CN114472014B - Industrial spraying robot - Google Patents
Industrial spraying robot Download PDFInfo
- Publication number
- CN114472014B CN114472014B CN202210079300.8A CN202210079300A CN114472014B CN 114472014 B CN114472014 B CN 114472014B CN 202210079300 A CN202210079300 A CN 202210079300A CN 114472014 B CN114472014 B CN 114472014B
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- Prior art keywords
- spraying
- fixedly connected
- sliding
- tank body
- pipeline
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- 238000005507 spraying Methods 0.000 title claims abstract description 154
- 239000007921 spray Substances 0.000 claims abstract description 47
- 230000001681 protective effect Effects 0.000 claims description 15
- 239000013013 elastic material Substances 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 19
- 230000007797 corrosion Effects 0.000 abstract description 9
- 238000005260 corrosion Methods 0.000 abstract description 9
- 239000003973 paint Substances 0.000 abstract description 9
- 238000000576 coating method Methods 0.000 description 8
- 239000011248 coating agent Substances 0.000 description 7
- 210000000707 wrist Anatomy 0.000 description 6
- 239000002519 antifouling agent Substances 0.000 description 3
- 239000010779 crude oil Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000003298 dental enamel Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/14—Arrangements for preventing or controlling structural damage to spraying apparatus or its outlets, e.g. for breaking at desired places; Arrangements for handling or replacing damaged parts
- B05B15/16—Arrangements for preventing or controlling structural damage to spraying apparatus or its outlets, e.g. for breaking at desired places; Arrangements for handling or replacing damaged parts for preventing non-intended contact between spray heads or nozzles and foreign bodies, e.g. nozzle guards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Landscapes
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of industrial robots, in particular to an industrial spraying robot, which comprises a base, and further comprises a spraying unit, wherein the spraying unit is positioned on the base and used for uniformly spraying the outside of a tank body, and a conveying unit is positioned on the base and used for supporting the tank body and conveying the tank body into the spraying unit for spraying, and a first sliding block is enabled to move along a fixed track through a first sliding groove and a second sliding groove, so that the stability of a spray head in the spraying process is improved, the paint is uniformly sprayed on the surface of the tank body, the spraying quality and speed are improved, the efficiency of the industrial spraying robot for spraying the tank body is improved, the weather-proof and corrosion-resistant tank performance of the tank body is improved, and meanwhile compared with a manual work, the contact with the sprayed paint is reduced, and the damage to the body in the spraying process is further reduced.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial spraying robot.
Background
The spraying robot is an industrial robot capable of automatically spraying paint or other coatings, and mainly comprises a robot body, a computer and a corresponding control system, wherein the hydraulically driven spraying robot further comprises a hydraulic oil source, such as an oil pump, an oil tank, a motor and the like. The wrist has 2-3 degrees of freedom and can flexibly move. Compared with the prior spraying robot wrist, the flexible wrist is adopted, not only can bend towards all directions, but also can rotate, the action of the wrist is similar to that of a human wrist, and the wrist can conveniently extend into the workpiece through a small hole to spray the inner surface of the workpiece. The spraying robot is generally hydraulically driven, has the characteristics of high action speed, good explosion-proof performance and the like, and can realize teaching through handle teaching or point position indication. The spraying robot has the advantages of large flexibility and working range, high spraying quality and material utilization rate, easy operation and maintenance and the like, and is widely applied to the process production departments of automobiles, meters, electric appliances, enamel and the like.
Most of the existing spraying robots are small multi-degree-of-freedom spraying robots, and are mostly applied to small and medium-sized commodities such as automobiles, home furnishings, electronic household appliances and the like, but when protective paint is sprayed outside a tank body for transporting various liquids such as gasoline, crude oil and the like, liquefied gas and powdery cargoes, the performances such as weather resistance, low temperature resistance, high temperature resistance and corrosion resistance of the tank body are improved, in the prior art, manual spraying is usually adopted due to the limitation of the volume of the tank body, in the manual spraying process, the thickness of a coating is usually uneven, the spraying quality is reduced, the weather resistance and the corrosion resistance of the tank body are further reduced, meanwhile, manual spraying is adopted, the time is long, and the spraying efficiency of the tank body is reduced.
