism, the relative position of the second spray head 602 and the first spray head 4014 is further adjusted according to the coating material, and the drying speed is controlled, so that the coating effect of the surface of the U-shaped ear is improved.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides an intelligence PLC control U-shaped spare spraying robot which characterized in that includes:
a work table;
the feeding assembly comprises a plurality of groups of displacement mechanisms which extend and are fixedly connected with the workbench in the axial direction, a conveying unit which extends and is fixedly connected with the workbench in the circumferential direction, and a clamping mechanism which is horizontally and fixedly connected with the workbench, wherein the displacement mechanisms are mutually vertical in the circumferential direction of the clamping mechanism;
the working assembly is fixedly connected with the end part of one of the displacement mechanisms, comprises a displacement mechanism which is axially extended and fixedly connected with the conveying unit, and a spraying assembly which is axially fixedly connected with the displacement mechanism, and is symmetrically and fixedly connected with the two ends of the spraying assembly along the radial direction of the displacement mechanism to form a two-way spraying area;
and the number of the first and second groups,
the PLC controller is fixedly connected with the displacement mechanism in the radial direction and is used for sending action signals to the feeding assembly and the working assembly;
the spraying assembly comprises a first conveying pipeline, a rotating assembly fixedly connected with the circumferential tail end of the first conveying pipeline, first spray heads symmetrically and fixedly connected with the end of the first conveying pipeline, telescopic baffles extending at a preset angle in the circumferential direction of the first spray heads and fixedly connected with the first spray heads, and pushing assemblies symmetrically and fixedly connected with the circumferential direction of the first conveying pipeline, wherein the first spray heads radially move relatively or oppositely along the first conveying pipeline;
the pushing assembly comprises a pressure relief switch fixedly connected along the circumferential direction of the first conveying pipeline, a conveying cavity fixedly connected along the circumferential direction of the pressure relief switch in an extending mode, and a pushing rod which is in transition fit with the conveying cavity and vertically extends and retracts along the conveying cavity, the pressure relief switch is fixedly connected along the horizontal upper end of the coating pipeline, the end part of the pushing rod is inclined at a preset angle and is matched with the circumferential end face of the telescopic baffle, and the surface of the telescopic baffle extends tangentially relative to the end face of the pushing rod;
the spraying assembly is characterized in that a compensation mechanism is fixedly connected to the middle of the spraying assembly, the compensation mechanism comprises a second spray head, a second conveying pipeline and a conveying mechanism, the second spray head is fixedly connected to the middle of the displacement mechanism in an axially extending mode, the second conveying pipeline is fixedly connected to the end portion of the second spray head, and the conveying mechanism is fixedly connected to the second spray head in a circumferential mode.
2. The intelligent PLC-controlled U-shaped piece spraying robot according to claim 1, wherein the conveying mechanism comprises a plurality of groups of telescopic blocks fixedly connected along the circumferential direction of the second conveying pipeline, driving elements fixedly connected with the second conveying pipeline in a circumferentially extending manner, heat conducting plates fixedly connected along the inner walls of the telescopic blocks, and limiting blocks arranged in a staggered manner with the telescopic blocks and fixedly connected along the inner walls of the driving elements, and the radial outer profiles of the telescopic blocks are in transition fit with the inner walls of the driving elements intermittently.
3. The intelligent PLC-controlled U-shaped piece spraying robot as claimed in claim 1, wherein grooves are formed in the conveying mechanism along the radial equal-diameter extension of the spraying assembly for a preset distance, and the grooves and the conveying mechanism are distributed in the circumferential position of the compensation mechanism in a staggered mode.
4. The intelligent PLC-controlled U-shaped piece spraying robot spraying method according to any one of claims 1 to 3, characterized by comprising the following steps:
s1, the conveying unit and the clamping mechanism work, and the U-shaped lugs are transferred to the relative positions of the working assemblies to prepare for spraying work;
s2, the PLC drives the displacement mechanism to drive the spraying component to extend to a preset position according to the position of the U-shaped lug;
s3, starting a high-pressure pump to transmit working pressure to a pushing assembly, and pushing the telescopic baffle to a preset position by the pushing assembly to enable the diameter size of the telescopic baffle to be matched with the outline size of the U-shaped lug;
s4, simultaneously, lifting the compensation mechanism to the middle of the spraying assembly and attaching the compensation mechanism to the end part of the spraying assembly;
and S5, the PLC drives the displacement mechanism to drive the spraying component and the compensation mechanism to sequentially spray along the inner surface and the outer surface of the U-shaped lug along a preset path route, so that the spraying work is finished.
5. The intelligent PLC-controlled U-shaped piece spraying robot spraying method according to claim 4, wherein the predetermined travelling path route comprises the following steps:
s501, taking the central axis of the surface of the U-shaped lug as a path track of a first spray head, and enabling the spraying component to synchronously move from two ends of the U-shaped lug;
s502, moving the spraying component to the outer wall of the transition section of the U-shaped lug, and taking the arc curve of the transition section as a path;
s503, the end part of the spraying assembly is parallel to the inner wall of the U-shaped lug, the compensation mechanism is driven to synchronously move linearly at a preset interval and move to the transition broken inner wall of the U-shaped lug, and the compensation mechanism works.
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| CN202210156605.4A CN114345602B (en) | 2022-02-21 | 2022-02-21 | Intelligent PLC-controlled U-shaped piece spraying robot and spraying method thereof |
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| CN114345602B true CN114345602B (en) | 2023-02-03 |
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| ES2660444T3 (en) * | 2014-09-26 | 2018-03-22 | Cefla Societa' Cooperativa | Apparatus for applying paint to products |
| CN205341096U (en) * | 2016-01-29 | 2016-06-29 | 南通金巨霸机械有限公司 | Flush coater spray gun |
| CN206492649U (en) * | 2017-01-16 | 2017-09-15 | 广州铭泽金属制品有限公司 | Semi-automatic wheel hub paint spraying machine |
| CN212263605U (en) * | 2020-05-15 | 2021-01-01 | 上海新业喷涂机械有限公司 | Automatic five-station double-gun aluminum spraying machine |
| CN111644318A (en) * | 2020-06-29 | 2020-09-11 | 李闯 | Position automatic adjusting device for workpiece spraying |
| CN213133692U (en) * | 2020-07-08 | 2021-05-07 | 中国空空导弹研究院 | Novel air gun nozzle for bench worker |
| CN112791885A (en) * | 2021-04-07 | 2021-05-14 | 广东博硕涂装技术有限公司 | Spraying mechanical equipment with manipulator and reciprocating function and control method thereof |
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