In view of the above, the present invention provides an industrial spraying robot, which solves the above technical problems.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: most of the existing spraying robots are small multi-degree-of-freedom spraying robots, which are mostly applied to small and medium-sized commodities such as automobiles, home furnishings, electronic household appliances and the like, but when protective paint is sprayed outside a tank body for transporting various liquids such as gasoline, crude oil and the like, liquefied gas and powdery cargoes, the performances such as weather resistance, low temperature resistance, high temperature resistance and corrosion resistance of the tank body are improved, but the manual spraying is adopted due to volume limitation, and because the spraying experience is very important for the spraying quality, the thickness of a common coating layer is uneven in the spraying process, the spraying quality is reduced, the weather resistance and the corrosion resistance of the tank body are further reduced, meanwhile, the manual spraying is adopted for a long time, and the spraying efficiency of the tank body is reduced.
The invention provides an industrial spraying robot, which comprises a base, wherein the base is provided with a plurality of spraying nozzles;
further comprises:
the spraying unit is positioned on the base and is used for uniformly spraying the outside of the tank body;
and the conveying unit is positioned on the base and used for supporting the tank bodies in different shapes and conveying the tank bodies into the spraying unit for spraying.
Preferably, the spraying unit includes:
the arc-shaped supporting plate is fixedly connected with the base;
the first sliding chute is arranged at two sides of the arc-shaped supporting plate;
the rack is arranged in the first chute;
the second sliding chute is arranged at two sides of the arc-shaped supporting plate;
the first sliding block is arranged between the arc-shaped supporting plates;
the first chamber is arranged in the first sliding block;
the first motor is arranged in the first chamber, fixedly connected with the first sliding block, and the output shaft of the first motor extends to the first sliding block and is rotationally connected with the first sliding block;
the first gear is fixedly connected with an output shaft of the first motor;
the driven wheel is rotationally connected with the first sliding block;
the spray head is arranged on the first sliding block.
Preferably, the transfer unit includes:
the third sliding groove is arranged on the base;
the conveying frame is connected with the third chute in a sliding manner;
the roller is arranged on the conveying frame;
and the supporting rod is arranged on the conveying frame.
Preferably, the spraying unit further comprises:
the through groove is arranged in the first sliding block;
the tooth slot is arranged in the spray head;
the second gear is arranged in the first sliding block;
and the second motor is positioned in the first sliding block.
Preferably, the spraying unit further comprises:
the first pipeline is connected with one end of the discharge port of the spray head;
the first annular tooth is fixedly connected with the first pipeline;
the second pipeline is rotationally connected with the first pipeline;
the second annular tooth is rotationally connected with the second pipe;
the third motor is fixedly connected to the spray head;
and the fourth motor is fixedly connected to the first pipeline.
Preferably, the transfer unit further includes:
the first air cylinder is fixedly connected with the conveying frame, and a piston rod in the first air cylinder is fixedly connected with the supporting rod;
the second air cylinder is fixedly connected with the conveying frame, and a piston rod in the second air cylinder is fixedly connected with the supporting rod;
the support block is hinged with the support rod;
the second spring is arranged between the support rod and the support block;
the spherical bulge is fixedly connected with the supporting block.
Preferably, the spraying unit further comprises:
the fourth sliding groove is arranged in the arc-shaped supporting plate;
the fifth sliding chute is arranged in the arc-shaped supporting plate;
the second sliding block is in sliding connection with the fourth sliding groove and the fifth sliding groove;
and one side of the folding baffle is fixedly connected with the base, the other side of the folding baffle is fixedly connected with the first sliding block, and the bottoms of the two sides of the folding baffle are fixedly connected with the second sliding block.
Preferably, the spraying unit further comprises:
the rotating ring is arranged on the spray head, the first pipeline and the second pipeline;
and the protective clothing is fixedly connected to the rotating ring.
Preferably, the material of the protective clothing is an elastic material, and the elastic material is elastic rubber cloth.
Preferably, the spray head is provided with a distance sensor.
The beneficial effects of the invention are as follows:
1. according to the industrial spraying robot, the first sliding block moves along the fixed track through the first sliding groove and the second sliding groove, so that the stability of the spray head in moving in a spraying process is improved, the paint is uniformly sprayed on the surface of the tank body, compared with manual spraying, the quality and the speed of spraying are improved, the efficiency of spraying the tank body by the industrial spraying robot is improved, the weather-proof and corrosion-resistant tank performance of the tank body is improved, meanwhile, compared with manual spraying, the contact between the working personnel and the paint is reduced, and damage to the body in the spraying process is further reduced.
2. According to the industrial spraying robot provided by the invention, the supporting rod slides in the third pipeline, and the first spring provides buffering for the supporting rod, so that the conveying unit is suitable for tanks with different shapes, and the application range of the industrial spraying robot is improved.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a main body diagram of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a cross-sectional view of a transfer unit in the present invention;
FIG. 4 is a cross-sectional view of a first slider of the present invention;
fig. 5 is an enlarged view at a in fig. 2;
FIG. 6 is an enlarged view at B in FIG. 2;
FIG. 7 is an enlarged view at C in FIG. 3;
FIG. 8 is a cross-sectional view taken at D-D in FIG. 4;
FIG. 9 is a side view of a transfer unit of the present invention;
in the figure: base 1, spraying unit 2, arc-shaped support plate 21, no. four slide grooves 211, no. five slide grooves 212, no. two slide blocks 213, folding baffle 214, no. one slide grooves 22, rack 221, no. two slide grooves 23, no. one slide block 24, no. one chamber 241, no. one motor 242, no. one gear 25, driven wheel 251, spray head 26, no. one pipe 261, no. one annular tooth 262, no. two pipe 263, no. two annular teeth 264, no. three motor 265, no. four motor 266, rotating ring 267, protective clothing 268, distance sensor 269, through groove 27, tooth groove 28, no. two gear 29, no. two motor 291, conveying unit 3, no. three slide grooves 31, conveying frame 32, roller 33, support rod 34, no. one cylinder 35, no. two cylinder 36, support block 37, spring 38, spherical protrusion 39.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The industrial spraying robot in the prior art has the defects that the existing spraying robot is mostly a small multi-degree-of-freedom spraying robot and is mostly applied to small and medium-sized commodities such as automobiles, home furnishings, electronic home appliances and the like, but when protective paint is sprayed outside a tank body for transporting various liquids such as gasoline, crude oil and the like, the performances such as weather resistance, low temperature resistance, high temperature resistance and corrosion resistance of the tank body are improved, the spraying is usually carried out manually due to volume limitation, and the spraying experience is very important for the spraying quality, so that the thickness of a common coating layer is uneven in the spraying process, the spraying quality is reduced, the weather resistance and the corrosion resistance of the tank body are further reduced, meanwhile, the manual spraying is adopted, the time is long, and the spraying efficiency of the tank body is reduced.
In order to solve the above problems, the main concept adopted in this embodiment is: the spraying unit 2 is arranged on the base 1 and used for spraying the outside of the tank body, the conveying unit 2 is also arranged on the base 1 and used for supporting the welded tank body and conveying the tank body into the spraying unit 2.
Therefore, in order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and the specific embodiments of the present disclosure:
the invention provides an industrial spraying robot which comprises a base 1;
further comprises:
the spraying unit 2 is positioned on the base 1 and is used for uniformly spraying the outside of the tank body;
the conveying unit 3 is positioned on the base 1 and is used for supporting the tank body and conveying the tank body into the spraying unit 2 for spraying;
when the welded large tank body is required to be sprayed, firstly, placing the tank body on the conveying unit 3 through a carrier such as a crane, supporting the tank body by the conveying unit 3, then sending the conveying unit 3 and the tank body into the spraying unit 2 together, and spraying the tank body on the conveying unit 3 by the spraying unit 2;
compared with the prior art, the manual handheld spray gun is usually adopted for spraying the outside of the tank body, the conveying process of the conveying unit 3 is matched with the spraying process of the spraying unit 2, the surface coating of the tank body is more uniform in the spraying process, the spraying quality of an industrial spraying robot is improved, compared with the manual spraying, the spraying speed is improved, the spraying efficiency is further improved, meanwhile, the direct contact between the manual handheld spray gun and the spraying coating is reduced by workers, and the damage of the coating to a human body in the spraying process is further reduced.
As a specific embodiment of the present invention, the spraying unit 2 includes,
the arc-shaped supporting plate 21 is fixedly connected with the base 1;
the first sliding chute 22 is arranged at two sides of the arc-shaped supporting plate 21;
a rack 221, wherein the rack 221 is arranged in the first chute 22;
the second sliding chute 23 is arranged at two sides of the arc-shaped supporting plate 21;
the first sliding block 24 is arranged between the arc-shaped supporting plates 21;
a first chamber 241, wherein the first chamber 241 is disposed in the first slider 24;
the first motor 242 is arranged in the first cavity 241 and fixedly connected with the first slide block 24, and an output shaft of the first motor 242 extends to the first slide block 24 and is rotationally connected with the first slide block 24;
a first gear 25, wherein the first gear 25 is fixedly connected with an output shaft of a first motor 242;
the driven wheel 251, the driven wheel 251 is rotatably connected with the first slide block 24;
the spray head 26, the said spray head 26 locates on the first slide block 24;
after the tank body is sent into the spraying unit 2 by the conveying unit 3, a first motor 242 in a first cavity 241 controls a first gear 25 on a first sliding block 24 in the spraying unit 2 to rotate under the control of a controller, the first gear 25 is meshed with a rack 221 in a first sliding groove 22 in the arc-shaped supporting plate 21 during rotation, the first sliding block 24 is driven to move along the first sliding groove 22, meanwhile, a driven wheel 251 moves in a second sliding groove 23 and is matched with the first gear 25, so that the first sliding block 24 keeps vertical stability with the arc-shaped supporting plate 21 during operation, and a spray nozzle 26 on the first sliding block 24 sprays the outside of the tank body during the movement of the first sliding block 24 along a fixed track;
the sliding block 24 is enabled to move along the fixed track through the sliding groove 22 and the sliding groove 23, so that the stability of the spray head 26 in moving in the spraying process is improved, the paint is uniformly sprayed on the surface of the tank body, the spraying quality and speed are improved, the efficiency of the industrial spraying robot for spraying the tank body is further improved, the weather-proof and corrosion-resistant tank performance of the tank body is improved, meanwhile, compared with the manual work, the contact with the spraying paint is reduced by workers, and damage to the body in the spraying process is further reduced.
As a specific embodiment of the present invention, the transfer unit 3 includes:
a third sliding groove 31, wherein the third sliding groove 31 is arranged on the base 1;
the conveying frame 32, the conveying frame 32 is connected with the third chute 31 in a sliding way;
a roller 33, wherein the roller 33 is arranged on the conveying frame 32;
a support bar 34, the support bar 34 being provided on the transfer frame 32;
when spraying the external portion of jar, will be with jar body through machinery such as crane on the conveying unit 3 earlier, bracing piece 34 supports the jar body, then promotes conveying frame 32, makes gyro wheel 33 follow No. three spout 31 slip, and the jar body on conveying frame 32 and the bracing piece 34 is sent into spraying unit 2 and is sprayed, through the cooperation of gyro wheel 33 and No. three spout 31, has reduced the resistance that conveying frame 32 moved, in being convenient for conveying frame 32 and jar body entering spraying unit 2, improves industrial spraying robot's use simplicity.
As a specific embodiment of the present invention, the spraying unit 2 further includes:
the through groove 27 is arranged in the first sliding block 24;
a spline 28, the spline 28 being disposed within the nozzle 26;
a second gear 29, wherein the second gear 29 is arranged in the first slider 24;
a motor No. two 291, the motor No. two 291 being located in the slider No. one 24;
in the spraying process, the controller controls the motor 291 to drive the gear 29 to rotate, the gear 29 is meshed with the tooth grooves 28, the spray head 26 slides along the through groove 27 in the first sliding block 24, the spray head 26 slides in the first sliding block 24, the spraying stroke of the spray head 26 is prolonged, the distance between the spray head 26 and the tank body is adjustable, the tank bodies with different diameters are sprayed, and the application range of the industrial spraying robot is improved.
As a specific embodiment of the present invention, the spraying unit 2 further includes:
a first pipeline 261, wherein the first pipeline 261 is connected with one end of a discharge hole of the spray head 26;
a first annular tooth 262, wherein the first annular tooth 262 is fixedly connected with a first pipeline 261;
a second pipe 263, wherein the second pipe 263 is rotatably connected with the first pipe 261;
a second annular tooth 264 rotatably coupled to the second tube 263;
a third motor 265, wherein the third motor 265 is fixedly connected to the nozzle 26;
a fourth motor 266, wherein the fourth motor 266 is fixedly connected to the first pipeline 261;
when the bottom of the tank body or the two sides of the tank body are required to be sprayed, the first sliding block 24 moves to the bottom or the top of the arc-shaped supporting plate 21, then the third motor 265 on the spray head 26 is controlled by the controller to drive the first pipeline 261 to rotate, the fourth motor 266 on the first pipeline 261 drives the second pipeline 263 to rotate, so that the spray head 26 points to the bottom and the two sides of the tank body, and the bottom and the two sides are sprayed;
by enabling the first pipeline 261 to rotate with the second pipeline 263 and be matched with the first sliding block 24 in a sliding mode, the spraying range of the industrial spraying robot is increased, and the spraying efficiency of the industrial spraying robot is further improved.
As a specific embodiment of the present invention, the transfer unit 3 further includes:
the first air cylinder 35 is fixedly connected with the conveying frame 32, and a piston rod in the first air cylinder 35 is fixedly connected with the supporting rod 34;
the second air cylinder 36, the second air cylinder 36 is fixedly connected with the conveying frame 32, and a piston rod in the second air cylinder 36 is fixedly connected with the supporting rod 34;
a support block 37, wherein the support block 37 is hinged with the support rod 34;
a spring 38, wherein the spring 38 is arranged between the support rod 34 and the support block 37;
a spherical protrusion 39, wherein the spherical protrusion 39 is fixedly connected with the supporting block 37;
when the tank body is placed on the conveying unit 3, the height positions of supporting points on the tank body are different due to the different shapes of the tank body, the height of a supporting rod 34 fixedly connected with a piston rod of a first air cylinder 35 on the conveying frame 32 controls the pressure of air in the first air cylinder 35 through a controller, so that the supporting rod 34 on the first air cylinder 35 is lifted to different heights to be matched with different tank body shapes, at the moment, the supporting rod 34 on a second air cylinder 36 is in a retracted state, spherical protrusions 39 on supporting blocks 37 at the end parts of the supporting rod 34 on the first air cylinder 35 are in contact with the tank body to support the tank body, and meanwhile springs 38 support the supporting blocks 37;
after the spray coating is dried, the height of the supporting rod 34 fixedly connected with the piston rod of the second air cylinder 36 controls the pressure of air in the second air cylinder 36 through the controller, so that the supporting rod 34 on the second air cylinder 36 is lifted to different heights to be matched with different tank shapes, the spherical protrusions 39 on the supporting blocks 37 at the end parts of the supporting rods 34 on the second air cylinder 36 are contacted with the tank to support the tank, meanwhile, the springs 38 support the supporting blocks 37, the first air cylinder 35 is retracted under the control of the controller, and at the moment, the spray heads 26 spray the areas where the supporting blocks 37 and the spherical protrusions 39 on the first air cylinder 35 are retracted;
through making bracing piece 34 move along with the cylinder 35, no. two cylinder 36 piston rods, with supporting shoe 37, spring 38 and globular protruding 39 matched with, make transfer unit 3 be applicable to the jar body of different shapes, further improved industrial spraying robot's application range, avoid the manual work to rotate jar body simultaneously and carry out the spraying to the supporting part, further reduced artifical tired degree, and improved the efficiency of the supporting part of spraying.
As a specific embodiment of the present invention, the spraying unit 2 further includes:
a fourth sliding groove 211, wherein the fourth sliding groove 211 is arranged in the arc-shaped supporting plate 21;
a fifth sliding groove 212, wherein the fifth sliding groove 212 is arranged in the arc-shaped supporting plate 21;
the second sliding block 213 is slidably connected with the fourth sliding groove 211 and the fifth sliding groove 212;
a folding baffle 214, wherein one side of the folding baffle 214 is fixedly connected with the base 1, the other side of the folding baffle is fixedly connected with the first sliding block 24, and the bottoms of the two sides of the folding baffle are fixedly connected with the second sliding block 213;
in the sliding process of the first sliding block 24 along the sliding groove, the folding baffle plates 214 on two sides of the first sliding block 24 are unfolded or stretched when moving along with the first sliding block 24, and drive the second sliding block 213 to slide in the fourth sliding groove 211 and the fifth sliding groove 212, so that the folding baffle plates 214 shield the first sliding groove 22 and the second sliding groove 23, the phenomenon that the paint is attached in the rack 221 and the second sliding groove 23 to influence the moving stability of the first sliding block 24 is reduced, the cleaning degree of the rack 221 and the second sliding groove 23 is improved, the moving precision of the first sliding block 24 is further improved, and the spraying precision of the industrial spraying robot is further improved.
As a specific embodiment of the present invention, the spraying unit 2 further includes:
the rotating ring 267 is arranged on the spray head 26, the first pipeline 261 and the second pipeline 263;
a protective suit 268, the protective suit 268 being affixed to the rotating ring 265;
when the shower nozzle 26 stretches out and draws back and the shower nozzle 26 discharge gate one end rotates, protective clothing 268 protects shower nozzle 26, and swivel becket 267 is in pipeline 261, pipeline 263 rotation No. two simultaneously, and protective clothing 268 is rotated by a small margin, reduces protective clothing 268 and warp impaired phenomenon because of excessive rotation, and protective clothing 268 is favorable to reducing the phenomenon that the coating is attached on tooth groove 28, annular tooth 262 and annular tooth 264 No. two in the spraying process, has reduced the coating and has attached on tooth groove 28 and annular tooth 262 and annular tooth 264 No. two and lead to the removal precision to reduce, and then leads to the phenomenon that the spraying quality descends, still further improves industrial spraying robot's spraying quality.
As an embodiment of the present invention, the material of the protective garment 268 is an elastic material, and the elastic material is an elastic rubber cloth;
the protective suit 268 is made of elastic rubber cloth, so that the phenomenon that the protective suit 268 is damaged is reduced while paint is prevented from entering the spray head 26, the service life of the protective suit 268 is prolonged, and the use cost of the industrial spraying robot is further reduced.
As an embodiment of the present invention, the nozzle 26 is provided with a distance sensor 269;
in the spraying process, the distance sensor 269 on the spray head 26 recognizes the distance between the spray head 26 and the spraying surface outside the tank body, then data are recognized and analyzed, the controller controls the second motor 291 to enable the spray head 26 to slide in the through groove 27, the distance between the spray head 26 and the spraying surface outside the tank body is kept stable, and compared with manual spraying, the industrial spraying robot has more accurate distance control on the spray head 26 and the spraying surface outside the tank body, and further improves the spraying quality of the industrial spraying robot.
The specific working procedure is as follows:
when the welded large tank body is required to be sprayed, the tank body is firstly placed on the conveying unit 3 through a crane and other machines, the supporting rods 34 support the tank body, then the conveying frame 32 is pushed to enable the roller 33 to slide along the third sliding chute 31, the tank body on the conveying frame 32 and the supporting rods 34 is sent into the spraying unit 2 to be sprayed, the height of the supporting rods 34 fixedly connected with the piston rods of the first air cylinders 35 on the conveying frame 32 is controlled by a controller to control the pressure of air in the first air cylinders 35, the supporting rods 34 on the first air cylinders 35 are lifted to different heights so as to be matched with different tank body shapes, at the moment, the supporting rods 34 on the second air cylinders 36 are in a retracted state, spherical protrusions 39 on the supporting blocks 37 at the end parts of the supporting rods 34 on the first air cylinders 35 contact with the tank body to support the tank body, and meanwhile the springs 38 support the supporting blocks 37;
then, the conveying unit 3 sends the can body into the spraying unit 2, the first motor 242 in the first cavity 241 is controlled by the controller to rotate the first gear 25, the first gear 25 is meshed with the rack 221 in the first sliding groove 22 in the arc-shaped supporting plate 21, the first sliding block 24 is driven to move along the first sliding groove 22, meanwhile, the driven wheel 251 moves in the second sliding groove 23 and is matched with the first gear 25, the first sliding block 24 keeps stable in operation, when the first sliding block 24 moves along a fixed track, the distance between the spraying head 26 and the spraying surface outside the can body is identified by the distance sensor 269 on the spraying head 26, then the data is identified and analyzed, the second gear 29 is driven to rotate by the second motor 291 under the control of the controller, the spraying head 26 slides along the through groove 27 in the first sliding block 24 through the meshing with the tooth groove 28, the spraying head 26 on the first sliding block 24 extends or retracts, and a certain distance is kept between the spraying head 26 and the spraying surface outside the can body to spray the can body;
when the bottom or two sides of the tank body are required to be sprayed, the first sliding block 24 moves to the bottom or the top of the arc-shaped supporting plate 21, then the third motor 265 on the spray head 26 is controlled by the controller to drive the first pipeline 261 to rotate, the fourth motor 266 on the first pipeline 261 drives the second pipeline 263 to rotate, so that the spray head 26 points to the bottom or two sides of the tank body, and the bottom or two sides are sprayed;
after the spray coating is dried, the height of a supporting rod 34 fixedly connected with a piston rod of a second air cylinder 36 controls the pressure of air in the second air cylinder 36 through a controller, so that the supporting rod 34 on the second air cylinder 36 is lifted to different heights to be matched with different tank shapes, spherical protrusions 39 on supporting blocks 37 at the end parts of the supporting rod 34 on the second air cylinder 36 are contacted with the tank to support the tank, meanwhile, springs 38 support the supporting blocks 37, the first air cylinder 35 is retracted under the control of the controller, and at the moment, spray heads 26 spray the bottoms of the tank in the areas where the supporting blocks 37 and the spherical protrusions 39 on the first air cylinder 35 are retracted;
after the spraying is finished, the spray head 26 on the first slide block 24 is lifted to a safe position, the conveying frame 32 is pulled out after the coating is dried, and the sprayed tank body is taken out by using the auxiliary carrier.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. An industrial spray robot comprising: base (1), its characterized in that: further comprises:
the spraying unit (2) is positioned on the base (1) and is used for uniformly spraying the outside of the tank body;
the conveying unit (3) is positioned on the base (1) and used for supporting the tank body and conveying the tank body into the spraying unit (2) for spraying;
the spraying unit (2) comprises:
the arc-shaped supporting plate (21), the arc-shaped supporting plate (21) is fixedly connected with the base (1);
the first sliding chute (22) is arranged at two sides of the arc-shaped supporting plate (21);
the rack (221) is arranged in the first chute (22);
the second sliding groove (23) is formed in two sides of the arc-shaped supporting plate (21);
the first sliding block (24) is arranged between the arc-shaped supporting plates (21);
a first chamber (241), wherein the first chamber (241) is arranged in the first sliding block (24);
the first motor (242) is arranged in the first cavity (241) and fixedly connected with the first sliding block (24), and an output shaft of the first motor (242) extends to the first sliding block (24) and is rotationally connected with the first sliding block (24);
the first gear (25) is fixedly connected with an output shaft of the first motor (242);
the driven wheel (251), the said driven wheel (251) is connected with the first slide block (24) rotation;
the spray head (26), the said spray head (26) locates on the first slide block (24);
the transfer unit (3) includes:
the third sliding chute (31), the third sliding chute (31) is arranged on the base (1);
the conveying frame (32), the conveying frame (32) is connected with the third chute (31) in a sliding way;
the roller (33) is arranged on the conveying frame (32);
the supporting rod (34) is arranged on the conveying frame (32);
the transfer unit (3) further comprises:
the first air cylinder (35), the first air cylinder (35) is fixedly connected with the conveying frame (32), and a piston rod in the first air cylinder (35) is fixedly connected with the supporting rod (34);
the second air cylinder (36), the second air cylinder (36) is fixedly connected with the conveying frame (32), and a piston rod in the second air cylinder (36) is fixedly connected with the supporting rod (34);
the support block (37), the said support block (37) is articulated with the support bar (34);
a spring (38), wherein the spring (38) is arranged between the supporting rod (34) and the supporting block (37);
a spherical protrusion (39), wherein the spherical protrusion (39) is fixedly connected with the supporting block (37);
the spraying unit (2) further comprises:
the through groove (27) is formed in the first sliding block (24);
the tooth groove (28) is arranged in the spray head (26);
the second gear (29), the second gear (29) is arranged in the first slide block (24);
a second motor (291), wherein the second motor (291) is positioned in the first slider (24);
the first pipeline (261) and one end of a discharge hole of the spray head (26) are arranged on the first pipeline (261);
a first annular tooth (262), wherein the first annular tooth (262) is fixedly connected with a first pipeline (261);
the second pipeline (263), the second pipeline (263) is rotatably connected with the first pipeline (261);
the second annular tooth (264), the second annular tooth (264) is rotationally connected with the second pipeline (263);
a third motor (265), wherein the third motor (265) is fixedly connected with the spray head (26);
the fourth motor (266), the fourth motor (266) is fixedly connected to the first pipeline (261);
the fourth sliding groove (211), the fourth sliding groove (211) is arranged in the arc-shaped supporting plate (21);
the fifth sliding chute (212), the fifth sliding chute (212) is arranged in the arc-shaped supporting plate (21);
the second sliding block (213) is in sliding connection with the fourth sliding groove (211) and the fifth sliding groove (212);
the folding baffle plate (214), one side of the folding baffle plate (214) is fixedly connected with the base (1), the other side of the folding baffle plate is fixedly connected with the first sliding block (24), and the bottoms of the two sides of the folding baffle plate are fixedly connected with the second sliding block (213);
the rotating ring (267) is arranged on the spray head (26), the first pipeline (261) and the second pipeline (263);
and the protective clothing (268) is fixedly connected to the rotating ring (267).
2. An industrial spraying robot according to claim 1, characterized in that: the material of the protective suit (268) is an elastic material, and the elastic material is an elastic rubber cloth.
3. An industrial spraying robot according to claim 1, characterized in that: a distance sensor (269) is arranged on the spray head (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079300.8A CN114472014B (en) | 2022-01-24 | 2022-01-24 | Industrial spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079300.8A CN114472014B (en) | 2022-01-24 | 2022-01-24 | Industrial spraying robot |
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| CN114472014A CN114472014A (en) | 2022-05-13 |
| CN114472014B true CN114472014B (en) | 2024-02-23 |
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| CN202210079300.8A Active CN114472014B (en) | 2022-01-24 | 2022-01-24 | Industrial spraying robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115007352B (en) * | 2022-07-23 | 2023-12-26 | 南昌大学 | Spraying device for high-temperature ceramic even spraying type preparation |
| CN115041335B (en) * | 2022-07-27 | 2023-04-14 | 信阳师范学院 | Special-shaped plate spraying device |
| CN117900068B (en) * | 2024-03-15 | 2024-05-28 | 江苏瑞林环保科技有限公司 | Anticorrosive paint spraying treatment device for surface of high-strength pressure vessel |
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| Publication number | Publication date |
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| CN114472014A (en) | 2022-05-13 |
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Effective date of registration: 20240125 Address after: 230000 at the intersection of Chezuo Road and Yangmiao Road in Wushan Town, Changfeng County, Hefei City, Anhui Province Applicant after: HEFEI JAC ECHOM AUTOMOTIVE ORNAMENT CO.,LTD. Country or region after: China Address before: 215300 203, building 8, fengjingyuan, Bailu South Road, Kunshan City, Suzhou City, Jiangsu Province Applicant before: Liu Yuxuan Country or region before: China |
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Denomination of invention: An industrial spraying robot Granted publication date: 20240223 Pledgee: Anhui Changfeng Kong set Branch Keyuan village bank Limited by Share Ltd. Pledgor: HEFEI JAC ECHOM AUTOMOTIVE ORNAMENT CO.,LTD. Registration number: Y2024980017728 |